diff --git a/.clang-tidy b/.clang-tidy
index d6a8f0f31..8556f60a1 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,8 +1,48 @@
 ---
-Checks:          '-*,clang-analyzer-*,clang-diagnostic-*,readability-*,modernize-*,boost-*,bugprone-*,cppcoreguidelines-*,google-*,hicpp-*,performance-*,readability-*,-google-readability-namespace-comments,-readability-inconsistent-declaration-parameter-name,-readability-braces-around-statements,-hicpp-signed-bitwise,-google-runtime-references,-cppcoreguidelines-avoid-magic-numbers,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-readability-magic-numbers,-hicpp-explicit-conversions,-hicpp-uppercase-literal-suffix,-readability-uppercase-literal-suffix,-hicpp-no-array-decay,-hicpp-special-member-functions,-bugprone-narrowing-conversions,-modernize-use-nodiscard,-google-readability-braces-around-statements,-hicpp-braces-around-statements,-bugprone-suspicious-semicolon,-readability-named-parameter,-hicpp-named-parameter,-modernize-use-trailing-return-type,-cppcoreguidelines-non-private-member-variables-in-classes,-cppcoreguidelines-pro-bounds-constant-array-index'
+Checks: >
+  -*,
+  clang-analyzer-*,
+  clang-diagnostic-*,
+  readability-*,
+  modernize-*,
+  boost-*,
+  bugprone-*,
+  cppcoreguidelines-*,
+  google-*,
+  hicpp-*,
+  performance-*,
+  readability-*,
+  -google-readability-namespace-comments,
+  -readability-inconsistent-declaration-parameter-name,
+  -readability-braces-around-statements,
+  -hicpp-signed-bitwise,
+  -google-runtime-references,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+  -readability-magic-numbers,
+  -hicpp-explicit-conversions,
+  -hicpp-uppercase-literal-suffix,
+  -readability-uppercase-literal-suffix,
+  -hicpp-no-array-decay,
+  -hicpp-special-member-functions,
+  -bugprone-narrowing-conversions,
+  -modernize-use-nodiscard,
+  -google-readability-braces-around-statements,
+  -hicpp-braces-around-statements,
+  -bugprone-suspicious-semicolon,
+  -readability-named-parameter,
+  -hicpp-named-parameter,
+  -modernize-use-trailing-return-type,
+  -cppcoreguidelines-non-private-member-variables-in-classes,
+  -cppcoreguidelines-pro-bounds-constant-array-index,
+  -modernize-concat-nested-namespaces,
+
 # TODO(themarpe) - Gradually bring back errors
 #WarningsAsErrors: 'modernize-*,cppcoreguidelines-*,boost-*,performance-*,google-build-using-namespace,readability-else-after-return,google-readability-todo'
-WarningsAsErrors: 'bugprone-throw-keyword-missing'
+WarningsAsErrors: >
+  bugprone-throw-keyword-missing,
+  bugprone-unchecked-optional-access,
+
 HeaderFilterRegex: 'core/.*\.hpp'
 AnalyzeTemporaryDtors: false
 FormatStyle:     .clang-format
diff --git a/.github/workflows/main.workflow.yml b/.github/workflows/main.workflow.yml
index 3b07b0018..acc08966e 100644
--- a/.github/workflows/main.workflow.yml
+++ b/.github/workflows/main.workflow.yml
@@ -6,16 +6,16 @@ on:
     branches:
       - main
       - develop
-      - gen2
-      - gen2_develop
+      - rvc3_support
+      - rvc3_develop
     tags:
       - 'v*'
   pull_request:
     branches:
       - main
       - develop
-      - gen2
-      - gen2_develop
+      - rvc3_support
+      - rvc3_develop
 
 jobs:
 
@@ -63,10 +63,10 @@ jobs:
     strategy:
       matrix:
         os: [macos-latest, windows-latest, ubuntu-latest]
-        cmake: ['3.10.x', ''] # Older version (Ubuntu 18.04) and newest
+        cmake: ['3.14.x', ''] # Older version (Ubuntu 18.04) and newest
         exclude:
           - os: windows-latest
-            cmake: '3.10.x'
+            cmake: '3.14.x'
 
     steps:
     - name: Cache .hunter folder
@@ -109,7 +109,7 @@ jobs:
         echo "OpenCV_DIR=C:\tools\opencv\build" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
     - name: Build (old CMake, gcc/Clang)
-      if: matrix.cmake == '3.10.x' && matrix.os != 'windows-latest'
+      if: matrix.cmake == '3.14.x' && matrix.os != 'windows-latest'
       run: |
         cmake -H. -Bbuild -D'CMAKE_BUILD_TYPE=Release' -D'HUNTER_CONFIGURATION_TYPES=Release' -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' ${{ env.CMAKE_ARGS }}
         cmake --build build --config Release -- -j4
@@ -122,7 +122,7 @@ jobs:
     #     cmake --build build
 
     - name: Build (newest CMake)
-      if: matrix.cmake != '3.10.x'
+      if: matrix.cmake != '3.14.x'
       run: |
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_CONFIGURATION_TYPES=Release -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON ${{ env.CMAKE_ARGS }}
         cmake --build build --parallel 4 --config Release
@@ -181,6 +181,9 @@ jobs:
         echo "CMAKE_GENERATOR=Visual Studio 17 2022" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
         echo "CMAKE_GENERATOR_PLATFORM=${{ matrix.platform }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
+    - name: Setup cmake
+      uses: jwlawson/actions-setup-cmake@v1.13
+
     - name: Configure ${{ matrix.build-type }}, shared ${{ matrix.shared }}, ${{ matrix.platform }}
       run: cmake -S . -B build -D BUILD_SHARED_LIBS=${{ matrix.shared}} -D CMAKE_BUILD_TYPE=${{ matrix.build-type }} -D CMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/depthai_install ${{ env.CMAKE_ARGS }}
 
diff --git a/.github/workflows/python-docker-hub.yml b/.github/workflows/python-docker-hub.yml
new file mode 100644
index 000000000..d2566de32
--- /dev/null
+++ b/.github/workflows/python-docker-hub.yml
@@ -0,0 +1,100 @@
+name: Publish Docker image
+on:
+  workflow_dispatch:
+  push:
+    branches:
+    - main
+    - develop
+    tags:
+    - 'v*'
+jobs:
+
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, [Linux, ARM], [Linux, ARM64]]
+        include:
+          - os: ubuntu-latest
+            arch: amd64
+          - os: [Linux, ARM]
+            arch: armv7
+          - os: [Linux, ARM64]
+            arch: armv8
+    steps:
+      - name: Clean the workspace
+        uses: docker://alpine
+        with:
+          args: /bin/sh -c "rm -rf /github/workspace/.* || rm -rf /github/workspace/*"
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Login to DockerHub
+        uses: docker/login-action@v2
+        with:
+          username: ${{ secrets.DOCKERHUB_USER }}
+          password: ${{ secrets.DOCKERHUB_PASS }}
+
+      - name: Set Image Name (development)
+        id: name
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "LUXONIS_IMAGE_TAG=${{ github.sha }}-${{ matrix.arch }}" >> $GITHUB_ENV
+
+      - name: Set Image Name (release)
+        if: startsWith(github.ref, 'refs/tags/v') == true
+        run: echo "LUXONIS_IMAGE_TAG=${GITHUB_REF#refs/*/}-${{ matrix.arch }}" >> $GITHUB_ENV
+
+      - name: Build and push
+        uses: docker/build-push-action@v3
+        with:
+          push: true
+          file: bindings/python/ci/Dockerfile
+          tags: luxonis/depthai-library:${{ env.LUXONIS_IMAGE_TAG }}
+
+      - name: Cleanup the created image
+        run: docker image rm luxonis/depthai-library:${{ env.LUXONIS_IMAGE_TAG }}
+
+  upload:
+    needs: [build]
+    name: Combine into a single multi-arch image and upload tags
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Login to DockerHub
+        uses: docker/login-action@v2
+        with:
+          username: ${{ secrets.DOCKERHUB_USER }}
+          password: ${{ secrets.DOCKERHUB_PASS }}
+
+      - name: Get Version
+        id: vars
+        run: echo ::set-output name=short_ref::${GITHUB_REF#refs/*/}
+
+      - name: Build and push (development)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: |
+          docker manifest create \
+          luxonis/depthai-library:${{ github.sha}} \
+          --amend luxonis/depthai-library:${{ github.sha }}-amd64 \
+          --amend luxonis/depthai-library:${{ github.sha }}-armv7 \
+          --amend luxonis/depthai-library:${{ github.sha }}-armv8
+          # Push
+          docker manifest push luxonis/depthai-library:${{ github.sha }}
+
+      - name: Build and push (release)
+        if: startsWith(github.ref, 'refs/tags/v') == true
+        run: |
+          docker manifest create \
+          luxonis/depthai-library:${{ steps.vars.outputs.short_ref }} \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-amd64 \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-armv7 \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-armv8
+          # Push
+          docker manifest push luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}
+          docker manifest create \
+          luxonis/depthai-library:latest \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-amd64 \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-armv7 \
+          --amend luxonis/depthai-library:${{ steps.vars.outputs.short_ref }}-armv8
+          docker manifest push luxonis/depthai-library:latest
diff --git a/.github/workflows/python-main.yml b/.github/workflows/python-main.yml
new file mode 100644
index 000000000..af2ad70d0
--- /dev/null
+++ b/.github/workflows/python-main.yml
@@ -0,0 +1,534 @@
+name: Depthai Python CI/CD
+
+# Controls when the action will run. Triggers the workflow on push
+
+###################################
+# WARNING #########################
+# as self-hosted runners are used, and security policy for them has not been yet determined by GitHub
+# pay close attention to not enable workflows on pull_request events
+# TLDR: do NOT add 'pull_request' here for the time being
+on:
+  workflow_dispatch:
+  push:
+    branches:
+    - v3_develop
+    tags:
+    - 'v*'
+
+###################################
+###################################
+
+env:
+  CMAKE_WINDOWS_SDK_VERSION: '10.0.18362.0'
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # Job which builds docstrings for the rest of the wheel builds
+  build-docstrings:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Cache .hunter folder
+        uses: actions/cache@v3
+        with:
+          path: ~/.hunter
+          key: hunter-ubuntu-latest-v3-develop
+      - name: List .hunter cache directory
+        run: ls -a -l ~/.hunter/_Base/ || true
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          sudo apt install libusb-1.0-0-dev
+          python -m pip install -r bindings/python/docs/requirements_mkdoc.txt
+      - name: Configure project
+        run: cmake -S . -B build -DDEPTHAI_BUILD_PYTHON=ON -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/bindings/python/docstrings/depthai_python_docstring.hpp"
+      - name: Build target 'pybind11_mkdoc'
+        run: cmake --build build --target pybind11_mkdoc --parallel 4
+      - name: Upload docstring artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: docstrings
+          path: bindings/python/docstrings/
+          retention-days: 1
+
+
+  # Build and test bindings
+  pytest:
+    needs: build-docstrings
+    strategy:
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Print home directory
+        run: echo Home directory inside container $HOME
+
+      - name: Cache .hunter folder
+        if: matrix.os != 'windows-latest'
+        uses: actions/cache@v3
+        with:
+          path: ~/.hunter/
+          key: hunter-pytest-${{ matrix.os }}-v3-develop
+      - name: Cache .hunter folder
+        if: matrix.os == 'windows-latest'
+        uses: actions/cache@v3
+        with:
+          path: C:/.hunter/
+          key: hunter-pytest-${{ matrix.os }}-v3-develop
+
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+
+      - name: Install dependencies (Ubuntu)
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          python -m pip install --upgrade pip
+          sudo apt install libusb-1.0-0-dev
+
+      - name: Install dependencies (MacOS)
+        if: matrix.os == 'macos-latest'
+        run: |
+          python -m pip install --upgrade pip
+          brew install libusb
+
+      - name: Install pytest
+        run: |
+          python -m pip install pytest numpy
+
+      - name: Compile
+        run: |
+          cmake -S . -B build -DDEPTHAI_BUILD_PYTHON=ON -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
+          cmake --build build --parallel 4
+      - name: Test
+        run: |
+          cmake --build build --target pytest --config Release
+
+
+  # This job builds wheels for armhf arch (RPi)
+  build-linux-armhf:
+    needs: build-docstrings
+    strategy:
+      matrix:
+        rpi-os: [rpi-buster, rpi-bullseye, rpi-bookworm]
+    runs-on: ${{ matrix.rpi-os }}
+    steps:
+      - name: Print home directory
+        run: echo Home directory inside container $HOME
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
+      - name: Building wheel
+        run: cd bindings/python && python3 -m pip wheel . -w ./wheelhouse/ --verbose
+      - name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l)
+        run: |
+          cd bindings/python
+          python3 -m pip install -U wheel auditwheel
+          for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/preaudited/; done
+          for whl in wheelhouse/preaudited/*.whl; do python3 -m wheel tags --platform-tag +linux_armv6l "$whl"; done
+          mkdir -p wheelhouse/audited/
+          for whl in wheelhouse/preaudited/*linux_armv6l*.whl; do cp "$whl" wheelhouse/audited/$(basename $whl); done
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+
+  # This job builds wheels for Windows x86_64 arch
+  build-windows-x86_64:
+    needs: build-docstrings
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
+        python-architecture: [x64, x86]
+      fail-fast: false
+    steps:
+      - name: Cache .hunter folder
+        uses: actions/cache@v3
+        with:
+          path: C:/.hunter
+          key: hunter-msvc-v3-develop
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
+      - name: Select Windows SDK
+        run: echo "CMAKE_ARGS=-DCMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+          architecture: ${{ matrix.python-architecture }}
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Building wheels
+        run: cd bindings/python && python -m pip wheel . -w ./wheelhouse/audited/ --verbose
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  # This job builds wheels for macOS x86_64 arch
+  build-macos-x86_64:
+    needs: build-docstrings
+    runs-on: macos-latest
+    strategy:
+      matrix:
+        python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11', '3.12']
+      fail-fast: false
+    steps:
+      - name: Cache .hunter folder
+        uses: actions/cache@v3
+        with:
+          path: ~/.hunter
+          key: hunter-macos-latest-v3-develop
+      - name: List .hunter cache directory
+        run: |
+          ls -a -l ~/.hunter/_Base/ || true
+          echo "PATH=$PATH"
+
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          brew install libusb
+          python -m pip install delocate
+      - name: Building wheels
+        run: cd bindings/python && python -m pip wheel . -w ./wheelhouse/ --verbose
+      - name: Auditing wheels
+        run: cd bindings/python && ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  # This job builds wheels for macOS arm64 arch
+  build-macos-arm64:
+    needs: build-docstrings
+    runs-on: [self-hosted, macOS, ARM64]
+    steps:
+      # Cached locally on runner
+      # - name: Cache .hunter folder
+      #   uses: actions/cache@v3
+      #   with:
+      #     path: ~/.hunter
+      #     key: hunter-macos-latest
+      - name: List .hunter cache directory
+        run: |
+          ls -a -l ~/.hunter/_Base/ || true
+          echo "PATH=$PATH"
+
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
+
+      # - name: Build and install depthai-core
+      #   run: |
+      #     echo "MACOSX_DEPLOYMENT_TARGET=11.0" >> $GITHUB_ENV
+      #     cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
+      #     cmake --build build_core --target install --parallel 4
+      #     echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
+
+      - name: Build wheels
+        run: cd bindings/python && for PYBIN in {9..12}; do "python3.${PYBIN}" -m pip wheel . -w wheelhouse/ --verbose; done
+
+      - name: Auditing wheels
+        run: |
+          cd bindings/python
+          delocate-wheel -v -w wheelhouse/audited wheelhouse/*.whl
+
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  # This job builds wheels for x86_64 arch
+  build-linux-x86_64:
+    needs: build-docstrings
+    runs-on: ubuntu-latest
+    container:
+      image: quay.io/pypa/manylinux2014_x86_64:2024-01-08-eb135ed
+      env:
+        PLAT: manylinux2014_x86_64
+    steps:
+      - name: Cache .hunter folder
+        uses: actions/cache@v3
+        with:
+          path: ~/.hunter
+          key: hunter-x86_64-v3-develop
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Installing libusb1-devel dependency
+        run: yum install -y --disableplugin=fastestmirror libusb1-devel
+      - name: Installing cmake dependency
+        run: |
+          cd bindings/python
+          /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
+          ln -s /opt/python/cp38-cp38/bin/cmake /bin/
+      - name: Create folder structure
+        run: cd bindings/python && mkdir -p wheelhouse/audited/
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Build and install depthai-core
+        run: |
+          cmake -S . -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
+          cmake --build build_core --target install --parallel 4
+          echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
+
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
+
+      - name: Building source distribution
+        run: |
+          cd bindings/python
+          /opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
+          mv dist/* wheelhouse/audited/
+      - name: Build wheels
+        run: cd bindings/python && for PYBIN in /opt/python/cp3{6..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+      - name: Audit wheels
+        run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  # This job builds wheels for ARM64 arch
+  build-linux-arm64:
+    needs: build-docstrings
+    runs-on: [self-hosted, linux, ARM64]
+    container:
+      image: quay.io/pypa/manylinux2014_aarch64:2024-01-08-eb135ed
+      env:
+        PLAT: manylinux2014_aarch64
+      # Mount local hunter cache directory, instead of transfering to Github and back
+      volumes:
+        - /.hunter:/github/home/.hunter
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Installing libusb1-devel dependency
+        run: yum install -y --disableplugin=fastestmirror libusb1-devel
+      - name: Installing cmake dependency
+        run: |
+          cd bindings/python
+          /opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
+          ln -s /opt/python/cp38-cp38/bin/cmake /bin/
+      - name: Create folder structure
+        run: cd bindings/python && mkdir -p wheelhouse/audited/
+
+      - uses: actions/download-artifact@v3
+        with:
+          name: 'docstrings'
+          path: bindings/python/docstrings
+      - name: Specify docstring to use while building the wheel
+        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV
+
+      - name: Build and install depthai-core
+        run: |
+          cmake -S . -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
+          cmake --build build_core --target install --parallel 4
+          echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV
+
+      - name: Append build hash if not a tagged commit
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
+      - name: Building wheels
+        run: cd bindings/python && for PYBIN in /opt/python/cp3{6..12}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
+      - name: Auditing wheels
+        run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
+      - name: Archive wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: Deploy wheels to artifactory (if not a release)
+        if: startsWith(github.ref, 'refs/tags/v') != true
+        run: cd bindings/python && bash ./ci/upload-artifactory.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-macos-arm64, build-linux-x86_64, build-linux-arm64]
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: 'recursive'
+
+    - uses: actions/setup-python@v4
+      with:
+        python-version: '3.8'
+
+    - name: Check if version matches
+      run: python3.8 -c 'import find_version as v; exit(0) if "${{ github.ref_name }}" == f"v{v.get_package_version()}" else exit(1)'
+
+  # Deploy to PyPi and Artifactory. Only when a commit is tagged
+  deploy:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [release]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - uses: actions/download-artifact@v3
+        with:
+          name: audited-wheels
+          path: bindings/python/wheelhouse/audited/
+      - name: List files
+        run: ls -lah
+      - name: Run deploy to PyPi
+        run: cd bindings/python && bash ./ci/upload-pypi.sh
+        env:
+          PYPI_SERVER: ${{ secrets.PYPI_SERVER }}
+          PYPI_USER: ${{ secrets.PYPI_USER }}
+          PYPI_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
+      - name: Run deploy to Artifactory
+        run: cd bindings/python && bash ./ci/upload-artifactory-release.sh
+        env:
+          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
+          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
+          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}
+
+  notify_hil_workflow_linux_x86_64:
+    needs: [build-linux-x86_64]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dispatch an action and get the run ID
+        uses: codex-/return-dispatch@v1
+        id: return_dispatch
+        with:
+          token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }} # Note this is NOT GITHUB_TOKEN but a PAT
+          ref: main # or refs/heads/target_branch
+          repo: depthai-core-hil-tests
+          owner: luxonis
+          workflow: regression_test.yml
+          workflow_inputs: '{"commit": "${{ github.ref }}", "parent_url": "https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}"}'
+          workflow_timeout_seconds: 300 # was 120  Default: 300
+
+      - name: Release
+        run: echo "https://github.com/luxonis/depthai-core-hil-tests/actions/runs/${{steps.return_dispatch.outputs.run_id}}" >> $GITHUB_STEP_SUMMARY
diff --git a/.github/workflows/python-test-install-dependencies.yml b/.github/workflows/python-test-install-dependencies.yml
new file mode 100644
index 000000000..1e427c7b9
--- /dev/null
+++ b/.github/workflows/python-test-install-dependencies.yml
@@ -0,0 +1,64 @@
+ name: python bindings OS Support
+
+ on:
+  workflow_dispatch:
+  push:
+    paths:
+      - 'bindings/python/docs/source/_static/install_dependencies.sh'
+      - 'bindings/python/examples/install_requirements.py'
+  pull_request:
+      paths:
+      - 'bindings/python/docs/source/_static/install_dependencies.sh'
+      - 'bindings/python/examples/install_requirements.py'
+
+ jobs:
+   test_linux:
+     runs-on: ubuntu-latest
+     strategy:
+       matrix:
+          container_image: ["fedora:34", "fedora:35", "fedora:36", "ubuntu:18.04", "ubuntu:20.04", "ubuntu:22.04", "ubuntu:22.10"]
+     container:
+       image: ${{ matrix.container_image }}
+     steps:
+       - uses: actions/checkout@v3
+       - name: Install sudo
+         if: startsWith(matrix.container_image, 'fedora') == true
+         run: yum update -y && yum install -y sudo
+       - name: Install sudo
+         if: startsWith(matrix.container_image, 'ubuntu') == true
+         run: apt-get update  -qq && apt-get -qq install sudo
+       - name: Install dependencies
+         run: |
+           ln -snf /usr/share/zoneinfo/UTC /etc/localtime && echo UTC > /etc/timezone # Otherwise tzdata installer prompts for user input
+           sed '/udevadm control --reload-rules && sudo udevadm trigger/d' bindings/python/docs/source/_static/install_dependencies.sh > tmp_script.sh # Doesn't work on docker
+           bash tmp_script.sh
+       - name: Install example requirements
+         run: |
+           python3 bindings/python/examples/install_requirements.py
+   test_macos:
+      strategy:
+        matrix:
+          os: ["macos-11", "macos-12"]
+      runs-on: ${{ matrix.os }}
+      steps:
+       - uses: actions/checkout@v3
+       - name: Install dependencies
+         run: |
+           sed '/udevadm control --reload-rules && sudo udevadm trigger/d' bindings/python/docs/source/_static/install_dependencies.sh > tmp_script.sh
+           bash tmp_script.sh
+       - name: Install example requirements
+         run: |
+           python3 bindings/python/examples/install_requirements.py
+   test_windows:
+      runs-on: windows-latest
+      steps:
+      - uses: actions/checkout@v3
+      - name: Download chocolatey
+        shell: pwsh
+        run: Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))
+      - name: Install dependencies
+        shell: pwsh
+        run: choco install cmake git python --version 3.10 -y
+      - name: Install example requrirements
+        run: |
+          python bindings/python/examples/install_requirements.py
diff --git a/.gitignore b/.gitignore
index 4dd08b34f..7c8ff8ad3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,6 +22,12 @@ depthai-cpp/build/
 #ci
 wheelhouse/
 calib*.json
+#depthai c++ core library
+depthai-core/.vscode/
+depthai-core/build/
+
+# builds
+_builds/
 #git
 *.orig
 *_REMOTE_*
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 000000000..2257bb8d2
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,14 @@
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+
+build:armhf:
+  tags: 
+    - luxonis-armhf
+  image: registry.gitlab.com/luxonis/depthai-crosscompile/debian-buster
+  stage: build
+  script:
+    - python3 -m pip wheel . -w wheelhouse/
+    - for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat "linux_armv7l" -w wheelhouse/audited/; done
+  artifacts:
+    paths:
+      - wheelhouse/audited/
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 07c85c94a..03b7b447a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,12 @@
-[submodule "shared/depthai-shared"]
-	path = shared/depthai-shared
-	url = ../depthai-shared.git
 [submodule "shared/depthai-bootloader-shared"]
 	path = shared/depthai-bootloader-shared
 	url = ../depthai-bootloader-shared.git
+[submodule "3rdparty/xtensor"]
+	path = 3rdparty/xtensor
+	url = https://github.com/xtensor-stack/xtensor
+[submodule "3rdparty/xtl"]
+	path = 3rdparty/xtl
+	url = https://github.com/xtensor-stack/xtl
+[submodule "bindings/python/external/xtensor-python"]
+	path = bindings/python/external/xtensor-python
+	url = https://github.com/xtensor-stack/xtensor-python.git
diff --git a/3rdparty/xtensor b/3rdparty/xtensor
new file mode 160000
index 000000000..8ef0ee649
--- /dev/null
+++ b/3rdparty/xtensor
@@ -0,0 +1 @@
+Subproject commit 8ef0ee649fcd7476242af1d2072b45364036937d
diff --git a/3rdparty/xtl b/3rdparty/xtl
new file mode 160000
index 000000000..e697c91e2
--- /dev/null
+++ b/3rdparty/xtl
@@ -0,0 +1 @@
+Subproject commit e697c91e2a3ac571d120d2b093fb3b250d060a7d
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ecd5a4850..f5604dcf2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,8 +35,8 @@ endif()
 
 include("cmake/HunterGate.cmake")
 HunterGate(
-    URL "https://github.com/cpp-pm/hunter/archive/v0.23.322.tar.gz"
-    SHA1 "cb0ea1f74f4a2c49a807de34885743495fccccbe"
+    URL "https://github.com/cpp-pm/hunter/archive/v0.24.18.tar.gz"
+    SHA1 "1292e4d661e1770d6d6ca08c12c07cf34a0bf718"
     LOCAL # Local config for dependencies
 )
 
@@ -46,7 +46,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.24.0" LANGUAGES CXX C)
+project(depthai VERSION "2.25.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -96,11 +96,10 @@ option(DEPTHAI_INSTALL   "Enable install target for depthai-core targets" ON)
 
 # Debug option
 set(DEPTHAI_XLINK_LOCAL "" CACHE STRING "Path to local XLink source to use instead of Hunter")
-set(DEPTHAI_SHARED_LOCAL "" CACHE STRING "Path to local depthai-shared source to use instead of submodule")
 set(DEPTHAI_BOOTLOADER_SHARED_LOCAL "" CACHE STRING "Path to local depthai-bootloader-shared source to use instead of submodule")
 
 # Enable backward stack printing on crash
-if(ANDROID)
+if(ANDROID OR EMSCRIPTEN)
     # Backward not supported currently on Android
     set(DEPTHAI_ENABLE_BACKWARD OFF CACHE BOOL "" FORCE)
 else()
@@ -165,6 +164,8 @@ endif()
 
 ### Get and find dependencies
 
+# Specify optional dependencies
+option(DEPTHAI_XTENSOR_SUPPORT "Enable optional xtensor support" ON)
 # Include project dependencies
 set(DEPTHAI_DEPENDENCY_INCLUDE "" CACHE FILEPATH "Optional cmake file to append to dependency processing, e.g. additional find_package()")
 include(depthaiDependencies)
@@ -172,9 +173,10 @@ include(depthaiDependencies)
 # Add threads preference
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 
-# Add depthai-shared, and definitions that it is PC side
-include(${CMAKE_CURRENT_LIST_DIR}/shared/depthai-shared.cmake)
-
+# TODO Remove shared naming
+set(DEPTHAI_SHARED_3RDPARTY_INCLUDE
+    ${CMAKE_CURRENT_LIST_DIR}/include/3rdparty/
+)
 # Add depthai-bootloader-shared
 include(${CMAKE_CURRENT_LIST_DIR}/shared/depthai-bootloader-shared.cmake)
 
@@ -188,8 +190,6 @@ set(TARGET_CORE_ALIAS core)
 
 # Create core library
 add_library(${TARGET_CORE_NAME}
-    # depthai-shared sources
-    "${DEPTHAI_SHARED_SOURCES}"
     # depthai-bootloader-shared sources
     "${DEPTHAI_BOOTLOADER_SHARED_SOURCES}"
     # sources
@@ -197,12 +197,15 @@ add_library(${TARGET_CORE_NAME}
     src/device/DeviceBase.cpp
     src/device/DeviceBootloader.cpp
     src/device/DataQueue.cpp
-    src/device/CallbackHandler.cpp
+    # src/device/CallbackHandler.cpp
     src/device/CalibrationHandler.cpp
     src/device/Version.cpp
     src/pipeline/Pipeline.cpp
     src/pipeline/AssetManager.cpp
+    src/pipeline/MessageQueue.cpp
     src/pipeline/Node.cpp
+    src/pipeline/ThreadedNode.cpp
+    src/pipeline/DeviceNode.cpp
     src/pipeline/node/XLinkIn.cpp
     src/pipeline/node/XLinkOut.cpp
     src/pipeline/node/ColorCamera.cpp
@@ -218,6 +221,8 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/VideoEncoder.cpp
     src/pipeline/node/DetectionNetwork.cpp
     src/pipeline/node/Script.cpp
+    src/pipeline/node/Pool.cpp
+    src/pipeline/node/Benchmark.cpp
     src/pipeline/node/SpatialDetectionNetwork.cpp
     src/pipeline/node/SystemLogger.cpp
     src/pipeline/node/SpatialLocationCalculator.cpp
@@ -227,10 +232,17 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/EdgeDetector.cpp
     src/pipeline/node/SPIIn.cpp
     src/pipeline/node/FeatureTracker.cpp
+    src/pipeline/node/ToF.cpp
     src/pipeline/node/DetectionParser.cpp
+    src/pipeline/node/Sync.cpp
+    src/pipeline/node/test/MyProducer.cpp
+    src/pipeline/node/test/MyConsumer.cpp
     src/pipeline/node/UVC.cpp
+    src/pipeline/datatype/DatatypeEnum.cpp
+    src/pipeline/node/PointCloud.cpp
     src/pipeline/datatype/Buffer.cpp
     src/pipeline/datatype/ImgFrame.cpp
+    src/pipeline/datatype/ImgTransformations.cpp
     src/pipeline/datatype/EncodedFrame.cpp
     src/pipeline/datatype/ImageManipConfig.cpp
     src/pipeline/datatype/CameraControl.cpp
@@ -238,6 +250,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/ImgDetections.cpp
     src/pipeline/datatype/SpatialImgDetections.cpp
     src/pipeline/datatype/SystemInformation.cpp
+    src/pipeline/datatype/SystemInformationS3.cpp
     src/pipeline/datatype/StreamMessageParser.cpp
     src/pipeline/datatype/SpatialLocationCalculatorData.cpp
     src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp
@@ -250,6 +263,9 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/TrackedFeatures.cpp
     src/pipeline/datatype/FeatureTrackerConfig.cpp
     src/pipeline/datatype/ToFConfig.cpp
+    src/pipeline/datatype/BenchmarkReport.cpp
+    src/pipeline/datatype/PointCloudConfig.cpp
+    src/pipeline/datatype/PointCloudData.cpp
     src/pipeline/datatype/MessageGroup.cpp
     src/utility/H26xParsers.cpp
     src/utility/Initialization.cpp
@@ -259,12 +275,20 @@ add_library(${TARGET_CORE_NAME}
     src/utility/Environment.cpp
     src/utility/XLinkGlobalProfilingLogger.cpp
     src/utility/Logging.cpp
+    src/utility/Checksum.cpp
+    src/utility/matrixOps.cpp
     src/utility/EepromDataParser.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp
     src/openvino/BlobReader.cpp
     src/bspatch/bspatch.c
+    src/device/DeviceGate.cpp
+    src/utility/ArchiveUtil.cpp
+    src/nn_archive/NNArchive.cpp
+    src/nn_archive/NNArchiveConfig.cpp
+    src/nn_archive/NNArchiveBlob.cpp
+    src/nn_archive/NNArchiveConfigHelper.cpp
 )
 add_library("${PROJECT_NAME}::${TARGET_CORE_ALIAS}" ALIAS ${TARGET_CORE_NAME})
 # Specify that we are building core
@@ -283,38 +307,34 @@ if(DEPTHAI_CLANG_TIDY)
     target_clangtidy_setup(${TARGET_CORE_NAME})
 endif()
 
-# Set compiler features (c++14), and disables extensions (g++14)
-set_property(TARGET ${TARGET_CORE_NAME} PROPERTY CXX_STANDARD 14)
+# Set compiler features (c++17), and disables extensions (g++17)
+set_property(TARGET ${TARGET_CORE_NAME} PROPERTY CXX_STANDARD 17)
 set_property(TARGET ${TARGET_CORE_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
 set_property(TARGET ${TARGET_CORE_NAME} PROPERTY CXX_EXTENSIONS OFF)
-# Add interface transitive property (C++14)
+# Add interface transitive property (C++17)
 if(${CMAKE_VERSION} VERSION_LESS "3.8.0")
     target_compile_features(${TARGET_CORE_NAME} INTERFACE cxx_generic_lambdas)
 else()
-    target_compile_features(${TARGET_CORE_NAME} INTERFACE cxx_std_14)
+    target_compile_features(${TARGET_CORE_NAME} INTERFACE cxx_std_17)
 endif()
+# Minimal supported macOS SDK version for C++17 support with std::filesystem
+set(CMAKE_OSX_DEPLOYMENT_TARGET 10.15)
 
 # First specify options
 option(DEPTHAI_BUILD_TESTS "Build tests" OFF)
 option(DEPTHAI_BUILD_EXAMPLES "Build examples - Requires OpenCV library to be installed" OFF)
+option(DEPTHAI_BUILD_PYTHON "Build python bindings" OFF)
 option(DEPTHAI_BUILD_DOCS "Build documentation - requires doxygen to be installed" OFF)
 option(DEPTHAI_OPENCV_SUPPORT "Enable optional OpenCV support" ON)
+option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" ON)
 
+# Specify support for FW
+option(DEPTHAI_ENABLE_DEVICE_FW "Enable MyriadX Device FW" ON)
+option(DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW "Enable MyriadX Device Bootloader FW" ON)
+option(DEPTHAI_ENABLE_DEVICE_RVC3_FW "Enable RVC3 Device FW" ON)
+option(DEPTHAI_ENABLE_DEVICE_RVC4_FW "Enable RVC4 Device FW" ON)
 
 option(DEPTHAI_BINARIES_RESOURCE_COMPILE "Compile Depthai device side binaries into library" ON)
-option(DEPTHAI_USB2_PATCH_ONLY_MODE "Use patch file and full depthai.cmd binary for usb2 mode" ON)
-option(DEPTHAI_CMD_PATH "Use local path for depthai.cmd instead of downloading" OFF)
-if(DEPTHAI_USB2_PATCH_ONLY_MODE)
-    option(DEPTHAI_USB2_PATCH_PATH "Use local path for depthai-usb2-patch.patch instead of downloading" OFF)
-else()
-    option(DEPTHAI_USB2_CMD_PATH "Use local path for depthai-usb2.cmd instead of downloading" OFF)
-endif()
-
-if(DEPTHAI_USB2_PATCH_ONLY_MODE)
-    message(STATUS "Compiling ${TARGET_CORE_NAME} resources in PATCH_ONLY mode")
-else()
-    message(STATUS "Compiling ${TARGET_CORE_NAME} depthai and depthai-usb2 resources")
-endif()
 
 # Set constant
 set(DEPTHAI_RESOURCES_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/resources")
@@ -322,18 +342,25 @@ set(DEPTHAI_RESOURCES_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/resources")
 # Include configuration
 include(Depthai/DepthaiDeviceSideConfig)    # Depthai device binary commit/version configuration
 include(Depthai/DepthaiBootloaderConfig)    # Depthai bootloader binary commit/version configuration
+include(Depthai/DepthaiDeviceKbConfig)    # depthai-device-kb fwp commit/version configuration
+include(Depthai/DepthaiDeviceRVC4Config)    # depthai-device-rvc4 fwp commit/version configuration
 
 # Include downloaders
 include(DepthaiDownloader)                  # Depthai device binary downloader
 include(DepthaiBootloaderDownloader)        # Depthai bootloader binary downloader
+include(DepthaiDeviceKbDownloader)          # depthai-device-kb fwp downloader
 
 
 # depthai-shared enforce commit hash match if CI
 if($ENV{CI})
-    set(DEPTHAI_SHARED_COMMIT_HASH_ENFORCE ON)
+    # TODO(themarpe) - Disable before final merge
+    # set(DEPTHAI_SHARED_COMMIT_HASH_ENFORCE ON)
+    set(DEPTHAI_SHARED_COMMIT_HASH_ENFORCE OFF)
     set(DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH_ENFORCE ON)
 endif()
 
+# No user specified paths, download from server
+message(STATUS "Downloading Depthai device side binaries from server...")
 
 # Then get the Depthai device side binaries (local or download)
 if(DEPTHAI_CMD_PATH OR DEPTHAI_USB2_CMD_PATH OR DEPTHAI_USB2_PATCH_PATH)
@@ -352,28 +379,64 @@ if(DEPTHAI_CMD_PATH OR DEPTHAI_USB2_CMD_PATH OR DEPTHAI_USB2_PATCH_PATH)
 else()
     # No user specified paths, download from server
     message(STATUS "Downloading Depthai device side binaries from server...")
+endif()
+
+if(DEPTHAI_ENABLE_DEVICE_FW)
+    # Add device FW
 
     DepthaiDownload(
         "${DEPTHAI_SHARED_COMMIT_HASH}" "${DEPTHAI_SHARED_COMMIT_HASH_ENFORCE}"
-        PATCH_ONLY ${DEPTHAI_USB2_PATCH_ONLY_MODE}
+        PATCH_ONLY ON
         "${DEPTHAI_RESOURCES_OUTPUT_DIR}"            # Output folder
         DEPTHAI_RESOURCE_LIST                       # List of output resources
         "${DEPTHAI_DEVICE_SIDE_MATURITY}"           # Maturity
         "${DEPTHAI_DEVICE_SIDE_COMMIT}"             # commit hash
         "${DEPTHAI_DEVICE_SIDE_VERSION}"            # Optional version
     )
+    list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_RESOURCE_LIST})
 endif()
-list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_RESOURCE_LIST})
 
-# Add bootloader
-DepthaiBootloaderDownload(
-    "${DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH}" "${DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH_ENFORCE}"
-    "${DEPTHAI_RESOURCES_OUTPUT_DIR}"                # Output folder
-    DEPTHAI_BOOTLOADER_RESOURCE_LIST                # List of output resources
-    "${DEPTHAI_BOOTLOADER_MATURITY}"                # Maturity
-    "${DEPTHAI_BOOTLOADER_VERSION}"                 # if maturity == snapshot -> hash else version
-)
-list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_BOOTLOADER_RESOURCE_LIST})
+if(DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW)
+    # Add bootloader FW
+    DepthaiBootloaderDownload(
+        "${DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH}" "${DEPTHAI_BOOTLOADER_SHARED_COMMIT_HASH_ENFORCE}"
+        "${DEPTHAI_RESOURCES_OUTPUT_DIR}"                # Output folder
+        DEPTHAI_BOOTLOADER_RESOURCE_LIST                # List of output resources
+        "${DEPTHAI_BOOTLOADER_MATURITY}"                # Maturity
+        "${DEPTHAI_BOOTLOADER_VERSION}"                 # if maturity == snapshot -> hash else version
+    )
+    list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_BOOTLOADER_RESOURCE_LIST})
+endif()
+
+if(DEPTHAI_ENABLE_DEVICE_RVC3_FW)
+    # Add device-kb FW
+    DepthaiDeviceDownloader(
+        "depthai-device-kb"
+        "luxonis-keembay-snapshot-local"
+        "luxonis-keembay-release-local"
+        "${DEPTHAI_SHARED_COMMIT_HASH}" "${DEPTHAI_SHARED_COMMIT_HASH_ENFORCE}"
+        "${DEPTHAI_RESOURCES_OUTPUT_DIR}"                # Output folder
+        DEPTHAI_DEVICE_KB_RESOURCE_LIST                 # List of output resources
+        "${DEPTHAI_DEVICE_KB_MATURITY}"                # Maturity
+        "${DEPTHAI_DEVICE_RVC3_VERSION}"
+    )
+    list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_DEVICE_KB_RESOURCE_LIST})
+endif()
+
+if(DEPTHAI_ENABLE_DEVICE_RVC4_FW)
+    # Add device-RVC4 FW
+    DepthaiDeviceDownloader(
+        "depthai-device-rvc4"
+        "luxonis-rvc4-snapshot-local"
+        "luxonis-rvc4-release-local"
+        "${DEPTHAI_SHARED_COMMIT_HASH}" "${DEPTHAI_SHARED_COMMIT_HASH_ENFORCE}"
+        "${DEPTHAI_RESOURCES_OUTPUT_DIR}"                # Output folder
+        DEPTHAI_DEVICE_RVC4_RESOURCE_LIST                 # List of output resources
+        "${DEPTHAI_DEVICE_RVC4_MATURITY}"                # Maturity
+        "${DEPTHAI_DEVICE_RVC4_VERSION}"
+    )
+    list(APPEND RESOURCE_COMPILED_FILES ${DEPTHAI_DEVICE_RVC4_RESOURCE_LIST})
+endif()
 
 message(STATUS "LIST OF RESOURCE COMPILED FILES: ${RESOURCE_COMPILED_FILES}")
 
@@ -398,7 +461,7 @@ if(DEPTHAI_BINARIES_RESOURCE_COMPILE)
 else()
     # TODO
     # Don't add RC and don't resource compile the binaries
-
+    # Install to share/ instead for instance
 endif()
 
 # Add include directories
@@ -439,6 +502,7 @@ target_link_libraries(${TARGET_CORE_NAME}
     PUBLIC
         nlohmann_json::nlohmann_json
         libnop
+        spdlog::spdlog
     INTERFACE
         XLinkPublic
     PRIVATE
@@ -447,8 +511,8 @@ target_link_libraries(${TARGET_CORE_NAME}
         BZip2::bz2
         FP16::fp16
         archive_static
-        spdlog::spdlog
         ZLIB::zlib
+        httplib::httplib
 )
 
 # Add compile & CMake definitions
@@ -459,13 +523,37 @@ target_compile_definitions(${TARGET_CORE_NAME}
         DEPTHAI_DEVICE_VERSION="${DEPTHAI_DEVICE_VERSION}"
         # Add depthai-bootloader version
         DEPTHAI_BOOTLOADER_VERSION="${DEPTHAI_BOOTLOADER_VERSION}"
+        # Add depthai-device-kb version
+        DEPTHAI_DEVICE_RVC3_VERSION="${DEPTHAI_DEVICE_RVC3_VERSION}"
+        # Add depthai-device-rvc4 version
+        DEPTHAI_DEVICE_RVC4_VERSION="${DEPTHAI_DEVICE_RVC4_VERSION}"
 )
 # Add compile flag if libusb is available
 if(DEPTHAI_ENABLE_LIBUSB)
     target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_LIBUSB)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_HAVE_LIBUSB_SUPPORT)
     set(DEPTHAI_HAVE_LIBUSB_SUPPORT ON)
 endif()
 
+if(DEPTHAI_XTENSOR_SUPPORT)
+    target_compile_definitions(${TARGET_CORE_NAME} PUBLIC DEPTHAI_XTENSOR_SUPPORT)
+    target_link_libraries(${TARGET_CORE_NAME} PUBLIC xtensor)
+endif()
+
+# Specify available FW
+if(DEPTHAI_ENABLE_DEVICE_FW)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_DEVICE_FW)
+endif()
+if(DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW)
+endif()
+if(DEPTHAI_ENABLE_DEVICE_RVC3_FW)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_DEVICE_RVC3_FW)
+endif()
+if(DEPTHAI_ENABLE_DEVICE_RVC4_FW)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_DEVICE_RVC4_FW)
+endif()
+
 # Add Backward dependency if enabled (On by default)
 if(DEPTHAI_ENABLE_BACKWARD)
     target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_ENABLE_BACKWARD)
@@ -539,7 +627,7 @@ if(DEPTHAI_OPENCV_SUPPORT)
 
         # Specify that we are building target opencv
         target_compile_definitions(${TARGET_OPENCV_NAME} PUBLIC DEPTHAI_TARGET_OPENCV)
-
+        target_compile_definitions(${TARGET_OPENCV_NAME} PUBLIC DEPTHAI_HAVE_OPENCV_SUPPORT)
         # Add public dependency to depthai::core library
         target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${TARGET_CORE_NAME})
 
@@ -558,6 +646,76 @@ if(DEPTHAI_OPENCV_SUPPORT)
     endif()
 endif()
 
+
+########################
+# PCL Support
+########################
+set(TARGET_PCL_NAME ${PROJECT_NAME}-pcl)
+set(TARGET_PCL_ALIAS pcl)
+if(DEPTHAI_PCL_SUPPORT)
+    if(PCL_FOUND)
+        # Add depthai-core-pcl library and depthai::core::pcl alias
+        add_library(${TARGET_PCL_NAME} src/pcl/PointCloudData.cpp)
+        add_library("${PROJECT_NAME}::${TARGET_PCL_ALIAS}" ALIAS ${TARGET_PCL_NAME})
+        # Specifies name of generated IMPORTED target (set to alias)
+        set_target_properties(${TARGET_PCL_NAME} PROPERTIES EXPORT_NAME ${TARGET_PCL_ALIAS})
+
+        # Add default flags
+        add_default_flags(${TARGET_PCL_NAME})
+        add_flag(${TARGET_PCL_NAME} -Wno-switch-enum)
+
+        # Link to PCL (publically)
+        target_link_libraries(${TARGET_PCL_NAME} PUBLIC ${PCL_LIBRARIES})
+
+        # Add public compile definition indicating that PCL support is available
+        set(DEPTHAI_HAVE_PCL_SUPPORT ON)
+
+        # Specify that we are building target pcl
+        target_compile_definitions(${TARGET_PCL_NAME} PUBLIC DEPTHAI_TARGET_PCL)
+        target_compile_definitions(${TARGET_PCL_NAME} PUBLIC DEPTHAI_HAVE_PCL_SUPPORT)
+
+
+        target_include_directories(${TARGET_PCL_NAME} PUBLIC ${PCL_INCLUDE_DIRS})
+        target_link_directories(${TARGET_PCL_NAME} PUBLIC ${PCL_LIBRARY_DIRS})
+        target_compile_definitions(${TARGET_PCL_NAME} PUBLIC ${PCL_DEFINITIONS})
+
+        # Add public dependency to depthai::core library
+        target_include_directories(${TARGET_CORE_NAME} PUBLIC $<TARGET_PROPERTY:${TARGET_PCL_NAME},INTERFACE_INCLUDE_DIRECTORIES>)
+        target_link_libraries(${TARGET_PCL_NAME} PUBLIC ${TARGET_CORE_NAME})
+
+        # Add to clangformat target
+        if(COMMAND target_clangformat_setup)
+            target_clangformat_setup(${TARGET_PCL_NAME} "")
+        endif()
+
+        # Add to list of targets to export and install
+        list(APPEND targets_to_export ${TARGET_PCL_NAME})
+
+        message(STATUS "PCL found. PCL Support enabled")
+
+    else()
+        message(STATUS "PCL not found. PCL Support disabled")
+    endif()
+endif()
+
+########################
+# Combined target
+########################
+set(TARGET_ALL_ALIAS all)
+set(TARGET_ALL_NAME ${PROJECT_NAME}-all)
+if(DEPTHAI_HAVE_OPENCV_SUPPORT AND DEPTHAI_HAVE_PCL_SUPPORT)
+    add_library(${TARGET_ALL_NAME} INTERFACE)
+    add_library("${PROJECT_NAME}::${TARGET_ALL_ALIAS}" ALIAS ${TARGET_ALL_NAME})
+    # Specifies name of generated IMPORTED target (set to alias)
+    set_target_properties(${TARGET_ALL_NAME} PROPERTIES EXPORT_NAME ${TARGET_ALL_ALIAS})
+    target_link_libraries(${TARGET_ALL_NAME} INTERFACE ${TARGET_CORE_NAME} ${TARGET_OPENCV_NAME} ${TARGET_PCL_NAME})
+
+    # Add to list of targets to export and install
+    list(APPEND targets_to_export ${TARGET_ALL_NAME})
+
+    message(STATUS "OpenCV and PCL found. Combined target enabled")
+endif()
+
 ########################
 # Sanitizers
 ########################
@@ -569,6 +727,9 @@ if(DEPTHAI_SANITIZE)
     if(DEPTHAI_HAVE_OPENCV_SUPPORT)
         add_sanitizers(${TARGET_OPENCV_NAME})
     endif()
+    if(DEPTHAI_HAVE_PCL_SUPPORT)
+        add_sanitizers(${TARGET_PCL_NAME})
+    endif()
     if(DEPTHAI_XLINK_LOCAL)
         add_sanitizers(XLink)
         if(XLINK_LIBUSB_LOCAL)
@@ -597,6 +758,14 @@ if (DEPTHAI_BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()
 
+if (EMSCRIPTEN)
+    add_subdirectory(bindings/js)
+endif()
+
+if (DEPTHAI_BUILD_PYTHON)
+  add_subdirectory(bindings/python)
+endif()
+
 ########################
 # Documentation
 ########################
@@ -611,9 +780,8 @@ endif()
 string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)
 message(STATUS "BUILD_DATETIME: ${BUILD_DATETIME}, BUILD_COMMIT: ${BUILD_COMMIT}, BUILD_COMMIT_DATETIME: ${BUILD_COMMIT_DATETIME}")
 
-# Configure build information (version, opencv support)
+# Configure build information (version, opencv, pcl support)
 configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/version.hpp.in" "${CMAKE_CURRENT_LIST_DIR}/include/depthai/build/version.hpp")
-configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/config.hpp.in" "${CMAKE_CURRENT_LIST_DIR}/include/depthai/build/config.hpp")
 
 ########################
 # Export and install
@@ -669,14 +837,12 @@ if(DEPTHAI_INSTALL)
 
     # Install depthai public headers
     install(DIRECTORY include/ DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
-    # Install depthai-shared public headers
-    install(DIRECTORY "${DEPTHAI_SHARED_PUBLIC_INCLUDE}/" DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
-    # Install depthai-shared 3rdparty headers
-    install(DIRECTORY "${DEPTHAI_SHARED_3RDPARTY_INCLUDE}/" DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/${DEPTHAI_SHARED_3RDPARTY_HEADERS_PATH}")
     # Install depthai-bootloader-shared public headers
     install(DIRECTORY "${DEPTHAI_BOOTLOADER_SHARED_PUBLIC_INCLUDE}/" DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
     # Install Hunter dependencies
     install(DIRECTORY "${HUNTER_INSTALL_PREFIX}/" DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}/dependencies")
+    # Install depthai-core dependencies
+    install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/3rdparty" DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake")
     # Install resources if not RC'd
     if(NOT DEPTHAI_BINARIES_RESOURCE_COMPILE)
         install(DIRECTORY "${DEPTHAI_RESOURCES_OUTPUT_DIR}/" DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}")
@@ -720,3 +886,11 @@ if(DEPTHAI_HAVE_OPENCV_SUPPORT)
         $<$<BOOL:${tmp_includes}>:\n-I\'$<JOIN:${tmp_includes},\'\n-I\'>\'>\n"
     )
 endif()
+if(DEPTHAI_HAVE_PCL_SUPPORT)
+    set(tmp_definitions "$<TARGET_PROPERTY:${TARGET_PCL_NAME},INTERFACE_COMPILE_DEFINITIONS>")
+    set(tmp_includes "$<TARGET_PROPERTY:${TARGET_PCL_NAME},INTERFACE_INCLUDE_DIRECTORIES>")
+    file(GENERATE OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/depthai-pcl-integration.txt" CONTENT
+        "$<$<BOOL:${tmp_definitions}>:\n-D\'$<JOIN:${tmp_definitions},\'\n-D\'>\'>\n
+        $<$<BOOL:${tmp_includes}>:\n-I\'$<JOIN:${tmp_includes},\'\n-I\'>\'>\n"
+    )
+endif()
diff --git a/README.md b/README.md
index d951d888f..dea998c7b 100644
--- a/README.md
+++ b/README.md
@@ -14,13 +14,18 @@ Documentation is available over at [Luxonis DepthAI API](https://docs.luxonis.co
 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
+- CMake >= 3.14
 - C/C++14 compiler
 - [optional] OpenCV 4 (required if building examples)
+- [optional] PCL (required for point cloud example)
 
-MacOS: Optional `brew install opencv`
+To install OpenCV:
+MacOS: `brew install opencv`
+Linux: `sudo apt install libopencv-dev`
 
-Linux: Optional `sudo apt install libopencv-dev`
+To install PCL:
+MacOS: `brew install pcl`
+Linux: `sudo apt install libpcl-dev`
 
 ## Building
 
@@ -178,7 +183,8 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_SEARCH_TIMEOUT | Specifies timeout in milliseconds for device searching in blocking functions. |
 | DEPTHAI_CONNECT_TIMEOUT | Specifies timeout in milliseconds for establishing a connection to a given device. |
 | DEPTHAI_BOOTUP_TIMEOUT | Specifies timeout in milliseconds for waiting the device to boot after sending the binary. |
-| DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: any, usb, tcpip. |
+| DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: `any`, `usb`, `tcpip`. |
+| DEPTHAI_PLATFORM | Restricts default search to the specified platform. Options: `any`, `rvc2`, `rvc3`, `rvc4`. |
 | DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs. Lists filter results in an "AND" manner and not "OR" |
 | DEPTHAI_DEVICE_ID_LIST | Alias to MXID list. Lists filter results in an "AND" manner and not "OR" |
 | DEPTHAI_DEVICE_NAME_LIST | Restricts default search to the specified NAMEs. Accepts comma separated list of NAMEs. Lists filter results in an "AND" manner and not "OR" |
diff --git a/bindings/js/.babelrc.js b/bindings/js/.babelrc.js
new file mode 100644
index 000000000..9a1ff7975
--- /dev/null
+++ b/bindings/js/.babelrc.js
@@ -0,0 +1,51 @@
+/**
+ * Config fragments to be used by all module
+ * format environments
+ */
+const sharedPresets = ["@babel/preset-typescript"];
+const sharedIgnoredFiles = ["src/**/*.test.ts"];
+const sharedConfig = {
+  ignore: sharedIgnoredFiles,
+  presets: sharedPresets,
+};
+/**
+ * Shared configs for bundles (ESM and UMD)
+ */
+const bundlePresets = [
+  [
+    "@babel/preset-env",
+    {
+      targets: "> 0.25%, not dead",
+    },
+  ],
+  ...sharedPresets,
+];
+const bundleConfig = {
+  ...sharedConfig,
+  presets: bundlePresets,
+};
+/**
+ * Babel Config
+ */
+module.exports = {
+  env: {
+    esmUnbundled: sharedConfig,
+    esmBundled: bundleConfig,
+    umdBundled: bundleConfig,
+    cjs: {
+      ignore: sharedIgnoredFiles,
+      presets: [
+        [
+          "@babel/preset-env",
+          {
+            modules: "commonjs",
+          },
+        ],
+        ...sharedPresets,
+      ],
+    },
+    test: {
+      presets: ["@babel/preset-env", ...sharedPresets],
+    },
+  },
+};
diff --git a/bindings/js/.gitignore b/bindings/js/.gitignore
new file mode 100644
index 000000000..626c4f31e
--- /dev/null
+++ b/bindings/js/.gitignore
@@ -0,0 +1,2 @@
+/lib
+/node_modules
diff --git a/bindings/js/CMakeLists.txt b/bindings/js/CMakeLists.txt
new file mode 100644
index 000000000..ca177e07f
--- /dev/null
+++ b/bindings/js/CMakeLists.txt
@@ -0,0 +1,28 @@
+set(TARGET_NAME depthai-js)
+
+add_executable("${TARGET_NAME}" bindings.cpp)
+
+add_dependencies("${TARGET_NAME}" "${PROJECT_NAME}-core")
+
+target_link_options(
+  "${TARGET_NAME}" 
+  PRIVATE
+  -fwasm-exceptions
+  --embind-emit-tsd depthai-js.d.ts
+  -sUSE_ES6_IMPORT_META=0
+  -sENVIRONMENT=web
+  -sMODULARIZE
+  -sEXPORT_ES6
+  -sEXPORT_NAME=depthaiJsModuleInitialize
+)
+target_link_libraries(
+  "${TARGET_NAME}"
+  PRIVATE
+  "${PROJECT_NAME}-core"
+  -lembind
+)
+target_compile_options(
+  "${TARGET_NAME}"
+  PUBLIC
+  -fwasm-exceptions
+)
diff --git a/bindings/js/README.md b/bindings/js/README.md
new file mode 100644
index 000000000..b6b34ccd6
--- /dev/null
+++ b/bindings/js/README.md
@@ -0,0 +1,32 @@
+# Building
+On linux or macos first install the [emscripten sdk](https://emscripten.org/docs/getting_started/downloads.html) to your users home directory `~/emsdk`  
+So you should have `/home/your_user/emsdk/emsdk_env.sh` file.  
+And then run:
+```
+./bindings/js/configure.sh
+./bindings/js/build.sh
+```
+on windows or if emscripten sdk is in different location check the above scripts and run the apropriate commands manually.  
+
+The output files are in the root build directory (depthai-core/build):
+```
+build/bindings/js/depthai-js.js
+build/bindings/js/depthai-js.wasm
+build/bindings/js/depthai-js.d.ts
+```
+  
+If something fails delete the build folder or the build folder and the ~/.hunter folder (maybe only the cache folder inside).
+
+# Usage
+Check out the [bindings/js/example folder](example/).
+
+# Typescript support
+There are autogenerated bindings available in `build/bindings/js/depthai-js.d.ts`
+
+# Future directions
+- Maybe add automatic bindings generation using [SWIG's](https://github.com/swig/swig) new wasm and typescript support or using a [custom SWIG language](https://www.swig.org/Doc4.0/Extending.html) to have more freedom / better quality bindings / same swig headers for javascript and python :). New SWIG wasm and typescript support: (https://github.com/mmomtchev/magickwand.js) - (https://mmomtchev.medium.com/effortlessly-porting-a-major-c-library-to-node-js-with-swig-napi-3c1a5c4a233f) . SWIG could then also be used to generate the python bindings in the long run.
+- Also support node.js via a native compiled module (better / faster / more functionality (discover packets can be sent...)) or / and WASM module (easier user installation)(is already supported / can be same as the browser one)
+- add [npm](https://www.npmjs.com/) support.
+- Talk about how to expose all the depthai functions and classes so we don't have memory problems (users don't have to call `obj.delete()` from javascript) and they are nice to use from typescript and javascript.
+- Convert from C++ `std::vector<std::uint8_t>` to javascript `Uint8Array` type with zero memory copy using a pointer, the emscripten [HEAP](https://emscripten.org/docs/api_reference/preamble.js.html?highlight=heapu8#type-accessors-for-the-memory-model) and some wrappers. [Example ideas](https://stackoverflow.com/questions/53602955/using-emscripten-how-to-get-c-uint8-t-array-to-js-blob-or-uint8array). But we should first define how we wil be exposing the depthai functions and classes and if we will be using SWIG or not.
+- Maybe define a generic `deserialize` function that check the type and returns a custom (depending on C++ class) built `emscripten::val` (this should use code generation to find the C++ types properties...). This would be nice, but we loose embind C++ classes mapping and have to do our own and it wouldn't be nice to use from typescript.
diff --git a/bindings/js/bindings.cpp b/bindings/js/bindings.cpp
new file mode 100644
index 000000000..f9af95ffc
--- /dev/null
+++ b/bindings/js/bindings.cpp
@@ -0,0 +1,105 @@
+#include <emscripten/bind.h>
+#include <emscripten/val.h>
+
+#include <algorithm>
+#include <chrono>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <vector>
+
+// include depthai library
+#include <depthai/depthai.hpp>
+#include <depthai/pipeline/datatype/DatatypeEnum.hpp>
+#include <depthai/pipeline/datatype/StreamMessageParser.hpp>
+
+inline int readIntLE(std::uint8_t* data) {
+    return data[0] + data[1] * 256 + data[2] * 256 * 256 + data[3] * 256 * 256 * 256;
+}
+
+template <typename T>
+std::shared_ptr<T> daiDeserializeFromJS(std::vector<std::uint8_t> data) {
+    auto imgFrame = std::make_shared<T>();
+    const auto rc = dai::utility::deserialize(data, *imgFrame);
+    if(!rc) {
+        // this should never happen as exceptions are enabled !!!
+        std::cout << "Deserialization failed" << std::endl;
+    }
+    return imgFrame;
+}
+
+struct MessageHeader {
+    dai::DatatypeEnum objectType;
+    int serializedObjectSize;
+};
+
+MessageHeader daiGetMessageType(std::vector<std::uint8_t> data) {
+    if(data.size() < 8) {
+        throw std::invalid_argument("Message header data should be at least 8 bytes long.");
+    }
+    MessageHeader header;
+    header.serializedObjectSize = readIntLE(data.data() + data.size() - 4);
+    header.objectType = static_cast<dai::DatatypeEnum>(readIntLE(data.data() + data.size() - 8));
+    return header;
+}
+
+using namespace emscripten;
+
+EMSCRIPTEN_BINDINGS(depthai_js) {
+    // vector types
+    register_vector<std::uint8_t>("Uint8Vector");
+    register_vector<dai::ImgDetection>("ImgDetectionVector");
+
+    // enums
+    enum_<dai::DatatypeEnum>("DatatypeEnum")
+        .value("ADatatype", dai::DatatypeEnum::ADatatype)
+        .value("Buffer", dai::DatatypeEnum::Buffer)
+        .value("ImgFrame", dai::DatatypeEnum::ImgFrame)
+        .value("EncodedFrame", dai::DatatypeEnum::EncodedFrame)
+        .value("NNData", dai::DatatypeEnum::NNData)
+        .value("ImageManipConfig", dai::DatatypeEnum::ImageManipConfig)
+        .value("CameraControl", dai::DatatypeEnum::CameraControl)
+        .value("ImgDetections", dai::DatatypeEnum::ImgDetections)
+        .value("SpatialImgDetections", dai::DatatypeEnum::SpatialImgDetections)
+        .value("SystemInformation", dai::DatatypeEnum::SystemInformation)
+        .value("SystemInformationS3", dai::DatatypeEnum::SystemInformationS3)
+        .value("SpatialLocationCalculatorConfig", dai::DatatypeEnum::SpatialLocationCalculatorConfig)
+        .value("SpatialLocationCalculatorData", dai::DatatypeEnum::SpatialLocationCalculatorData)
+        .value("EdgeDetectorConfig", dai::DatatypeEnum::EdgeDetectorConfig)
+        .value("AprilTagConfig", dai::DatatypeEnum::AprilTagConfig)
+        .value("AprilTags", dai::DatatypeEnum::AprilTags)
+        .value("Tracklets", dai::DatatypeEnum::Tracklets)
+        .value("IMUData", dai::DatatypeEnum::IMUData)
+        .value("StereoDepthConfig", dai::DatatypeEnum::StereoDepthConfig)
+        .value("FeatureTrackerConfig", dai::DatatypeEnum::FeatureTrackerConfig)
+        .value("ToFConfig", dai::DatatypeEnum::ToFConfig)
+        .value("TrackedFeatures", dai::DatatypeEnum::TrackedFeatures)
+        .value("BenchmarkReport", dai::DatatypeEnum::BenchmarkReport)
+        .value("MessageGroup", dai::DatatypeEnum::MessageGroup);
+
+    // structs
+    value_object<MessageHeader>("MessageHeader")
+        .field("objectType", &MessageHeader::objectType)
+        .field("serializedObjectSize", &MessageHeader::serializedObjectSize);
+    value_object<dai::ImgDetection>("ImgDetection")
+        .field("label", &dai::ImgDetection::label)
+        .field("confidence", &dai::ImgDetection::confidence)
+        .field("xmin", &dai::ImgDetection::xmin)
+        .field("xmax", &dai::ImgDetection::xmax)
+        .field("ymin", &dai::ImgDetection::ymin)
+        .field("ymax", &dai::ImgDetection::ymax);
+
+    // classes
+    class_<dai::ImgFrame>("ImgFrame")
+        .smart_ptr_constructor("ImgFrame", &std::make_shared<dai::ImgFrame>)
+        .property("width", &dai::ImgFrame::getWidth)
+        .property("height", &dai::ImgFrame::getHeight);
+    class_<dai::ImgDetections>("ImgDetections")
+        .smart_ptr_constructor("ImgDetections", &std::make_shared<dai::ImgDetections>)
+        .property("detections", &dai::ImgDetections::detections);
+
+    // module global functions
+    function("deserializeImgFrame", &daiDeserializeFromJS<dai::ImgFrame>);
+    function("deserializeImgDetections", &daiDeserializeFromJS<dai::ImgDetections>);
+    function("getMessageType", &daiGetMessageType);
+}
diff --git a/bindings/js/build.sh b/bindings/js/build.sh
new file mode 100755
index 000000000..64a4a09bd
--- /dev/null
+++ b/bindings/js/build.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -e
+cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1
+
+source ~/emsdk/emsdk_env.sh
+
+cd ../..
+
+cmake --build build --target depthai-js --parallel $(($(nproc) * 75 / 100))
+cp build/bindings/js/depthai-js.{d.ts,js} bindings/js/src/
+cd -
+
+if [ ! -d node_modules ]; then
+  npm ci
+fi
+
+npm run build
diff --git a/bindings/js/configure.sh b/bindings/js/configure.sh
new file mode 100755
index 000000000..e83257463
--- /dev/null
+++ b/bindings/js/configure.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -e
+cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1
+
+source ~/emsdk/emsdk_env.sh 
+
+cd ../..
+
+# these additional flags are needed so hunter doesn't fail with:
+# [hunter ** FATAL ERROR **] ABI not detected for C compiler
+# They shouldn't be needed ...
+emcmake cmake -S. -Bbuild -DCMAKE_C_ABI_COMPILED=ON -DCMAKE_CXX_ABI_COMPILED=ON -DCMAKE_CROSSCOMPILING=ON
+
diff --git a/bindings/js/example/.gitignore b/bindings/js/example/.gitignore
new file mode 100644
index 000000000..07e6e472c
--- /dev/null
+++ b/bindings/js/example/.gitignore
@@ -0,0 +1 @@
+/node_modules
diff --git a/bindings/js/example/README.md b/bindings/js/example/README.md
new file mode 100644
index 000000000..dd39a91d2
--- /dev/null
+++ b/bindings/js/example/README.md
@@ -0,0 +1,5 @@
+# Usage
+First build the depthai javascript bindings to get the `depthai-js.js` and `depthai-js.wasm` file (see the [bindings/js folder](../)).  
+Then run the example using `./run.sh` and navigate to http://localhost:8000/ in a browser.  
+  
+To generate a different `public/img_frame.dump` file you can use `serialize.cpp` from this folder.
diff --git a/bindings/js/example/build.sh b/bindings/js/example/build.sh
new file mode 100755
index 000000000..624ef001a
--- /dev/null
+++ b/bindings/js/example/build.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+
+set -e
+cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1
+
+source ~/emsdk/emsdk_env.sh
+
+if [ ! -d node_modules ]; then
+  npm ci
+fi
+
+npx tsc --noEmit
+npx esbuild src/index.ts --bundle --outfile=public/app.js
diff --git a/bindings/js/example/package-lock.json b/bindings/js/example/package-lock.json
new file mode 100644
index 000000000..610b7ea7f
--- /dev/null
+++ b/bindings/js/example/package-lock.json
@@ -0,0 +1,679 @@
+{
+  "name": "depthai-js-example",
+  "version": "0.0.1",
+  "lockfileVersion": 2,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "depthai-js-example",
+      "version": "0.0.1",
+      "license": "MIT",
+      "dependencies": {
+        "depthai-js": "file:.."
+      },
+      "devDependencies": {
+        "esbuild": "0.20.1",
+        "typescript": "^5.3.3"
+      }
+    },
+    "..": {
+      "name": "depthai-js",
+      "version": "0.0.1",
+      "license": "MIT",
+      "devDependencies": {
+        "@babel/cli": "^7.23.9",
+        "@babel/core": "^7.24.0",
+        "@babel/preset-env": "^7.24.0",
+        "@babel/preset-typescript": "^7.23.3",
+        "@rollup/plugin-babel": "^6.0.4",
+        "@rollup/plugin-node-resolve": "^15.2.3",
+        "cross-env": "^7.0.3",
+        "npm-run-all": "^4.1.5",
+        "rimraf": "^5.0.5",
+        "rollup": "^2.79.1",
+        "rollup-plugin-terser": "^7.0.2",
+        "typescript": "^5.3.3"
+      }
+    },
+    "node_modules/@esbuild/aix-ppc64": {
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+      "cpu": [
+        "ppc64"
+      ],
+      "dev": true,
+      "optional": true,
+      "os": [
+        "aix"
+      ],
+      "engines": {
+        "node": ">=12"
+      }
+    },
+    "node_modules/@esbuild/android-arm": {
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diff --git a/bindings/js/example/package.json b/bindings/js/example/package.json
new file mode 100644
index 000000000..e2d5e4d82
--- /dev/null
+++ b/bindings/js/example/package.json
@@ -0,0 +1,16 @@
+{
+  "name": "depthai-js-example",
+  "version": "0.0.1",
+  "description": "A simple depthai-js usage example",
+  "author": "Luxonis <info@luxonis.com>",
+  "keywords": [],
+  "license": "MIT",
+  "scripts": {},
+  "devDependencies": {
+    "esbuild": "0.20.1",
+    "typescript": "^5.3.3"
+  },
+  "dependencies": {
+    "depthai-js": "file:.."
+  }
+}
diff --git a/bindings/js/example/public/.gitignore b/bindings/js/example/public/.gitignore
new file mode 100644
index 000000000..549632dc7
--- /dev/null
+++ b/bindings/js/example/public/.gitignore
@@ -0,0 +1,2 @@
+/depthai-js.wasm
+/app.js
diff --git a/bindings/js/example/public/img_frame.dump b/bindings/js/example/public/img_frame.dump
new file mode 100644
index 000000000..794a3b7a1
--- /dev/null
+++ b/bindings/js/example/public/img_frame.dump
@@ -0,0 +1,1615 @@
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$.) " ")(!('# $!&0,",(%!GIIFHHGIIGIIFHHHJJHJJIKKIKKIKKHJJIKKKMMJLLIKKIKKLNNLNNJLLJLLJLLJLLJLLKMMKMMLNNLNNMOOKMMLNNLNNKMMNPPNPPLNNMOOMOOMOOMOOOQQOQQNPPNPPNPPLNNNPPMOOMOOMOONPPMOOLMOLMOLMOLMOMNPMNPLMOMNPLMONOQMOOLNNNPPLNNMOOLNNLNNLNNLNNLNNLNNKMMLNNLNNMOOLNNJLLLNNJLLKMMJLLKMMKMMJLLJKMKLNIJLJKMMNPJKMIJLLMOKLNIJLIJLJKMIJLIJLJLLIKKJLLKMMJLLIKKJLLIKKJLLIKKJLLIKKIKKIKKIKKIKKIKKHJJIKKIKKHJJIKKIJLJKMIJLHIKHIKHIKHIKIJLJKMHIKGIIHJJIKKGIIGIIGIIIKKHJJJLLIKKJLLJLLMNPOPRNPPQSSRTTXZZXZZZ\\Z\\\^^_aa`bbceedffefhfgihjjikkhjjhjjhjjfhhcee_aa\^^XZZSUUOQQLLLGGGBBB;;;888555000+++)))(((&&&%%%&&&(((+++---000666888;;;???AAAEEEGGGHHHIIIKKKMMMMMMLLLMMMLLLMMMLLLLLLKKKKKKJJJJJJMMMKKKKKKLLLLLLMMMKKKKKKLLLLLLLLLLLLLLLMMMLLLKKKJJJIIIGGGDDD---;;;BBB===<<<688355-//+--+--*,,,...00.00/110221332442442444664664664664664664665775775775776887998::8::;==## !  $#,=<-,+)*(-+(&'%" ")&($%")%!+')%!FHHGIIGIIGIIFHHGIIGIIHJJGIIHJJGIIGIIHJJIKKJLLIKKJLLJLLIKKKMMIKKJLLJLLKMMKMMKMMLNNMOOJLLKMMKMMKMMKMMLNNKMMLNNMOOMOOLNNMOOMOOLNNMOOLNNLNNMOOMOOLNNKMMKMMMOOLMONOQLMOKLNNOQMNPLMOKLNLMOKLNLNNKMMKMMLNNLNNMOOLNNMOOLNNLNNKMMKMMLNNLNNKMMKMMJLLKMMKMMKMMKMMKMMJLLKMMLMOJKMIJLKLNKLNJKMJKMLMOLMOJKMKLNKLNJKMJKMJLLKMMKMMKMMKMMIKKHJJKMMJLLIKKJLLJLLIKKIKKKMMIKKIKKGIIIKKIKKHJJIKKIJLJKMIJLIJLIJLIJLHIKHIKHIKIJLGIIGIIGIIGIIHJJGIIFHHFHHGIIEGGEGGFHHFGIGHJEGGFHHFHHEGGEGGDFFEGGEGGDFFDFFDFFDFFEFHGHJGIIHJJKMMKMMMOONPPPRRRTTWYYWYYY[[\^^```dddeeefffgggffffffggggggeeecccbbb___ZZZUUUOOOKKKEEE@@@<<<888222---+++'''$$$$$$$$$$$$%%%)))---000222777;;;>>>BBBCCCGGGKKKMMMMMMOOOPPPPPPPPPOOOOOONNNNNNNNNLLLMMMLLLKKKJJJHHHCCC///<<<???===;;;577244,..+--*,,+---//.00.00/11/113552442442443554663554665775774665775775775776887997998::<>>"" &'",,! ,65#43'&)')')'(&)'#!$#%,)!(%%!%!$!#  FHHEGGFHHGIIFHHGIIFHHFHHFHHHJJGIIGIIGIIHJJIKKIKKHJJIKKHJJIKKIKKJLLIKKJLLJLLKMMJLLKMMKMMJLLKMMJLLKMMKMMKMMLMOKLNKMMMOOLNNLNNKMMKMMJLLKMMKMMMOOLMOKLNKLNKLNKLNLMOKLNKLNLMOKLNJKMJKMJKMJKMKLNKLNKMMKMMKLNLMOKMMLNNKMMLNNJLLKMMKMMKMMKMMKMMKLNKLNKLNJKMKLNKLNKLNJKMKLNJKMJKMKLNKLNJKMJKMKLNKLNKLNKLNKLNJKMJKMJKMKLNJLLIKKJLLIKKHJJKMMIKKHJJJLLJLLJLLIKKJLLJLLKLNIJLJKMJKMIJLJKMKLNJKMIJLIJLIJLIJLHIKIJLJKMIJLHIKGHJHJJHJJIKKHJJGIIFHHGIIGIIFGIGHJFGIFGIFGIFGIGIIFHHDFFEGGEGGEGGEGGDFFEFHDEGDFFDFFCEECEECEEDFFCEECEECEECEEDFFBDDACCBDDDDDCCCCCCCCCEEEEEEHHHIIIKKKLLLMMMPPPRRRPPPRTTSUURTTTVVSUUTVVSUUTVVWWWVVVSSSRRRSSSRRRQQQOOOLLLKKKEEEBBB<<<888666555333000......,,,.../////////111444999===>>>BBBFFFHHHGGGGGGGGGAAA333@@@@@@???===799466.00,..,..+--,../11/11.000222441332442443553553554664664664664664666886885775776888::<>>##%%"00,,))(()''%$"&$ %$!(%")&")&%""# " !GIIEGGEGGGIIGIIFHHEGGGIIGIIHJJHJJHJJIKKHJJHJJHJJIKKHJJIKKHJJJLLKMMKMMIKKIKKJLLJLLJLLJLLJLLJLLKMMJLLKMMKMMJKMJKMKMMKMMLNNKMMKMMLNNKMMKMMKMMKMMKLNJKMIJLIJLJKMIJLIJLJKMIJLJKMJKMIJLJKMJKMLMOKLNJLLJLLJKMJKMJLLJLLKMMJLLKMMKMMJLLJLLIKKIKKIJLIJLKLNJKMJKMJKMJKMIJLHIKIJLIJLJKMJKMKLNIJLIJLJKMJKMJKMIJLJKMKLNJKMIJLHJJIKKIKKIKKIKKHJJGIIGIIHJJJLLHJJJLLJLLIKKJKMJKMIJLIJLIJLJKMIJLIJLIJLHIKHIKHIKHIKHIKIJLIJLGHJHIKIKKIKKIKKGIIGIIGIIGIIGIIHIKFGIGHJFGIEFHFGIGIIFHHFHHHJJFHHFHHEGGFHHFGIFGIDFFDFFDFFCEEDFFEGGEGGDFFEGGBDDCEEBDDBDDCEEDDDDDDCCCDDDCCCDDDCCCDDDEEEFFFFFFFFFEEEEEECEEBDDBDDCEEDFFBDDDFFDFFFFFFFFFFFGGGHHHJJJIIIHHHJJJLLLLLLNNNMMMQQQPPPRRRSSSRRRTTTWWWVVVWWWXXXXXXWWWVVVTTTRRRRRRQQQOOOHHHDDD@@@888333(((---222,,,***+++(**')))++"$$-//+---//.00/11/11022244133244244355355466355466466355466577688577577688577688;=="&&  ""
#--%33%%&&)),*(&%##!&%('")&"$!EGGFHHEGGFHHHJJFHHGIIFHHEGGFHHHJJGIIGIIHJJHJJGIIGIIHJJJLLIKKHJJJLLHJJHJJIKKJLLIKKJLLJLLJLLKMMJLLLNNJLLKMMJLLJLLKLNJKMLNNKMMKLNKLNLMOJKMKLNKLNKLNJKMIJLJKMIJLJKMIJLJKMJKMJKMLKMKJLHIKIJLKLNJKMJKMKLNJKMJKMKMMIKKJLLJLLJLLJLLJLLJLLIKKIKKIJLHIKIJLJKMIJLIJLJKMIJLHIKHIKIJLIJLIJLJKMJKMIJLIJLHIKIJLIJLHIKIJLIJLHIKIJLHIKHJJHJJIKKHJJIKKHJJHJJIKKHJJHJJIKKGIIGHJHIKIJLHIKIJLGHJHIKHIKIJLHIKHIKHIKHIKGHJGHJGHJGHJGHJHIKHIKGHJFGIFGIFGIFHHFHHEFHFGIEFHFGIDEGGHJFGIFGIEFHDEGFHHEGGDEGDEGEFHEFHEFHEFHDEGDEGDEGEFHEGGDFFDFFDFFCEECEECEECEEBDDACCDDDEEEDDDDDDDDDDDDCEEEGGFHHEGGDFFCEECEEDFFDFFDFFDFFDFFCEEDFFDFFDFFCEEBDDCEEDFFEEEFFFGGGGGGGGGHHHHHHHHHIIIHHHJJJIIIJJJIIIIIIJJJJJJLLLJJJKKKMMMNNNMMMNNNOOOQQQPPPPPPMMMPPPIII777>>>GGGAAA:::688,.."$$-//+---///11/11/11/111332441331333553552444664664663553554665776885774664665779;;%)) ! "+46!##%$&+-./,-!  &"%!%"


+

EGGFHHDFFDFFFHHGIIFHHFHHGIIHJJGIIHJJGIIIKKHJJGIIGIIHJJIKKIKKHJJIKKIKKIKKIKKIKKJLLIKKJLLJLLJLLKMMKMMJLLKMMKMMKMMKLNKLNKMMKMMJKMJKMKLNLMOKLNJKMJKMJKMJKMJKMIJLIJLJKMJKMJKMJKMLKMJIKIJLJKMIJLIJLJKMJKMHIKIJLIKKJLLIKKIKKIKKJLLJLLJLLJLLJLLIJLIJLJKMIJLHIKIJLIJLJKMHIKJKMIJLHIKIJLJKMHIKJKMHIKHIKHIKIJLHIKHIKHIKHIKHIKHIKHJJHJJHJJIKKIKKHJJGIIHJJHJJHJJGIIHJJHIKHIKGHJGHJGHJGHJGHJHIKHIKHIKGHJHIKHIKGHJFGIGHJFGIFGIGHJFGIEFHDEGEFHEFHDFFEGGEFHDEGEFHDEGDEGEFHEFHDEGDEGDEGCEEBDDCDFCDFCDFDEGCDFDEGCDFDEGCDFBCECEEBDDBDDCEEACC@BBBDDBDDACCACCCCCDDDCCCBBBCCCCCC@BBACCDFFDFFBDDCEECEECEECEECEEDFFDFFEGGCEEBDDCEEDFFCEEDFFDFFFFFFFFFFFGGGEEEHHHHHHHHHHHHIIIIIIHHHJJJHHHIIIJJJJJJIIIIIIJJJKKKLLLKKKIIIJJJJJJJJJHHHIIIIII<<<222666AAA>>>:::688355022-//,..-//.00/11022133022133244244244355466466355355466466355466466355355466466799'++
 !(*#%!#%,.(57)*%&#"#"%$$#)%($
+	
+		
+
+						EGGEGGFHHDFFEGGEGGFHHDFFFHHFHHFHHGIIHJJFHHIKKGIIHJJGIIIKKHJJHJJIKKIKKJLLHJJJLLIKKIKKJLLJLLJLLJLLKMMJLLJLLIJLKLNKLNJKMLMOKLNKLNJKMKLNLMOKLNKLNJKMIJLIJLJKMJKMJKMKLNJKMIJLIJLJKMJKMIJLIJLJKMKLNJKMJKMHIKIJLIJLIJLIJLHIKIJLIJLIKKHJJIJLIJLIJLHIKJKMJKMIJLJKMIJLIJLHIKHIKIJLHIKHIKHIKHIKGHJIJLHIKHIKHIKHIKHIKHIKHIKHIKHIKHIKGHJHJJFHHIKKGIIHIKHIKHIKHIKHIKGHJHIKGHJFGIGHJGHJHIKGHJGHJFGIFGIGHJGHJHIKGHJFGIGHJFGIFGIFGIDEGFGIDEGEFHEFHEFHEFHFGIDEGEFHEFHDEGEFHFGIEFHDEGEFHDEGDEGBCEBCEBCEBCECDFCDFBCEBCEABDBCEABDBCEABD@AC@AC@AC@AC@ACACC@BB?AA?AA?AA?AA>?A?@B?@B?@B>?A@AC@ACABDABDABDABDBCEBCE@ACABDBCEABDABDCDFBCECEECEEFFFEEEFFFFFFFFFGGGFFFEEEGGGGGGHHHFFFHHHHHHIIIIIIIIIHHHIIIJJJJJJLLLJJJIIIKKKLLLIIIIIIHHHHHH===444:::???<<<999888444///!!! "",..+--,..-///11/11022022022133133244355244244244466355355244355466355355355466688'++%*!#(%**=F!4=',',')') ,,!--#"																		CEEEGGFHHFHHFHHFHHEGGFHHGIIGIIHJJFHHFHHFHHHJJHJJHJJGIIHJJGIIIKKGIIJLLJLLIKKIKKIKKHJJJLLLNNKMMIKKJLLJLLKMMIJLKLNJKMJKMJKMJKMKLNKLNLMOKLNKLNLMOJKMIJLIJLKLNJKMJKMJKMJKMJKMKLNJKMJKMJKMIJLJKMIJLIJLJKMIJLJKMKLNIJLIJLHIKIJLJKMHJJJLLIJLJKMIJLIJLIJLJKMIJLHIKJKMJKMHIKHIKJKMHIKHIKIJLHIKHIKHIKHIKIJLHIKIJLIJLHIKHIKHIKHIKIJLIJLHJJGIIHJJGIIGHJGHJHIKHIKGHJGHJHIKFGIFGIFGIGHJGHJHIKGHJGHJFGIGHJGHJGHJHIKHIKFGIEFHFGIFGIFGIGHJEFHEFHEFHDEGDEGDEGEFHDEGDEGEFHDEGDEGDEGDEGDEGDEGCDFDEGCDFCDFABDDEGBCEABDBCEABDBCE@ACABD@AC@AC@ACABD@AC@AC?AA>@@>@@?AA?AA>@@>?A>?A=>@>?A=>@>?A@AC?@B?@B@AC@AC@AC@AC@AC@AC@AC@AC@ACABD@ACBDDBDDCCCCCCEEEEEEDDDEEEEEEDDDEEEEEEFFFFFFFFFHHHGGGGGGIIIGGGGGGIIIHHHIIIJJJIIIJJJJJJHHHHHHGGGEEEAAA>>>??????===999777333///***)++*,,+--,...00/11/11/11022133244466244355355244244244355244466244355244466244355466488 %#( *//BK09,1%*#%)+))##
+
+
+			
+
+
+																DFFEGGDFFEHEFIFEHEFIFGIIGIIGIIGIIHJJGIIFHHGIIHJJJLLHJJHJJHJJJLLIKKIKKIKKIKKIKKHJJIKKIKKJLLIKKJLLIKKJKMIJLJKMLMOKLNKLNJKMKLNLMOJKMKLNJKMLMOJKMJKMJKMIJLIJLJKMJKMJKMIJLIJLJKMIJLIJLJKMJKMIJLHIKJKMJKMIJLIJLJKMHIKIJLJKMJKMIJLIJLIJLHIKIJLHIKJKMHIKGHJIJLIJLIJLIJLIJLIJLIJLHIKJKMJKMIJLHIKHIKHIKIJLHIKHIKHIKHIKHIKGHJGHJHIKGHJHIKIJLHIKGHJHIKHIKHIKGHJGHJGHJGHJHIKHIKFGIGHJHIKHIKGHJFGIGHJFGIFGIFGIGHJFGIFGIEFHFGIEFHFGIFGIFGIEFHDEGEFHDEGDEGDEGDEGDEGCDFDEGDEGDEGDEGCDFCDFBCECDFCDFCDFCDFCDFCDFABDBCEBCEBCEABDABDABD@ACABDABDABD@ACABD@AC>?A?@B@AC=>@>?A>?A=>@>?A=>@>?A>?A?@B@AC@AC@AC@AC?@B@AC?@B@AC@AC@AC@AC@ACABDBCECCCCCCCCCDDDDCEDCECBDDCEEEEGGGDCEEDFFEGFEGFEGFEGFEGEDFGFHIHJHHHHHHIIIIIIIIIHHHGGGFFFEEEDDDBBB???>>>===:::999666222-//(**(***,,,..-///11.00.00133133244133355355355244355244133133133355355355355355355355799'++ !$(.*8&4%1#/$0$0$		
+									
+														EGGFHHFHHFIFEHEEHEFIFFHHEGGGIIFHHIKKGIIGIIGIIFHHFHHGIIHJJIKKIKKIKKIKKIKKHJJIKKJLLJLLIKKIKKIKKJLLIKKJKMJKMJKMKLNKLNJKMKLNKLNLMOKLNKLNKLNLMOKLNKLNIJLIJLIJLHIKIJLJKMJKMIJLIJLIJLIJLJKMIJLIJLHIKJKMJKMHIKHIKIJLIJLKLNJKMIJLHIKHIKIJLIJLGHJHIKJKMIJLIJLIJLJKMHIKIJLIJLIJLIJLIJLHIKGHJHIKHIKHIKHIKHIKHIKHIKHIKHIKHIKIJLHIKHIKHIKGHJHIKGHJIJLIJLIJLHIKGHJGHJGHJGHJHIKHIKHIKGHJGHJFGIFGIFGIFGIFGIFGIFGIFGIEFHEFHEFHGHJFGIFGIEFHFGIDEGEFHEFHEFHDEGDEGCDFEFHEFHCDFDEGFGIEFHCDFCDFBCEBCECDFBCEBCECDFBCEBCEABD@ACABD@ACABDBCE@ACABD@ACABD?@B>?A?@B@AC?@B>?A>?A>?A>?A=>@>?A>?A<=?<=?>?A>?A>?A>?A?@B@AC@AC@AC?@B@AC?@B@ACABD@ACABDDDDBBBBBBCCCDCEEDFEDFEDFDDDEEEFEGFEGEDFEDFFEGFEGFEGFEGFEGGFHGGGHHHHHHHHHHHHHHHFFFGGGEEEEEECCC@@@>>>===<<<888555222.00(***,,,..-//-//.00/11022244022244133133133355355355355244244355244244244244244577577&((

%(.!/('**
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+	
+
+									EHEEHEEHEFIFHKHFIFFIFFHHGIIFHHGIIGIIHJJGIIGIIGIIGIIFHHHJJIKKIKKHJJJLLIKKIKKIKKJLLJKMJKMIJLIJLJKMJKMJKMKLNKLNKLNKLNJKMKLNKLNKLNKLNLMOKLNJKMLMOJKMJKMKLNIJLIJLJKMKLNJKMIJLIJLIJLJKMIJLIJLIJLHIKIJLIJLJKMIJLIJLIJLJKMKLNJKMIJLIJLIJLIJLIJLHIKJKMJKMIJLHIKIJLHIKIJLJKMJKMIJLIJLHIKHIKIJLIJLIJLHIKHIKJKMHIKHIKHIKHIKIJLHIKIJLHIKJKMIJLGHJHIKHIKHIKIJLHIKHIKHIKGHJGHJFGIHIKHIKHIKFGIHIKGHJFGIFGIFGIFGIGHJFGIEFHGHJGHJFGIFGIGHJFGIDEGFGIEFHFGIDEGEFHDEGEFHEFHEFHDEGDEGDEGDEGDEGDEGCDFCDFBCEBCEDEGBCEABDABD@ACABDABDABDABDABD@AC?@B@AC@AC@AC=>@=>@>?A>?A?@B>?A?@B>?A=>@=>@=>@<=??@B>?A?@B>?A=>@>?A?@B@AC@AC?@B@AC@AC@ACABDABDABD@ACBACDCEBCEBCEDCEDCEDCEDCEEDFEDFDCEFEGFEGFEGFEGFEGFEGGFHHHHHHHIIIGGGGGGGGGFFFEEEGGGDDDBBB???>>>===:::777666333-//)++*,,-//.00/11/11/11022022022244244244133355244133133244244355133244244133466466



!%%!#%)	
+
				EHEEHEFIFEHEDGDFIFFIFGIIFHHFHHFHHGIIIKKHJJHJJHJJIKKHJJHJJHJJIKKJLLIKKHJJGIIIKKIKKJKMJKMJKMHIKKLNKLNJKMJKMKLNKLNJKMJKMIJLKLNJKMJKMLMOKLNIJLJKMJKMKLNJKMIJLIJLIJLJKMJKMIJLIJLJKMJKMJKMIJLJKMJKMJKMIJLJKMJKMJKMIJLIJLIJLIJLJKMIJLKLNJKMIJLJKMJKMIJLIJLIJLIJLIJLIJLIJLIJLIJLHIKIJLIJLIJLIJLIJLIJLIJLIJLJKMHIKIJLIJLIJLIJLJKMIJLIJLHIKIJLIJLHIKHIKHIKGHJHIKHIKHIKGHJFGIGHJHIKFGIFGIHIKGHJFGIFGIGHJGHJGHJFGIFGIFGIFGIFGIDEGFGIFGIEFHEFHFGIDEGDEGEFHDEGDEGDEGDEGEFHCDFBCEDEGDEGCDFCDFBCEBCEBCEBCEBCEBCEABDBCEABDABDABD@ACABDABD@AC?@B@AC?@B>?A?@B>?A=>@=>@>?A>?A<=?=>@=>@=>@=>@<=?@AC?@B?@B=>@>?A>?A?@B?@B?@B>?A@AC?@B?@BABDABDABDDCEEDFBCE@ACBACCBDCBDBACDCEEDFEDFEDFFEGEDFFEGFEGFEGGFHGGGEEEAAACCCGGGGGGFFFEEEDDDDDDAAA???<<<<<<:::888444333,..)++*,,,...00/11/11022022133022244133133244355244022133355244133133244244466/11


+
 
",
EGGEHEDGDFHHDFFEGGFHHFHHEGGFHHFHHGIIHJJIKKHJJGIIIKKHJJGIIHJJHJJGIIIKKHJJGIIHJJJLLIKKJLLIKKIKKKMMKMMKMMJLLIJLJKMLMOJKMIJLJKMJKMJKMJKMKLNJKMIJLIJLJKMKLNHIKIJLJKMKLNJKMIJLJKMJKMIJLJKMIJLIJLJKMIJLIJLHIKJKMJKMKLNIJLJKMJKMJKMIJLKLNJKMJKMJKMKLNJKMIJLIJLKLNIJLIJLIJLIJLGHJHIKIJLJKMHIKIJLIJLIJLIJLHIKIJLIJLIJLHIKHIKHIKHIKIJLHIKHIKHIKGHJHIKHIKGHJGHJHIKHIKHIKGHJFGIGHJHIKGHJFGIGHJGHJGHJGHJHIKGHJFGIFGIFGIGHJEFHFGIEFHEFHEFHDEGDEGDEGDEGEFHDEGDEGDEGCDFDEGDEGCDFCDFCDFCDFBCECDFBCECDFBCEBCEBCEABDCDFBCEABD@AC@ACABDABD@AC?@B?@B@ACABD?@B?@B?@B>?A=>@>?A=>@;<>=>@<=?=>@<=?<=?=>@=>@>?A=>@>?A>?A>?A>?A>?A>?A?@B>?A>?A@ACABDABDCBDDCEABDABDCBDCBDCBDBACBACDCEDCEEDFDCEFEGEDFEDFEEEDDDBBBAAABBBDDDFFFGGGFFFEEECCCDDDAAA???<<<;;;999888555333,..)+++---//.00/11/11022022133133022133133244244133244244133133133244244568./1



+)
+
	
+			EGGDGDCFCDFFFHHFHHFHHGIIFHHFHHFHHFHHFHHGIIGIIGIIHJJHJJGIIIKKHJJGIIIKKHJJGIIJLLJLLIKKIKKIKKLNNKMMIKKIKKJLLKLNJKMJKMJKMJKMJKMIJLIJLIJLJKMJKMJKMJKMJKMJKMJKMIJLJKMIJLIJLJKMIJLIJLJKMIJLJKMJKMJKMJKMIJLIJLHIKIJLJKMIJLIJLJKMJKMJKMKLNIJLIJLJKMJKMJKMHIKJKMIJLIJLIJLIJLHIKGHJIJLHIKHIKIJLHIKIJLIJLIJLIJLHIKIJLGHJHIKHIKHIKHIKHIKGHJIJLIJLHIKIJLGHJHIKJKMHIKGHJGHJHIKIJLGHJGHJGHJFGIGHJGHJFGIFGIGHJGHJFGIFGIFGIFGIEFHEFHFGIFGIEFHEFHDEGDEGEFHEFHDEGDEGDEGCDFCDFCDFCDFCDFCDFCDFBCEBCEBCEBCEBCECDFBCEABDABDABD@ACABD@ACABD@AC?@B?@B?@B@AC?@B?@B?@B?@B>?A=>@=>@<=?<=?=>@<=?;<>;<><=?<=?=>@<=?=>@>?A>?A=>@?@B>?A?@B?@B>?A>?A?@B?@B?@BA@BBACABDABDDCEDCECBDCBDCBDBACBACBACBACCBDBACCBDCCCCCCBBBBBBDDDDDDFFFFFFEEEDDDCCCBBBAAA>>>===;;;999777555333,..*,,,..-///11.00.00/11022133133133133244244244244244133022133133133688%&(




	

+
#
+
	
+
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+
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+


										DGDDFFEGGEGGFHHFHHHJJEGGGIIFHHGIIFHHHJJHJJGIIIKKIKKFHHFHHFHHHJJGIIIKKIKKGIIHJJIKKIKKHJJJLLIKKIKKJLLIJLIJLHIKIJLJKMIJLKLNIJLIJLJKMIJLHIKIJLJKMJKMIJLIJLIJLIJLJKMJKMIJLIJLJKMHIKIJLJKMJKMIJLIJLIJLIJLJKMKLNHIKHIKHIKJKMJKMJKMJKMIJLIJLIJLHIKIJLJKMJKMKLNKLNHIKHIKIJLIJLIJLIJLHIKIJLHIKHIKIJLJKMJKMIJLHIKGHJHIKIJLIJLHIKHIKHIKHIKIJLHIKHIKGHJGHJGHJHIKHIKGHJGHJFGIHIKGHJHIKGHJHIKFGIFGIGHJGHJFGIFGIFGIEFHFGIGHJFGIEFHEFHEFHEFHEFHDEGCDFDEGDEGEFHDEGEFHEFHDEGCDFCDFCDFCDFCDFABDBCEBCEBCE@ACABDABD@ACABDABDABD?@B?@B?@B@AC@AC?@B?@B>?A=>@?@B>?A=>@=>@<=?=>@<=?;<>;<>;<>:;=;<>;<>;<>=>@<=?;<><=?<=?=>@=>@=>@<=?=>@=>@=>@>?A@AC>?A>?A?@B?@B?@B@?A@?AA@BCBDCBDBACBACBACDCEDCEDCEDCECCCCCCDDDCCCDDDEEEDDDDDDDDDCCCBBBAAA???===;;;:::688466244022-//*,,.00/11.00/11022/11022022133133133022022022133022013124.13






+
		
+	
+
+


+
						FIFEGGDFFEGGFHHFHHEGGFHHGIIGIIGIIEGGFHHHJJHJJGIIGIIFHHGIIGIIHJJGIIGIIGIIIKKHJJGIIIKKIKKJLLIKKJLLHJJHIKJKMIJLJKMJKMIJLJKMJKMIJLIJLJKMIJLJKMIJLIJLJKMJKMHIKIJLJKMIJLIJLIJLIJLGHJIJLJKMJKMIJLHIKIJLJKMIJLIJLHIKIJLHIKKLNJKMIJLIJLIJLIJLJKMIJLIJLGHJHIKIJLIJLHIKHIKIJLHIKIJLIJLHIKHIKHIKIJLHIKIJLIJLHIKHIKGHJHIKHIKIJLHIKGHJIJLIJLIJLIJLHIKHIKIJLHIKIJLHIKGHJHIKGHJGHJIJLHIKHIKGHJGHJGHJHIKGHJFGIFGIEFHFGIEFHFGIFGIEFHDEGDEGFGIEFHEFHEFHEFHDEGDEGDEGDEGDEGEFHCDFDEGCDFBCEBCEBCEBCECDFBCE@ACABD@AC@AC@AC@AC?@B>?A?@B>?A?@B?@B>?A?@B>?A=>@=>@=>@=>@=>@=>@;<>;<>:;=;<>:;=:;=;<>;<>:;=;<>;<><=?;<><=?<=?<=?<=?<=?=>@;<>>?A>?A>?A>?A=>@>?A>?A>?A@?AA@BBACBACA@BBACA@BBACBACBACDCECBDDDDDDDDDDCCCCCCDDDCCCCCCBBBAAA@@@???>>>===999999688355133022-//,..-///11/11.00.00133022022022022022022022022133022124./1



	
+	
+	
+
+
+
+
+
							FHHFHHEGGFHHEGGFHHFHHEGGFHHFHHEGGFHHFHHFHHFHHGIIGIIGIIFHHHJJHJJGIIHJJGIIKMMJLLGIIIKKHJJHJJHJJHIKIJLIJLIJLJKMJKMJKMIJLIJLJKMJKMJKMJKMJKMIJLIJLIJLIJLHIKIJLIJLIJLJKMIJLIJLIJLIJLJKMIJLJKMIJLIJLIJLJKMJKMJKMIJLJKMJKMIJLHIKIJLIJLIJLIJLIJLIJLJKMHIKIJLIJLHIKJKMHIKHIKIJLIJLHIKIJLIJLHIKIJLIJLIJLHIKGHJGHJHIKHIKIJLIJLIJLGHJIJLHIKIJLIJLIJLGHJGHJGHJGHJHIKHIKGHJIJLHIKHIKGHJFGIFGIGHJGHJFGIEFHEFHFGIFGIFGIFGIEFHEFHFGIDEGEFHEFHEFHDEGEFHEFHDEGDEGCDFCDFDEGCDFCDFDEGBCECDFBCEABDBCEBCEABDABDABD@AC@AC?@B@AC?@B?@B?@B>?A>?A>>B>>B>>B>>B=>@<=?=>@<=?<=?<=?;<>:;=;<>;<>9:<;<>;<>;<>:;=9:<:;=9:<;<>=>@;<><=?;<><=?<=?<=?=>@<=?<=?=>@>?A=>@?>@?>@@?ABACA@B@?A@?AA@B@?ABACBACCBDBBBAAACCCCCCCCCCCCCCCCCCCCCCCCAAAAAAAAA???>>>===:::999688466244022,..,...00/11/11/11.00.00022022/11133022022133022022133*..





+
	
+	
+	
+	
+
+
+
+
+
+					EGGEGGFHHEGGEGGEGGEGGFHHEGGFHHGIIEGGGIIEGGGIIGIIGIIGIIGIIGIIGIIGIIJLLIKKGIIIKKHJJHJJHJJHJJHJJIJLIJLJKMKLNIJLIJLJKMIJLIJLIJLJKMIJLJKMIJLKLNJKMJKMIJLJKMIJLIJLHIKJKMIJLIJLJKMJKMKLNIJLHIKJKMIJLIJLJKMIJLIJLIJLHIKHIKIJLIJLIJLIJLHIKIJLIJLGHJHIKIJLHIKIJLIJLIJLIJLHIKHIKGHJIJLHIKGHJGHJHIKHIKIJLHIKHIKGHJGHJHIKIJLHIKHIKHIKGHJHIKHIKIJLGHJHIKHIKGHJHIKHIKGHJHIKGHJFGIGHJFGIGHJGHJFGIFGIFGIGHJEFHEFHFGIFGIFGIEFHEFHFGIFGIDEGCDFEFHDEGDEGDEGDEGDEGCDFCDFCDFBCEBCEBCEBCEBCEBCEABDBCEBCEBCEABD?@B@AC@AC@AC?@B?@B?@B?@B>?A?@B>>B??C>>B==A=>@<=?<=?;<><=?:;=:;=;<>;<>:;=9:<9:<:;=:;=:;=9:<9:<9:<:;=;<><=?;<><=?;<><=?<=?<=?=>@=>@=>@>?A>?A?>@@?A@?A@?A?>@?>@@?AA@BA@BA@BA@BBACAAAAAABBBCCCBBBBBBBBBAAACCCCCCAAAAAAAAA>>>>>>===;;;777466355133022,..,...00.00/11/11/11/11/11133022022133022/11022133)++
+
+
+

			
+
+
+
+
+					CEEDFFEGGEGGEGGFHHFHHEGGGIIGIIGIIFHHEGGGIIFHHGIIFHHFHHIKKGIIHJJGIIGIIGIIGIIHJJHJJHJJHJJHJJHJJIJLHIKHIKJKMIJLJKMJKMHIKHIKIJLJKMJKMJKMIJLJKMJKMJKMIJLJKMIJLHIKIJLHIKHIKHIKJKMIJLIJLIJLIJLHIKHIKHIKJKMHIKIJLIJLHIKHIKHIKIJLHIKJKMHIKIJLIJLHIKHIKIJLIJLGHJJKMHIKIJLIJLGHJGHJGHJJKMHIKGHJHIKHIKHIKHIKGHJHIKHIKHIKFGIHIKIJLHIKHIKHIKGHJGHJGHJHIKHIKHIKGHJGHJGHJGHJGHJHIKGHJFGIGHJGHJEFHEFHGHJHIKFGIDEGEFHFGIEFHEFHEFHEFHEFHEFHDEGDEGDEGDEGDEGEFHDEGDEGDEGDEGCDFBCECDFCDFDEGCDFBCEBCEBCEABD@AC@AC@AC@ACABD?@B?@B?@B?@B>?A>?A>?A?@B=>@=>@=>@=>@<=?;<><=?;<>;<>9:<:;=:;=9:<9:<9:<:;=:;=89;9:<:;=:;=9:<:;=;<>:;=:;=;<>;<><=?=>@=>@=>@<=?<=?>?A>?A?>@?>@?>@BAC@?A@?AA@B?>@?>@@?AAAAAAABBBAAABBBBBBBBBAAA@@@AAAAAA@@@>>>>>>>>>:::999888466355133/11+--,.../1./1/11/11.00/11022133133/11133022/11244+//


	
+
+



+	
+
+		
+



+
+	
+
+DFFEGGEGGDFFEGGFHHFHHFHHFHHFHHGIIFHHGIIEGGGIIGIIFHHGIIHJJFHHIKKGIIGIIGIIGIIGIIHJJHJJHJJIKKHJJIJLHIKHIKIJLHIKIJLJKMIJLJKMKLNKLNJKMIJLJKMIJLJKMIJLIJLIJLIJLIJLJKMHIKHIKIJLIJLIJLHIKJKMIJLHIKIJLHIKHIKHIKIJLIJLJKMJKMIJLHIKHIKHIKIJLHIKHIKJKMJKMHIKHIKGHJGHJHIKHIKHIKHIKHIKGHJGHJHIKHIKGHJHIKGHJHIKGHJHIKGHJGHJHIKHIKIJLHIKHIKHIKHIKFGIHIKHIKGHJGHJGHJGHJGHJHIKIJLHIKHIKFGIGHJFGIGHJFGIGHJFGIEFHEFHGHJEFHEFHEFHEFHFGIFGIDEGEFHFGIEFHDEGDEGCDFCDFDEGCDFDEGCDFBCECDFBCEBCEBCEBCEBCEBCEABDABD@AC@AC?@B?@B?@B>?A?@B>?A>?A>?A>?A=>@=>@?@B=>@<=?=>@;<>;<>;<><=?:;=9:<9:<9:<9:<:;=:;=89;89;9:<89;89;89;9:<9:<:;=;<>:;=:;=;<><=?<=?;<><=?<=?>?A=>@>=?>=??>@>=??>@@?ABAC@?A?>@@?ABBBBBB@@@@@@@@@@@@@@@@@@@@@@@@@@@>>>===<<<<<<:::888777577244022/11+---//./1/02/11022.00/11/11022022/11/11/11133+--
+






+
+




+
+
+
+
+	
+
+	

+	
+
+
+
+
+
+					EHEEGGDFFEGGEGGEGGFHHFHHFHHFHHEGGFHHGIIFHHEGGFHHGIIIKKHJJFHHHJJGIIGIIGIIHJJIKKIKKGIIHJJIKKHJJIKKIKKHJJHJJIKKIKKIJLHIKIJLIJLIJLJKMIJLIJLHIKIJLJKMJKMHIKKLNHIKIJLIJLHIKHIKIJLIJLIJLHIKJKMHIKHIKHIKHIKHIKIJLHIKIJLIJLIJLIJLIJLIJLIJLHIKHIKHIKHIKGHJHIKHIKHIKHIKIJLHIKHIKHIKHIKGHJHIKHIKHIKHIKHIKIJLHIKIJLHIKHIKGHJHIKJKMGHJHIKHIKHIKGHJGHJHIKGHJHIKHIKGHJGHJIJLHIKGHJGHJGHJGHJFGIGHJGHJGHJFGIFGIEFHFGIEFHEFHFGIEFHFGIDEGEFHFGIEFHCDFDEGDEGCDFCDFDEGCDFCDFBCECDFBCEABD@ACABDABDBCEABDABDABD@AC@AC?@B>?A?@B?@B?@B?@B??C==A>>B>>B<=?=>@;<>;<><=?;<><=?;<>9:<89;89;89;9:<9:<9:<89;89;89;9:<89;78:89;89;78:9:<:;=9:<:;=:;=:;=;<>=>@;<><=?;<>=>@:;=<=?<>>;==>=??>@@?A?>@>>>?????????@@@@@@???@@@@@@@@@@@@??????===<<<<<<;;;:::888777466244022.00+--,.../1/02.00/11.00.00.00/11013/02013124*..




+
	
+
+


+

+
+
+
+
+
+
+	
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+DGDDFFEGGGIIFHHEGGEGGDFFFHHEGGEGGEGGDFFEGGHJJFHHFHHGIIGIIGIIGIIGIIHJJGIIGIIJLLHJJHJJIKKHJJIKKHJJIKKHJJIKKHJJIKKIJLIJLIJLHIKIJLIJLJKMIJLJKMHIKJKMJKMIJLJKMIJLHIKIJLIJLHIKHIKJKMHIKHIKIJLIJLIJLHIKIJLIJLIJLJKMIJLHIKJKMHIKIJLIJLJKMIJLJKMIJLIJLHIKIJLGHJIJLHIKHIKIJLGHJGHJHIKHIKIJLIJLHIKHIKHIKHIKIJLHIKHIKIJLGHJHIKGHJGHJHIKHIKGHJHIKGHJHIKHIKGHJGHJGHJGHJHIKHIKGHJGHJGHJGHJEFHEFHFGIFGIFGIFGIEFHEFHGHJEFHEFHFGIDEGDEGEFHEFHDEGCDFDEGDEGCDFDEGBCEBCEBCEBCEBCEBCEABDABD@AC@ACABDABD@AC?@B@AC@AC?@B?@B>?A>?A>?A>?A>>B==A==A==A;<><=?;<>;<>:;=;<>;<>:;=9:<89;89;9:<89;89;89;78:78:67978:78:67989;78:78:89;9:<89;:;=9:<:;=:;=:;=;<>:;=;<>:;=;<>;<><>>;===<>>=?>=?=<>>>>???>>>>>>???>>>>>>?????????>>>>>>>>>===<<<<<<;;;999777666244022/11,..)++-//./1./1/11/11-///11/11.00/02./1/02./1



+
	
+	
+	
+

+
+
+	
+
+
+
+
+
+							
+
+
+
+
+
+
+
+
+
+
+
+			CEEEGGDFFEGGEGGDFFEGGDFFEGGFHHEGGEGGEGGGIIGIIGIIFHHFHHGIIGIIGIIFHHGIIHJJHJJIKKHJJHJJGIIHJJJLLHJJIKKIKKIKKIJLIJLJKMIJLIJLHIKIJLIJLJKMJKMLMOJKMJKMIJLJKMJKMIJLHIKIJLHIKHIKJKMJKMIJLJKMIJLIJLJKMIJLIJLIJLHIKJKMJKMIJLGHJIJLHIKIJLIJLIJLIJLHIKIJLHIKGHJHIKIJLIJLHIKIJLHIKHIKHIKIJLHIKHIKHIKGHJHIKHIKIJLJKMHIKHIKGHJIJLGHJHIKIJLHIKGHJGHJGHJHIKGHJGHJGHJGHJGHJFGIGHJHIKFGIFGIFGIGHJEFHFGIFGIFGIGHJFGIEFHEFHEFHDEGDEGEFHEFHDEGDEGDEGDEGDEGCDFCDFCDFBCEBCEABDBCEBCE@ACABDABD?@B@AC@AC@AC?@B?@B?@B>?A?@B?@B?@B<=?==A>>B;;?;;?<<@==A:=@9<?;;?::>8;>8;>9:<9:<9:<9:<89;78:78:78:89;78:78:89;78:78:56867978:56878:78:67978:9:<89;89;;<>:;=89;9:<89;9:<:;=9:<;<>:;=9:<:;=9:<;;;<<<<<<===999999888999888888888777555444333111,..+--+--*,,'))%''%''#%%"$$*,,-.0-.0/02./1.00.00/02/02./1/02+.0



+
	
+	
+	
+
+
	
+		
+	
+	
+
+
+									
+
+
+
+
+
+		
+
+					DFFCEEDFFEGGEGGEGGEGGEGGFHHFHHEGGFHHFHHFHHGIIFHHFHHFHHHJJFHHGIIFHHHJJIKKGIIHJJGIIHJJIKKHJJHJJIKKIKKJLLJLLKLNIJLIJLJKMHIKIJLHIKIJLJKMKLNJKMJKMIJLJKMIJLJKMJKMJKMJKMIJLIJLHIKIJLKLNIJLHIKGHJJKMHIKHIKIJLIJLHIKKLNIJLHIKIJLIJLHIKIJLIJLIJLHIKHIKHIKIJLHIKJKMIJLHIKHIKHIKIJLHIKGHJGHJHIKHIKIJLGHJHIKGHJHIKIJLHIKHIKHIKGHJGHJGHJGHJHIKGHJGHJHIKHIKFGIGHJHIKGHJGHJGHJGHJFGIFGIFGIGHJEFHFGIEFHEFHFGIEFHDEGEFHEFHEFHCDFEFHDEGDEGDEGCDFCDFCDFBCECDFCDFBCEBCECDFABD@ACABD@ACABD@AC?@B@ACABD?@B>?A>?A>?A=>@>?A=>@=>@==A<<@;;?<<@==A<<@8;>8;>::>;;?69<69<9:<9:<78:78:89;78:78:78:78:67956867978:679679679568568568457457124457013235235235124124013235235/02013235/02./1/02000111...---******'''(((%%%###$$$"""!!!!!!                  %''+--,-/-.0./1./1-//.00/02./1013013



+



+
	
+		
+
+
			
+	
+	
+
+
+						
+
+
+
+
+
+				
+
+
+					DFFDFFEGGEGGEGGFHHEGGDFFEGGEGGEGGGIIEGGGIIGIIFHHGIIFHHFHHGIIHJJHJJFHHHJJGIIHJJGIIHJJIKKHJJHJJHJJJLLJLLIKKHJJIKKIKKHJJHIKJKMHIKIJLJKMHIKIJLJKMKLNJKMHIKIJLJKMIJLHIKJKMIJLIJLJKMKLNIJLIJLGHJIJLIJLIJLIJLHIKHIKHIKHIKIJLIJLIJLIJLHIKIJLHIKHIKIJLHIKIJLIJLHIKIJLIJLIJLHIKIJLIJLHIKGHJHIKIJLIJLGHJHIKGHJHIKGHJHIKHIKHIKGHJFGIFGIGHJGHJFGIHIKHIKHIKGHJGHJGGKGGKDDHEEIEEIEEIEFHEFHFGIFGIFGIEFHDDHEEIDDHEEIBEHCFIBEHBEHBEHADGAEF@DEADGADGBCEBCEBCECDF@DE?CD@DE?CD>BC>BC?CD>BC?CD=AB;>@=AB=@C;>A:=?:=?:=@;>A:=@9<?9<?8;>69<8;>7:=7:=7:=7:=69<69<36836858:368257035146035146.13.13-02,/1+.0*+-)*,'*,&)+'(*'(*'(*&')'(*%&(&')&')&')%&(&((&((%''%''$&&$&&%''#%%"$$ ""!!      "$$*,,,..,..,..,-/-.0-.0./1./1/02./1





+
	
+		
+

+
				
+


+
+						
+
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+										      !!      !!  !!  !! ""!!!! "" "" "" ""!!!! "" "" "" "" ""!"$ !# ""!## "" "" """$$!## ""!## ""!##"$$!##!##!##!##"$$"$$"$$#%%!##!##"$$#%%"#%"#%#$&#$&"$$"$$#%%"$$#%%#%%#%%#%%#%%#%%"&&!%%!%% $$!$&!$&!$&"%'!$&!$&!$&"%'"%'!$&!$&"%'"%'"%'#&(!$&"%'"%'"%'"%'"%'"%'!$&!$&!$&!$&"%' #% #%"%'"%'!$&!$&!$&!$&!$& #%!$& #%!$&!$&!$& #% #% #% #% #%"$ #%"$!#"$"$!#"$"$"$!#!#!#!#!#!# " " "!#!#! " "!!!! "!! ! "! " " " " " " "!#!#!#!#"$"$ #%"$ #%!$&"%'"%'!$&#&($')$')%(*&)+&)+&)+&)+'*,&)+&)+%(*%(*%(*#&($')#&("%'#&(%(*(+-),.-.0/02235568:;=:;=89;:;=<=?=>@;<>568577577466577577688:;=@ACGHJJKMNOQTUWXY[LMO<>>=??>?ABCEHIKLMO;==244355244244133133/11022






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+												!!!!!!!!       ""!!!!!!!!!! "" "" ""!! ""!##!##!! "" "" ""!##!## ""!"$"#%!##"$$"$$"$$"$$"$$!##!## """$$"$$#%%"$$#%%#%%"$$#%%#%%"$$#%%"$$#%%#%%#%%"#%$%'#$&#$&"$$#%%$&&#%%$&&%''$&&#%%%''$&&"&&"&&"&&"&&"%'"%'"%'#&("%'"%'"%'"%'"%'"%'"%'"%'"%'"%'!$&"%'"%'!$&"%'"%'#&("%'"%'"%'"%'#&("%'!$&!$&"%'"%'"%'!$&"%'!$&"%'!$&!$&!$&!$&"$ #% #% #% #% #%!$& #% #% #%"$ #% #%"$"$!#"$"$!#"$"$"$!#!#!#!# "!# "!#!#!#!# " "!# "!! "! "!# "!#!#!#!#!#!#!#"$"$"$"$ #%!$& #%!$&!$&#&(#&($')%(*%(*%(*'*,'*,'*,&)+&)+&)+%(*%(*%(*$')$')"%'"%'#&('*,(+-),.+.0./1/02346679;<><=?;<>9:<;<><=?<=?78:577577466355466799=>@EFHIJLMNPMNPOPRQRTUVXSUUEGGABDEFHFGIEFHJLL577244466244133/11.00/11





	
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+	

	
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+																								!!  !!!!!!!!!!!! "" "" ""!!!! "" ""!##!##!##!## "" "" ""!##"$$"$$"$$!##"$$"$$#%%"$$"$$#%%#%%"$$"$$#%%#%%$&&"$$#%%"$$"$$#%%$&&$&&"$$"$$#%%#%%$&&$%'#$&$%'$%'$%'$%'#$&$%'$&&#%%%''$&&$&&%''"&&"&&$&&$&&#''"&&#&(#&("%'#&("%'"%'#&(#&("%'#&(#&(#&("%'"%'"%'#&("%'#&("%'"%'"%'"%'"%'"%'"%'#&(#&(#&("%'!$&!$&#&("%'"%'"%'"%'"%'!$&!$&!$&!$&!$&!$&!$&!$&!$&!$&!$&!$& #%"$ #% #% #% #% #% #% #%"$"$"$"$!#"$"$!# "!#!#!#!#!# " " " " "! " " "!#!# "!#!#!#"$!#!#"$ #% #% #% #%!$&!$&!$&!$&#&(#&($')&)+%(*&),&),&)+'*,'*,'*,'*,&)+$')$')%(*$')#&(#&("%'%(*(+-(+-*-/,/1-02/244576799:<>?A>?A;<>;<>:;=;<>;<>78:78:5683466889;;BCEIJLNOQOPRLMOKLNJKMKLNMNPPQSLMOHIKFGIDEGFGIEFH244355244133/11.00.00









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+															!!!!!! "" "" "" "" "" ""!##"$$"$$!##!## """$$!##!##!##!###%%"$$"$$"$$!##"$$"$$"$$#%%#%%"$$"$$#%%"$$$&&#%%#%%#%%#%%#%%$&&#%%#%%#%%%''%''$&&$&&$&&%''%''$%'$%'%&($%'$%'$%'%&(%&(%''%''%''$&&$&&%''#''#''$&&$&&$((#''#&(#&("%'"%'$')$')#&($')#&(#&(#&($')$')#&(#&(#&("%'#&(#&(#&("%'#&(#&(#&("%'#&($')$')"%'#&(#&("%'"%'#&(#&("%'"%'"%'"%'"%'!$&"%'!$&!$&!$&!$&!$&!$&!$&!$& #% #%"$ #%!$&"%'!$&"$"$ #%"$"$!#"$"$"$"$!#"$!#!#!#!#!#!#"$!#!# "!#!# " "!#!#!#"$ #% #% #% #% #%!$& #%!$&!$&"%'#&(#&(#&($')%(*%(*&)+'*-'*-(+-(+-'*,(+-'*,&)+&)+%(*%(*$')#&("%'%(*),.),.*-/*-/,/1-02035457679:;=ABDABD>?A:;=9:<;<>;<>9:<9:<6794578::=??GHJJKMKLNKLNJKMKLNLMOMNPLMOOPRNOQOPRLMOEFHDEGHIK799022022/11,..-//.00






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diff --git a/bindings/js/example/public/index.html b/bindings/js/example/public/index.html
new file mode 100644
index 000000000..0b473125d
--- /dev/null
+++ b/bindings/js/example/public/index.html
@@ -0,0 +1,4 @@
+<!doctype html>
+<html>
+  <script src="/app.js"></script>
+</html>
diff --git a/bindings/js/example/run.sh b/bindings/js/example/run.sh
new file mode 100755
index 000000000..79a6cde7a
--- /dev/null
+++ b/bindings/js/example/run.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -e
+cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1
+
+# This has to exist, if it doesn't please run ./bindings/js/configure.sh && ./bindings/js/build.sh first
+cp ../../../build/bindings/js/depthai-js.wasm public/
+./build.sh
+cd public
+echo Example is running...
+echo Please navigate to http://localhost:8000/ in a browser and check the javascript console output.
+echo Then modify index.html to suit your needs.
+python3 -m http.server
+
diff --git a/bindings/js/example/serialize.cpp b/bindings/js/example/serialize.cpp
new file mode 100644
index 000000000..d876ebc35
--- /dev/null
+++ b/bindings/js/example/serialize.cpp
@@ -0,0 +1,59 @@
+#include <iostream>
+
+// include depthai library
+#include <depthai/depthai.hpp>
+#include <depthai/pipeline/datatype/StreamMessageParser.hpp>
+
+// include opencv library (Optional, used only for the following example)
+#include <opencv2/opencv.hpp>
+
+using namespace std;
+
+template <typename T>
+void writeMessageToFile(const T& message, const char* filename) {
+    const auto metadata = dai::StreamMessageParser::serializeMetadata(message);
+    const auto data = message->getData();
+    ofstream myfile;
+    myfile.open(filename, ios::out | ios::binary);
+    myfile.write(reinterpret_cast<const char*>(data.data()), data.size() * sizeof(data.front()));
+    myfile.write(reinterpret_cast<const char*>(metadata.data()), metadata.size() * sizeof(metadata.front()));
+    myfile.close();
+}
+
+int main() {
+    // Create pipeline
+    dai::Pipeline pipeline;
+    auto colorCam = pipeline.create<dai::node::ColorCamera>();
+    auto xlinkOut = pipeline.create<dai::node::XLinkOut>();
+    xlinkOut->setStreamName("preview");
+    colorCam->setInterleaved(true);
+    colorCam->preview.link(xlinkOut->input);
+
+    try {
+        // Try connecting to device and start the pipeline
+        dai::Device device(pipeline);
+
+        // Get output queue
+        auto preview = device.getOutputQueue("preview");
+
+        cv::Mat frame;
+        while(true) {
+            // Receive 'preview' frame from device
+            auto imgFrame = preview->get<dai::ImgFrame>();
+            std::vector<std::uint8_t> data;
+            writeMessageToFile(imgFrame, "img_frame.dump");
+
+            // Show the received 'preview' frame
+            cv::imshow("preview", cv::Mat(imgFrame->getHeight(), imgFrame->getWidth(), CV_8UC3, imgFrame->getData().data()));
+
+            // Wait and check if 'q' pressed
+            if(cv::waitKey(1) == 'q') return 0;
+        }
+    } catch(const std::runtime_error& err) {
+        std::cout << err.what() << std::endl;
+        return 1;
+    }
+
+    return 0;
+}
+
diff --git a/bindings/js/example/src/index.ts b/bindings/js/example/src/index.ts
new file mode 100644
index 000000000..8edd432b1
--- /dev/null
+++ b/bindings/js/example/src/index.ts
@@ -0,0 +1,34 @@
+import depthaiInitialize, { parseMessage, arrayToVector } from "depthai-js";
+
+(async () => {
+  const dai = await depthaiInitialize();
+  console.log(Object.keys(dai));
+  const req = new XMLHttpRequest();
+  req.open("GET", "/img_frame.dump", true);
+  req.responseType = "arraybuffer";
+  req.onload = () => {
+    const arrayBuffer = req.response;
+    if (arrayBuffer) {
+      const message = parseMessage(arrayBuffer);
+      console.log(message);
+      const msgType = message.type;
+      const vectorMetadata = arrayToVector(message.metadata);
+      let res;
+      if (msgType === dai.DatatypeEnum.ImgFrame) {
+        console.log("message type is ImgFrame");
+        res = dai.deserializeImgFrame(vectorMetadata);
+        console.log("deserializeImgFrame result: ", res);
+        console.log("DIMS from javascript: ", res.width, "x", res.height);
+      } else if (msgType === dai.DatatypeEnum.ImgDetections) {
+        console.log("message type is ImgDetections");
+        res = dai.deserializeImgDetections(vectorMetadata);
+      } else {
+        throw Error("Unhandled message type: " + msgType);
+      }
+      console.log(res);
+    } else {
+      console.error("Not an array buffer");
+    }
+  };
+  req.send(null);
+})();
diff --git a/bindings/js/example/tsconfig.json b/bindings/js/example/tsconfig.json
new file mode 100644
index 000000000..7ae453dc3
--- /dev/null
+++ b/bindings/js/example/tsconfig.json
@@ -0,0 +1,27 @@
+{
+  "compilerOptions": {
+    "outDir": "public/dist",
+    "target": "es6",
+    "module": "esnext",
+    "moduleResolution": "bundler",
+    "lib": [
+      "es2015",
+      "dom"
+    ],
+    "sourceMap": true,
+    "strict": true,
+    "strictFunctionTypes": true,
+    "noImplicitReturns": true,
+    "noImplicitThis": true,
+    "noImplicitAny": true,
+    "strictNullChecks": true,
+    "alwaysStrict": true,
+    "noUnusedLocals": true,
+    "noUnusedParameters": true,
+    "declaration": true,
+    "esModuleInterop": true,
+    "allowSyntheticDefaultImports": true
+  },
+  "include": ["src"],
+  "exclude": ["node_modules", "public", "**/*.test.ts"]
+}
diff --git a/bindings/js/package-lock.json b/bindings/js/package-lock.json
new file mode 100644
index 000000000..8182bb88f
--- /dev/null
+++ b/bindings/js/package-lock.json
@@ -0,0 +1,8162 @@
+{
+  "name": "depthai-js",
+  "version": "0.0.1",
+  "lockfileVersion": 2,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "depthai-js",
+      "version": "0.0.1",
+      "license": "MIT",
+      "devDependencies": {
+        "@babel/cli": "^7.23.9",
+        "@babel/core": "^7.24.0",
+        "@babel/preset-env": "^7.24.0",
+        "@babel/preset-typescript": "^7.23.3",
+        "@rollup/plugin-babel": "^6.0.4",
+        "@rollup/plugin-node-resolve": "^15.2.3",
+        "cross-env": "^7.0.3",
+        "npm-run-all": "^4.1.5",
+        "rimraf": "^5.0.5",
+        "rollup": "^2.79.1",
+        "rollup-plugin-terser": "^7.0.2",
+        "typescript": "^5.3.3"
+      }
+    },
+    "node_modules/@ampproject/remapping": {
+      "version": "2.2.1",
+      "resolved": "https://registry.npmjs.org/@ampproject/remapping/-/remapping-2.2.1.tgz",
+      "integrity": "sha512-lFMjJTrFL3j7L9yBxwYfCq2k6qqwHyzuUl/XBnif78PWTJYyL/dfowQHWE3sp6U6ZzqWiiIZnpTMO96zhkjwtg==",
+      "dev": true,
+      "dependencies": {
+        "@jridgewell/gen-mapping": "^0.3.0",
+        "@jridgewell/trace-mapping": "^0.3.9"
+      },
+      "engines": {
+        "node": ">=6.0.0"
+      }
+    },
+    "node_modules/@babel/cli": {
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+}
diff --git a/bindings/js/package.json b/bindings/js/package.json
new file mode 100644
index 000000000..ba9a20b6b
--- /dev/null
+++ b/bindings/js/package.json
@@ -0,0 +1,46 @@
+{
+  "name": "depthai-js",
+  "version": "0.0.1",
+  "description": "depthai-core JS bindings",
+  "author": "Luxonis <info@luxonis.com>",
+  "keywords": [],
+  "license": "MIT",
+  "main": "lib/cjs/index.js",
+  "module": "lib/index.js",
+  "exports": {
+    ".": "./lib/index.js"
+  },
+  "types": "./lib/index.d.ts",
+  "files": [
+    "lib/**/*",
+    "README.md"
+  ],
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/luxonis/depthai-core"
+  },
+  "scripts": {
+    "clean": "rimraf lib",
+    "build:esm": "cross-env BABEL_ENV=esmUnbundled babel src --extensions '.ts' --out-dir 'lib'",
+    "build:cjs": "cross-env BABEL_ENV=cjs babel src --extensions '.ts' --out-dir 'lib/cjs'",
+    "build:esmBundled": "cross-env BABEL_ENV=esmBundled rollup -c rollup.config.js",
+    "build:umdBundled": "cross-env BABEL_ENV=umdBundled rollup -c rollup.config.js",
+    "build:declarations": "tsc -p tsconfig.json",
+    "build:copyFiles": "mkdir -p lib && cp src/*.js src/*.d.ts lib/",
+    "build": "npm-run-all -l clean -p build:esm build:cjs build:esmBundled build:umdBundled build:declarations build:copyFiles"
+  },
+  "devDependencies": {
+    "@babel/cli": "^7.23.9",
+    "@babel/core": "^7.24.0",
+    "@babel/preset-env": "^7.24.0",
+    "@babel/preset-typescript": "^7.23.3",
+    "@rollup/plugin-babel": "^6.0.4",
+    "@rollup/plugin-node-resolve": "^15.2.3",
+    "cross-env": "^7.0.3",
+    "npm-run-all": "^4.1.5",
+    "rimraf": "^5.0.5",
+    "rollup": "^2.79.1",
+    "rollup-plugin-terser": "^7.0.2",
+    "typescript": "^5.3.3"
+  }
+}
diff --git a/bindings/js/rollup.config.js b/bindings/js/rollup.config.js
new file mode 100644
index 000000000..7c88afe0c
--- /dev/null
+++ b/bindings/js/rollup.config.js
@@ -0,0 +1,46 @@
+import babel from "@rollup/plugin-babel";
+import { nodeResolve } from "@rollup/plugin-node-resolve";
+import { terser } from "rollup-plugin-terser";
+
+console.log(`
+-------------------------------------
+Rollup building bundle for ${process.env.BABEL_ENV}
+-------------------------------------
+`);
+
+const extensions = [".js", ".ts"];
+
+export default {
+  input: "src/index.ts",
+  output: [
+    ...(process.env.BABEL_ENV === "esmBundled"
+      ? [
+          {
+            file: "lib/bundles/bundle.esm.min.js",
+            format: "esm",
+            sourcemap: true,
+          },
+        ]
+      : []),
+    ...(process.env.BABEL_ENV === "umdBundled"
+      ? [
+          {
+            file: "lib/bundles/bundle.umd.min.js",
+            format: "umd",
+            name: "my-lib",
+            sourcemap: true,
+          },
+        ]
+      : []),
+  ],
+  plugins: [
+    nodeResolve({ extensions }),
+    babel({
+      babelHelpers: "bundled",
+      include: ["src/**/*.ts", "src/**/*.js"],
+      extensions,
+      exclude: "./node_modules/**",
+    }),
+    terser(),
+  ],
+};
diff --git a/bindings/js/src/.gitignore b/bindings/js/src/.gitignore
new file mode 100644
index 000000000..ec7b9688a
--- /dev/null
+++ b/bindings/js/src/.gitignore
@@ -0,0 +1,2 @@
+/depthai-js.d.ts
+/depthai-js.js
diff --git a/bindings/js/src/index.ts b/bindings/js/src/index.ts
new file mode 100644
index 000000000..3c9c0866a
--- /dev/null
+++ b/bindings/js/src/index.ts
@@ -0,0 +1,76 @@
+import depthaiJsModuleInitialize, {
+  DatatypeEnum,
+  Uint8Vector,
+  MainModule,
+} from "./depthai-js.js";
+
+export * from "./depthai-js.js";
+
+interface ParsedMessage {
+  type: DatatypeEnum;
+  metadata: Uint8Array;
+  data: Uint8Array;
+}
+
+export type Dai = MainModule;
+
+let dai: { value: Dai | null } = { value: null };
+async function initialize(): Promise<Dai> {
+  const depthai = (await (depthaiJsModuleInitialize as any)()) as Dai;
+  dai.value = depthai;
+  return depthai;
+}
+
+export function arrayToVector(byteArray: Uint8Array): Uint8Vector {
+  if (dai.value === null) {
+    throw Error();
+  }
+  const bytes = new dai.value.Uint8Vector();
+  byteArray.forEach((element) => {
+    bytes.push_back(element);
+  });
+  return bytes;
+}
+
+export function parseMessage(arrayBuffer: ArrayBuffer): ParsedMessage {
+  if (dai.value === null) {
+    throw Error();
+  }
+  if (arrayBuffer.byteLength < 8) {
+    throw Error();
+  }
+  const headerArray = new Uint8Array(
+    arrayBuffer,
+    arrayBuffer.byteLength - 8,
+    8
+  );
+  const headerBytes = arrayToVector(headerArray);
+  const header = dai.value.getMessageType(headerBytes);
+  const dataLength =
+    arrayBuffer.byteLength - // whole packet
+    8 - // header
+    header.serializedObjectSize; // metadata
+  if (dataLength < 0) {
+    throw Error(
+      "Invalid data length: " +
+        dataLength +
+        " = " +
+        arrayBuffer.byteLength +
+        " - 8 - " +
+        header.serializedObjectSize
+    );
+  }
+  const data = new Uint8Array(arrayBuffer, 0, dataLength);
+  const metadata = new Uint8Array(
+    arrayBuffer,
+    dataLength,
+    header.serializedObjectSize
+  );
+  return {
+    type: header.objectType,
+    data,
+    metadata,
+  };
+}
+
+export default initialize;
diff --git a/bindings/js/tsconfig.json b/bindings/js/tsconfig.json
new file mode 100644
index 000000000..f9f0c5d4f
--- /dev/null
+++ b/bindings/js/tsconfig.json
@@ -0,0 +1,28 @@
+{
+  "compilerOptions": {
+    "outDir": "lib",
+    "target": "es6",
+    "module": "esnext",
+    "moduleResolution": "node",
+    "lib": [
+      "es2015",
+      "dom"
+    ],
+    "sourceMap": true,
+    "strict": true,
+    "strictFunctionTypes": true,
+    "noImplicitReturns": true,
+    "noImplicitThis": true,
+    "noImplicitAny": true,
+    "strictNullChecks": true,
+    "alwaysStrict": true,
+    "noUnusedLocals": true,
+    "noUnusedParameters": true,
+    "skipLibCheck": true,
+    "declaration": true,
+    "esModuleInterop": true,
+    "allowSyntheticDefaultImports": true
+  },
+  "include": ["src"],
+  "exclude": ["node_modules", "lib", "**/*.test.ts"]
+}
diff --git a/bindings/python/.gitignore b/bindings/python/.gitignore
new file mode 100644
index 000000000..8b2403a39
--- /dev/null
+++ b/bindings/python/.gitignore
@@ -0,0 +1,49 @@
+# Microsoft Visual Studio Code
+.project
+.vscode/
+.vs/
+build*/*
+# Auto-generated
+generated/*
+
+#pybind11
+pybind11-2.5.0/
+build/
+dist/
+_build/
+_generate/
+*.so
+*.py[cod]
+*.egg-info
+
+#depthai c++ core library
+depthai-core/.vscode/
+depthai-core/build/
+
+# builds
+_builds/
+
+#git
+*.orig
+*_REMOTE_*
+*_LOCAL_*
+*_BACKUP_*
+*_BASE_*
+
+#ci
+wheelhouse/
+
+# Environments
+.env
+.venv
+env/
+venv/
+venv_*/
+ENV/
+env.bak/
+venv.bak/
+
+# PyCharm
+.idea/
+#Clang
+.cache/
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
new file mode 100644
index 000000000..631f7a5f2
--- /dev/null
+++ b/bindings/python/CMakeLists.txt
@@ -0,0 +1,338 @@
+cmake_minimum_required(VERSION 3.4) # For Hunter
+
+# Set policies
+# CMP0074 dictates that find_package searches environment variable "[packageName]_ROOT" along with regular variable [packageName]_ROOT
+if(POLICY CMP0074)
+  cmake_policy(SET CMP0074 NEW) # Only introduced in 3.12
+endif()
+
+if(POLICY CMP0028)
+  cmake_policy(SET CMP0028 NEW)
+endif()
+
+# Specify path separator
+set(SYS_PATH_SEPARATOR ";")
+if(UNIX)
+    set(SYS_PATH_SEPARATOR ":")
+endif()
+
+# Move binary dir if windows, to shorten the path
+if(WIN32)
+    set(HUNTER_BINARY_DIR "${HUNTER_GATE_ROOT}/_bin" CACHE STRING "Hunter binary directory")
+endif()
+
+# Pybindings project
+set(TARGET_NAME depthai)
+project(depthai VERSION "0") # revision of bindings [depthai-core].[rev]
+
+# Add module paths
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
+
+# Constants
+set(DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated/include)
+set(DOCSTRINGS_INCLUDE_PLACEHOLDER_PATH ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR}/docstring.hpp)
+set(DEFAULT_DOCSTRINGS_OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/generated/depthai_python_docstring.hpp)
+
+# First specify options
+# option(DEPTHAI_PYTHON_USE_FIND_PACKAGE "Use find_package for depthai-core" OFF)
+option(DEPTHAI_PYTHON_ENABLE_TESTS "Enable tests" OFF)
+option(DEPTHAI_PYTHON_ENABLE_EXAMPLES "Enable examples" OFF)
+option(DEPTHAI_PYTHON_BUILD_DOCS "Build documentation - see docs/requirements.txt for needed dependencies" OFF)
+option(DEPTHAI_PYTHON_BUILD_DOCSTRINGS "Generate docstrings from header files if module 'pybind11_mkdoc' available" ON)
+option(DEPTHAI_PYTHON_EMBEDDED_MODULE "Create an embeddable module" OFF)
+
+# Add pybind11 dependency
+#add_subdirectory(pybind11-2.5.0)
+hunter_add_package(pybind11)
+
+# Disable LTO if MINGW compiler
+if(MINGW)
+    set(PYBIND11_LTO_CXX_FLAGS "" CACHE STRING "" FORCE)
+endif()
+find_package(pybind11 CONFIG REQUIRED)
+
+# Add external dependencies
+add_subdirectory(external)
+
+set(SOURCE_LIST
+    src/py_bindings.cpp
+    src/XLinkBindings.cpp
+    src/DeviceBindings.cpp
+    src/CalibrationHandlerBindings.cpp
+    src/DeviceBootloaderBindings.cpp
+    src/DatatypeBindings.cpp
+    src/DataQueueBindings.cpp
+    src/pipeline/PipelineBindings.cpp
+    src/pipeline/CommonBindings.cpp
+    src/pipeline/AssetManagerBindings.cpp
+    src/openvino/OpenVINOBindings.cpp
+    src/log/LogBindings.cpp
+    src/VersionBindings.cpp
+
+    src/pipeline/node/NodeBindings.cpp
+
+    src/pipeline/node/XLinkInBindings.cpp
+    src/pipeline/node/XLinkOutBindings.cpp
+    src/pipeline/node/ColorCameraBindings.cpp
+    src/pipeline/node/CameraBindings.cpp
+    src/pipeline/node/MonoCameraBindings.cpp
+    src/pipeline/node/StereoDepthBindings.cpp
+    src/pipeline/node/NeuralNetworkBindings.cpp
+    src/pipeline/node/VideoEncoderBindings.cpp
+    src/pipeline/node/ImageManipBindings.cpp
+    src/pipeline/node/SPIOutBindings.cpp
+    src/pipeline/node/SPIInBindings.cpp
+    src/pipeline/node/DetectionNetworkBindings.cpp
+    src/pipeline/node/SystemLoggerBindings.cpp
+    src/pipeline/node/ScriptBindings.cpp
+    src/pipeline/node/SpatialLocationCalculatorBindings.cpp
+    src/pipeline/node/SpatialDetectionNetworkBindings.cpp
+    src/pipeline/node/ObjectTrackerBindings.cpp
+    src/pipeline/node/IMUBindings.cpp
+    src/pipeline/node/EdgeDetectorBindings.cpp
+    src/pipeline/node/FeatureTrackerBindings.cpp
+    src/pipeline/node/ToFBindings.cpp
+    src/pipeline/node/AprilTagBindings.cpp
+    src/pipeline/node/DetectionParserBindings.cpp
+    src/pipeline/node/WarpBindings.cpp
+    src/pipeline/node/SyncBindings.cpp
+    src/pipeline/node/BenchmarkBindings.cpp
+    src/pipeline/node/UVCBindings.cpp
+    src/pipeline/node/ToFBindings.cpp
+    src/pipeline/node/PointCloudBindings.cpp
+    src/pipeline/node/SyncBindings.cpp
+    src/pipeline/node/MessageDemuxBindings.cpp
+
+    src/pipeline/datatype/ADatatypeBindings.cpp
+    src/pipeline/datatype/AprilTagConfigBindings.cpp
+    src/pipeline/datatype/AprilTagsBindings.cpp
+    src/pipeline/datatype/BufferBindings.cpp
+    src/pipeline/datatype/CameraControlBindings.cpp
+    src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
+    src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
+    src/pipeline/datatype/ToFConfigBindings.cpp
+    src/pipeline/datatype/ImageManipConfigBindings.cpp
+    src/pipeline/datatype/ImgDetectionsBindings.cpp
+    src/pipeline/datatype/ImgFrameBindings.cpp
+    src/pipeline/datatype/EncodedFrameBindings.cpp
+    src/pipeline/datatype/IMUDataBindings.cpp
+    src/pipeline/datatype/MessageGroupBindings.cpp
+    src/pipeline/datatype/NNDataBindings.cpp
+    src/pipeline/datatype/SpatialImgDetectionsBindings.cpp
+    src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp
+    src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp
+    src/pipeline/datatype/StereoDepthConfigBindings.cpp
+    src/pipeline/datatype/SystemInformationBindings.cpp
+    src/pipeline/datatype/TrackedFeaturesBindings.cpp
+    src/pipeline/datatype/TrackletsBindings.cpp
+    src/pipeline/datatype/BenchmarkReportBindings.cpp
+    src/pipeline/datatype/PointCloudConfigBindings.cpp
+    src/pipeline/datatype/PointCloudDataBindings.cpp
+)
+
+# Add files for python module
+if(DEPTHAI_PYTHON_EMBEDDED_MODULE)
+    add_library(${TARGET_NAME} ${SOURCE_LIST})
+else()
+    pybind11_add_module(${TARGET_NAME} ${SOURCE_LIST})
+endif()
+
+if(WIN32)
+    # Copy dlls to target directory - Windows only
+    # TARGET_RUNTIME_DLLS generator expression available since CMake 3.21
+    if(CMAKE_VERSION VERSION_LESS "3.21")
+        file(GLOB depthai_dll_libraries "${HUNTER_INSTALL_PREFIX}/bin/*.dll")
+    else()
+        set(depthai_dll_libraries "$<TARGET_RUNTIME_DLLS:${TARGET_NAME}>")
+    endif()
+    add_custom_command(TARGET ${TARGET_NAME} POST_BUILD COMMAND
+        "$<$<BOOL:${depthai_dll_libraries}>:${CMAKE_COMMAND};-E;copy_if_different;${depthai_dll_libraries};$<TARGET_FILE_DIR:${TARGET_NAME}>>"
+        COMMAND_EXPAND_LISTS
+        VERBATIM
+    )
+
+    # Disable "d" postfix, so python can import the library as is
+    set_target_properties(${TARGET_NAME} PROPERTIES DEBUG_POSTFIX "")
+endif()
+
+# Add stubs (pyi) generation step after building bindings
+execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "from mypy import api" RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
+if(error OR CMAKE_CROSSCOMPILING)
+    message(WARNING "Mypy not available or cross compiling - stubs won't be generated or checked")
+else()
+    get_target_property(bindings_directory ${TARGET_NAME} LIBRARY_OUTPUT_DIRECTORY)
+    if(NOT bindings_directory)
+        set(bindings_directory ${CMAKE_CURRENT_BINARY_DIR})
+    endif()
+    message(STATUS "Mypy available, creating and checking stubs. Running with generate_stubs.py ${TARGET_NAME} ${bindings_directory}")
+    add_custom_command(TARGET ${TARGET_NAME} POST_BUILD COMMAND
+        ${CMAKE_COMMAND} -E env
+        # Python path (to find compiled module)
+        "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+        ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_LIST_DIR}/generate_stubs.py" "${TARGET_NAME}" "$<TARGET_FILE_DIR:${TARGET_NAME}>"
+        DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generate_stubs.py"
+        WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+    )
+endif()
+
+# Docstring options
+if(DEPTHAI_PYTHON_DOCSTRINGS_INPUT AND DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT)
+    message(FATAL_ERROR "DEPTHAI_PYTHON_DOCSTRINGS_INPUT and DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT are mutually exclusive")
+endif()
+
+if(DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT)
+    # If output is specified set both input and output to same the path
+    set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
+    set(docstring_output_path ${DEPTHAI_PYTHON_DOCSTRINGS_OUTPUT})
+else()
+    # If input docstrings explicitly specified, use those and disable building
+    if(DEPTHAI_PYTHON_DOCSTRINGS_INPUT)
+        set(docstring_input_path ${DEPTHAI_PYTHON_DOCSTRINGS_INPUT})
+        message(STATUS "Disabled building of docstrings - using docstrings specified by DEPTHAI_PYTHON_DOCSTRINGS_INPUT (${DEPTHAI_PYTHON_DOCSTRINGS_INPUT})")
+        set(DEPTHAI_PYTHON_BUILD_DOCSTRINGS OFF CACHE BOOL "Generate docstrings from header files if module 'pybind11_mkdoc' available" FORCE)
+    else()
+        # Otherwise set default location as input
+        set(docstring_input_path ${DEFAULT_DOCSTRINGS_OUTPUT})
+    endif()
+
+    # Set default output location
+    set(docstring_output_path ${DEFAULT_DOCSTRINGS_OUTPUT})
+endif()
+
+if(DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
+    option(DEPTHAI_PYTHON_FORCE_DOCSTRINGS "Force that docstrings are generated, module 'pybind11_mkdoc' required" OFF)
+endif()
+
+# Configure include placeholder with INPUT path
+configure_file(cmake/docstring.hpp.in ${DOCSTRINGS_INCLUDE_PLACEHOLDER_PATH})
+# Add target to generate docstrings
+if (DEPTHAI_PYTHON_BUILD_DOCSTRINGS)
+    include(pybind11-mkdoc)
+
+    # Check if pybind11_mkdoc available and create target
+    target_pybind11_mkdoc_setup(${docstring_output_path} depthai::core ${DEPTHAI_PYTHON_FORCE_DOCSTRINGS})
+
+    if(TARGET pybind11_mkdoc)
+        # Add dependency to mkdoc target (makes sure that mkdoc is executed, and docstrings available)
+        add_dependencies(${TARGET_NAME} pybind11_mkdoc)
+    else()
+        # Generate default docstrings to OUTPUT path
+        configure_file(cmake/default_docstring.hpp.in ${docstring_output_path} COPYONLY)
+    endif()
+else()
+    # Generate default docstrings to OUTPUT path
+    configure_file(cmake/default_docstring.hpp.in ${docstring_output_path} COPYONLY)
+endif()
+
+# Add include directory
+target_include_directories(${TARGET_NAME} PRIVATE src ${DOCSTRINGS_INCLUDE_PLACEHOLDER_DIR})
+
+# Link with libraries
+target_link_libraries(${TARGET_NAME}
+    PUBLIC
+        # pybind11
+        pybind11::pybind11
+        depthai::core # Use non-opencv target as we use opencv-python in bindings
+        hedley
+        pybind11_json
+        xtensor-python
+)
+
+# Add embedded module option, otherwise link to pybind11 as usual
+if(DEPTHAI_PYTHON_EMBEDDED_MODULE)
+    target_compile_definitions(${TARGET_NAME} PRIVATE DEPTHAI_PYTHON_EMBEDDED_MODULE)
+endif()
+
+# Find Git
+find_package(Git)
+
+# Add build information (commit, date)
+set(BUILD_COMMIT "dev")
+if(GIT_FOUND)
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} show -s --format=%ci ${BUILD_COMMIT}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT_DATETIME
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+endif()
+
+# Add local commit hash (or 'dev' if unable to retrieve) if not build by CI
+if(NOT DEFINED ENV{CI} AND NOT DEPTHAI_PYTHON_COMMIT_HASH)
+    set(DEPTHAI_PYTHON_COMMIT_HASH ${BUILD_COMMIT})
+endif()
+
+# Get version to use
+set(version_command "import find_version as v; print(v.get_package_version())")
+if(DEPTHAI_PYTHON_COMMIT_HASH)
+    set(version_command "import find_version as v; print(v.get_package_dev_version('${DEPTHAI_PYTHON_COMMIT_HASH}'))")
+endif()
+execute_process(COMMAND ${PYTHON_EXECUTABLE} "-c" "${version_command}"
+    OUTPUT_VARIABLE DEPTHAI_PYTHON_VERSION
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+)
+
+
+string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)
+target_compile_definitions(${TARGET_NAME}
+    PRIVATE
+        DEPTHAI_PYTHON_VERSION="${DEPTHAI_PYTHON_VERSION}"
+        DEPTHAI_PYTHON_COMMIT_HASH="${BUILD_COMMIT}"
+        DEPTHAI_PYTHON_COMMIT_DATETIME="${BUILD_COMMIT_DATETIME}"
+        DEPTHAI_PYTHON_BUILD_DATETIME="${BUILD_DATETIME}"
+)
+
+# ASAN Settings as we are building and using shared library
+if(SANITIZE_ADDRESS OR SANITIZE_MEMORY OR SANITIZE_THREAD OR SANITIZE_UNDEFINED)
+    # Get asan library to preload
+    if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+        execute_process(COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libclang_rt.asan-${CMAKE_HOST_SYSTEM_PROCESSOR}.so OUTPUT_VARIABLE LIBASAN_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
+    elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        execute_process(COMMAND ${CMAKE_CXX_COMPILER} -print-file-name=libasan.so OUTPUT_VARIABLE LIBASAN_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
+    endif()
+    # Set preload env variable
+    if(APPLE)
+        set(ASAN_ENVIRONMENT_VARS "DYLD_INSERT_LIBRARIES=${LIBASAN_PATH}" "ASAN_OPTIONS=leak_check_at_exit=0")
+    elseif(UNIX)
+        set(ASAN_ENVIRONMENT_VARS "LD_PRELOAD=${LIBASAN_PATH}" "ASAN_OPTIONS=leak_check_at_exit=0")
+    endif()
+    message(STATUS "ASAN environment variables: ${ASAN_ENVIRONMENT_VARS}")
+endif()
+
+########################
+# Testing
+########################
+if(DEPTHAI_PYTHON_ENABLE_TESTS OR DEPTHAI_PYTHON_ENABLE_EXAMPLES)
+    include(CTest)
+    enable_testing()
+endif()
+
+########################
+# Tests
+########################
+if (DEPTHAI_PYTHON_ENABLE_TESTS)
+    add_subdirectory(tests)
+endif()
+
+########################
+# Examples (can also act as tests)
+########################
+if (DEPTHAI_PYTHON_ENABLE_EXAMPLES)
+    add_subdirectory(examples)
+endif()
+
+########################
+# Documentation
+########################
+if(DEPTHAI_PYTHON_BUILD_DOCS)
+    add_subdirectory(docs)
+endif()
diff --git a/bindings/python/LICENSE b/bindings/python/LICENSE
new file mode 100644
index 000000000..b45d6ba17
--- /dev/null
+++ b/bindings/python/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 Luxonis LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/bindings/python/MANIFEST.in b/bindings/python/MANIFEST.in
new file mode 100644
index 000000000..536965148
--- /dev/null
+++ b/bindings/python/MANIFEST.in
@@ -0,0 +1,17 @@
+include README.md LICENSE CMakeLists.txt pyproject.toml
+include find_version.py
+include generate_stubs.py
+graft cmake
+graft generated
+graft ci
+graft external
+graft src
+graft depthai-core
+prune depthai-core/build*
+prune depthai-core/tests*
+prune depthai-core/examples*
+prune build
+prune wheelhouse
+prune dist
+prune tests
+prune examples
diff --git a/bindings/python/README.md b/bindings/python/README.md
new file mode 100644
index 000000000..dbd060a5e
--- /dev/null
+++ b/bindings/python/README.md
@@ -0,0 +1,223 @@
+# DepthAI Python Library
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT)
+[![](https://img.shields.io/pypi/v/depthai.svg)](https://pypi.org/project/depthai/)
+[![Python Wheel CI](https://github.com/luxonis/depthai-python/actions/workflows/main.yml/badge.svg?branch=gen2_develop)](https://github.com/luxonis/depthai-python/actions/workflows/main.yml)
+
+Python bindings for C++ depthai-core library
+
+## Documentation
+
+Documentation is available over at [Luxonis DepthAI API](https://docs.luxonis.com/projects/api/en/latest/)
+
+## Installation
+
+Prebuilt wheels are available in [Luxonis repository](https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/)
+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
+```
+## Building from source
+
+### Dependencies
+ - cmake >= 3.4
+ - C++14 compiler (clang, gcc, msvc, ...)
+ - Python3
+
+Along these, dependencies of depthai-core are also required
+See: [depthai-core dependencies](https://github.com/luxonis/depthai-core#dependencies)
+
+
+### Building
+
+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.
+
+#### Local build with pip
+To build and install using pip:
+```
+cd dephai-core/bindings/python
+python3 -m pip install .
+```
+Add parameter `-v` to see the output of the building process.
+
+#### Wheel with pip
+To build a wheel, execute the following
+```
+cd depthai-core/bindings/python
+python3 -m pip wheel . -w wheelhouse
+```
+
+#### Shared library
+To build a shared library from source perform the following:
+
+> ℹ� 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]`
+
+```
+cd depthai-core
+cmake -H. -Bbuild -DDEPTHAI_BUILD_PYTHON=ON
+cmake --build build
+```
+To specify custom Python executable to build for, use `cmake -H. -Bbuild -D PYTHON_EXECUTABLE=/full/path/to/python`.
+
+#### Common issues
+
+* 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.
+
+
+## Running tests
+
+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.
+
+## Tested platforms
+
+- Windows 10, Windows 11
+- Ubuntu 18.04, 20.04, 22.04;
+- Raspbian 10;
+- macOS 10.14.6, 10.15.4;
+
+### Building documentation
+
+- **Using [Docker](https://docs.docker.com/) (with [Docker Compose](https://docs.docker.com/compose/install/))**
+
+     ```
+     cd docs
+     sudo docker-compose build
+     sudo docker-compose up
+     ```
+
+     > ℹ� 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](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](#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](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
+
+## Troubleshooting
+
+### Relocation link error
+
+Build failure on Ubuntu 18.04 ("relocation ..." link error) with gcc 7.4.0 (default) - [**issue #3**](https://github.com/luxonis/depthai-api/issues/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
+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 **Hunter** **cache** folder.
+
+Linux/MacOS:
+```
+rm -r ~/.hunter
+```
+Windows:
+```
+del C:/.hunter
+```
+or
+```
+del C:/[user]/.hunter
+```
+
+### LTO - link time optimization
+
+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
+```
diff --git a/bindings/python/ci/Dockerfile b/bindings/python/ci/Dockerfile
new file mode 100644
index 000000000..4d21d1ba0
--- /dev/null
+++ b/bindings/python/ci/Dockerfile
@@ -0,0 +1,18 @@
+FROM python:3.9-bullseye
+
+RUN apt-get update && apt-get install -y wget build-essential cmake pkg-config libjpeg-dev libtiff5-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev libgtk-3-dev libatlas-base-dev gfortran git libopencv-dev
+
+ADD ci/docker_dependencies.sh .
+RUN ./docker_dependencies.sh
+
+RUN pip install -U pip && pip install --extra-index-url https://www.piwheels.org/simple/ --prefer-binary opencv-python
+
+# Copy over the files
+COPY . /depthai-core
+
+# Install C++ library
+RUN cmake -S /depthai-core -B /build -D CMAKE_BUILD_TYPE=Release -D BUILD_SHARED_LIBS=ON -D CMAKE_INSTALL_PREFIX=/usr/local
+RUN cmake --build /build --parallel 4 --config Relase --target install
+
+# Install Python library
+RUN cd /depthai-python/bindings/python && python3 -m pip install .
diff --git a/bindings/python/ci/build-wheels.sh b/bindings/python/ci/build-wheels.sh
new file mode 100755
index 000000000..9f53a546d
--- /dev/null
+++ b/bindings/python/ci/build-wheels.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+set -e -x
+
+# Install a system package required by our library
+#yum install -y atlas-devel
+yum install -y libusb1-devel
+#yum remove -y libusb1
+
+# Compile wheels
+for PYBIN in /opt/python/cp3{6..10}*/bin; do
+    #"${PYBIN}/pip" install -r /io/requirements.txt
+    "${PYBIN}/pip" wheel /io/ -w wheelhouse/
+done
+
+# Bundle external shared libraries into the wheels
+for whl in wheelhouse/*.whl; do
+    auditwheel repair "$whl" --plat $PLAT -w /io/wheelhouse/ \
+        || echo "Skipping non-platform wheel $whl"
+done
+
+# Install packages and test
+#for PYBIN in /opt/python/*/bin/; do
+#    "${PYBIN}/pip" install python-manylinux-demo --no-index -f /io/wheelhouse
+#    (cd "$HOME"; "${PYBIN}/nosetests" pymanylinuxdemo)
+#done
diff --git a/bindings/python/ci/check_format.sh b/bindings/python/ci/check_format.sh
new file mode 100755
index 000000000..eb184bf31
--- /dev/null
+++ b/bindings/python/ci/check_format.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Perform code format (cmake target)
+cmake --build "$1" --target clangformat
+
+# Display diff
+git --no-pager diff
+
+# The following returns non-zero exit code if there is any difference
+git diff-index --quiet HEAD --
\ No newline at end of file
diff --git a/bindings/python/ci/docker_dependencies.sh b/bindings/python/ci/docker_dependencies.sh
new file mode 100755
index 000000000..d3cbfc291
--- /dev/null
+++ b/bindings/python/ci/docker_dependencies.sh
@@ -0,0 +1,71 @@
+#!/bin/bash
+
+set -e
+
+readonly linux_pkgs=(
+    cmake
+    git
+    python3-numpy
+)
+
+readonly ubuntu_pkgs=(
+    ${linux_pkgs[@]}
+    # https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
+    build-essential
+    libgtk2.0-dev
+    pkg-config
+    libavcodec-dev
+    libavformat-dev
+    libswscale-dev
+    libtbb2
+    libtbb-dev
+    libjpeg-dev
+    libpng-dev
+    libtiff-dev
+    libdc1394-22-dev
+    # https://stackoverflow.com/questions/55313610
+    ffmpeg
+    libsm6
+    libxext6
+    libgl1-mesa-glx
+)
+
+readonly ubuntu_arm_pkgs=(
+    "${ubuntu_pkgs[@]}"
+    # https://stackoverflow.com/a/53402396/5494277
+    libhdf5-dev
+    libhdf5-dev
+    libatlas-base-dev
+    # https://github.com/EdjeElectronics/TensorFlow-Object-Detection-on-the-Raspberry-Pi/issues/18#issuecomment-433953426
+    libilmbase-dev
+    libopenexr-dev
+    libgstreamer1.0-dev
+)
+
+print_action () {
+    green="\e[0;32m"
+    reset="\e[0;0m"
+    printf "\n$green >>$reset $*\n"
+}
+print_and_exec () {
+    print_action $*
+    $*
+}
+
+if [ -f /etc/os-release ]; then
+    # shellcheck source=/etc/os-release
+    source /etc/os-release
+
+        if [[ ! $(uname -m) =~ ^arm* ]]; then
+            apt-get update
+            apt-get install -y "${ubuntu_pkgs[@]}"
+            python3 -m pip install --upgrade pip
+        elif [[ $(uname -m) =~ ^arm* ]]; then
+            apt-get update
+            apt-get install -y "${ubuntu_arm_pkgs[@]}"
+            python3 -m pip install --upgrade pip
+        fi
+else
+    echo "ERROR: Host not supported"
+    exit 99
+fi
diff --git a/bindings/python/ci/repair-whl-macos.sh b/bindings/python/ci/repair-whl-macos.sh
new file mode 100755
index 000000000..933f51034
--- /dev/null
+++ b/bindings/python/ci/repair-whl-macos.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+set -ex
+cd $(mktemp -d)
+unzip $1
+DYLD_FALLBACK_LIBRARY_PATH=/usr/local/lib delocate-path -L palace.dylibs .
+wheel=$(basename $1)
+zip -r $wheel *
+mkdir -p $2
+mv $wheel $2
+tempdir=$(pwd)
+cd -
+rm -rf $tempdir
\ No newline at end of file
diff --git a/bindings/python/ci/stability_stress_test_combined.sh b/bindings/python/ci/stability_stress_test_combined.sh
new file mode 100755
index 000000000..207e28e2d
--- /dev/null
+++ b/bindings/python/ci/stability_stress_test_combined.sh
@@ -0,0 +1,38 @@
+# Cleanup in case the script dies
+cleanup() {
+    # kill all processes whose parent is this process
+    pkill -P $$
+}
+
+for sig in INT QUIT HUP TERM; do
+  trap "
+    cleanup
+    trap - $sig EXIT
+    kill -s $sig "'"$$"' "$sig"
+done
+trap cleanup EXIT
+
+# Print timeout if set, otherwise use default
+echo "Timeout set to: $1"
+
+# Run USB & PoE stability stress test
+DEPTHAI_PROTOCOL=usb timeout $(($1+30)) ./tests/stability_stress_test $1 &
+jobUsb=$!
+DEPTHAI_PROTOCOL=tcpip timeout $(($1+30)) ./tests/stability_stress_test $1 &
+jobTcpip=$!
+
+# Wait for tests and save result code
+wait $jobUsb ; resultUsb=$?
+wait $jobTcpip ; resultTcpip=$?
+
+# Print results
+echo "Stability test USB: $resultUsb"
+echo "Stability test PoE: $resultTcpip"
+
+# If both tests concluded successfully, exit with code 0
+if [[ "$resultUsb" == "0"  ]] && [[ "$resultTcpip" == "0" ]]; then
+    echo "Success!"
+    exit 0
+fi
+echo "Failed!"
+exit 1
diff --git a/bindings/python/ci/upload-artifactory-release.sh b/bindings/python/ci/upload-artifactory-release.sh
new file mode 100755
index 000000000..6669bcace
--- /dev/null
+++ b/bindings/python/ci/upload-artifactory-release.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+curl -fL https://getcli.jfrog.io | sh
+
+cd wheelhouse/audited/ || exit 1
+export PATH_PREFIX=luxonis-python-release-local/depthai
+
+../../jfrog config add --artifactory-url=$ARTIFACTORY_URL --user=$ARTIFACTORY_USER --password=$ARTIFACTORY_PASS
+../../jfrog rt u "*" "$PATH_PREFIX/"
diff --git a/bindings/python/ci/upload-artifactory.sh b/bindings/python/ci/upload-artifactory.sh
new file mode 100755
index 000000000..b00b77323
--- /dev/null
+++ b/bindings/python/ci/upload-artifactory.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+curl -fL https://getcli.jfrog.io | sh
+
+cd wheelhouse/audited/ || exit 1
+export PATH_PREFIX=luxonis-python-snapshot-local/depthai
+
+../../jfrog config add --artifactory-url=$ARTIFACTORY_URL --user=$ARTIFACTORY_USER --password=$ARTIFACTORY_PASS
+../../jfrog rt u "*" "$PATH_PREFIX/"
diff --git a/bindings/python/ci/upload-pypi.sh b/bindings/python/ci/upload-pypi.sh
new file mode 100755
index 000000000..9c577a4b1
--- /dev/null
+++ b/bindings/python/ci/upload-pypi.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+
+python3 -m pip install -U pip
+python3 -m pip install -U setuptools
+python3 -m pip install -U twine
+
+# Uploads prebuilt binary distribution
+for file in wheelhouse/audited/*.whl; do
+    echo "Uploading $file"
+    python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
+done
+
+# Uploads zip source distribution
+for file in wheelhouse/audited/*.zip; do
+    echo "Uploading $file"
+    python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
+done
+
+# Uploads tar.gz source distribution
+for file in wheelhouse/audited/*.tar.gz; do
+    echo "Uploading $file"
+    python3 -m twine upload --repository-url "$PYPI_SERVER" --username "$PYPI_USER" --password "$PYPI_PASSWORD" "$file"
+done
\ No newline at end of file
diff --git a/bindings/python/cmake/CMakeRC.cmake b/bindings/python/cmake/CMakeRC.cmake
new file mode 100644
index 000000000..2095e26c2
--- /dev/null
+++ b/bindings/python/cmake/CMakeRC.cmake
@@ -0,0 +1,1099 @@
+# This block is executed when generating an intermediate resource file, not when
+# running in CMake configure mode
+if(_CMRC_GENERATE_MODE)
+    if (INCBIN_ENABLED)
+
+        string(CONFIGURE [[
+        #include <incbin/incbin.h>
+        namespace cmrc { namespace @NAMESPACE@ { namespace res_chars {
+        INCBIN(@SYMBOL@, "@INPUT_FILE@");
+        extern const char* const @SYMBOL@_begin = (const char*) g@SYMBOL@Data;
+        extern const char* const @SYMBOL@_end = (const char*) (g@SYMBOL@Data + g@SYMBOL@Size);
+        }}}
+        ]] code)
+
+    else()
+        
+        # Read in the digits
+        file(READ "${INPUT_FILE}" bytes HEX)
+        # Format each pair into a character literal. Heuristics seem to favor doing
+        # the conversion in groups of five for fastest conversion
+        string(REGEX REPLACE "(..)(..)(..)(..)(..)" "'\\\\x\\1','\\\\x\\2','\\\\x\\3','\\\\x\\4','\\\\x\\5'," chars "${bytes}")
+        # Since we did this in groups, we have some leftovers to clean up
+        string(LENGTH "${bytes}" n_bytes2)
+        math(EXPR n_bytes "${n_bytes2} / 2")
+        math(EXPR remainder "${n_bytes} % 5") # <-- '5' is the grouping count from above
+        set(cleanup_re "$")
+        set(cleanup_sub )
+        while(remainder)
+            set(cleanup_re "(..)${cleanup_re}")
+            set(cleanup_sub "'\\\\x\\${remainder}',${cleanup_sub}")
+            math(EXPR remainder "${remainder} - 1")
+        endwhile()
+        if(NOT cleanup_re STREQUAL "$")
+            string(REGEX REPLACE "${cleanup_re}" "${cleanup_sub}" chars "${chars}")
+        endif()
+
+        string(CONFIGURE [[
+        namespace { const char file_array[] = { @chars@ 0 }; }
+        namespace cmrc { namespace @NAMESPACE@ { namespace res_chars {
+        extern const char* const @SYMBOL@_begin = file_array;
+        extern const char* const @SYMBOL@_end = file_array + @n_bytes@;
+        }}}
+        ]] code)
+        
+    endif()
+
+    file(WRITE "${OUTPUT_FILE}" "${code}")
+    # Exit from the script. Nothing else needs to be processed
+    return()
+endif()
+
+
+
+set(_version 2.0.0)
+
+cmake_minimum_required(VERSION 3.3)
+include(CMakeParseArguments)
+
+if(COMMAND cmrc_add_resource_library)
+    if(NOT DEFINED _CMRC_VERSION OR NOT (_version STREQUAL _CMRC_VERSION))
+        message(WARNING "More than one CMakeRC version has been included in this project.")
+    endif()
+    # CMakeRC has already been included! Don't do anything
+    return()
+endif()
+
+set(_CMRC_VERSION "${_version}" CACHE INTERNAL "CMakeRC version. Used for checking for conflicts")
+
+set(_CMRC_SCRIPT "${CMAKE_CURRENT_LIST_FILE}" CACHE INTERNAL "Path to CMakeRC script")
+
+function(_cmrc_normalize_path var)
+    set(path "${${var}}")
+    file(TO_CMAKE_PATH "${path}" path)
+    while(path MATCHES "//")
+        string(REPLACE "//" "/" path "${path}")
+    endwhile()
+    string(REGEX REPLACE "/+$" "" path "${path}")
+    set("${var}" "${path}" PARENT_SCOPE)
+endfunction()
+
+get_filename_component(_inc_dir "${CMAKE_BINARY_DIR}/_cmrc/include" ABSOLUTE)
+set(CMRC_INCLUDE_DIR "${_inc_dir}" CACHE INTERNAL "Directory for CMakeRC include files")
+# Let's generate the primary include file
+file(MAKE_DIRECTORY "${CMRC_INCLUDE_DIR}/cmrc")
+set(hpp_content [==[
+#ifndef CMRC_CMRC_HPP_INCLUDED
+#define CMRC_CMRC_HPP_INCLUDED
+
+#include <cassert>
+#include <functional>
+#include <iterator>
+#include <list>
+#include <map>
+#include <mutex>
+#include <string>
+#include <system_error>
+#include <type_traits>
+
+namespace cmrc { namespace detail { struct dummy; } }
+
+#define CMRC_DECLARE(libid) \
+    namespace cmrc { namespace detail { \
+    struct dummy; \
+    static_assert(std::is_same<dummy, ::cmrc::detail::dummy>::value, "CMRC_DECLARE() must only appear at the global namespace"); \
+    } } \
+    namespace cmrc { namespace libid { \
+    cmrc::embedded_filesystem get_filesystem(); \
+    } } static_assert(true, "")
+
+namespace cmrc {
+
+class file {
+    const char* _begin = nullptr;
+    const char* _end = nullptr;
+
+public:
+    using iterator = const char*;
+    using const_iterator = iterator;
+    iterator begin() const noexcept { return _begin; }
+    iterator cbegin() const noexcept { return _begin; }
+    iterator end() const noexcept { return _end; }
+    iterator cend() const noexcept { return _end; }
+    std::size_t size() const { return std::distance(begin(), end()); }
+
+    file() = default;
+    file(iterator beg, iterator end) noexcept : _begin(beg), _end(end) {}
+};
+
+class directory_entry;
+
+namespace detail {
+
+class directory;
+class file_data;
+
+class file_or_directory {
+    union _data_t {
+        class file_data* file_data;
+        class directory* directory;
+    } _data;
+    bool _is_file = true;
+
+public:
+    explicit file_or_directory(file_data& f) {
+        _data.file_data = &f;
+    }
+    explicit file_or_directory(directory& d) {
+        _data.directory = &d;
+        _is_file = false;
+    }
+    bool is_file() const noexcept {
+        return _is_file;
+    }
+    bool is_directory() const noexcept {
+        return !is_file();
+    }
+    const directory& as_directory() const noexcept {
+        assert(!is_file());
+        return *_data.directory;
+    }
+    const file_data& as_file() const noexcept {
+        assert(is_file());
+        return *_data.file_data;
+    }
+};
+
+class file_data {
+public:
+    const char* begin_ptr;
+    const char* end_ptr;
+    file_data(const file_data&) = delete;
+    file_data(const char* b, const char* e) : begin_ptr(b), end_ptr(e) {}
+};
+
+inline std::pair<std::string, std::string> split_path(const std::string& path) {
+    auto first_sep = path.find("/");
+    if (first_sep == path.npos) {
+        return std::make_pair(path, "");
+    } else {
+        return std::make_pair(path.substr(0, first_sep), path.substr(first_sep + 1));
+    }
+}
+
+struct created_subdirectory {
+    class directory& directory;
+    class file_or_directory& index_entry;
+};
+
+class directory {
+    std::list<file_data> _files;
+    std::list<directory> _dirs;
+    std::map<std::string, file_or_directory> _index;
+
+    using base_iterator = std::map<std::string, file_or_directory>::const_iterator;
+
+public:
+
+    directory() = default;
+    directory(const directory&) = delete;
+
+    created_subdirectory add_subdir(std::string name) & {
+        _dirs.emplace_back();
+        auto& back = _dirs.back();
+        auto& fod = _index.emplace(name, file_or_directory{back}).first->second;
+        return created_subdirectory{back, fod};
+    }
+
+    file_or_directory* add_file(std::string name, const char* begin, const char* end) & {
+        assert(_index.find(name) == _index.end());
+        _files.emplace_back(begin, end);
+        return &_index.emplace(name, file_or_directory{_files.back()}).first->second;
+    }
+
+    const file_or_directory* get(const std::string& path) const {
+        auto pair = split_path(path);
+        auto child = _index.find(pair.first);
+        if (child == _index.end()) {
+            return nullptr;
+        }
+        auto& entry  = child->second;
+        if (pair.second.empty()) {
+            // We're at the end of the path
+            return &entry;
+        }
+
+        if (entry.is_file()) {
+            // We can't traverse into a file. Stop.
+            return nullptr;
+        }
+        // Keep going down
+        return entry.as_directory().get(pair.second);
+    }
+
+    class iterator {
+        base_iterator _base_iter;
+        base_iterator _end_iter;
+    public:
+        using value_type = directory_entry;
+        using difference_type = std::ptrdiff_t;
+        using pointer = const value_type*;
+        using reference = const value_type&;
+        using iterator_category = std::input_iterator_tag;
+
+        iterator() = default;
+        explicit iterator(base_iterator iter, base_iterator end) : _base_iter(iter), _end_iter(end) {}
+
+        iterator begin() const noexcept {
+            return *this;
+        }
+
+        iterator end() const noexcept {
+            return iterator(_end_iter, _end_iter);
+        }
+
+        inline value_type operator*() const noexcept;
+
+        bool operator==(const iterator& rhs) const noexcept {
+            return _base_iter == rhs._base_iter;
+        }
+
+        bool operator!=(const iterator& rhs) const noexcept {
+            return !(*this == rhs);
+        }
+
+        iterator operator++() noexcept {
+            auto cp = *this;
+            ++_base_iter;
+            return cp;
+        }
+
+        iterator& operator++(int) noexcept {
+            ++_base_iter;
+            return *this;
+        }
+    };
+
+    using const_iterator = iterator;
+
+    iterator begin() const noexcept {
+        return iterator(_index.begin(), _index.end());
+    }
+
+    iterator end() const noexcept {
+        return iterator();
+    }
+};
+
+inline std::string normalize_path(std::string path) {
+    while (path.find("/") == 0) {
+        path.erase(path.begin());
+    }
+    while (!path.empty() && (path.rfind("/") == path.size() - 1)) {
+        path.pop_back();
+    }
+    auto off = path.npos;
+    while ((off = path.find("//")) != path.npos) {
+        path.erase(path.begin() + off);
+    }
+    return path;
+}
+
+using index_type = std::map<std::string, const cmrc::detail::file_or_directory*>;
+
+} // detail
+
+class directory_entry {
+    std::string _fname;
+    const detail::file_or_directory* _item;
+
+public:
+    directory_entry() = delete;
+    explicit directory_entry(std::string filename, const detail::file_or_directory& item)
+        : _fname(filename)
+        , _item(&item)
+    {}
+
+    const std::string& filename() const & {
+        return _fname;
+    }
+    std::string filename() const && {
+        return std::move(_fname);
+    }
+
+    bool is_file() const {
+        return _item->is_file();
+    }
+
+    bool is_directory() const {
+        return _item->is_directory();
+    }
+};
+
+directory_entry detail::directory::iterator::operator*() const noexcept {
+    assert(begin() != end());
+    return directory_entry(_base_iter->first, _base_iter->second);
+}
+
+using directory_iterator = detail::directory::iterator;
+
+class embedded_filesystem {
+    // Never-null:
+    const cmrc::detail::index_type* _index;
+    const detail::file_or_directory* _get(std::string path) const {
+        path = detail::normalize_path(path);
+        auto found = _index->find(path);
+        if (found == _index->end()) {
+            return nullptr;
+        } else {
+            return found->second;
+        }
+    }
+
+public:
+    explicit embedded_filesystem(const detail::index_type& index)
+        : _index(&index)
+    {}
+
+    file open(const std::string& path) const {
+        auto entry_ptr = _get(path);
+        if (!entry_ptr || !entry_ptr->is_file()) {
+            throw std::system_error(make_error_code(std::errc::no_such_file_or_directory), path);
+        }
+        auto& dat = entry_ptr->as_file();
+        return file{dat.begin_ptr, dat.end_ptr};
+    }
+
+    bool is_file(const std::string& path) const noexcept {
+        auto entry_ptr = _get(path);
+        return entry_ptr && entry_ptr->is_file();
+    }
+
+    bool is_directory(const std::string& path) const noexcept {
+        auto entry_ptr = _get(path);
+        return entry_ptr && entry_ptr->is_directory();
+    }
+
+    bool exists(const std::string& path) const noexcept {
+        return !!_get(path);
+    }
+
+    directory_iterator iterate_directory(const std::string& path) const {
+        auto entry_ptr = _get(path);
+        if (!entry_ptr) {
+            throw std::system_error(make_error_code(std::errc::no_such_file_or_directory), path);
+        }
+        if (!entry_ptr->is_directory()) {
+            throw std::system_error(make_error_code(std::errc::not_a_directory), path);
+        }
+        return entry_ptr->as_directory().begin();
+    }
+};
+
+}
+
+#endif // CMRC_CMRC_HPP_INCLUDED
+]==])
+
+set(cmrc_hpp "${CMRC_INCLUDE_DIR}/cmrc/cmrc.hpp" CACHE INTERNAL "")
+set(_generate 1)
+if(EXISTS "${cmrc_hpp}")
+    file(READ "${cmrc_hpp}" _current)
+    if(_current STREQUAL hpp_content)
+        set(_generate 0)
+    endif()
+endif()
+file(GENERATE OUTPUT "${cmrc_hpp}" CONTENT "${hpp_content}" CONDITION ${_generate})
+
+add_library(cmrc-base INTERFACE)
+
+# Add interface include for users of library
+target_include_directories(cmrc-base SYSTEM INTERFACE "$<BUILD_INTERFACE:${CMRC_INCLUDE_DIR}>")
+
+# Signal a basic C++11 feature to require C++11.
+target_compile_features(cmrc-base INTERFACE cxx_nullptr)
+set_property(TARGET cmrc-base PROPERTY INTERFACE_CXX_EXTENSIONS OFF)
+add_library(cmrc::base ALIAS cmrc-base)
+
+
+
+### Incbin project addition, this enables much quicker compile times on supported compilers
+# https://github.com/graphitemaster/incbin
+# Incbin project
+# Commit: 8cefe46d5380bf5ae4b4d87832d811f6692aae44
+
+# Create an option to use it (default on, with try_compile checks to make sure it works)
+option(CMRC_COMPATIBILITY_MODE "If enabled intermediate character array is generated (Supports all compilers)" OFF)
+
+set(incbin_h_content [==[
+/**
+ * @file incbin.h
+ * @author Dale Weiler
+ * @brief Utility for including binary files
+ *
+ * Facilities for including binary files into the current translation unit and
+ * making use from them externally in other translation units.
+ */
+#ifndef INCBIN_HDR
+#define INCBIN_HDR
+#include <limits.h>
+#if   defined(__AVX512BW__) || \
+      defined(__AVX512CD__) || \
+      defined(__AVX512DQ__) || \
+      defined(__AVX512ER__) || \
+      defined(__AVX512PF__) || \
+      defined(__AVX512VL__) || \
+      defined(__AVX512F__)
+# define INCBIN_ALIGNMENT_INDEX 6
+#elif defined(__AVX__)      || \
+      defined(__AVX2__)
+# define INCBIN_ALIGNMENT_INDEX 5
+#elif defined(__SSE__)      || \
+      defined(__SSE2__)     || \
+      defined(__SSE3__)     || \
+      defined(__SSSE3__)    || \
+      defined(__SSE4_1__)   || \
+      defined(__SSE4_2__)   || \
+      defined(__neon__)
+# define INCBIN_ALIGNMENT_INDEX 4
+#elif ULONG_MAX != 0xffffffffu
+# define INCBIN_ALIGNMENT_INDEX 3
+# else
+# define INCBIN_ALIGNMENT_INDEX 2
+#endif
+
+/* Lookup table of (1 << n) where `n' is `INCBIN_ALIGNMENT_INDEX' */
+#define INCBIN_ALIGN_SHIFT_0 1
+#define INCBIN_ALIGN_SHIFT_1 2
+#define INCBIN_ALIGN_SHIFT_2 4
+#define INCBIN_ALIGN_SHIFT_3 8
+#define INCBIN_ALIGN_SHIFT_4 16
+#define INCBIN_ALIGN_SHIFT_5 32
+#define INCBIN_ALIGN_SHIFT_6 64
+
+/* Actual alignment value */
+#define INCBIN_ALIGNMENT \
+    INCBIN_CONCATENATE( \
+        INCBIN_CONCATENATE(INCBIN_ALIGN_SHIFT, _), \
+        INCBIN_ALIGNMENT_INDEX)
+
+/* Stringize */
+#define INCBIN_STR(X) \
+    #X
+#define INCBIN_STRINGIZE(X) \
+    INCBIN_STR(X)
+/* Concatenate */
+#define INCBIN_CAT(X, Y) \
+    X ## Y
+#define INCBIN_CONCATENATE(X, Y) \
+    INCBIN_CAT(X, Y)
+/* Deferred macro expansion */
+#define INCBIN_EVAL(X) \
+    X
+#define INCBIN_INVOKE(N, ...) \
+    INCBIN_EVAL(N(__VA_ARGS__))
+
+/* Green Hills uses a different directive for including binary data */
+#if defined(__ghs__)
+#  if (__ghs_asm == 2)
+#    define INCBIN_MACRO ".file"
+/* Or consider the ".myrawdata" entry in the ld file */
+#  else
+#    define INCBIN_MACRO "\tINCBIN"
+#  endif
+#else
+#  define INCBIN_MACRO ".incbin"
+#endif
+
+#ifndef _MSC_VER
+#  define INCBIN_ALIGN \
+    __attribute__((aligned(INCBIN_ALIGNMENT)))
+#else
+#  define INCBIN_ALIGN __declspec(align(INCBIN_ALIGNMENT))
+#endif
+
+#if defined(__arm__) || /* GNU C and RealView */ \
+    defined(__arm) || /* Diab */ \
+    defined(_ARM) /* ImageCraft */
+#  define INCBIN_ARM
+#endif
+
+#ifdef __GNUC__
+/* Utilize .balign where supported */
+#  define INCBIN_ALIGN_HOST ".balign " INCBIN_STRINGIZE(INCBIN_ALIGNMENT) "\n"
+#  define INCBIN_ALIGN_BYTE ".balign 1\n"
+#elif defined(INCBIN_ARM)
+/*
+ * On arm assemblers, the alignment value is calculated as (1 << n) where `n' is
+ * the shift count. This is the value passed to `.align'
+ */
+#  define INCBIN_ALIGN_HOST ".align " INCBIN_STRINGIZE(INCBIN_ALIGNMENT_INDEX) "\n"
+#  define INCBIN_ALIGN_BYTE ".align 0\n"
+#else
+/* We assume other inline assembler's treat `.align' as `.balign' */
+#  define INCBIN_ALIGN_HOST ".align " INCBIN_STRINGIZE(INCBIN_ALIGNMENT) "\n"
+#  define INCBIN_ALIGN_BYTE ".align 1\n"
+#endif
+
+/* INCBIN_CONST is used by incbin.c generated files */
+#if defined(__cplusplus)
+#  define INCBIN_EXTERNAL extern "C"
+#  define INCBIN_CONST    extern const
+#else
+#  define INCBIN_EXTERNAL extern
+#  define INCBIN_CONST    const
+#endif
+
+/**
+ * @brief Optionally override the linker section into which data is emitted.
+ *
+ * @warning If you use this facility, you'll have to deal with platform-specific linker output
+ * section naming on your own
+ *
+ * Overriding the default linker output section, e.g for esp8266/Arduino:
+ * @code
+ * #define INCBIN_OUTPUT_SECTION ".irom.text"
+ * #include "incbin.h"
+ * INCBIN(Foo, "foo.txt");
+ * // Data is emitted into program memory that never gets copied to RAM
+ * @endcode
+ */
+#if !defined(INCBIN_OUTPUT_SECTION)
+#  if defined(__APPLE__)
+#    define INCBIN_OUTPUT_SECTION         ".const_data"
+#  else
+#    define INCBIN_OUTPUT_SECTION         ".rodata"
+#  endif
+#endif
+
+#if defined(__APPLE__)
+/* The directives are different for Apple branded compilers */
+#  define INCBIN_SECTION         INCBIN_OUTPUT_SECTION "\n"
+#  define INCBIN_GLOBAL(NAME)    ".globl " INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME "\n"
+#  define INCBIN_INT             ".long "
+#  define INCBIN_MANGLE          "_"
+#  define INCBIN_BYTE            ".byte "
+#  define INCBIN_TYPE(...)
+#else
+#  define INCBIN_SECTION         ".section " INCBIN_OUTPUT_SECTION "\n"
+#  define INCBIN_GLOBAL(NAME)    ".global " INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME "\n"
+#  if defined(__ghs__)
+#    define INCBIN_INT           ".word "
+#  else
+#    define INCBIN_INT           ".int "
+#  endif
+#  if defined(__USER_LABEL_PREFIX__)
+#    define INCBIN_MANGLE        INCBIN_STRINGIZE(__USER_LABEL_PREFIX__)
+#  else
+#    define INCBIN_MANGLE        ""
+#  endif
+#  if defined(INCBIN_ARM)
+/* On arm assemblers, `@' is used as a line comment token */
+#    define INCBIN_TYPE(NAME)    ".type " INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME ", %object\n"
+#  elif defined(__MINGW32__) || defined(__MINGW64__)
+/* Mingw doesn't support this directive either */
+#    define INCBIN_TYPE(NAME)
+#  else
+/* It's safe to use `@' on other architectures */
+#    define INCBIN_TYPE(NAME)    ".type " INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME ", @object\n"
+#  endif
+#  define INCBIN_BYTE            ".byte "
+#endif
+
+/* List of style types used for symbol names */
+#define INCBIN_STYLE_CAMEL 0
+#define INCBIN_STYLE_SNAKE 1
+
+/**
+ * @brief Specify the prefix to use for symbol names.
+ *
+ * By default this is `g', producing symbols of the form:
+ * @code
+ * #include "incbin.h"
+ * INCBIN(Foo, "foo.txt");
+ *
+ * // Now you have the following symbols:
+ * // const unsigned char gFooData[];
+ * // const unsigned char *const gFooEnd;
+ * // const unsigned int gFooSize;
+ * @endcode
+ *
+ * If however you specify a prefix before including: e.g:
+ * @code
+ * #define INCBIN_PREFIX incbin
+ * #include "incbin.h"
+ * INCBIN(Foo, "foo.txt");
+ *
+ * // Now you have the following symbols instead:
+ * // const unsigned char incbinFooData[];
+ * // const unsigned char *const incbinFooEnd;
+ * // const unsigned int incbinFooSize;
+ * @endcode
+ */
+#if !defined(INCBIN_PREFIX)
+#  define INCBIN_PREFIX g
+#endif
+
+/**
+ * @brief Specify the style used for symbol names.
+ *
+ * Possible options are
+ * - INCBIN_STYLE_CAMEL "CamelCase"
+ * - INCBIN_STYLE_SNAKE "snake_case"
+ *
+ * Default option is *INCBIN_STYLE_CAMEL* producing symbols of the form:
+ * @code
+ * #include "incbin.h"
+ * INCBIN(Foo, "foo.txt");
+ *
+ * // Now you have the following symbols:
+ * // const unsigned char <prefix>FooData[];
+ * // const unsigned char *const <prefix>FooEnd;
+ * // const unsigned int <prefix>FooSize;
+ * @endcode
+ *
+ * If however you specify a style before including: e.g:
+ * @code
+ * #define INCBIN_STYLE INCBIN_STYLE_SNAKE
+ * #include "incbin.h"
+ * INCBIN(foo, "foo.txt");
+ *
+ * // Now you have the following symbols:
+ * // const unsigned char <prefix>foo_data[];
+ * // const unsigned char *const <prefix>foo_end;
+ * // const unsigned int <prefix>foo_size;
+ * @endcode
+ */
+#if !defined(INCBIN_STYLE)
+#  define INCBIN_STYLE INCBIN_STYLE_CAMEL
+#endif
+
+/* Style lookup tables */
+#define INCBIN_STYLE_0_DATA Data
+#define INCBIN_STYLE_0_END End
+#define INCBIN_STYLE_0_SIZE Size
+#define INCBIN_STYLE_1_DATA _data
+#define INCBIN_STYLE_1_END _end
+#define INCBIN_STYLE_1_SIZE _size
+
+/* Style lookup: returning identifier */
+#define INCBIN_STYLE_IDENT(TYPE) \
+    INCBIN_CONCATENATE( \
+        INCBIN_STYLE_, \
+        INCBIN_CONCATENATE( \
+            INCBIN_EVAL(INCBIN_STYLE), \
+            INCBIN_CONCATENATE(_, TYPE)))
+
+/* Style lookup: returning string literal */
+#define INCBIN_STYLE_STRING(TYPE) \
+    INCBIN_STRINGIZE( \
+        INCBIN_STYLE_IDENT(TYPE)) \
+
+/* Generate the global labels by indirectly invoking the macro with our style
+ * type and concatenating the name against them. */
+#define INCBIN_GLOBAL_LABELS(NAME, TYPE) \
+    INCBIN_INVOKE( \
+        INCBIN_GLOBAL, \
+        INCBIN_CONCATENATE( \
+            NAME, \
+            INCBIN_INVOKE( \
+                INCBIN_STYLE_IDENT, \
+                TYPE))) \
+    INCBIN_INVOKE( \
+        INCBIN_TYPE, \
+        INCBIN_CONCATENATE( \
+            NAME, \
+            INCBIN_INVOKE( \
+                INCBIN_STYLE_IDENT, \
+                TYPE)))
+
+/**
+ * @brief Externally reference binary data included in another translation unit.
+ *
+ * Produces three external symbols that reference the binary data included in
+ * another translation unit.
+ *
+ * The symbol names are a concatenation of `INCBIN_PREFIX' before *NAME*; with
+ * "Data", as well as "End" and "Size" after. An example is provided below.
+ *
+ * @param NAME The name given for the binary data
+ *
+ * @code
+ * INCBIN_EXTERN(Foo);
+ *
+ * // Now you have the following symbols:
+ * // extern const unsigned char <prefix>FooData[];
+ * // extern const unsigned char *const <prefix>FooEnd;
+ * // extern const unsigned int <prefix>FooSize;
+ * @endcode
+ */
+#define INCBIN_EXTERN(NAME) \
+    INCBIN_EXTERNAL const INCBIN_ALIGN unsigned char \
+        INCBIN_CONCATENATE( \
+            INCBIN_CONCATENATE(INCBIN_PREFIX, NAME), \
+            INCBIN_STYLE_IDENT(DATA))[]; \
+    INCBIN_EXTERNAL const INCBIN_ALIGN unsigned char *const \
+    INCBIN_CONCATENATE( \
+        INCBIN_CONCATENATE(INCBIN_PREFIX, NAME), \
+        INCBIN_STYLE_IDENT(END)); \
+    INCBIN_EXTERNAL const unsigned int \
+        INCBIN_CONCATENATE( \
+            INCBIN_CONCATENATE(INCBIN_PREFIX, NAME), \
+            INCBIN_STYLE_IDENT(SIZE))
+
+/**
+ * @brief Include a binary file into the current translation unit.
+ *
+ * Includes a binary file into the current translation unit, producing three symbols
+ * for objects that encode the data and size respectively.
+ *
+ * The symbol names are a concatenation of `INCBIN_PREFIX' before *NAME*; with
+ * "Data", as well as "End" and "Size" after. An example is provided below.
+ *
+ * @param NAME The name to associate with this binary data (as an identifier.)
+ * @param FILENAME The file to include (as a string literal.)
+ *
+ * @code
+ * INCBIN(Icon, "icon.png");
+ *
+ * // Now you have the following symbols:
+ * // const unsigned char <prefix>IconData[];
+ * // const unsigned char *const <prefix>IconEnd;
+ * // const unsigned int <prefix>IconSize;
+ * @endcode
+ *
+ * @warning This must be used in global scope
+ * @warning The identifiers may be different if INCBIN_STYLE is not default
+ *
+ * To externally reference the data included by this in another translation unit
+ * please @see INCBIN_EXTERN.
+ */
+#ifdef _MSC_VER
+#define INCBIN(NAME, FILENAME) \
+    INCBIN_EXTERN(NAME)
+#else
+#define INCBIN(NAME, FILENAME) \
+    __asm__(INCBIN_SECTION \
+            INCBIN_GLOBAL_LABELS(NAME, DATA) \
+            INCBIN_ALIGN_HOST \
+            INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME INCBIN_STYLE_STRING(DATA) ":\n" \
+            INCBIN_MACRO " \"" FILENAME "\"\n" \
+            INCBIN_GLOBAL_LABELS(NAME, END) \
+            INCBIN_ALIGN_BYTE \
+            INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME INCBIN_STYLE_STRING(END) ":\n" \
+                INCBIN_BYTE "1\n" \
+            INCBIN_GLOBAL_LABELS(NAME, SIZE) \
+            INCBIN_ALIGN_HOST \
+            INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME INCBIN_STYLE_STRING(SIZE) ":\n" \
+                INCBIN_INT INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME INCBIN_STYLE_STRING(END) " - " \
+                           INCBIN_MANGLE INCBIN_STRINGIZE(INCBIN_PREFIX) #NAME INCBIN_STYLE_STRING(DATA) "\n" \
+            INCBIN_ALIGN_HOST \
+            ".text\n" \
+    ); \
+    INCBIN_EXTERN(NAME)
+
+#endif
+#endif
+]==])
+
+if (CMRC_COMPATIBILITY_MODE)
+    set(HAVE_INCBIN_CAPABILITY FALSE CACHE INTERNAL "")
+else()
+
+    get_filename_component(_inc_gen_dir "${CMAKE_BINARY_DIR}/_cmrc/gen/include" ABSOLUTE)
+    # Lets generate incbin.h file
+    file(MAKE_DIRECTORY "${_inc_gen_dir}/incbin")
+
+
+    # Create in generate stage
+    set(cmrc_incbin_h "${_inc_gen_dir}/incbin/incbin.h" CACHE INTERNAL "")
+    set(_incbin_generate 1)
+    if(EXISTS "${cmrc_incbin_h}")
+        file(READ "${cmrc_incbin_h}" _incbin_current)
+        if(_incbin_current STREQUAL incbin_h_content)
+            set(_incbin_generate 0)
+        endif()
+    endif()
+    file(GENERATE OUTPUT "${cmrc_incbin_h}" CONTENT "${incbin_h_content}" CONDITION ${_incbin_generate})
+
+    # Tests if incbin assembly directive works for current compiler (otherwise fallback to generating character array)
+
+    if(NOT CMRC_INCBIN_TESTS_DONE)
+
+        # Let's generate the test for incbin.h
+        get_filename_component(_tests_gen_dir "${CMAKE_BINARY_DIR}/_cmrc/tests" ABSOLUTE)
+        file(MAKE_DIRECTORY "${_tests_gen_dir}")
+
+        # Create a sample input file
+        set(test_txt_content [==[
+        Hello World!
+        ]==])
+        file(WRITE "${_tests_gen_dir}/test.txt" "${test_txt_content}")
+
+        # Create a test program source
+        string(CONFIGURE [==[
+        #define INCBIN_PREFIX g_
+        #define INCBIN_STYLE INCBIN_STYLE_SNAKE
+        @incbin_h_content@
+        namespace test{
+            INCBIN(test, "@_tests_gen_dir@/test.txt");
+        }
+        int main(){
+            int sum = 0;
+            for(unsigned int i = 0; i<test::g_test_size; i++){
+                sum += test::g_test_data[i];
+            }
+            return sum;
+        }
+        ]==] test_cpp_content @ONLY)
+        file(WRITE "${_tests_gen_dir}/test.cpp" "${test_cpp_content}")
+
+
+        # Now try to compile
+        message(STATUS "Check for working incbin assembly directive")
+        try_compile(HAVE_INCBIN_CAPABILITY "${_tests_gen_dir}" "${_tests_gen_dir}/test.cpp"
+            CMAKE_FLAGS "-DINCLUDE_DIRECTORIES=${_inc_gen_dir}"
+        )
+        if(HAVE_INCBIN_CAPABILITY)
+            message(STATUS "Check for working incbin assembly directive - works")
+        else()
+            message(STATUS "Check for working incbin assembly directive - does not work")
+            message(STATUS "CMRC - Compatibility mode, creating intermediate character array files")
+        endif()
+
+        # Remove tests
+        file(REMOVE_RECURSE "${_tests_gen_dir}")
+
+        set(CMRC_INCBIN_TESTS_DONE TRUE CACHE INTERNAL "")
+
+    endif()
+
+endif()
+
+function(cmrc_add_resource_library name)
+    set(args ALIAS NAMESPACE)
+    cmake_parse_arguments(ARG "" "${args}" "" "${ARGN}")
+    # Generate the identifier for the resource library's namespace
+    set(ns_re "[a-zA-Z_][a-zA-Z0-9_]*")
+    if(NOT DEFINED ARG_NAMESPACE)
+        # Check that the library name is also a valid namespace
+        if(NOT name MATCHES "${ns_re}")
+            message(SEND_ERROR "Library name is not a valid namespace. Specify the NAMESPACE argument")
+        endif()
+        set(ARG_NAMESPACE "${name}")
+    else()
+        if(NOT ARG_NAMESPACE MATCHES "${ns_re}")
+            message(SEND_ERROR "NAMESPACE for ${name} is not a valid C++ namespace identifier (${ARG_NAMESPACE})")
+        endif()
+    endif()
+    set(libname "${name}")
+    # Generate a library with the compiled in character arrays.
+    string(CONFIGURE [=[
+        #include <cmrc/cmrc.hpp>
+        #include <map>
+        #include <utility>
+
+        namespace cmrc {
+        namespace @ARG_NAMESPACE@ {
+
+        namespace res_chars {
+        // These are the files which are available in this resource library
+        $<JOIN:$<TARGET_PROPERTY:@libname@,CMRC_EXTERN_DECLS>,
+        >
+        }
+
+        namespace {
+
+        const cmrc::detail::index_type&
+        get_root_index() {
+            static cmrc::detail::directory root_directory_;
+            static cmrc::detail::file_or_directory root_directory_fod{root_directory_};
+            static cmrc::detail::index_type root_index;
+            root_index.emplace("", &root_directory_fod);
+            struct dir_inl {
+                class cmrc::detail::directory& directory;
+            };
+            dir_inl root_directory_dir{root_directory_};
+            (void)root_directory_dir;
+            $<JOIN:$<TARGET_PROPERTY:@libname@,CMRC_MAKE_DIRS>,
+            >
+            $<JOIN:$<TARGET_PROPERTY:@libname@,CMRC_MAKE_FILES>,
+            >
+            return root_index;
+        }
+
+        }
+
+        cmrc::embedded_filesystem get_filesystem() {
+            static auto& index = get_root_index();
+            return cmrc::embedded_filesystem{index};
+        }
+
+        } // @ARG_NAMESPACE@
+        } // cmrc
+    ]=] cpp_content @ONLY)
+    get_filename_component(libdir "${CMAKE_CURRENT_BINARY_DIR}/__cmrc_${name}" ABSOLUTE)
+    get_filename_component(lib_tmp_cpp "${libdir}/lib_.cpp" ABSOLUTE)
+    string(REPLACE "\n        " "\n" cpp_content "${cpp_content}")
+    file(GENERATE OUTPUT "${lib_tmp_cpp}" CONTENT "${cpp_content}")
+    get_filename_component(libcpp "${libdir}/lib.cpp" ABSOLUTE)
+    add_custom_command(OUTPUT "${libcpp}"
+        DEPENDS "${lib_tmp_cpp}" "${cmrc_hpp}"
+        COMMAND ${CMAKE_COMMAND} -E copy_if_different "${lib_tmp_cpp}" "${libcpp}"
+        COMMENT "Generating ${name} resource loader"
+        )
+    # Generate the actual static library. Each source file is just a single file
+    # with a character array compiled in containing the contents of the
+    # corresponding resource file.
+    add_library(${name} STATIC ${libcpp})
+    
+    # Add private include to incbin/incbin.h
+    target_include_directories(${name} PRIVATE "${_inc_gen_dir}")
+
+    set_property(TARGET ${name} PROPERTY CMRC_LIBDIR "${libdir}")
+    set_property(TARGET ${name} PROPERTY CMRC_NAMESPACE "${ARG_NAMESPACE}")
+    target_link_libraries(${name} PUBLIC cmrc::base)
+    set_property(TARGET ${name} PROPERTY CMRC_IS_RESOURCE_LIBRARY TRUE)
+    if(ARG_ALIAS)
+        add_library("${ARG_ALIAS}" ALIAS ${name})
+    endif()
+    cmrc_add_resources(${name} ${ARG_UNPARSED_ARGUMENTS})
+endfunction()
+
+function(_cmrc_register_dirs name dirpath)
+    if(dirpath STREQUAL "")
+        return()
+    endif()
+    # Skip this dir if we have already registered it
+    get_target_property(registered "${name}" _CMRC_REGISTERED_DIRS)
+    if(dirpath IN_LIST registered)
+        return()
+    endif()
+    # Register the parent directory first
+    get_filename_component(parent "${dirpath}" DIRECTORY)
+    if(NOT parent STREQUAL "")
+        _cmrc_register_dirs("${name}" "${parent}")
+    endif()
+    # Now generate the registration
+    set_property(TARGET "${name}" APPEND PROPERTY _CMRC_REGISTERED_DIRS "${dirpath}")
+    _cm_encode_fpath(sym "${dirpath}")
+    if(parent STREQUAL "")
+        set(parent_sym root_directory)
+    else()
+        _cm_encode_fpath(parent_sym "${parent}")
+    endif()
+    get_filename_component(leaf "${dirpath}" NAME)
+    set_property(
+        TARGET "${name}"
+        APPEND PROPERTY CMRC_MAKE_DIRS
+        "static auto ${sym}_dir = ${parent_sym}_dir.directory.add_subdir(\"${leaf}\")\;"
+        "root_index.emplace(\"${dirpath}\", &${sym}_dir.index_entry)\;"
+        )
+endfunction()
+
+function(cmrc_add_resources name)
+    get_target_property(is_reslib ${name} CMRC_IS_RESOURCE_LIBRARY)
+    if(NOT TARGET ${name} OR NOT is_reslib)
+        message(SEND_ERROR "cmrc_add_resources called on target '${name}' which is not an existing resource library")
+        return()
+    endif()
+
+    set(options)
+    set(args WHENCE PREFIX)
+    set(list_args)
+    cmake_parse_arguments(ARG "${options}" "${args}" "${list_args}" "${ARGN}")
+
+    if(NOT ARG_WHENCE)
+        set(ARG_WHENCE ${CMAKE_CURRENT_SOURCE_DIR})
+    endif()
+    _cmrc_normalize_path(ARG_WHENCE)
+    get_filename_component(ARG_WHENCE "${ARG_WHENCE}" ABSOLUTE)
+
+    # Generate the identifier for the resource library's namespace
+    get_target_property(lib_ns "${name}" CMRC_NAMESPACE)
+
+    get_target_property(libdir ${name} CMRC_LIBDIR)
+    get_target_property(target_dir ${name} SOURCE_DIR)
+    file(RELATIVE_PATH reldir "${target_dir}" "${CMAKE_CURRENT_SOURCE_DIR}")
+    if(reldir MATCHES "^\\.\\.")
+        message(SEND_ERROR "Cannot call cmrc_add_resources in a parent directory from the resource library target")
+        return()
+    endif()
+
+    foreach(input IN LISTS ARG_UNPARSED_ARGUMENTS)
+        _cmrc_normalize_path(input)
+        get_filename_component(abs_in "${input}" ABSOLUTE)
+        # Generate a filename based on the input filename that we can put in
+        # the intermediate directory.
+        file(RELATIVE_PATH relpath "${ARG_WHENCE}" "${abs_in}")
+        if(relpath MATCHES "^\\.\\.")
+            # For now we just error on files that exist outside of the soure dir.
+            message(SEND_ERROR "Cannot add file '${input}': File must be in a subdirectory of ${ARG_WHENCE}")
+            continue()
+        endif()
+        if(DEFINED ARG_PREFIX)
+            _cmrc_normalize_path(ARG_PREFIX)
+        endif()
+        if(ARG_PREFIX AND NOT ARG_PREFIX MATCHES "/$")
+            set(ARG_PREFIX "${ARG_PREFIX}/")
+        endif()
+        get_filename_component(dirpath "${ARG_PREFIX}${relpath}" DIRECTORY)
+        _cmrc_register_dirs("${name}" "${dirpath}")
+        get_filename_component(abs_out "${libdir}/intermediate/${relpath}.cpp" ABSOLUTE)
+        # Generate a symbol name relpath the file's character array
+        _cm_encode_fpath(sym "${relpath}")
+        # Get the symbol name for the parent directory
+        if(dirpath STREQUAL "")
+            set(parent_sym root_directory)
+        else()
+            _cm_encode_fpath(parent_sym "${dirpath}")
+        endif()
+        # Generate the rule for the intermediate source file
+        _cmrc_generate_intermediate_cpp(${lib_ns} ${sym} "${abs_out}" "${abs_in}" "${HAVE_INCBIN_CAPABILITY}")
+        target_sources(${name} PRIVATE "${abs_out}")
+        set_property(TARGET ${name} APPEND PROPERTY CMRC_EXTERN_DECLS
+            "// Pointers to ${input}"
+            "extern const char* const ${sym}_begin\;"
+            "extern const char* const ${sym}_end\;"
+            )
+        get_filename_component(leaf "${relpath}" NAME)
+        set_property(
+            TARGET ${name}
+            APPEND PROPERTY CMRC_MAKE_FILES
+            "root_index.emplace("
+            "    \"${ARG_PREFIX}${relpath}\","
+            "    ${parent_sym}_dir.directory.add_file("
+            "        \"${leaf}\","
+            "        res_chars::${sym}_begin,"
+            "        res_chars::${sym}_end"
+            "    )"
+            ")\;"
+            )
+    endforeach()
+endfunction()
+
+function(_cmrc_generate_intermediate_cpp lib_ns symbol outfile infile incbin_enabled)
+    add_custom_command(
+        # This is the file we will generate
+        OUTPUT "${outfile}"
+        # These are the primary files that affect the output
+        DEPENDS "${infile}" "${_CMRC_SCRIPT}"
+        COMMAND
+            "${CMAKE_COMMAND}"
+                -D_CMRC_GENERATE_MODE=TRUE
+                -DNAMESPACE=${lib_ns}
+                -DSYMBOL=${symbol}
+                "-DINPUT_FILE=${infile}"
+                "-DOUTPUT_FILE=${outfile}"
+                "-DINCBIN_ENABLED=${incbin_enabled}"
+                -P "${_CMRC_SCRIPT}"
+        COMMENT "Generating intermediate file for ${infile}"
+    )
+endfunction()
+
+function(_cm_encode_fpath var fpath)
+    string(MAKE_C_IDENTIFIER "${fpath}" ident)
+    string(MD5 hash "${fpath}")
+    string(SUBSTRING "${hash}" 0 4 hash)
+    set(${var} f_${hash}_${ident} PARENT_SCOPE)
+endfunction()
diff --git a/bindings/python/cmake/ClangFormat.cmake b/bindings/python/cmake/ClangFormat.cmake
new file mode 100644
index 000000000..cbdc3baec
--- /dev/null
+++ b/bindings/python/cmake/ClangFormat.cmake
@@ -0,0 +1,67 @@
+# Copyright Tomas Zeman 2019.
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+function(clangformat_setup files target)
+
+  if(NOT CLANG_FORMAT_BIN)
+    set(CLANG_FORMAT_BIN clang-format)
+  endif()
+
+  if(NOT EXISTS ${CLANG_FORMAT_BIN})
+    find_program(CLANG_FORMAT_BIN_tmp NAMES clang-format clang-format-10 clang-format-11 clang-format-12 clang-format-13 clang-format-14)
+    if(CLANG_FORMAT_BIN_tmp)
+      set(CLANG_FORMAT_BIN ${CLANG_FORMAT_BIN_tmp})
+      unset(CLANG_FORMAT_BIN_tmp)
+    else()
+      message(STATUS "ClangFormat: ${CLANG_FORMAT_BIN} not found! Target 'clangformat' not available...")
+      return()
+    endif()
+  endif()
+
+  foreach(clangformat_source ${files})
+    get_filename_component(clangformat_source ${clangformat_source} ABSOLUTE)
+    list(APPEND clangformat_sources ${clangformat_source})
+  endforeach()
+
+  add_custom_target(${target}_clangformat
+    COMMAND
+      ${CLANG_FORMAT_BIN}
+      -style=file
+      -i
+      ${clangformat_sources}
+    WORKING_DIRECTORY
+      ${CMAKE_SOURCE_DIR}
+    COMMENT
+      "Formating with ${CLANG_FORMAT_BIN} ..."
+  )
+
+  if(TARGET clangformat)
+    add_dependencies(clangformat ${target}_clangformat)
+  else()
+    add_custom_target(clangformat DEPENDS ${target}_clangformat)
+  endif()
+endfunction()
+
+
+macro(header_directories header_dirs return_list)
+
+  foreach(header_dir ${header_dirs})
+    file(GLOB_RECURSE new_list "${header_dir}/*.hpp")
+    set(file_list "")
+    foreach(file_path ${new_list})
+      set(file_list "${file_list}" ${file_path})
+    endforeach()
+    list(REMOVE_DUPLICATES file_list)
+    set(${return_list} "${${return_list}}" "${file_list}")
+  endforeach()
+
+endmacro()
+
+function(target_clangformat_setup target header_dirs)
+  get_target_property(target_sources ${target} SOURCES)
+  header_directories("${header_dirs}" header_files)
+  set(target_files_to_format "${target_sources};${header_files}")
+  clangformat_setup("${target_files_to_format}" ${target})
+endfunction()
diff --git a/bindings/python/cmake/ClangTidy.cmake b/bindings/python/cmake/ClangTidy.cmake
new file mode 100644
index 000000000..27b7e1959
--- /dev/null
+++ b/bindings/python/cmake/ClangTidy.cmake
@@ -0,0 +1,21 @@
+function(target_clangtidy_setup target)
+
+    set(CLANG_TIDY_NAMES clang-tidy clang-tidy-10 clang-tidy-11)
+    foreach(clangtidy ${CLANG_TIDY_NAMES})
+        if(CLANG_TIDY_BIN)
+            break()
+        endif()
+        find_program(CLANG_TIDY_BIN ${clangtidy})
+    endforeach()
+
+    if(NOT CLANG_TIDY_BIN)
+        message(FATAL_ERROR "clang-tidy is not installed. Aborting...")
+    else()
+        message(STATUS "clang-tidy has been found: ${CLANG_TIDY_BIN}")
+    endif()
+
+    # Disable for C compiler for now
+    #set_target_properties(${target} PROPERTIES C_CLANG_TIDY ${CLANG_TIDY_BIN} CXX_CLANG_TIDY ${CLANG_TIDY_BIN})
+    set_target_properties(${target} PROPERTIES CXX_CLANG_TIDY ${CLANG_TIDY_BIN})
+
+endfunction()
\ No newline at end of file
diff --git a/bindings/python/cmake/Depthai/DepthaiBootloaderConfig.cmake b/bindings/python/cmake/Depthai/DepthaiBootloaderConfig.cmake
new file mode 100644
index 000000000..b8c9e058d
--- /dev/null
+++ b/bindings/python/cmake/Depthai/DepthaiBootloaderConfig.cmake
@@ -0,0 +1,7 @@
+# Maturity level "snapshot" / "release"
+set(DEPTHAI_BOOTLOADER_MATURITY "release")
+# set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
+
+# "version if applicable"
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.26")
+# set(DEPTHAI_BOOTLOADER_VERSION "0.0.24+57c26493754e2f00e57f6594b0b1a317f762d5f2")
diff --git a/bindings/python/cmake/Depthai/DepthaiDeviceKbConfig.cmake b/bindings/python/cmake/Depthai/DepthaiDeviceKbConfig.cmake
new file mode 100644
index 000000000..f42f41449
--- /dev/null
+++ b/bindings/python/cmake/Depthai/DepthaiDeviceKbConfig.cmake
@@ -0,0 +1,7 @@
+# Maturity level "snapshot" / "release"
+# set(DEPTHAI_DEVICE_KB_MATURITY "release")
+set(DEPTHAI_DEVICE_KB_MATURITY "snapshot")
+
+# "version if applicable"
+# set(DEPTHAI_DEVICE_RVC3_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
+set(DEPTHAI_DEVICE_RVC3_VERSION "0.0.1+a0d016ba4b78a61f0e0eff27facbe169be8f62ff")
diff --git a/bindings/python/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/bindings/python/cmake/Depthai/DepthaiDeviceSideConfig.cmake
new file mode 100644
index 000000000..f51afbd37
--- /dev/null
+++ b/bindings/python/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -0,0 +1,8 @@
+# Maturity level "snapshot" / "release"
+set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
+
+# "full commit hash of device side binary"
+set(DEPTHAI_DEVICE_SIDE_COMMIT "f2d516f0b909aed9d6abd8fa4c429bebafb5ded3")
+
+# "version if applicable"
+set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/bindings/python/cmake/DepthaiBootloaderDownloader.cmake b/bindings/python/cmake/DepthaiBootloaderDownloader.cmake
new file mode 100644
index 000000000..5d1540159
--- /dev/null
+++ b/bindings/python/cmake/DepthaiBootloaderDownloader.cmake
@@ -0,0 +1,208 @@
+# This script downloads depthai device side artifacts
+
+function(DepthaiBootloaderDownload)
+
+    ### VARIABLES
+    # Artifactory
+    set(DOWNLOADER_BASE_URL "https://artifacts.luxonis.com/artifactory")
+
+    # Repositories
+    set(DOWNLOADER_REPO_SNAPSHOT "luxonis-myriad-snapshot-local")
+    set(DOWNLOADER_REPO_RELEASE "luxonis-myriad-release-local")
+
+    # Prefix
+    set(DOWNLOADER_ARTIFACT_PREFIX "depthai-bootloader")
+
+    # Errors and retry count
+    set(DOWNLOADER_TIMEOUT_S 300)
+    set(DOWNLOADER_INACTIVE_TIMEOUT_S 60)
+    set(DOWNLOADER_RETRY_NUM 5)
+    ### END VARIABLES
+
+
+    # PARSE ARGUMENTS
+    set(_depthai_bootloader_shared_commit ${ARGV0})
+    set(_enforce_depthai_bootloader_shared_commit ${ARGV1})
+    set(folder "${ARGV2}")
+    set(output_list_var "${ARGV3}")
+    set(maturity "${ARGV4}")
+    set(commit_version_arg "${ARGV5}")
+
+    message(STATUS "Downloading depthai bootloader")
+
+    # END PARSE ARGUMENTS
+
+    #DEBUG
+    message(STATUS "folder: ${folder}")
+    message(STATUS "maturity: ${maturity}")
+    message(STATUS "commit_version_arg: ${commit_version_arg}")
+
+    string(TOLOWER "${maturity}" maturity_lower)
+
+    # Switch between maturity
+    if("${maturity_lower}" STREQUAL "snapshot")
+        set(_selected_repo "${DOWNLOADER_REPO_SNAPSHOT}")
+        set(commit ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_SNAPSHOT@/@DOWNLOADER_ARTIFACT_PREFIX@/@commit@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${commit}")
+
+    elseif(${maturity_lower} STREQUAL "release")
+        set(_selected_repo "${DOWNLOADER_REPO_RELEASE}")
+        set(version ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_RELEASE@/@DOWNLOADER_ARTIFACT_PREFIX@/@version@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${version}")
+    else()
+        # Not a recognized maturity level
+        message(FATAL_ERROR "Cannot download depthai-bootloader binaries. Maturity level not recognized (${maturity_lower})")
+        return()
+    endif()
+
+    # Prints error message
+    macro(PrintErrorMessage status)
+        if(${status} EQUAL 22)
+            message(STATUS "Resource not found, check if commit hash is correctly specified.\n")
+        elseif(${status} EQUAL 28)
+            message(STATUS "Timeout.\n")
+        elseif(${status} EQUAL 99)
+            message(STATUS "Couldn't retrieve files correctly, checksum mismatch.")
+        else()
+            message(STATUS "Unknown error.\n")
+        endif()
+    endmacro()
+
+    # Download files
+    function(DownloadAndChecksum url url_checksum output status_var)
+
+        # Check if file already downloaded (in resources)
+        if(EXISTS "${output}")
+            get_filename_component(_filename "${output}" NAME)
+            message(STATUS "File already downloaded (resources): ${_filename}")
+            set("${status_var}" "0" PARENT_SCOPE)
+            return()
+        endif()
+
+        # Retry again if failed
+        set(_num_retries_left ${DOWNLOADER_RETRY_NUM})
+        # Set error by default
+        set("${status_var}" "1" PARENT_SCOPE)
+
+        while(NOT ${_num_retries_left} EQUAL 0)
+            math(EXPR _num_retries_left "${_num_retries_left} - 1")
+
+            # Download checksum first
+            file(DOWNLOAD "${url_checksum}" "${output}.checksum" STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S})
+            # Read checksum to file
+            file(READ "${output}.checksum" _file_checksum)
+            string(REGEX REPLACE "\n$" "" _file_checksum "${_file_checksum}")
+            # Remove checksum file
+            file(REMOVE "${output}.checksum")
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+
+            # Download file and validate checksum
+            file(DOWNLOAD "${url}" "${output}" INACTIVITY_TIMEOUT ${DOWNLOADER_INACTIVE_TIMEOUT_S} STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S} SHOW_PROGRESS)
+
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # Now check if hash matches (if both files were downloaded without timeouts)
+            file(SHA256 ${output} _downloaded_checksum)
+
+            # if hashes don't match
+            if(NOT (_downloaded_checksum STREQUAL _file_checksum))
+                message(STATUS "Downloaded file checksum mismatch: ${_downloaded_checksum} != {_file_checksum}")
+                set("${status_var}" "99" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # If no errors happened, set status to 0
+            set("${status_var}" "0" PARENT_SCOPE)
+            # And break the loop
+            break()
+
+        endwhile()
+
+    endfunction()
+
+
+    # Check if depthai-bootloader-shared matches
+    if(_depthai_bootloader_shared_commit)
+        message(STATUS "bootloader shared commit: ${_depthai_bootloader_shared_commit}")
+        DownloadAndChecksum(
+            "${_download_directory_url}/depthai-bootloader-shared-commit-hash-${_version_commit_identifier}.txt" # File
+            "${_download_directory_url}/depthai-bootloader-shared-commit-hash-${_version_commit_identifier}.txt.sha256" # File checksum
+            "${folder}/depthai-bootloader-shared-commit-hash-${_version_commit_identifier}.txt"
+            status
+        )
+        if(${status})
+
+            message(STATUS "Couldn't check if depthai-bootloader-shared codebase matches between device and host")
+            if(${_enforce_depthai_bootloader_shared_commit})
+                message(FATAL_ERROR "Aborting.\n")
+            endif()
+
+        else()
+
+            set(_message_mode WARNING)
+            if(${_enforce_depthai_bootloader_shared_commit})
+                set(_message_mode FATAL_ERROR)
+            endif()
+
+            # Read commit hash file
+            file(READ "${folder}/depthai-bootloader-shared-commit-hash-${_version_commit_identifier}.txt" _device_depthai_bootloader_shared_commit_hash)
+            string(REGEX REPLACE "\n$" "" _device_depthai_bootloader_shared_commit_hash "${_device_depthai_bootloader_shared_commit_hash}")
+            string(REGEX REPLACE "\n$" "" _depthai_bootloader_shared_commit "${_depthai_bootloader_shared_commit}")
+            string(COMPARE EQUAL "${_device_depthai_bootloader_shared_commit_hash}" "${_depthai_bootloader_shared_commit}" _is_same)
+
+            # If commits dont match
+            if(NOT ${_is_same})
+                message(${_message_mode} "depthai-bootloader-shared codebases differ between device and host. Enforce (CI): ${_enforce_depthai_bootloader_shared_commit} (device: ${_device_depthai_bootloader_shared_commit_hash}, host: ${_depthai_bootloader_shared_commit}")
+            else()
+                message(STATUS "depthai-bootloader-shared between device and host MATCH!. (device: ${_device_depthai_bootloader_shared_commit_hash}, host: ${_depthai_bootloader_shared_commit}")
+            endif()
+
+        endif()
+
+    endif()
+
+
+    # Download depthai-bootloader firmware package
+    message(STATUS "Downloading and checking depthai-bootloader-fwp.tar.xz")
+    DownloadAndChecksum(
+        "${_download_directory_url}/depthai-bootloader-fwp-${_version_commit_identifier}.tar.xz" # File
+        "${_download_directory_url}/depthai-bootloader-fwp-${_version_commit_identifier}.tar.xz.sha256" # File checksum
+        "${folder}/depthai-bootloader-fwp-${_version_commit_identifier}.tar.xz"
+        status
+    )
+    if(${status})
+        message(STATUS "\nCouldn't download depthai-bootloader-fwp.tar.xz\n")
+        PrintErrorMessage(${status})
+        message(FATAL_ERROR "Aborting.\n")
+    endif()
+    # add depthai-bootloader-fwp.tar.xz to list
+    list(APPEND "${output_list_var}" "${folder}/depthai-bootloader-fwp-${_version_commit_identifier}.tar.xz")
+
+
+    # Set list of files as output
+    set("${output_list_var}" "${${output_list_var}}" PARENT_SCOPE)
+
+endfunction()
diff --git a/bindings/python/cmake/DepthaiDeviceKbDownloader.cmake b/bindings/python/cmake/DepthaiDeviceKbDownloader.cmake
new file mode 100644
index 000000000..efb101b91
--- /dev/null
+++ b/bindings/python/cmake/DepthaiDeviceKbDownloader.cmake
@@ -0,0 +1,208 @@
+# This script downloads depthai device side artifacts
+
+function(DepthaiDeviceKbDownload)
+
+    ### VARIABLES
+    # Artifactory
+    set(DOWNLOADER_BASE_URL "https://artifacts.luxonis.com/artifactory")
+
+    # Repositories
+    set(DOWNLOADER_REPO_SNAPSHOT "luxonis-keembay-snapshot-local")
+    set(DOWNLOADER_REPO_RELEASE "luxonis-keembay-release-local")
+
+    # Prefix
+    set(DOWNLOADER_ARTIFACT_PREFIX "depthai-device-kb")
+
+    # Errors and retry count
+    set(DOWNLOADER_TIMEOUT_S 300)
+    set(DOWNLOADER_INACTIVE_TIMEOUT_S 60)
+    set(DOWNLOADER_RETRY_NUM 5)
+    ### END VARIABLES
+
+
+    # PARSE ARGUMENTS
+    set(_depthai_shared_commit ${ARGV0})
+    set(_enforce_depthai_shared_commit ${ARGV1})
+    set(folder "${ARGV2}")
+    set(output_list_var "${ARGV3}")
+    set(maturity "${ARGV4}")
+    set(commit_version_arg "${ARGV5}")
+
+    message(STATUS "Downloading depthai device-kb")
+
+    # END PARSE ARGUMENTS
+
+    #DEBUG
+    message(STATUS "folder: ${folder}")
+    message(STATUS "maturity: ${maturity}")
+    message(STATUS "commit_version_arg: ${commit_version_arg}")
+
+    string(TOLOWER "${maturity}" maturity_lower)
+
+    # Switch between maturity
+    if("${maturity_lower}" STREQUAL "snapshot")
+        set(_selected_repo "${DOWNLOADER_REPO_SNAPSHOT}")
+        set(commit ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_SNAPSHOT@/@DOWNLOADER_ARTIFACT_PREFIX@/@commit@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${commit}")
+
+    elseif(${maturity_lower} STREQUAL "release")
+        set(_selected_repo "${DOWNLOADER_REPO_RELEASE}")
+        set(version ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_RELEASE@/@DOWNLOADER_ARTIFACT_PREFIX@/@version@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${version}")
+    else()
+        # Not a recognized maturity level
+        message(FATAL_ERROR "Cannot download depthai-device-kb binaries. Maturity level not recognized (${maturity_lower})")
+        return()
+    endif()
+
+    # Prints error message
+    macro(PrintErrorMessage status)
+        if(${status} EQUAL 22)
+            message(STATUS "Resource not found, check if commit hash is correctly specified.\n")
+        elseif(${status} EQUAL 28)
+            message(STATUS "Timeout.\n")
+        elseif(${status} EQUAL 99)
+            message(STATUS "Couldn't retrieve files correctly, checksum mismatch.")
+        else()
+            message(STATUS "Unknown error.\n")
+        endif()
+    endmacro()
+
+    # Download files
+    function(DownloadAndChecksum url url_checksum output status_var)
+
+        # Check if file already downloaded (in resources)
+        if(EXISTS "${output}")
+            get_filename_component(_filename "${output}" NAME)
+            message(STATUS "File already downloaded (resources): ${_filename}")
+            set("${status_var}" "0" PARENT_SCOPE)
+            return()
+        endif()
+
+        # Retry again if failed
+        set(_num_retries_left ${DOWNLOADER_RETRY_NUM})
+        # Set error by default
+        set("${status_var}" "1" PARENT_SCOPE)
+
+        while(NOT ${_num_retries_left} EQUAL 0)
+            math(EXPR _num_retries_left "${_num_retries_left} - 1")
+
+            # Download checksum first
+            file(DOWNLOAD "${url_checksum}" "${output}.checksum" STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S})
+            # Read checksum to file
+            file(READ "${output}.checksum" _file_checksum)
+            string(REGEX REPLACE "\n$" "" _file_checksum "${_file_checksum}")
+            # Remove checksum file
+            file(REMOVE "${output}.checksum")
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+
+            # Download file and validate checksum
+            file(DOWNLOAD "${url}" "${output}" INACTIVITY_TIMEOUT ${DOWNLOADER_INACTIVE_TIMEOUT_S} STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S} SHOW_PROGRESS)
+
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # Now check if hash matches (if both files were downloaded without timeouts)
+            file(SHA256 ${output} _downloaded_checksum)
+
+            # if hashes don't match
+            if(NOT (_downloaded_checksum STREQUAL _file_checksum))
+                message(STATUS "Downloaded file checksum mismatch: ${_downloaded_checksum} != {_file_checksum}")
+                set("${status_var}" "99" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # If no errors happened, set status to 0
+            set("${status_var}" "0" PARENT_SCOPE)
+            # And break the loop
+            break()
+
+        endwhile()
+
+    endfunction()
+
+
+    # Check if depthai-device-kb-shared matches
+    if(_depthai_shared_commit)
+        message(STATUS "device-kb shared commit: ${_depthai_shared_commit}")
+        DownloadAndChecksum(
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" # File
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.txt.sha256" # File checksum
+            "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt"
+            status
+        )
+        if(${status})
+
+            message(STATUS "Couldn't check if depthai-device-kb-shared codebase matches between device and host")
+            if(${_enforce_depthai_shared_commit})
+                message(FATAL_ERROR "Aborting.\n")
+            endif()
+
+        else()
+
+            set(_message_mode WARNING)
+            if(${_enforce_depthai_shared_commit})
+                set(_message_mode FATAL_ERROR)
+            endif()
+
+            # Read commit hash file
+            file(READ "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" _device_depthai_shared_commit_hash)
+            string(REGEX REPLACE "\n$" "" _device_depthai_shared_commit_hash "${_device_depthai_shared_commit_hash}")
+            string(REGEX REPLACE "\n$" "" _depthai_shared_commit "${_depthai_shared_commit}")
+            string(COMPARE EQUAL "${_device_depthai_shared_commit_hash}" "${_depthai_shared_commit}" _is_same)
+
+            # If commits dont match
+            if(NOT ${_is_same})
+                message(${_message_mode} "depthai-device-kb-shared codebases differ between device and host. Enforce (CI): ${_enforce_depthai_shared_commit} (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            else()
+                message(STATUS "depthai-device-kb-shared between device and host MATCH!. (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            endif()
+
+        endif()
+
+    endif()
+
+
+    # Download depthai-device-kb firmware package
+    message(STATUS "Downloading and checking depthai-device-kb-fwp.tar.xz")
+    DownloadAndChecksum(
+        "${_download_directory_url}/depthai-device-kb-fwp-${_version_commit_identifier}.tar.xz" # File
+        "${_download_directory_url}/depthai-device-kb-fwp-${_version_commit_identifier}.tar.xz.sha256" # File checksum
+        "${folder}/depthai-device-kb-fwp-${_version_commit_identifier}.tar.xz"
+        status
+    )
+    if(${status})
+        message(STATUS "\nCouldn't download depthai-device-kb-fwp.tar.xz\n")
+        PrintErrorMessage(${status})
+        message(FATAL_ERROR "Aborting.\n")
+    endif()
+    # add depthai-device-kb-fwp.tar.xz to list
+    list(APPEND "${output_list_var}" "${folder}/depthai-device-kb-fwp-${_version_commit_identifier}.tar.xz")
+
+
+    # Set list of files as output
+    set("${output_list_var}" "${${output_list_var}}" PARENT_SCOPE)
+
+endfunction()
diff --git a/bindings/python/cmake/DepthaiDownloader.cmake b/bindings/python/cmake/DepthaiDownloader.cmake
new file mode 100644
index 000000000..92c73f527
--- /dev/null
+++ b/bindings/python/cmake/DepthaiDownloader.cmake
@@ -0,0 +1,323 @@
+# This script downloads depthai device side artifacts
+
+function(DepthaiDownload)
+
+    ### VARIABLES
+    # Artifactory 
+    set(DEPTHAI_BASE_URL "https://artifacts.luxonis.com/artifactory")
+
+    # Repositories
+    set(DEPTHAI_REPO_SNAPSHOT "luxonis-myriad-snapshot-local")
+    set(DEPTHAI_REPO_RELEASE "luxonis-myriad-release-local")
+
+    # Prefix
+    set(DEPTHAI_ARTIFACT_PREFIX "depthai-device-side")
+
+    # Errors and retry count
+    set(DEPTHAI_TIMEOUT_S 300)
+    set(DEPTHAI_INACTIVE_TIMEOUT_S 60)
+    set(DEPTHAI_DOWNLOAD_RETRY_NUM 5)
+    ### END VARIABLES
+
+
+    # PARSE ARGUMENTS
+    set(_download_patch_only OFF)
+
+    #if first argument PATCH_ONLY, second must be either ON/OFF
+    if("${ARGV2}" STREQUAL "PATCH_ONLY")
+        set(_depthai_shared_commit ${ARGV0})
+        set(_enforce_depthai_shared_commit ${ARGV1})
+            
+        if( ${ARGV3} )
+            set(_download_patch_only ON)
+        else()
+            set(_download_patch_only OFF)
+        endif()
+
+        set(folder "${ARGV4}")
+        set(output_list_var "${ARGV5}")
+        set(maturity "${ARGV6}")
+        set(commit "${ARGV7}")
+        set(version "${ARGV8}") #optional
+
+    else()
+        
+        set(folder "${ARGV0}")
+        set(output_list_var "${ARGV1}")
+        set(maturity "${ARGV2}")
+        set(commit "${ARGV3}")
+        set(version "${ARGV4}") #optional
+
+    endif("${ARGV2}" STREQUAL "PATCH_ONLY")
+
+    if(_download_patch_only)
+        message(STATUS "Downloading depthai and patch")
+    else()
+        message(STATUS "Downloading depthai, depthai-usb2 and patch")
+    endif()
+
+    # END PARSE ARGUMENTS
+
+    #DEBUG
+    #message(STATUS "folder ${folder}")
+    #message(STATUS "maturity ${maturity}")
+    #message(STATUS "commit ${commit}")
+    #message(STATUS "version ${version}") #optional
+
+    string(TOLOWER "${maturity}" maturity_lower)
+
+    # Switch between maturity
+    if(${maturity_lower} STREQUAL "snapshot")
+        set(_selected_repo "${DEPTHAI_REPO_SNAPSHOT}")
+
+        # Create download directory string
+        string(CONFIGURE "@DEPTHAI_BASE_URL@/@DEPTHAI_REPO_SNAPSHOT@/@DEPTHAI_ARTIFACT_PREFIX@/@commit@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${commit}")
+
+    elseif(${maturity_lower} STREQUAL "release")
+        set(_selected_repo "${DEPTHAI_REPO_RELEASE}")
+
+        # TODO
+        # Create download directory string
+        #string(CONFIGURE "@DEPTHAI_BASE_URL@/@DEPTHAI_REPO_SNAPSHOT@/@DEPTHAI_ARTIFACT_PREFIX@/@_commit_hash@" _download_directory_url)
+        
+    else()
+        # Not a recognized maturity level
+        message(FATAL_ERROR "Cannot download DepthAI Device Side binaries. Maturity level not recognized (${maturity_lower})")
+        return()        
+    endif()
+    
+    # Prints error message
+    macro(PrintErrorMessage status)
+        if(${status} EQUAL 22)
+            message(STATUS "Resource not found, check if commit hash is correctly specified.\n")
+        elseif(${status} EQUAL 28)
+            message(STATUS "Timeout.\n")
+        elseif(${status} EQUAL 99)
+            message(STATUS "Couldn't retrieve files correctly, checksum mismatch.")
+        else()
+            message(STATUS "Unknown error.\n")
+        endif()
+    endmacro() 
+
+    # Download files 
+    function(DownloadAndChecksum url url_checksum output status_var)
+
+        # Check if file already downloaded (in resources)
+        if(EXISTS "${output}")
+            get_filename_component(_filename "${output}" NAME)
+            message(STATUS "File already downloaded (resources): ${_filename}")
+            set("${status_var}" "0" PARENT_SCOPE)
+            return()
+        endif()
+
+        # Retry again if failed
+        set(_num_retries_left ${DEPTHAI_DOWNLOAD_RETRY_NUM})
+        # Set error by default
+        set("${status_var}" "1" PARENT_SCOPE)
+
+        while(NOT ${_num_retries_left} EQUAL 0)
+            math(EXPR _num_retries_left "${_num_retries_left} - 1")
+
+            # Download checksum first
+            file(DOWNLOAD "${url_checksum}" "${output}.checksum" STATUS _status TIMEOUT ${DEPTHAI_TIMEOUT_S})
+            # Read checksum to file
+            file(READ "${output}.checksum" _file_checksum)
+            string(REGEX REPLACE "\n$" "" _file_checksum "${_file_checksum}")
+            # Remove checksum file
+            file(REMOVE "${output}.checksum")
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+
+            # Download file and validate checksum
+            file(DOWNLOAD "${url}" "${output}" INACTIVITY_TIMEOUT ${DEPTHAI_INACTIVE_TIMEOUT_S} STATUS _status TIMEOUT ${DEPTHAI_TIMEOUT_S} SHOW_PROGRESS)
+
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # Now check if hash matches (if both files were downloaded without timeouts)
+            file(SHA256 ${output} _downloaded_checksum)
+
+            # if hashes don't match
+            if(NOT (_downloaded_checksum STREQUAL _file_checksum))
+                message(STATUS "Downloaded file checksum mismatch: ${_downloaded_checksum} != {_file_checksum}")
+                set("${status_var}" "99" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # If no errors happened, set status to 0
+            set("${status_var}" "0" PARENT_SCOPE)
+            # And break the loop
+            break()
+
+        endwhile()
+
+    endfunction()
+
+
+    # Check if depthai-shared matches
+    message(STATUS "commit: ${_depthai_shared_commit}")
+    if(_depthai_shared_commit)
+        DownloadAndChecksum(
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" # File
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.sha256.checksum" # File checksum
+            "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt"
+            status
+        )
+        if(${status})
+            message(STATUS "Couldn't check if depthai-shared codebase matches between device and host")
+            if(${_enforce_depthai_shared_commit})
+                message(FATAL_ERROR "Aborting.\n")
+            endif()
+            
+        else()
+
+            set(_message_mode WARNING)
+            if(${_enforce_depthai_shared_commit})
+                set(_message_mode FATAL_ERROR)
+            endif()
+
+            # Read commit hash file
+            file(READ "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" _device_depthai_shared_commit_hash)
+            string(REGEX REPLACE "\n$" "" _device_depthai_shared_commit_hash "${_device_depthai_shared_commit_hash}")
+            string(REGEX REPLACE "\n$" "" _depthai_shared_commit "${_depthai_shared_commit}")
+            string(COMPARE EQUAL "${_device_depthai_shared_commit_hash}" "${_depthai_shared_commit}" _is_same)
+
+            # If commits dont match
+            if(NOT ${_is_same})
+                message(${_message_mode} "depthai-shared codebases differ between device and host. Enforce (CI): ${_enforce_depthai_shared_commit} (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            else()
+                message(STATUS "depthai-shared between device and host MATCH!. (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            endif()
+            
+        endif()
+
+
+    endif()
+
+
+    # Download depthai-device firmware package
+    message(STATUS "Downloading and checking depthai-device-fwp.tar.xz")
+    DownloadAndChecksum(
+        "${_download_directory_url}/depthai-device-fwp-${_version_commit_identifier}.tar.xz" # File
+        "${_download_directory_url}/depthai-device-fwp-${_version_commit_identifier}.tar.xz.sha256" # File checksum
+        "${folder}/depthai-device-fwp-${_version_commit_identifier}.tar.xz"
+        status
+    )
+    if(${status})
+        message(STATUS "\nCouldn't download depthai-device-fwp.tar.xz\n")
+        PrintErrorMessage(${status})
+        message(FATAL_ERROR "Aborting.\n")
+    endif()
+    # add depthai-device-fwp.tar.xz to list
+    list(APPEND "${output_list_var}" "${folder}/depthai-device-fwp-${_version_commit_identifier}.tar.xz")
+    
+
+
+    ## # depthai.cmd
+    ## message(STATUS "Downloading and checking depthai.cmd")
+    ## DownloadAndChecksum(
+    ##     "${_download_directory_url}/depthai-${_version_commit_identifier}.cmd" # File
+    ##     "${_download_directory_url}/depthai-${_version_commit_identifier}.sha256.checksum" # File checksum
+    ##     "${folder}/depthai-${_version_commit_identifier}.cmd"
+    ##     status
+    ## )
+    ## if(${status})
+    ##     message(STATUS "\nCouldn't download depthai.cmd\n")
+    ##     PrintErrorMessage(${status})
+    ##     message(FATAL_ERROR "Aborting.\n")
+    ## endif()
+    ## # add depthai.cmd to list
+    ## list(APPEND "${output_list_var}" "${folder}/depthai-${_version_commit_identifier}.cmd")
+    ## 
+
+    ## if(NOT _download_patch_only)
+    ##     # depthai-usb2.cmd
+    ##     message(STATUS "Downloading and checking depthai-usb2.cmd")
+    ##     DownloadAndChecksum(
+    ##         "${_download_directory_url}/depthai-usb2-${_version_commit_identifier}.cmd" # File
+    ##         "${_download_directory_url}/depthai-usb2-${_version_commit_identifier}.sha256.checksum" # File checksum
+    ##         "${folder}/depthai-usb2-${_version_commit_identifier}.cmd"
+    ##         status
+    ##     )
+
+    ##     if(${status})
+    ##         message(STATUS "\nCouldn't download depthai-usb2.cmd.\n")
+    ##         PrintErrorMessage(${status})
+    ##         message(FATAL_ERROR "Aborting.\n")
+    ##     endif()
+
+    ##     # add depthai-usb2.cmd to list
+    ##     list(APPEND "${output_list_var}" "${folder}/depthai-usb2-${_version_commit_identifier}.cmd")
+
+    ## endif(NOT _download_patch_only)
+
+    ## # depthai-usb2-patch.patch
+    ## message(STATUS "Downloading and checking depthai-usb2-patch.patch")
+    ## DownloadAndChecksum(
+    ##     "${_download_directory_url}/depthai-usb2-patch-${_version_commit_identifier}.patch" # File
+    ##     "${_download_directory_url}/depthai-usb2-patch-${_version_commit_identifier}.sha256.checksum" # File checksum
+    ##     "${folder}/depthai-usb2-patch-${_version_commit_identifier}.patch"
+    ##     status
+    ## )
+    ## if(${status})
+    ##     message(STATUS "\nCouldn't download depthai-usb2-patch.patch.\n")
+    ##     PrintErrorMessage(${status})
+    ##     message(FATAL_ERROR "Aborting.\n")
+    ## endif()    
+
+    ## # add depthai-usb2.cmd to list
+    ## list(APPEND "${output_list_var}" "${folder}/depthai-usb2-patch-${_version_commit_identifier}.patch")
+    
+    
+    # Propagate the variable to parent
+    set("${output_list_var}" "${${output_list_var}}" PARENT_SCOPE)
+
+endfunction()
+
+function(DepthaiLocal patch_only patch_only_on_off output_dir output_list_var path1 path2 path3)
+
+    #debug
+    message(STATUS "patch only: ${patch_only}\non/off${patch_only_on_off}\noutput dir: ${output_dir}\nout_var: ${output_list_var}\npath1: ${path1}\npath2: ${path2}\npath3: ${path3}")
+
+    # If patch only
+    if(patch_only_on_off)
+        if(NOT path1 OR NOT path3)
+            message(FATAL_ERROR "Both depthai binary and depthai usb2 patch files must be specified")
+        else()
+            configure_file("${path1}" "${output_dir}/depthai.cmd" COPYONLY)
+            configure_file("${path3}" "${output_dir}/depthai-usb2-patch.patch" COPYONLY)
+            
+            # Set output list
+            list(APPEND _resource_list "${output_dir}/depthai.cmd" "${output_dir}/depthai-usb2-patch.patch")
+
+        endif()
+    else()
+        if(NOT path1 OR NOT path2)
+            message(FATAL_ERROR "Both depthai and depthai usb2 binary files must be specified")
+        else()
+            configure_file("${path1}" "${output_dir}/depthai.cmd" COPYONLY)
+            configure_file("${path2}" "${output_dir}/depthai-usb2.cmd" COPYONLY)
+
+            # Set output list
+            list(APPEND _resource_list "${output_dir}/depthai.cmd" "${output_dir}/depthai-usb2.cmd")
+
+        endif()
+    endif()
+
+    set("${output_list_var}" "${_resource_list}" PARENT_SCOPE)
+
+endfunction()
\ No newline at end of file
diff --git a/bindings/python/cmake/Flags.cmake b/bindings/python/cmake/Flags.cmake
new file mode 100644
index 000000000..39c067d52
--- /dev/null
+++ b/bindings/python/cmake/Flags.cmake
@@ -0,0 +1,129 @@
+## setup compilation flags
+include(CMakeParseArguments)
+include(CheckCXXCompilerFlag)
+
+# conditionally applies flag. If flag is supported by current compiler, it will be added to compile options.
+function(add_flag target flag)
+    check_cxx_compiler_flag(${flag} FLAG_${flag})
+    if (FLAG_${flag} EQUAL 1)
+        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:${flag}>)
+    endif ()
+endfunction()
+
+function(add_default_flags target)
+    cmake_parse_arguments(ADF "LEAN" "" "" ${ARGN})
+    if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "^(AppleClang|Clang|GNU)$")
+        if(NOT ADF_LEAN)
+            # enable those flags
+            add_flag(${target} -Wall)
+            add_flag(${target} -Wextra)
+            add_flag(${target} -Woverloaded-virtual)     # warn if you overload (not override) a virtual function
+            add_flag(${target} -Wformat=2)               # warn on security issues around functions that format output (ie printf)
+            add_flag(${target} -Wmisleading-indentation) # (only in GCC >= 6.0) warn if indentation implies blocks where blocks do not exist
+            add_flag(${target} -Wduplicated-cond)        # (only in GCC >= 6.0) warn if if / else chain has duplicated conditions
+            add_flag(${target} -Wduplicated-branches)    # (only in GCC >= 7.0) warn if if / else branches have duplicated code
+            add_flag(${target} -Wnull-dereference)       # (only in GCC >= 6.0) warn if a null dereference is detected
+            add_flag(${target} -Wdouble-promotion)       # (GCC >= 4.6, Clang >= 3.8) warn if float is implicit promoted to double
+            add_flag(${target} -Wsign-compare)
+            add_flag(${target} -Wtype-limits)            # size_t - size_t >= 0 -> always true
+
+            # disable those flags
+            # add_flag(${target} -Wno-unused-command-line-argument)    # clang: warning: argument unused during compilation: '--coverage' [-Wunused-command-line-argument]
+            # add_flag(${target} -Wno-unused-parameter)    # prints too many useless warnings
+            # add_flag(${target} -Wno-format-nonliteral)   # prints way too many warnings from spdlog
+            # add_flag(${target} -Wno-gnu-zero-variadic-macro-arguments)   # https://stackoverflow.com/questions/21266380/is-the-gnu-zero-variadic-macro-arguments-safe-to-ignore
+
+            # promote to errors
+            add_flag(${target} -Werror=self-assign-field)  # error if self assign - bugprone
+            add_flag(${target} -Werror=unused-lambda-capture)  # error if lambda capture is unused
+            add_flag(${target} -Werror=return-type)      # warning: control reaches end of non-void function [-Wreturn-type]
+            add_flag(${target} -Werror=non-virtual-dtor) # warn the user if a class with virtual functions has a non-virtual destructor. This helps catch hard to track down memory errors
+            add_flag(${target} -Werror=sign-compare)     # warn the user if they compare a signed and unsigned numbers
+            add_flag(${target} -Werror=reorder)          # field '$1' will be initialized after field '$2'
+            add_flag(${target} -Werror=switch-enum)      # if switch case is missing - error
+        endif()
+
+    elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+        # using Visual Studio C++
+        add_flag(${target} -DNOMINMAX)
+        add_flag(${target} -DWIN32_LEAN_AND_MEAN)
+
+        if(NOT ADF_LEAN)
+            # TODO(warchant): add flags https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md#msvc
+        endif()
+
+        # disable INTERPROCEDURAL_OPTIMIZATION and enable /LTCG for issue https://github.com/luxonis/depthai-core/issues/334
+        if(WIN32)
+            get_target_property(_EXPORT ${target} WINDOWS_EXPORT_ALL_SYMBOLS)
+            if(_EXPORT)
+                if(CMAKE_BUILD_TYPE)
+                    string(TOUPPER "_${CMAKE_BUILD_TYPE}" _BUILD_TYPE)
+                else()
+                    set(_BUILD_TYPE "")
+                endif()
+                set(_PROP_NAME INTERPROCEDURAL_OPTIMIZATION${_BUILD_TYPE})
+                get_property(_PROP_SET TARGET ${target} PROPERTY ${_PROP_NAME} SET)
+                if(NOT _PROP_SET)
+                    set(_PROP_NAME INTERPROCEDURAL_OPTIMIZATION)
+                endif()
+                get_target_property(_INTER_OPT ${target} ${_PROP_NAME})
+                if(_INTER_OPT)
+                    set_target_properties(${target} PROPERTIES ${_PROP_NAME} OFF)
+                    # check_linker_flag() only available in cmake 3.18+
+                    target_link_options(${target} PRIVATE /LTCG)
+                endif()
+                unset(_BUILD_TYPE)
+                unset(_INTER_OPT)
+                unset(_PROP_NAME)
+                unset(_PROP_SET)
+            endif()
+            unset(_EXPORT)
+        endif()
+    endif()
+
+endfunction()
+
+# discover compiler C++ standard support
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+    check_cxx_compiler_flag("-std:c++14" COMPILER_SUPPORTS_CXX14)
+    check_cxx_compiler_flag("-std:c++17" COMPILER_SUPPORTS_CXX17)
+    check_cxx_compiler_flag("-std:c++20" COMPILER_SUPPORTS_CXX20)
+    check_cxx_compiler_flag("-std:c++23" COMPILER_SUPPORTS_CXX23)
+    if(COMPILER_SUPPORTS_CXX14)
+        set(CMAKE_CXX14_STANDARD_COMPILE_OPTION "-std:c++14")
+        set(CMAKE_CXX14_EXTENSION_COMPILE_OPTION "-std:c++14")
+    endif()
+    if(COMPILER_SUPPORTS_CXX17)
+        set(CMAKE_CXX17_STANDARD_COMPILE_OPTION "-std:c++17")
+        set(CMAKE_CXX17_EXTENSION_COMPILE_OPTION "-std:c++17")
+    endif()
+    if(COMPILER_SUPPORTS_CXX20)
+        set(CMAKE_CXX20_STANDARD_COMPILE_OPTION "-std:c++20")
+        set(CMAKE_CXX20_EXTENSION_COMPILE_OPTION "-std:c++20")
+    endif()
+    if(COMPILER_SUPPORTS_CXX23)
+        set(CMAKE_CXX23_STANDARD_COMPILE_OPTION "-std:c++23")
+        set(CMAKE_CXX23_EXTENSION_COMPILE_OPTION "-std:c++23")
+    endif()
+elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "^(AppleClang|Clang|GNU)$")
+    check_cxx_compiler_flag("-std=c++14" COMPILER_SUPPORTS_CXX14)
+    check_cxx_compiler_flag("-std=c++17" COMPILER_SUPPORTS_CXX17)
+    check_cxx_compiler_flag("-std=c++20" COMPILER_SUPPORTS_CXX20)
+    check_cxx_compiler_flag("-std=c++23" COMPILER_SUPPORTS_CXX23)
+    if(COMPILER_SUPPORTS_CXX14)
+        set(CMAKE_CXX14_STANDARD_COMPILE_OPTION "-std=c++14")
+        set(CMAKE_CXX14_EXTENSION_COMPILE_OPTION "-std=gnu++14")
+    endif()
+    if(COMPILER_SUPPORTS_CXX17)
+        set(CMAKE_CXX17_STANDARD_COMPILE_OPTION "-std=c++17")
+        set(CMAKE_CXX17_EXTENSION_COMPILE_OPTION "-std=gnu++17")
+    endif()
+    if(COMPILER_SUPPORTS_CXX20)
+        set(CMAKE_CXX20_STANDARD_COMPILE_OPTION "-std=c++20")
+        set(CMAKE_CXX20_EXTENSION_COMPILE_OPTION "-std=gnu++20")
+    endif()
+    if(COMPILER_SUPPORTS_CXX23)
+        set(CMAKE_CXX23_STANDARD_COMPILE_OPTION "-std=c++23")
+        set(CMAKE_CXX23_EXTENSION_COMPILE_OPTION "-std=gnu++23")
+    endif()
+endif()
diff --git a/bindings/python/cmake/GitCommitHash.cmake b/bindings/python/cmake/GitCommitHash.cmake
new file mode 100644
index 000000000..0b1a406ae
--- /dev/null
+++ b/bindings/python/cmake/GitCommitHash.cmake
@@ -0,0 +1,19 @@
+# for commit hash
+find_package(Git)
+
+set(commit_version "unknown")
+
+if(GIT_FOUND)
+  execute_process(
+    COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+    WORKING_DIRECTORY "${local_dir}"
+    OUTPUT_VARIABLE commit_version
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+else()
+  message(STATUS "GIT module not found")
+endif()
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp.in ${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp @ONLY)
+
diff --git a/bindings/python/cmake/default_docstring.hpp.in b/bindings/python/cmake/default_docstring.hpp.in
new file mode 100644
index 000000000..d3ee0a244
--- /dev/null
+++ b/bindings/python/cmake/default_docstring.hpp.in
@@ -0,0 +1,3 @@
+// Default DOC define, which is nullptr aka no docstring
+// This case covers when docstrings couldn't be generated
+#define DOC(...) ((const char*) nullptr)
diff --git a/bindings/python/cmake/depthaiConfig.cmake.in b/bindings/python/cmake/depthaiConfig.cmake.in
new file mode 100644
index 000000000..dfe96ad73
--- /dev/null
+++ b/bindings/python/cmake/depthaiConfig.cmake.in
@@ -0,0 +1,22 @@
+# Get whether library was build as shared or not
+set(DEPTHAI_SHARED_LIBS @BUILD_SHARED_LIBS@)
+
+# Get library options
+# Get whether library was build with Backward or not
+set(DEPTHAI_ENABLE_BACKWARD @DEPTHAI_ENABLE_BACKWARD@)
+set(DEPTHAI_XLINK_LOCAL @DEPTHAI_XLINK_LOCAL@)
+
+# Specify that this is config mode (Called by find_package)
+set(CONFIG_MODE TRUE)
+
+# Compute the installation prefix relative to this file.
+set(_IMPORT_PREFIX "@DEPTHAI_DEPENDENCIES_INSTALLATION_PATH_REL@")
+
+# Add dependencies file
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Dependencies.cmake")
+
+# Add the targets file
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_EXPORT_GROUP@.cmake")
+
+# Cleanup
+set(_IMPORT_PREFIX)
diff --git a/bindings/python/cmake/depthaiDependencies.cmake b/bindings/python/cmake/depthaiDependencies.cmake
new file mode 100644
index 000000000..214460922
--- /dev/null
+++ b/bindings/python/cmake/depthaiDependencies.cmake
@@ -0,0 +1,105 @@
+if(CONFIG_MODE)
+    set(_DEPTHAI_PREFIX_PATH_ORIGINAL ${CMAKE_PREFIX_PATH})
+    set(_DEPTHAI_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL ${CMAKE_FIND_ROOT_PATH_MODE_PACKAGE})
+    # Fixes Android NDK build, where prefix path is ignored as its not inside sysroot
+    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE "BOTH")
+    # Sets where to search for packages about to follow
+    set(CMAKE_PREFIX_PATH "${CMAKE_CURRENT_LIST_DIR}/${_IMPORT_PREFIX}" ${CMAKE_PREFIX_PATH})
+    set(_QUIET "QUIET")
+else()
+    set(DEPTHAI_SHARED_LIBS ${BUILD_SHARED_LIBS})
+    hunter_add_package(nlohmann_json)
+    if(NOT DEPTHAI_XLINK_LOCAL)
+        hunter_add_package(XLink)
+    endif()
+    hunter_add_package(BZip2)
+    hunter_add_package(FP16)
+    hunter_add_package(libarchive-luxonis)
+    hunter_add_package(spdlog)
+    hunter_add_package(ZLIB)
+    hunter_add_package(httplib)
+    if(DEPTHAI_ENABLE_BACKWARD)
+        hunter_add_package(Backward)
+    endif()
+    hunter_add_package(libnop)
+endif()
+
+# If library was build as static, find all dependencies
+if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
+
+    # BZip2 (for bspatch)
+    find_package(BZip2 ${_QUIET} CONFIG REQUIRED)
+
+    # FP16 for conversions
+    find_package(FP16 ${_QUIET} CONFIG REQUIRED)
+
+    # libarchive for firmware packages
+    find_package(archive_static ${_QUIET} CONFIG REQUIRED)
+    find_package(lzma ${_QUIET} CONFIG REQUIRED)
+    # ZLIB for compressing Apps
+    find_package(ZLIB CONFIG REQUIRED)
+
+    # spdlog for library and device logging
+    find_package(spdlog ${_QUIET} CONFIG REQUIRED)
+
+    # httplib for Gate communication
+    find_package(httplib ${_QUIET} CONFIG REQUIRED)
+
+    # Backward
+    if(DEPTHAI_ENABLE_BACKWARD)
+        # Disable automatic check for additional stack unwinding libraries
+        # Just use the default compiler one
+        set(STACK_DETAILS_AUTO_DETECT FALSE CACHE BOOL "Auto detect backward's stack details dependencies")
+        find_package(Backward ${_QUIET} CONFIG REQUIRED)
+        unset(STACK_DETAILS_AUTO_DETECT)
+    endif()
+endif()
+
+# Xtensor
+if(DEPTHAI_XTENSOR_SUPPORT)
+    get_filename_component(PARENT_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/.. ABSOLUTE)
+    add_subdirectory("${PARENT_DIRECTORY}/3rdparty/xtl" xtl)
+    add_subdirectory("${PARENT_DIRECTORY}/3rdparty/xtensor" xtensor)
+endif()
+
+# Add threads (c++)
+find_package(Threads ${_QUIET} REQUIRED)
+
+# Nlohmann JSON
+find_package(nlohmann_json 3.6.0 ${_QUIET} CONFIG REQUIRED)
+
+# libnop for serialization
+find_package(libnop ${_QUIET} CONFIG REQUIRED)
+
+# XLink
+if(DEPTHAI_XLINK_LOCAL AND (NOT CONFIG_MODE))
+    set(_BUILD_SHARED_LIBS_SAVED "${BUILD_SHARED_LIBS}")
+    set(BUILD_SHARED_LIBS OFF)
+    add_subdirectory("${DEPTHAI_XLINK_LOCAL}" ${CMAKE_CURRENT_BINARY_DIR}/XLink)
+    set(BUILD_SHARED_LIBS "${_BUILD_SHARED_LIBS_SAVED}")
+    unset(_BUILD_SHARED_LIBS_SAVED)
+    list(APPEND targets_to_export XLink XLinkPublic)
+else()
+    # TODO(themarpe) - might be required
+    # elseif(NOT DEPTHAI_XLINK_LOCAL)
+    find_package(XLink ${_QUIET} CONFIG REQUIRED HINTS "${CMAKE_CURRENT_LIST_DIR}/XLink" "${CMAKE_CURRENT_LIST_DIR}/../XLink")
+endif()
+
+# OpenCV 4 - (optional, quiet always)
+find_package(OpenCV 4 QUIET CONFIG)
+
+# include optional dependency cmake
+if(DEPTHAI_DEPENDENCY_INCLUDE)
+    include(${DEPTHAI_DEPENDENCY_INCLUDE} OPTIONAL)
+endif()
+
+# Cleanup
+if(CONFIG_MODE)
+    set(CMAKE_PREFIX_PATH ${_DEPTHAI_PREFIX_PATH_ORIGINAL})
+    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ${_DEPTHAI_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL})
+    unset(_DEPTHAI_PREFIX_PATH_ORIGINAL)
+    unset(_DEPTHAI_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL)
+    unset(_QUIET)
+else()
+    set(DEPTHAI_SHARED_LIBS)
+endif()
diff --git a/bindings/python/cmake/docstring.hpp.in b/bindings/python/cmake/docstring.hpp.in
new file mode 100644
index 000000000..6706b0961
--- /dev/null
+++ b/bindings/python/cmake/docstring.hpp.in
@@ -0,0 +1 @@
+#include "@docstring_input_path@"
diff --git a/bindings/python/cmake/pybind11-mkdoc.cmake b/bindings/python/cmake/pybind11-mkdoc.cmake
new file mode 100644
index 000000000..e399bb60d
--- /dev/null
+++ b/bindings/python/cmake/pybind11-mkdoc.cmake
@@ -0,0 +1,85 @@
+# Helper to create a pybind11_mkdoc target which takes
+include(target-public-headers)
+
+# Usage:
+# target_pybind11_mkdoc_setup([path/to/output/docstring.hpp] [Library for which to generate: target-name] [Enforce pybind11_mkdoc existing ON/OFF])
+function(target_pybind11_mkdoc_setup output_file target enforce)
+
+    # Get unaliased target if alias target passed in
+    get_target_property(original_target ${target} ALIASED_TARGET)
+    if(original_target)
+        set(target ${original_target})
+    endif()
+
+    # gets target public headers
+    get_target_public_headers(${target} header_files)
+
+    # Setup mkdoc target
+    pybind11_mkdoc_setup_internal("${target}" "${output_file}" "${header_files}" ${enforce})
+
+endfunction()
+
+# Internal helper, sets up pybind11_mkdoc target
+function(pybind11_mkdoc_setup_internal target output_path mkdoc_headers enforce)
+
+    # constants
+    set(PYBIND11_MKDOC_MODULE_NAME "pybind11_mkdoc")
+    set(PYBIND11_MKDOC_TARGET_NAME "pybind11_mkdoc")
+
+    # Execute module pybind11_mkdoc to check if present
+    message(STATUS "Checking for pybind11_mkdoc")
+    execute_process(COMMAND ${PYTHON_EXECUTABLE} -m ${PYBIND11_MKDOC_MODULE_NAME} --help RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
+    if(error)
+        set(message "Checking for pybind11_mkdoc - not found, docstrings not available")
+        if(NOT enforce)
+            message(STATUS ${message})
+        else()
+            message(FATAL_ERROR ${message})
+        endif()
+        # Exit
+        return()
+    else()
+        message(STATUS "Checking for pybind11_mkdoc - found, docstrings available")
+    endif()
+
+    # Prepare the output folder for the mkdoc
+    get_filename_component(output_directory "${output_path}" DIRECTORY)
+    # Create the command
+    add_custom_command(
+        OUTPUT "${output_path}"
+        # Create directory first (if it doesn't exist)
+        COMMAND ${CMAKE_COMMAND} -E make_directory "${output_directory}"
+        # Execute mkdoc
+        COMMAND
+            ${PYTHON_EXECUTABLE}
+            -m ${PYBIND11_MKDOC_MODULE_NAME}
+            # Docstring wrap width
+            -w 80
+            -o "${output_path}"
+            # C++ standard
+            -std=c++17
+            # List of include directories
+            "-I$<JOIN:$<TARGET_PROPERTY:${target},INTERFACE_INCLUDE_DIRECTORIES>,;-I>"
+            # List of compiler definitions
+            "-D$<JOIN:$<TARGET_PROPERTY:${target},INTERFACE_COMPILE_DEFINITIONS>,;-D>"
+            # List of headers for which to generate docstrings
+            "${mkdoc_headers}"
+            # Redirect stderr to not spam output
+            # 2> /dev/null
+        DEPENDS ${mkdoc_headers} #${target}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        COMMENT "Creating docstrings with ${PYTHON_EXECUTABLE} -m ${PYBIND11_MKDOC_MODULE_NAME} ..."
+        VERBATIM
+        COMMAND_EXPAND_LISTS
+    )
+
+    # Create a target
+    add_custom_target(
+        ${PYBIND11_MKDOC_TARGET_NAME}
+        DEPENDS "${output_path}"
+    )
+
+    # Force target build
+    file(TOUCH_NOCREATE ${mkdoc_headers})
+
+endfunction()
diff --git a/bindings/python/cmake/sanitizers/FindASan.cmake b/bindings/python/cmake/sanitizers/FindASan.cmake
new file mode 100644
index 000000000..98ea7cb31
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/FindASan.cmake
@@ -0,0 +1,59 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+option(SANITIZE_ADDRESS "Enable AddressSanitizer for sanitized targets." Off)
+
+set(FLAG_CANDIDATES
+    # Clang 3.2+ use this version. The no-omit-frame-pointer option is optional.
+    "-g -fsanitize=address -fno-omit-frame-pointer"
+    "-g -fsanitize=address"
+
+    # Older deprecated flag for ASan
+    "-g -faddress-sanitizer"
+)
+
+
+if (SANITIZE_ADDRESS AND (SANITIZE_THREAD OR SANITIZE_MEMORY))
+    message(FATAL_ERROR "AddressSanitizer is not compatible with "
+        "ThreadSanitizer or MemorySanitizer.")
+endif ()
+
+
+include(sanitize-helpers)
+
+if (SANITIZE_ADDRESS)
+    sanitizer_check_compiler_flags("${FLAG_CANDIDATES}" "AddressSanitizer"
+        "ASan")
+
+    find_program(ASan_WRAPPER "asan-wrapper" PATHS ${CMAKE_MODULE_PATH})
+	mark_as_advanced(ASan_WRAPPER)
+endif ()
+
+function (add_sanitize_address TARGET)
+    if (NOT SANITIZE_ADDRESS)
+        return()
+    endif ()
+
+    sanitizer_add_flags(${TARGET} "AddressSanitizer" "ASan")
+endfunction ()
diff --git a/bindings/python/cmake/sanitizers/FindMSan.cmake b/bindings/python/cmake/sanitizers/FindMSan.cmake
new file mode 100644
index 000000000..22d0050e9
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/FindMSan.cmake
@@ -0,0 +1,57 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+option(SANITIZE_MEMORY "Enable MemorySanitizer for sanitized targets." Off)
+
+set(FLAG_CANDIDATES
+    "-g -fsanitize=memory"
+)
+
+
+include(sanitize-helpers)
+
+if (SANITIZE_MEMORY)
+    if (NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+        message(WARNING "MemorySanitizer disabled for target ${TARGET} because "
+            "MemorySanitizer is supported for Linux systems only.")
+        set(SANITIZE_MEMORY Off CACHE BOOL
+            "Enable MemorySanitizer for sanitized targets." FORCE)
+    elseif (NOT ${CMAKE_SIZEOF_VOID_P} EQUAL 8)
+        message(WARNING "MemorySanitizer disabled for target ${TARGET} because "
+            "MemorySanitizer is supported for 64bit systems only.")
+        set(SANITIZE_MEMORY Off CACHE BOOL
+            "Enable MemorySanitizer for sanitized targets." FORCE)
+    else ()
+        sanitizer_check_compiler_flags("${FLAG_CANDIDATES}" "MemorySanitizer"
+            "MSan")
+    endif ()
+endif ()
+
+function (add_sanitize_memory TARGET)
+    if (NOT SANITIZE_MEMORY)
+        return()
+    endif ()
+
+    sanitizer_add_flags(${TARGET} "MemorySanitizer" "MSan")
+endfunction ()
diff --git a/bindings/python/cmake/sanitizers/FindSanitizers.cmake b/bindings/python/cmake/sanitizers/FindSanitizers.cmake
new file mode 100755
index 000000000..101bab843
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/FindSanitizers.cmake
@@ -0,0 +1,94 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+# If any of the used compiler is a GNU compiler, add a second option to static
+# link against the sanitizers.
+option(SANITIZE_LINK_STATIC "Try to link static against sanitizers." Off)
+
+
+
+
+set(FIND_QUIETLY_FLAG "")
+if (DEFINED Sanitizers_FIND_QUIETLY)
+    set(FIND_QUIETLY_FLAG "QUIET")
+endif ()
+
+find_package(ASan ${FIND_QUIETLY_FLAG})
+find_package(TSan ${FIND_QUIETLY_FLAG})
+find_package(MSan ${FIND_QUIETLY_FLAG})
+find_package(UBSan ${FIND_QUIETLY_FLAG})
+
+
+
+
+function(sanitizer_add_blacklist_file FILE)
+    if(NOT IS_ABSOLUTE ${FILE})
+        set(FILE "${CMAKE_CURRENT_SOURCE_DIR}/${FILE}")
+    endif()
+    get_filename_component(FILE "${FILE}" REALPATH)
+
+    sanitizer_check_compiler_flags("-fsanitize-blacklist=${FILE}"
+        "SanitizerBlacklist" "SanBlist")
+endfunction()
+
+function(add_sanitizers ...)
+    # If no sanitizer is enabled, return immediately.
+    if (NOT (SANITIZE_ADDRESS OR SANITIZE_MEMORY OR SANITIZE_THREAD OR
+        SANITIZE_UNDEFINED))
+        return()
+    endif ()
+
+    foreach (TARGET ${ARGV})
+        # Check if this target will be compiled by exactly one compiler. Other-
+        # wise sanitizers can't be used and a warning should be printed once.
+        get_target_property(TARGET_TYPE ${TARGET} TYPE)
+        if (TARGET_TYPE STREQUAL "INTERFACE_LIBRARY")
+            message(WARNING "Can't use any sanitizers for target ${TARGET}, "
+                    "because it is an interface library and cannot be "
+                    "compiled directly.")
+            return()
+        endif ()
+        sanitizer_target_compilers(${TARGET} TARGET_COMPILER)
+        list(LENGTH TARGET_COMPILER NUM_COMPILERS)
+        if (NUM_COMPILERS GREATER 1)
+            message(WARNING "Can't use any sanitizers for target ${TARGET}, "
+                    "because it will be compiled by incompatible compilers. "
+                    "Target will be compiled without sanitizers.")
+            return()
+
+        # If the target is compiled by no or no known compiler, give a warning.
+        elseif (NUM_COMPILERS EQUAL 0)
+            message(WARNING "Sanitizers for target ${TARGET} may not be"
+                    " usable, because it uses no or an unknown compiler. "
+                    "This is a false warning for targets using only "
+		    "object lib(s) as input.")
+        endif ()
+
+        # Add sanitizers for target.
+        add_sanitize_address(${TARGET})
+        add_sanitize_thread(${TARGET})
+        add_sanitize_memory(${TARGET})
+        add_sanitize_undefined(${TARGET})
+	endforeach ()
+endfunction(add_sanitizers)
diff --git a/bindings/python/cmake/sanitizers/FindTSan.cmake b/bindings/python/cmake/sanitizers/FindTSan.cmake
new file mode 100644
index 000000000..3cba3c03b
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/FindTSan.cmake
@@ -0,0 +1,65 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+option(SANITIZE_THREAD "Enable ThreadSanitizer for sanitized targets." Off)
+
+set(FLAG_CANDIDATES
+    "-g -fsanitize=thread"
+)
+
+
+# ThreadSanitizer is not compatible with MemorySanitizer.
+if (SANITIZE_THREAD AND SANITIZE_MEMORY)
+    message(FATAL_ERROR "ThreadSanitizer is not compatible with "
+        "MemorySanitizer.")
+endif ()
+
+
+include(sanitize-helpers)
+
+if (SANITIZE_THREAD)
+  if (NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Linux" AND
+      NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
+        message(WARNING "ThreadSanitizer disabled for target ${TARGET} because "
+          "ThreadSanitizer is supported for Linux systems and macOS only.")
+        set(SANITIZE_THREAD Off CACHE BOOL
+            "Enable ThreadSanitizer for sanitized targets." FORCE)
+    elseif (NOT ${CMAKE_SIZEOF_VOID_P} EQUAL 8)
+        message(WARNING "ThreadSanitizer disabled for target ${TARGET} because "
+            "ThreadSanitizer is supported for 64bit systems only.")
+        set(SANITIZE_THREAD Off CACHE BOOL
+            "Enable ThreadSanitizer for sanitized targets." FORCE)
+    else ()
+        sanitizer_check_compiler_flags("${FLAG_CANDIDATES}" "ThreadSanitizer"
+            "TSan")
+    endif ()
+endif ()
+
+function (add_sanitize_thread TARGET)
+    if (NOT SANITIZE_THREAD)
+        return()
+    endif ()
+
+    sanitizer_add_flags(${TARGET} "ThreadSanitizer" "TSan")
+endfunction ()
diff --git a/bindings/python/cmake/sanitizers/FindUBSan.cmake b/bindings/python/cmake/sanitizers/FindUBSan.cmake
new file mode 100644
index 000000000..ae103f717
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/FindUBSan.cmake
@@ -0,0 +1,46 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+option(SANITIZE_UNDEFINED
+    "Enable UndefinedBehaviorSanitizer for sanitized targets." Off)
+
+set(FLAG_CANDIDATES
+    "-g -fsanitize=undefined"
+)
+
+
+include(sanitize-helpers)
+
+if (SANITIZE_UNDEFINED)
+    sanitizer_check_compiler_flags("${FLAG_CANDIDATES}"
+        "UndefinedBehaviorSanitizer" "UBSan")
+endif ()
+
+function (add_sanitize_undefined TARGET)
+    if (NOT SANITIZE_UNDEFINED)
+        return()
+    endif ()
+
+    sanitizer_add_flags(${TARGET} "UndefinedBehaviorSanitizer" "UBSan")
+endfunction ()
diff --git a/bindings/python/cmake/sanitizers/asan-wrapper b/bindings/python/cmake/sanitizers/asan-wrapper
new file mode 100755
index 000000000..5d5410337
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/asan-wrapper
@@ -0,0 +1,55 @@
+#!/bin/sh
+
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+# This script is a wrapper for AddressSanitizer. In some special cases you need
+# to preload AddressSanitizer to avoid error messages - e.g. if you're
+# preloading another library to your application. At the moment this script will
+# only do something, if we're running on a Linux platform. OSX might not be
+# affected.
+
+
+# Exit immediately, if platform is not Linux.
+if [ "$(uname)" != "Linux" ]
+then
+    exec $@
+fi
+
+
+# Get the used libasan of the application ($1). If a libasan was found, it will
+# be prepended to LD_PRELOAD.
+libasan=$(ldd $1 | grep libasan | sed "s/^[[:space:]]//" | cut -d' ' -f1)
+if [ -n "$libasan" ]
+then
+    if [ -n "$LD_PRELOAD" ]
+    then
+        export LD_PRELOAD="$libasan:$LD_PRELOAD"
+    else
+        export LD_PRELOAD="$libasan"
+    fi
+fi
+
+# Execute the application.
+exec $@
diff --git a/bindings/python/cmake/sanitizers/sanitize-helpers.cmake b/bindings/python/cmake/sanitizers/sanitize-helpers.cmake
new file mode 100755
index 000000000..3649b0742
--- /dev/null
+++ b/bindings/python/cmake/sanitizers/sanitize-helpers.cmake
@@ -0,0 +1,177 @@
+# The MIT License (MIT)
+#
+# Copyright (c)
+#   2013 Matthew Arsenault
+#   2015-2016 RWTH Aachen University, Federal Republic of Germany
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+# Helper function to get the language of a source file.
+function (sanitizer_lang_of_source FILE RETURN_VAR)
+    get_filename_component(LONGEST_EXT "${FILE}" EXT)
+    # If extension is empty return. This can happen for extensionless headers
+    if("${LONGEST_EXT}" STREQUAL "")
+       set(${RETURN_VAR} "" PARENT_SCOPE)
+       return()
+    endif()
+    # Get shortest extension as some files can have dot in their names
+    string(REGEX REPLACE "^.*(\\.[^.]+)$" "\\1" FILE_EXT ${LONGEST_EXT})
+    string(TOLOWER "${FILE_EXT}" FILE_EXT)
+    string(SUBSTRING "${FILE_EXT}" 1 -1 FILE_EXT)
+
+    get_property(ENABLED_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
+    foreach (LANG ${ENABLED_LANGUAGES})
+        list(FIND CMAKE_${LANG}_SOURCE_FILE_EXTENSIONS "${FILE_EXT}" TEMP)
+        if (NOT ${TEMP} EQUAL -1)
+            set(${RETURN_VAR} "${LANG}" PARENT_SCOPE)
+            return()
+        endif ()
+    endforeach()
+
+    set(${RETURN_VAR} "" PARENT_SCOPE)
+endfunction ()
+
+
+# Helper function to get compilers used by a target.
+function (sanitizer_target_compilers TARGET RETURN_VAR)
+    # Check if all sources for target use the same compiler. If a target uses
+    # e.g. C and Fortran mixed and uses different compilers (e.g. clang and
+    # gfortran) this can trigger huge problems, because different compilers may
+    # use different implementations for sanitizers.
+    set(BUFFER "")
+    get_target_property(TSOURCES ${TARGET} SOURCES)
+    foreach (FILE ${TSOURCES})
+        # If expression was found, FILE is a generator-expression for an object
+        # library. Object libraries will be ignored.
+        string(REGEX MATCH "TARGET_OBJECTS:([^ >]+)" _file ${FILE})
+        if ("${_file}" STREQUAL "")
+            sanitizer_lang_of_source(${FILE} LANG)
+            if (LANG)
+                list(APPEND BUFFER ${CMAKE_${LANG}_COMPILER_ID})
+            endif ()
+        endif ()
+    endforeach ()
+
+    list(REMOVE_DUPLICATES BUFFER)
+    set(${RETURN_VAR} "${BUFFER}" PARENT_SCOPE)
+endfunction ()
+
+
+# Helper function to check compiler flags for language compiler.
+function (sanitizer_check_compiler_flag FLAG LANG VARIABLE)
+    if (${LANG} STREQUAL "C")
+        include(CheckCCompilerFlag)
+        check_c_compiler_flag("${FLAG}" ${VARIABLE})
+
+    elseif (${LANG} STREQUAL "CXX")
+        include(CheckCXXCompilerFlag)
+        check_cxx_compiler_flag("${FLAG}" ${VARIABLE})
+
+    elseif (${LANG} STREQUAL "Fortran")
+        # CheckFortranCompilerFlag was introduced in CMake 3.x. To be compatible
+        # with older Cmake versions, we will check if this module is present
+        # before we use it. Otherwise we will define Fortran coverage support as
+        # not available.
+        include(CheckFortranCompilerFlag OPTIONAL RESULT_VARIABLE INCLUDED)
+        if (INCLUDED)
+            check_fortran_compiler_flag("${FLAG}" ${VARIABLE})
+        elseif (NOT CMAKE_REQUIRED_QUIET)
+            message(STATUS "Performing Test ${VARIABLE}")
+            message(STATUS "Performing Test ${VARIABLE}"
+                " - Failed (Check not supported)")
+        endif ()
+    endif()
+endfunction ()
+
+
+# Helper function to test compiler flags.
+function (sanitizer_check_compiler_flags FLAG_CANDIDATES NAME PREFIX)
+    set(CMAKE_REQUIRED_QUIET ${${PREFIX}_FIND_QUIETLY})
+
+    get_property(ENABLED_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
+    foreach (LANG ${ENABLED_LANGUAGES})
+        # Sanitizer flags are not dependend on language, but the used compiler.
+        # So instead of searching flags foreach language, search flags foreach
+        # compiler used.
+        set(COMPILER ${CMAKE_${LANG}_COMPILER_ID})
+        if (NOT DEFINED ${PREFIX}_${COMPILER}_FLAGS)
+            foreach (FLAG ${FLAG_CANDIDATES})
+                if(NOT CMAKE_REQUIRED_QUIET)
+                    message(STATUS "Try ${COMPILER} ${NAME} flag = [${FLAG}]")
+                endif()
+
+                set(CMAKE_REQUIRED_FLAGS "${FLAG}")
+                unset(${PREFIX}_FLAG_DETECTED CACHE)
+                sanitizer_check_compiler_flag("${FLAG}" ${LANG}
+                    ${PREFIX}_FLAG_DETECTED)
+
+                if (${PREFIX}_FLAG_DETECTED)
+                    # If compiler is a GNU compiler, search for static flag, if
+                    # SANITIZE_LINK_STATIC is enabled.
+                    if (SANITIZE_LINK_STATIC AND (${COMPILER} STREQUAL "GNU"))
+                        string(TOLOWER ${PREFIX} PREFIX_lower)
+                        sanitizer_check_compiler_flag(
+                            "-static-lib${PREFIX_lower}" ${LANG}
+                            ${PREFIX}_STATIC_FLAG_DETECTED)
+
+                        if (${PREFIX}_STATIC_FLAG_DETECTED)
+                            set(FLAG "-static-lib${PREFIX_lower} ${FLAG}")
+                        endif ()
+                    endif ()
+
+                    set(${PREFIX}_${COMPILER}_FLAGS "${FLAG}" CACHE STRING
+                        "${NAME} flags for ${COMPILER} compiler.")
+                    mark_as_advanced(${PREFIX}_${COMPILER}_FLAGS)
+                    break()
+                endif ()
+            endforeach ()
+
+            if (NOT ${PREFIX}_FLAG_DETECTED)
+                set(${PREFIX}_${COMPILER}_FLAGS "" CACHE STRING
+                    "${NAME} flags for ${COMPILER} compiler.")
+                mark_as_advanced(${PREFIX}_${COMPILER}_FLAGS)
+
+                message(WARNING "${NAME} is not available for ${COMPILER} "
+                        "compiler. Targets using this compiler will be "
+                        "compiled without ${NAME}.")
+            endif ()
+        endif ()
+    endforeach ()
+endfunction ()
+
+
+# Helper to assign sanitizer flags for TARGET.
+function (sanitizer_add_flags TARGET NAME PREFIX)
+    # Get list of compilers used by target and check, if sanitizer is available
+    # for this target. Other compiler checks like check for conflicting
+    # compilers will be done in add_sanitizers function.
+    sanitizer_target_compilers(${TARGET} TARGET_COMPILER)
+    list(LENGTH TARGET_COMPILER NUM_COMPILERS)
+    if ("${${PREFIX}_${TARGET_COMPILER}_FLAGS}" STREQUAL "")
+        return()
+    endif()
+
+    # Set compile- and link-flags for target.
+    set_property(TARGET ${TARGET} APPEND_STRING
+        PROPERTY COMPILE_FLAGS " ${${PREFIX}_${TARGET_COMPILER}_FLAGS}")
+    set_property(TARGET ${TARGET} APPEND_STRING
+        PROPERTY COMPILE_FLAGS " ${SanBlist_${TARGET_COMPILER}_FLAGS}")
+    set_property(TARGET ${TARGET} APPEND_STRING
+        PROPERTY LINK_FLAGS " ${${PREFIX}_${TARGET_COMPILER}_FLAGS}")
+endfunction ()
diff --git a/bindings/python/cmake/target-public-headers.cmake b/bindings/python/cmake/target-public-headers.cmake
new file mode 100644
index 000000000..f597d188c
--- /dev/null
+++ b/bindings/python/cmake/target-public-headers.cmake
@@ -0,0 +1,73 @@
+# CMake helper script which defines a function to retrieve targets public headers (if separated in different directories)
+
+function(get_target_public_headers target output_variable_name)
+    
+    # Get both interface include directories and system include directories
+    get_target_property(header_dirs ${target} INTERFACE_INCLUDE_DIRECTORIES)
+    get_target_property(header_system_dirs ${target} INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
+
+    # Remove system include directories
+    set(non_system_dirs ${header_dirs})
+    foreach(sys_dir ${header_system_dirs})
+        list(REMOVE_ITEM non_system_dirs "${sys_dir}")
+    endforeach()
+
+    # Get all header files
+    header_directories("${non_system_dirs}" header_files)
+
+    set(${output_variable_name} ${header_files} PARENT_SCOPE)
+
+endfunction()
+
+
+function(get_header_files include_directories output_variable_name)
+    
+    # Get all header files
+    header_directories("${include_directories}" header_files)
+
+    # Set to parent
+    set(${output_variable_name} ${header_files} PARENT_SCOPE)
+
+endfunction()
+
+# Internal helper, converts header directory list to list of .hpp files
+macro(header_directories header_dirs return_list)
+
+    #message(STATUS "folders: ${header_dirs}")
+    foreach(header_dir ${header_dirs})
+        # only use build_interface includes
+
+        string(REGEX MATCHALL "\\$<BUILD_INTERFACE:([^ \t\n\r]+)>" tmp_output_variable "${header_dir}")
+        #message(STATUS "inspecting folder: ${header_dir}, stripped ${hdir}, regex count ${CMAKE_MATCH_COUNT}, regex match 0 and 1, ${CMAKE_MATCH_0}, ${CMAKE_MATCH_1}")
+        # If regex matched and path is present
+        if(CMAKE_MATCH_COUNT GREATER 0)
+            set(hdir "${CMAKE_MATCH_1}")
+        else()    
+            # Strip generator expresssions
+            string(GENEX_STRIP "${header_dir}" hdir)
+        endif()
+        
+        # if hdir isn't an empty path
+        if(hdir)
+
+            #message(STATUS "inspecting folder: ${hdir}")
+            file(GLOB_RECURSE new_list "${hdir}/*.hpp")
+            set(file_list "")
+
+            foreach(file_path ${new_list})
+                #message(STATUS "inspecting file: ${file_path}")
+                set(file_list "${file_list}" ${file_path})
+            endforeach()
+            
+            list(REMOVE_DUPLICATES file_list)
+            set(${return_list} "${${return_list}}" "${file_list}")
+            
+        endif()
+
+    endforeach()
+
+endmacro()
+
+
+
+
diff --git a/bindings/python/cmake/toolchain/asan-ubsan.cmake b/bindings/python/cmake/toolchain/asan-ubsan.cmake
new file mode 100644
index 000000000..309ca69ce
--- /dev/null
+++ b/bindings/python/cmake/toolchain/asan-ubsan.cmake
@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=address,undefined -fno-sanitize=pointer-overflow")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)
diff --git a/bindings/python/cmake/toolchain/asan.cmake b/bindings/python/cmake/toolchain/asan.cmake
new file mode 100644
index 000000000..2388e0b0e
--- /dev/null
+++ b/bindings/python/cmake/toolchain/asan.cmake
@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=address")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)
diff --git a/bindings/python/cmake/toolchain/custom.cmake.in b/bindings/python/cmake/toolchain/custom.cmake.in
new file mode 100644
index 000000000..fa5bc5ebb
--- /dev/null
+++ b/bindings/python/cmake/toolchain/custom.cmake.in
@@ -0,0 +1,63 @@
+# STEP 1: Lock variables
+
+if(NOT "@ANDROID_ABI@" STREQUAL "")
+  set(ANDROID_ABI "@ANDROID_ABI@")
+endif()
+if(NOT "@ANDROID_PLATFORM@" STREQUAL "")
+  set(ANDROID_PLATFORM "@ANDROID_PLATFORM@")
+endif()
+if(NOT "@ANDROID_STL@" STREQUAL "")
+  set(ANDROID_STL "@ANDROID_STL@")
+endif()
+if(NOT "@ANDROID_ARM_NEON@" STREQUAL "")
+  set(ANDROID_ARM_NEON "@ANDROID_ARM_NEON@")
+endif()
+if(NOT "@ANDROID_ARM_MODE@" STREQUAL "")
+  set(ANDROID_ARM_MODE "@ANDROID_ARM_MODE@")
+endif()
+
+# STEP 2: Include original toolchain (if exists)
+
+if(NOT "@CMAKE_TOOLCHAIN_FILE@" STREQUAL "")
+
+  # Original toolchain file will be saved in variable:
+  # * _INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE
+
+  if("@_INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE@" STREQUAL "")
+    # Variable not set, initial project configuration.
+    # Path to original toolchain saved in CMAKE_TOOLCHAIN_FILE.
+    if(NOT EXISTS "@CMAKE_TOOLCHAIN_FILE@")
+      message(
+          FATAL_ERROR "File not found: '@CMAKE_TOOLCHAIN_FILE@'"
+      )
+    endif()
+    set(_original_toolchain_file "@CMAKE_TOOLCHAIN_FILE@")
+  else()
+    set(_original_toolchain_file "@_INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE@")
+  endif()
+
+  set(
+      _INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE
+      "${_original_toolchain_file}"
+      CACHE
+      PATH
+      "Original toolchain"
+  )
+
+  if("${_INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE}" STREQUAL "${CMAKE_CURRENT_LIST_FILE}")
+    message(FATAL_ERROR "Internal error")
+  endif()
+
+  set(ANDROID_NDK "") # Suppress warning
+  include("${_INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE}")
+
+endif()
+
+
+# STEP 3: Custom user variables
+
+if(NOT "@BUILD_SHARED_LIBS@" STREQUAL "")
+  # Simple PIC toolchain, which enables shared library building
+  # This option is propagated to 3rdparty dependecies as well
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
\ No newline at end of file
diff --git a/bindings/python/cmake/toolchain/msvc.cmake b/bindings/python/cmake/toolchain/msvc.cmake
new file mode 100644
index 000000000..9c5b41ce9
--- /dev/null
+++ b/bindings/python/cmake/toolchain/msvc.cmake
@@ -0,0 +1,5 @@
+# Set PIC
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Statically compile vcruntime library
+add_compile_options(/MT)
diff --git a/bindings/python/cmake/toolchain/pic.cmake b/bindings/python/cmake/toolchain/pic.cmake
new file mode 100644
index 000000000..98689fc74
--- /dev/null
+++ b/bindings/python/cmake/toolchain/pic.cmake
@@ -0,0 +1,2 @@
+# Simple toolchain which enables PIC for all dependencies
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
\ No newline at end of file
diff --git a/bindings/python/cmake/toolchain/tsan.cmake b/bindings/python/cmake/toolchain/tsan.cmake
new file mode 100644
index 000000000..7af0a18f7
--- /dev/null
+++ b/bindings/python/cmake/toolchain/tsan.cmake
@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=thread")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)
\ No newline at end of file
diff --git a/bindings/python/cmake/toolchain/ubsan.cmake b/bindings/python/cmake/toolchain/ubsan.cmake
new file mode 100644
index 000000000..35231a380
--- /dev/null
+++ b/bindings/python/cmake/toolchain/ubsan.cmake
@@ -0,0 +1,12 @@
+set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=undefined")
+set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_C_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_CXX_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_EXE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
+set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(_internal_flags_sanitizer)
diff --git a/bindings/python/cmake/version.hpp.in b/bindings/python/cmake/version.hpp.in
new file mode 100644
index 000000000..0316d6e6c
--- /dev/null
+++ b/bindings/python/cmake/version.hpp.in
@@ -0,0 +1,24 @@
+/*
+ * Generated by CMake build tool.
+ * To modify version, open CMakeLists.txt and bump the version in project() function
+ */
+#pragma once
+
+namespace dai
+{
+namespace build
+{
+    constexpr static const char* VERSION = "${PROJECT_VERSION}";
+    constexpr static const int VERSION_MAJOR = ${PROJECT_VERSION_MAJOR};
+    constexpr static const int VERSION_MINOR = ${PROJECT_VERSION_MINOR};
+    constexpr static const int VERSION_PATCH = ${PROJECT_VERSION_PATCH};
+
+    constexpr static const char* COMMIT = "${BUILD_COMMIT}";
+    constexpr static const char* COMMIT_DATETIME = "${BUILD_COMMIT_DATETIME}";
+    constexpr static const char* BUILD_DATETIME = "${BUILD_DATETIME}";
+
+    constexpr static const char* DEVICE_VERSION = "${DEPTHAI_DEVICE_VERSION}";
+    constexpr static const char* BOOTLOADER_VERSION = "${DEPTHAI_BOOTLOADER_VERSION}";
+    constexpr static const char* DEVICE_RVC3_VERSION = "${DEPTHAI_DEVICE_RVC3_VERSION}";
+} // namespace build
+} // namespace dai
diff --git a/bindings/python/depthai_cli/__init__.py b/bindings/python/depthai_cli/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/bindings/python/depthai_cli/depthai_cli.py b/bindings/python/depthai_cli/depthai_cli.py
new file mode 100644
index 000000000..e847a217e
--- /dev/null
+++ b/bindings/python/depthai_cli/depthai_cli.py
@@ -0,0 +1,49 @@
+import os
+from pathlib import Path
+import subprocess
+
+here = os.path.dirname(os.path.realpath(__file__))
+
+if os.path.exists(os.path.join(here, "cam_test.py")):  # Installed package
+    CAM_TEST_PATH = Path(here) / "cam_test.py"
+else:
+    CAM_TEST_PATH = (
+        Path(here) / ".." / "utilities" / "cam_test.py"
+    )  # Execution from source
+CAM_TEST_PATH = str(CAM_TEST_PATH)
+
+
+def cli() -> int:
+    import argparse
+    import sys
+    import depthai as dai
+    parser = argparse.ArgumentParser(description="DepthAI CLI", add_help=True)
+    parser.add_argument("-v", "--version", action="store_true", help="Print version and exit.")
+    parser.add_argument("-l", "--list-devices", action="store_true", help="List connected devices.")
+    subparsers = parser.add_subparsers(dest="command", help="Sub-commands")
+    # Define the parser for the "cam_test" command
+    cam_test_parser = subparsers.add_parser("cam_test", help="Commands and options for cam_test", add_help=False)
+    cam_test_parser.add_argument("args", nargs=argparse.REMAINDER, help="Arguments to pass to cam_test")
+
+    # subparser REMINDER args would get parsed too if we used parse_args, so we have to handle unknown args manually
+    args, unknown_args = parser.parse_known_args()
+    if args.command == "cam_test":
+        cam_test_path = CAM_TEST_PATH
+        return subprocess.run([sys.executable, cam_test_path] + cam_test_parser.parse_args().args[1:]).returncode
+    # Parse other subcommands here
+    elif unknown_args:
+        parser.error(f"Unrecognized arguments: {unknown_args}") # handles exit internally
+    elif args.version:
+        print(dai.__version__)
+        return 0
+    elif args.list_devices:
+        print(dai.Device.getAllConnectedDevices())
+        return 0
+    else:
+        # No recognized commands, print help
+        parser.print_help()
+        return 1
+
+
+if __name__ == "__main__":
+    exit(cli())
diff --git a/bindings/python/docs/CMakeLists.txt b/bindings/python/docs/CMakeLists.txt
new file mode 100644
index 000000000..6bc5a25ac
--- /dev/null
+++ b/bindings/python/docs/CMakeLists.txt
@@ -0,0 +1,65 @@
+# This list specifies building of documentation using CMake
+
+# Specify path separator
+set(SYS_PATH_SEPARATOR ";")
+if(UNIX)
+    set(SYS_PATH_SEPARATOR ":")
+endif()
+
+# Get doxygen build location form doxygen target
+get_target_property(DOXYGEN_OUTPUT_DIR doxygen DOXYGEN_OUTPUT_DIR)
+message(STATUS "Retrieved doxygen output dir from doxygen target: ${DOXYGEN_OUTPUT_DIR}")
+
+# Add input and output information for conf.py
+set(SPHINX_SOURCE ${CMAKE_CURRENT_LIST_DIR}/source)
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+
+# Add year information
+string(TIMESTAMP build_year "%Y")
+# Configure sphinx for the build
+configure_file(conf.py.in "${CMAKE_CURRENT_BINARY_DIR}/conf.py" @ONLY)
+
+# Sphinx is required to build python documentation
+# Find Python sphinx, by checking python -m sphinx
+message(STATUS "Checking for sphinx")
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -m sphinx --version RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
+if(error)
+    set(message "Checking for sphinx - not found, target 'sphinx' not available")
+    if(NOT enforce)
+        message(STATUS ${message})
+    else()
+        message(FATAL_ERROR ${message})
+    endif()
+    # Exit
+    return()
+else()
+    message(STATUS "Checking for sphinx - found, target 'sphinx' available")
+
+    file(COPY ${SPHINX_SOURCE}/_static DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+    # Ready up sphinx - needed values configured in conf.py
+    add_custom_target(sphinx ALL
+        ${CMAKE_COMMAND} -E env
+        # Environment variables
+        # PATH (dlls)
+        "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"            
+        # Python path (to find compiled module)
+        "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+        # ASAN in case of sanitizers
+        "${ASAN_ENVIRONMENT_VARS}"
+        ############ SPHINX
+        ${PYTHON_EXECUTABLE} -m sphinx -c ${CMAKE_CURRENT_BINARY_DIR} -W --keep-going -b html ${SPHINX_SOURCE} ${SPHINX_BUILD}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating documentation with Sphinx"
+        VERBATIM
+        COMMAND_EXPAND_LISTS
+    )
+
+    # Add dependency to library
+    add_dependencies(sphinx ${TARGET_NAME})
+
+    # Add dependency to doxygen (C++) if exists
+    if(TARGET doxygen)
+        add_dependencies(sphinx doxygen)
+    endif()
+
+endif()
diff --git a/bindings/python/docs/_extensions/zephyr/warnings_filter.py b/bindings/python/docs/_extensions/zephyr/warnings_filter.py
new file mode 100644
index 000000000..650a76134
--- /dev/null
+++ b/bindings/python/docs/_extensions/zephyr/warnings_filter.py
@@ -0,0 +1,97 @@
+"""
+Warnings filter extension
+#########################
+
+Copyright (c) 2021 Nordic Semiconductor ASA
+SPDX-License-Identifier: Apache-2.0
+
+Introduction
+============
+
+This Sphinx plugin can be used to filter out warnings that are known to be false
+positives. The warnings are filtered out based on a set of regular expressions
+given via an configuration file. The format of the configuration file is a
+plain-text file where each line consists of a regular expression. Any lines
+starting with ``#`` will be ignored.
+
+Configuration options
+=====================
+
+- ``warnings_filter_config``: Configuration file.
+- ``warnings_filter_silent``: Silent flag. If True, warning is hidden. If False
+  the warning is converted to an information message and displayed.
+"""
+
+import logging
+import re
+from typing import Dict, Any, List
+
+from sphinx.application import Sphinx
+from sphinx.util.logging import NAMESPACE
+
+
+__version__ = "0.1.0"
+
+
+class WarningsFilter(logging.Filter):
+    """Warnings filter.
+
+    Args:
+        expressions: List of regular expressions.
+        silent: If true, warning is hidden, otherwise it is shown as INFO.
+        name: Filter name.
+    """
+    def __init__(self, expressions: List[str], silent: bool, name: str = "") -> None:
+        super().__init__(name)
+
+        self._expressions = expressions
+        self._silent = silent
+
+    def filter(self, record: logging.LogRecord) -> bool:
+        if record.levelno != logging.WARNING:
+            return True
+
+        for expression in self._expressions:
+            if re.match(expression, record.msg):
+                if self._silent:
+                    return False
+                else:
+                    record.levelno = logging.INFO
+                    record.msg = f"Filtered warning: {record.msg}"
+                    return True
+
+        return True
+
+
+def configure(app: Sphinx) -> None:
+    """Entry point.
+
+    Args:
+        app: Sphinx application instance.
+    """
+
+    # load expressions from configuration file
+    with open(app.config.warnings_filter_config) as f:
+        expressions = list()
+        for line in f.readlines():
+            if not line.startswith("#"):
+                expressions.append(line.rstrip())
+
+    # install warnings filter to all the Sphinx logger handlers
+    filter = WarningsFilter(expressions, app.config.warnings_filter_silent)
+    logger = logging.getLogger(NAMESPACE)
+    for handler in logger.handlers:
+        handler.filters.insert(0, filter)
+
+
+def setup(app: Sphinx) -> Dict[str, Any]:
+    app.add_config_value("warnings_filter_config", "", "")
+    app.add_config_value("warnings_filter_silent", True, "")
+
+    app.connect("builder-inited", configure)
+
+    return {
+        "version": __version__,
+        "parallel_read_safe": True,
+        "parallel_write_safe": True,
+    }
diff --git a/bindings/python/docs/ci.cmake b/bindings/python/docs/ci.cmake
new file mode 100644
index 000000000..16708b844
--- /dev/null
+++ b/bindings/python/docs/ci.cmake
@@ -0,0 +1,19 @@
+# Builds library at 'build/' and prepares sphinx configuration at 'build/docs/conf.py'
+set(project_root "${CMAKE_CURRENT_LIST_DIR}/..")
+
+# Get buildCommitHash for non release build
+execute_process(COMMAND "git" "rev-parse" "HEAD" WORKING_DIRECTORY ${project_root} OUTPUT_VARIABLE buildCommitHash OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# Configure
+execute_process(COMMAND ${CMAKE_COMMAND}
+    -D DEPTHAI_PYTHON_COMMIT_HASH:STRING=${buildCommitHash}
+    -D DEPTHAI_PYTHON_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_BUILD_DOCS:BOOL=YES
+    -D DEPTHAI_PYTHON_BUILD_DOCSTRINGS:BOOL=YES
+    -D DEPTHAI_PYTHON_FORCE_DOCSTRINGS:BOOL=YES
+    -S . -B build
+    WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT
+)
+
+# Build
+execute_process(COMMAND ${CMAKE_COMMAND} --build build --parallel 2 WORKING_DIRECTORY ${project_root} COMMAND_ECHO STDOUT)
\ No newline at end of file
diff --git a/bindings/python/docs/conf.py.in b/bindings/python/docs/conf.py.in
new file mode 100644
index 000000000..1c057d961
--- /dev/null
+++ b/bindings/python/docs/conf.py.in
@@ -0,0 +1,113 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+
+import os
+import sys
+from pathlib import Path
+
+source_directory = Path('@SPHINX_SOURCE@')
+
+# Add path to built module
+sys.path.insert(0, os.path.abspath('@CMAKE_BINARY_DIR@'))
+
+# Add _extensions
+sys.path.insert(0, os.path.abspath(source_directory / ".." / "_extensions"))
+
+# -- Project information -----------------------------------------------------
+
+project = "DepthAI API Docs"
+html_show_copyright=False
+author = "Luxonis"
+version = u"@DEPTHAI_PYTHON_VERSION@"
+release = version
+pypi_release = "2.0.0.1"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx_tabs.tabs",
+    "sphinx-prompt", 'sphinx_substitution_extensions', # Substitute certain variables inside code blocks
+    "breathe", # Generate sphinx documentation from doxygen
+    "sphinx.ext.autodoc", # Generate documentation from python module
+    "sphinx.ext.napoleon",
+    "autodocsumm",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.autosectionlabel",  # https://github.com/sphinx-doc/sphinx/issues/7697 wait for this and implement
+    "sphinx_rtd_theme",
+    "zephyr.warnings_filter",
+    'sphinx.ext.mathjax',
+]
+
+# See https://github.com/sphinx-doc/sphinx/issues/7728
+suppress_warnings = ['autosectionlabel.*']
+
+# # Debug docstrings
+# def autodoc_process_docstring(app, what, name, obj, options, lines):
+#     print('process: ', what, name, obj, options, lines)
+# def setup(app):
+#     app.connect("autodoc-process-docstring", autodoc_process_docstring)
+
+# substitutions
+rst_prolog = '.. |release| replace:: ' + release
+
+# Breathe Configuration
+# Project name depthai-core -> path to doxygen generated by
+
+# Check if we're running on Read the Docs' servers (set path to generate doxygen manually)
+breathe_projects = {"depthai-core": "@DOXYGEN_OUTPUT_DIR@/xml"}
+# Set depthai-core as default breathe project
+breathe_default_project = "depthai-core"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# -- Options for zephyr.warnings_filter -----------------------------------
+warnings_filter_config = str(source_directory / ".." / "known-warnings.txt")
+warnings_filter_silent = False
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+html_theme_options = {
+    "collapse_navigation" : False
+}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+html_favicon = '_static/images/favicon.png'
+html_css_files = [
+    'css/index.css',
+    'https://docs.luxonis.com/en/latest/_static/css/navbar.css',
+]
+html_js_files = [
+    'https://docs.luxonis.com/en/latest/_static/js/navbar.js',
+]
+html_title = 'DepthAI documentation | Luxonis'
+
+intersphinx_mapping = {'python': ('https://docs.python.org/3', None)}
diff --git a/bindings/python/docs/docker-compose.yml b/bindings/python/docs/docker-compose.yml
new file mode 100644
index 000000000..dc27094a3
--- /dev/null
+++ b/bindings/python/docs/docker-compose.yml
@@ -0,0 +1,10 @@
+version: "3"
+services:
+  docs:
+    build:
+      dockerfile: docs/docker/dev.dockerfile
+      context: ..
+    volumes:
+      - ./:/app/docs
+    ports:
+      - 8000:8000
diff --git a/bindings/python/docs/docker/dev.dockerfile b/bindings/python/docs/docker/dev.dockerfile
new file mode 100644
index 000000000..1054de6d4
--- /dev/null
+++ b/bindings/python/docs/docker/dev.dockerfile
@@ -0,0 +1,14 @@
+FROM ubuntu:20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y libusb-1.0-0-dev clang python3-opencv python3-pip clang-11 doxygen graphviz cmake git
+RUN python3 -m pip install -U pip numpy when-changed
+
+ENV CC clang-10
+ENV CXX clang++-10
+WORKDIR /app
+ADD docs/requirements.txt docs/requirements.txt
+ADD docs/requirements_mkdoc.txt docs/requirements_mkdoc.txt
+RUN python3 -m pip install -r docs/requirements.txt
+ADD . .
+CMD docs/docker/docker_run.sh
diff --git a/bindings/python/docs/docker/docker_run.sh b/bindings/python/docs/docker/docker_run.sh
new file mode 100755
index 000000000..7e1dc0361
--- /dev/null
+++ b/bindings/python/docs/docker/docker_run.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+set -e
+
+cmake -S . -B build -D DEPTHAI_BUILD_DOCS=ON -D DEPTHAI_PYTHON_BUILD_DOCS=ON
+
+./docs/docker/update_docs.sh
+
+when-changed -r docs/source -c "bash /app/docs/docker/update_docs.sh" &
+
+python3 -m http.server --bind 0.0.0.0 8000 --directory build/docs/sphinx
diff --git a/bindings/python/docs/docker/update_docs.sh b/bindings/python/docs/docker/update_docs.sh
new file mode 100755
index 000000000..87783a886
--- /dev/null
+++ b/bindings/python/docs/docker/update_docs.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+set -e
+
+cmake --build build --target doxygen sphinx --parallel
diff --git a/bindings/python/docs/known-warnings.txt b/bindings/python/docs/known-warnings.txt
new file mode 100644
index 000000000..c787dcbba
--- /dev/null
+++ b/bindings/python/docs/known-warnings.txt
@@ -0,0 +1,8 @@
+# Each line should contain the regular expression of a known Sphinx warning
+# that should be filtered out
+.*Duplicate C\+\+ declaration.*\n.*'\.\. cpp:class::.*dai::ADatatype'.*
+.*Duplicate C\+\+ declaration.*\n.*'\.\. cpp:class::.*dai::Buffer'.*
+.*Duplicate C\+\+ declaration, also defined at components/nodes/.*
+.*Duplicate C\+\+ declaration, also defined at components/messages/.*
+.*Duplicate C\+\+ declaration, also defined at components/pipeline.*
+.*Duplicate C\+\+ declaration, also defined at components/device.*
\ No newline at end of file
diff --git a/bindings/python/docs/readthedocs/requirements.txt b/bindings/python/docs/readthedocs/requirements.txt
new file mode 100644
index 000000000..41dc790fd
--- /dev/null
+++ b/bindings/python/docs/readthedocs/requirements.txt
@@ -0,0 +1,2 @@
+cmake==3.17.3
+-r ../requirements.txt
diff --git a/bindings/python/docs/redirects.yml b/bindings/python/docs/redirects.yml
new file mode 100644
index 000000000..8f0b4f3c1
--- /dev/null
+++ b/bindings/python/docs/redirects.yml
@@ -0,0 +1,193 @@
+# To update redirects on the page, please use
+#
+# ```
+# rtd-redirects luxonis-depthai-python ./redirects.yml --pro --username <username> --password <pass>
+# ```
+#
+# Username and password are the credentials you use to access the RTD website
+#
+# **You need to have sufficient privileges on the RTD to change the redirects**
+
+redirects:
+  "/samples/autoexposure_roi/": "/samples/ColorCamera/autoexposure_roi/"
+  "/samples/bootloader_config/": "/samples/bootloader/bootloader_config/"
+  "/samples/bootloader_version/": "/samples/bootloader/bootloader_version/"
+  "/samples/calibration_flash/": "/samples/calibration/calibration_flash/"
+  "/samples/calibration_flash_v5/": "/samples/calibration/calibration_flash_v5/"
+  "/samples/calibration_load/": "/samples/calibration/calibration_load/"
+  "/samples/calibration_reader/": "/samples/calibration/calibration_reader/"
+  "/samples/corner_detector/": "/samples/FeatureTracker/corner_detector/"
+  "/samples/depth_crop_control/": "/samples/StereoDepth/depth_crop_control/"
+  "/samples/depth_preview/": "/samples/StereoDepth/depth_preview/"
+  "/samples/device_queue_event/": "/samples/host_side/device_queue_event/"
+  "/samples/edge_detector/": "/samples/EdgeDetector/edge_detector/"
+  "/samples/encoding_max_limit/": "/samples/VideoEncoder/encoding_max_limit/"
+  "/samples/feature_tracker/": "/samples/FeatureTracker/feature_tracker/"
+  "/samples/flash_bootloader/": "/samples/bootloader/flash_bootloader/"
+  "/samples/image_manip_rotate/": "/samples/ImageManip/image_manip_rotate/"
+  "/samples/image_manip_tiling/": "/samples/ImageManip/image_manip_tiling/"
+  "/samples/imu_gyroscope_accelerometer/": "/samples/IMU/imu_gyroscope_accelerometer/"
+  "/samples/imu_rotation_vector/": "/samples/IMU/imu_rotation_vector/"
+  "/samples/mono_camera_control/": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/mono_depth_mobilenetssd/": "/samples/mixed/mono_depth_mobilenetssd/"
+  "/samples/mono_full_resolution_saver/": "/samples/MonoCamera/mono_full_resolution_saver/"
+  "/samples/mono_mobilenet/": "/samples/MobileNet/mono_mobilenet/"
+  "/samples/mono_preview/": "/samples/MonoCamera/mono_preview/"
+  "/samples/object_tracker/": "/samples/ObjectTracker/object_tracker/"
+  "/samples/object_tracker_video/": "/samples/ObjectTracker/object_tracker_video/"
+  "/samples/opencv_support/": "/samples/host_side/opencv_support/"
+  "/samples/queue_add_callback/": "/samples/host_side/queue_add_callback/"
+  "/samples/rgb_camera_control/": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/rgb_depth_aligned/": "/samples/StereoDepth/rgb_depth_aligned/"
+  "/samples/rgb_encoding/": "/samples/VideoEncoder/rgb_encoding/"
+  "/samples/rgb_encoding_mobilenet/": "/samples/mixed/rgb_encoding_mobilenet/"
+  "/samples/rgb_encoding_mono_mobilenet/": "/samples/mixed/rgb_encoding_mono_mobilenet/"
+  "/samples/rgb_encoding_mono_mobilenet_depth/": "/samples/mixed/rgb_encoding_mono_mobilenet_depth/"
+  "/samples/rgb_full_resolution_saver/": "/samples/VideoEncoder/rgb_full_resolution_saver/"
+  "/samples/rgb_mobilenet/": "/samples/MobileNet/rgb_mobilenet/"
+  "/samples/rgb_mobilenet_4k/": "/samples/MobileNet/rgb_mobilenet_4k/"
+  "/samples/rgb_mono_encoding/": "/samples/VideoEncoder/rgb_mono_encoding/"
+  "/samples/rgb_preview/": "/samples/ColorCamera/rgb_preview/"
+  "/samples/rgb_rotate_warp/": "/samples/ImageManip/rgb_rotate_warp/"
+  "/samples/rgb_video/": "/samples/ColorCamera/rgb_video/"
+  "/samples/script_camera_control/": "/samples/Script/script_camera_control/"
+  "/samples/spatial_location_calculator/": "/samples/SpatialDetection/spatial_location_calculator/"
+  "/samples/spatial_mobilenet/": "/samples/SpatialDetection/spatial_mobilenet/"
+  "/samples/spatial_mobilenet_mono/": "/samples/SpatialDetection/spatial_mobilenet_mono/"
+  "/samples/spatial_object_tracker/": "/samples/ObjectTracker/spatial_object_tracker/"
+  "/samples/spatial_tiny_yolo/": "/samples/SpatialDetection/spatial_tiny_yolo/"
+  "/samples/stereo_depth_from_host/": "/samples/StereoDepth/stereo_depth_from_host/"
+  "/samples/stereo_depth_video/": "/samples/StereoDepth/stereo_depth_video/"
+  "/samples/system_information/": "/samples/SystemLogger/system_information/"
+  "/samples/tiny_yolo_v3_device_side_decoding/": "/samples/Yolo/tiny_yolo/"
+  "/samples/tiny_yolo_v4_device_side_decoding/": "/samples/Yolo/tiny_yolo/"
+  "/samples/video_mobilenet/": "/samples/MobileNet/video_mobilenet/"
+  "/samples/30_stereo_depth_from_host/": "/samples/StereoDepth/stereo_depth_from_host/"
+  "/samples/29_3_object_tracker_video/": "/samples/ObjectTracker/object_tracker_video/"
+  "/samples/29_2_spatial_object_tracker/": "/samples/ObjectTracker/spatial_object_tracker/"
+  "/samples/29_1_object_tracker/": "/samples/ObjectTracker/object_tracker/"
+  "/samples/28_camera_video_example/": "/samples/ColorCamera/rgb_video/"
+  "/samples/27_spatial_location_calculator/": "/samples/SpatialDetection/spatial_location_calculator/"
+  "/samples/26_3_spatial_tiny_yolo/": "/samples/SpatialDetection/spatial_tiny_yolo/"
+  "/samples/26_2_spatial_mobilenet_mono/": "/samples/SpatialDetection/spatial_mobilenet_mono/"
+  "/samples/26_1_spatial_mobilenet/": "/samples/SpatialDetection/spatial_mobilenet/"
+  "/samples/25_system_information/": "/samples/SystemLogger/system_information/"
+  "/samples/24_opencv_support/": "/samples/host_side/opencv_support/"
+  "/samples/23_autoexposure_roi/": "/samples/ColorCamera/autoexposure_roi/"
+  "/samples/22_2_tiny_yolo_v4_decoding_on_device/": "/samples/Yolo/tiny_yolo/"
+  "/samples/22_1_tiny_yolo_v3_decoding_on_device/": "/samples/Yolo/tiny_yolo/"
+  "/samples/20_color_rotate_warp/": "/samples/ImageManip/rgb_rotate_warp/"
+  "/samples/19_mono_camera_control/": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/18_rgb_encoding_mobilenet/": "/samples/mixed/rgb_encoding_mobilenet/"
+  "/samples/17_video_mobilenet/": "/samples/MobileNet/video_mobilenet/"
+  "/samples/16_device_queue_event/": "/samples/host_side/device_queue_event/"
+  "/samples/15_rgb_mobilenet_4k/": "/samples/MobileNet/rgb_mobilenet_4k/"
+  "/samples/14_3_depth_crop_control/": "/samples/StereoDepth/depth_crop_control/"
+  "/samples/14_2_mono_camera_control/": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/14_1_color_camera_control/": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/13_encoding_max_limit/": "/samples/VideoEncoder/encoding_max_limit/"
+  "/samples/11_rgb_encoding_mono_mobilenet/": "/samples/mixed/rgb_encoding_mono_mobilenet/"
+  "/samples/12_rgb_encoding_mono_mobilenet_depth/": "/samples/mixed/rgb_encoding_mono_mobilenet_depth/"
+  "/samples/10_mono_depth_mobilenetssd/": "/samples/mixed/mono_depth_mobilenetssd/"
+  "/samples/09_mono_mobilenet/": "/samples/MobileNet/mono_mobilenet/"
+  "/samples/08_rgb_mobilenet/": "/samples/MobileNet/rgb_mobilenet/"
+  "/samples/07_mono_full_resolution_saver/": "/samples/MonoCamera/mono_full_resolution_saver/"
+  "/samples/06_rgb_full_resolution_saver/": "/samples/VideoEncoder/rgb_full_resolution_saver/"
+  "/samples/05_rgb_mono_encoding/": "/samples/VideoEncoder/rgb_mono_encoding/"
+  "/samples/04_rgb_encoding/": "/samples/VideoEncoder/rgb_encoding/"
+  "/samples/03_depth_preview/": "/samples/StereoDepth/depth_preview/"
+  "/samples/02_mono_preview/": "/samples/MonoCamera/mono_preview/"
+  "/samples/01_rgb_preview/": "/samples/ColorCamera/rgb_preview/"
+  "/samples/14_color_camera_control/": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/21_mobilenet_decoding_on_device/": "/samples/MobileNet/rgb_mobilenet/"
+  "/samples/autoexposure_roi": "/samples/ColorCamera/autoexposure_roi/"
+  "/samples/bootloader_config": "/samples/bootloader/bootloader_config/"
+  "/samples/bootloader_version": "/samples/bootloader/bootloader_version/"
+  "/samples/calibration_flash": "/samples/calibration/calibration_flash/"
+  "/samples/calibration_flash_v5": "/samples/calibration/calibration_flash_v5/"
+  "/samples/calibration_load": "/samples/calibration/calibration_load/"
+  "/samples/calibration_reader": "/samples/calibration/calibration_reader/"
+  "/samples/corner_detector": "/samples/FeatureTracker/corner_detector/"
+  "/samples/depth_crop_control": "/samples/StereoDepth/depth_crop_control"
+  "/samples/depth_preview": "/samples/StereoDepth/depth_preview/"
+  "/samples/device_queue_event": "/samples/host_side/device_queue_event/"
+  "/samples/edge_detector": "/samples/EdgeDetector/edge_detector/"
+  "/samples/encoding_max_limit": "/samples/VideoEncoder/encoding_max_limit/"
+  "/samples/feature_tracker": "/samples/FeatureTracker/feature_tracker/"
+  "/samples/flash_bootloader": "/samples/bootloader/flash_bootloader/"
+  "/samples/image_manip_rotate": "/samples/ImageManip/image_manip_rotate/"
+  "/samples/image_manip_tiling": "/samples/ImageManip/image_manip_tiling/"
+  "/samples/imu_gyroscope_accelerometer": "/samples/IMU/imu_gyroscope_accelerometer/"
+  "/samples/imu_rotation_vector": "/samples/IMU/imu_rotation_vector"
+  "/samples/mono_camera_control": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/mono_depth_mobilenetssd": "/samples/mixed/mono_depth_mobilenetssd/"
+  "/samples/mono_full_resolution_saver": "/samples/MonoCamera/mono_full_resolution_saver/"
+  "/samples/mono_mobilenet": "/samples/MobileNet/mono_mobilenet/"
+  "/samples/mono_preview": "/samples/MonoCamera/mono_preview/"
+  "/samples/object_tracker": "//samples/ObjectTracker/object_tracker/"
+  "/samples/object_tracker_video": "/samples/ObjectTracker/object_tracker_video/"
+  "/samples/opencv_support": "/samples/host_side/opencv_support/"
+  "/samples/queue_add_callback": "/samples/host_side/queue_add_callback/"
+  "/samples/rgb_camera_control": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/rgb_depth_aligned": "/samples/StereoDepth/rgb_depth_aligned/"
+  "/samples/rgb_encoding": "/samples/VideoEncoder/rgb_encoding/"
+  "/samples/rgb_encoding_mobilenet": "/samples/mixed/rgb_encoding_mobilenet/"
+  "/samples/rgb_encoding_mono_mobilenet": "/samples/mixed/rgb_encoding_mono_mobilenet/"
+  "/samples/rgb_encoding_mono_mobilenet_depth": "/samples/mixed/rgb_encoding_mono_mobilenet_depth/"
+  "/samples/rgb_full_resolution_saver": "/samples/VideoEncoder/rgb_full_resolution_saver/"
+  "/samples/rgb_mobilenet": "/samples/MobileNet/rgb_mobilenet/"
+  "/samples/rgb_mobilenet_4k": "/samples/MobileNet/rgb_mobilenet_4k/"
+  "/samples/rgb_mono_encoding": "/samples/VideoEncoder/rgb_mono_encoding/"
+  "/samples/rgb_preview": "/samples/ColorCamera/rgb_preview/"
+  "/samples/rgb_rotate_warp": "/samples/ImageManip/rgb_rotate_warp/"
+  "/samples/rgb_video": "/samples/ColorCamera/rgb_video/"
+  "/samples/script_camera_control": "/samples/Script/script_camera_control/"
+  "/samples/spatial_location_calculator": "/samples/SpatialDetection/spatial_location_calculator/"
+  "/samples/spatial_mobilenet": "/samples/SpatialDetection/spatial_mobilenet/"
+  "/samples/spatial_mobilenet_mono": "/samples/SpatialDetection/spatial_mobilenet_mono/"
+  "/samples/spatial_object_tracker": "/samples/ObjectTracker/spatial_object_tracker/"
+  "/samples/spatial_tiny_yolo": "/samples/SpatialDetection/spatial_tiny_yolo/"
+  "/samples/stereo_depth_from_host": "/samples/StereoDepth/stereo_depth_from_host/"
+  "/samples/stereo_depth_video": "/samples/StereoDepth/stereo_depth_video/"
+  "/samples/system_information": "/samples/SystemLogger/system_information/"
+  "/samples/tiny_yolo_v3_device_side_decoding": "/samples/Yolo/tiny_yolo/"
+  "/samples/tiny_yolo_v4_device_side_decoding": "/samples/Yolo/tiny_yolo/"
+  "/samples/video_mobilenet": "/samples/MobileNet/video_mobilenet/"
+  "/samples/30_stereo_depth_from_host": "/samples/StereoDepth/stereo_depth_from_host/"
+  "/samples/29_3_object_tracker_video": "/samples/ObjectTracker/object_tracker_video/"
+  "/samples/29_2_spatial_object_tracker": "/samples/ObjectTracker/spatial_object_tracker/"
+  "/samples/29_1_object_tracker": "/samples/ObjectTracker/object_tracker/"
+  "/samples/28_camera_video_example": "/samples/ColorCamera/rgb_video/"
+  "/samples/27_spatial_location_calculator": "/samples/SpatialDetection/spatial_location_calculator/"
+  "/samples/26_3_spatial_tiny_yolo": "/samples/SpatialDetection/spatial_tiny_yolo/"
+  "/samples/26_2_spatial_mobilenet_mono": "/samples/SpatialDetection/spatial_mobilenet_mono/"
+  "/samples/26_1_spatial_mobilenet": "/samples/SpatialDetection/spatial_mobilenet/"
+  "/samples/25_system_information": "/samples/SystemLogger/system_information/"
+  "/samples/24_opencv_support": "/samples/host_side/opencv_support/"
+  "/samples/23_autoexposure_roi": "/samples/ColorCamera/autoexposure_roi/"
+  "/samples/22_2_tiny_yolo_v4_decoding_on_device": "/samples/Yolo/tiny_yolo/"
+  "/samples/22_1_tiny_yolo_v3_decoding_on_device": "/samples/Yolo/tiny_yolo/"
+  "/samples/20_color_rotate_warp": "/samples/ImageManip/rgb_rotate_warp/"
+  "/samples/19_mono_camera_control": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/18_rgb_encoding_mobilenet": "/samples/mixed/rgb_encoding_mobilenet/"
+  "/samples/17_video_mobilenet": "/samples/MobileNet/video_mobilenet/"
+  "/samples/16_device_queue_event": "/samples/host_side/device_queue_event/"
+  "/samples/15_rgb_mobilenet_4k": "/samples/MobileNet/rgb_mobilenet_4k/"
+  "/samples/14_3_depth_crop_control": "/samples/StereoDepth/depth_crop_control"
+  "/samples/14_2_mono_camera_control": "/samples/MonoCamera/mono_camera_control/"
+  "/samples/14_1_color_camera_control": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/13_encoding_max_limit": "/samples/VideoEncoder/encoding_max_limit/"
+  "/samples/11_rgb_encoding_mono_mobilenet": "/samples/mixed/rgb_encoding_mono_mobilenet/"
+  "/samples/12_rgb_encoding_mono_mobilenet_depth": "/samples/mixed/rgb_encoding_mono_mobilenet_depth/"
+  "/samples/10_mono_depth_mobilenetssd": "/samples/mixed/mono_depth_mobilenetssd/"
+  "/samples/09_mono_mobilenet": "/samples/MobileNet/mono_mobilenet/"
+  "/samples/08_rgb_mobilenet": "/samples/MobileNet/rgb_mobilenet/"
+  "/samples/07_mono_full_resolution_saver": "/samples/MonoCamera/mono_full_resolution_saver/"
+  "/samples/06_rgb_full_resolution_saver": "/samples/VideoEncoder/rgb_full_resolution_saver/"
+  "/samples/05_rgb_mono_encoding": "/samples/VideoEncoder/rgb_mono_encoding/"
+  "/samples/04_rgb_encoding": "/samples/VideoEncoder/rgb_encoding/"
+  "/samples/03_depth_preview": "/samples/StereoDepth/depth_preview/"
+  "/samples/02_mono_preview": "/samples/MonoCamera/mono_preview/"
+  "/samples/01_rgb_preview": "/samples/ColorCamera/rgb_preview/"
+  "/samples/14_color_camera_control": "/samples/ColorCamera/rgb_camera_control/"
+  "/samples/21_mobilenet_decoding_on_device": "/samples/MobileNet/rgb_mobilenet/"
\ No newline at end of file
diff --git a/bindings/python/docs/requirements.txt b/bindings/python/docs/requirements.txt
new file mode 100644
index 000000000..680df7b44
--- /dev/null
+++ b/bindings/python/docs/requirements.txt
@@ -0,0 +1,12 @@
+Sphinx==3.4.3
+sphinx-tabs==1.3.0
+sphinx-rtd-theme==0.5.2
+git+https://github.com/VanDavv/rtd-redirects.git@3e7333898acad533b37c9de426f1f2ef258d756b
+breathe==4.26.0
+Sphinx-Substitution-Extensions==2020.9.30.0
+sphinx-autopackagesummary==1.3
+autodocsumm==0.2.2
+pathlib==1.0.1
+jinja2==3.0.3
+urllib3==1.26.15 # New urllib version breaks sphinx
+-r ./requirements_mkdoc.txt
diff --git a/bindings/python/docs/requirements_mkdoc.txt b/bindings/python/docs/requirements_mkdoc.txt
new file mode 100644
index 000000000..c823ac6cc
--- /dev/null
+++ b/bindings/python/docs/requirements_mkdoc.txt
@@ -0,0 +1,3 @@
+git+https://github.com/luxonis/pybind11_mkdoc.git@da6c64251a0ebbc3ffc007477a0b9c9f20cac165
+libclang==16.0.6
+numpy # Needed because of xtensor-python
diff --git a/bindings/python/docs/source/_static/css/index.css b/bindings/python/docs/source/_static/css/index.css
new file mode 100644
index 000000000..393d50c70
--- /dev/null
+++ b/bindings/python/docs/source/_static/css/index.css
@@ -0,0 +1,107 @@
+/* Additional styles or overrides */
+
+h5 {
+    margin-bottom: 5%;
+}
+
+.items-row {
+    display: flex;
+    margin-bottom: 5%;
+}
+
+video {
+    max-width: 100%;
+}
+
+.items-col {
+    width: 50%
+}
+
+.item {
+    height: 100%;
+    padding: 0 15px;
+    display: flex;
+    flex-direction: column;
+    justify-content: space-between;
+}
+
+.item .item-img-wrapper {
+    height: 200px;
+    margin-bottom: 10px;
+    text-align: center;
+}
+
+.item .item-img-wrapper .item-img {
+    max-height: 100%;
+    max-width: 100%;
+}
+
+.item .item-body {
+    flex-grow: 5;
+}
+
+.item .item-cta {
+    width: 100%;
+}
+
+.cta-row {
+    display: flex;
+    justify-content: space-between;
+    margin-bottom: 20px;
+}
+
+.cta-row .cta-box {
+    width: 33%;
+    margin: 0 5px;
+    padding: 10px;
+    border: 1px solid rgba(0,0,0,.125);
+    border-radius: 10px;
+}
+
+.cta-row .cta-box img {
+    width:  24px;
+    height: 24px;
+    margin-right: 10px;
+}
+
+.cta-row .cta-box a {
+    display: flex;
+}
+
+@media (max-width: 1000px) {
+    .cta-row {
+        flex-direction: column;
+        align-items: center;
+    }
+    .cta-row .cta-box {
+        margin: 5px 0;
+        width: 250px;
+    }
+}
+
+@media (min-width: 600px) and (max-width: 1000px) {
+    .item .item-img-wrapper {
+        height: 150px;
+    }
+}
+
+@media (min-width: 400px) and (max-width: 600px) {
+    .item .item-img-wrapper {
+        height: 100px;
+    }
+}
+
+@media (max-width: 400px) {
+    .item .item-img-wrapper {
+        height: 50px;
+    }
+}
+
+.wy-side-nav-search {
+    background-color: #004d80;
+}
+
+.cta-row-short h5 {
+    margin-bottom: 0;
+}
+
diff --git a/bindings/python/docs/source/_static/images/api_diagram.png b/bindings/python/docs/source/_static/images/api_diagram.png
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diff --git a/bindings/python/docs/source/_static/install_dependencies.sh b/bindings/python/docs/source/_static/install_dependencies.sh
new file mode 100755
index 000000000..7298def5f
--- /dev/null
+++ b/bindings/python/docs/source/_static/install_dependencies.sh
@@ -0,0 +1,267 @@
+#!/bin/bash
+
+trap 'RET=$? ; echo -e >&2 "\n\x1b[31mFailed installing dependencies. Could be a bug in the installer or unsupported platform. Open a bug report over at https://github.com/luxonis/depthai - exited with status $RET at line $LINENO \x1b[0m\n" ;
+exit $RET' ERR
+
+readonly linux_pkgs=(
+    python3
+    python3-pip
+    udev
+    cmake
+    git
+    python3-numpy
+)
+
+readonly debian_pkgs=(
+    ${linux_pkgs[@]}
+    # https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
+    build-essential
+    libgtk2.0-dev
+    pkg-config
+    libavcodec-dev
+    libavformat-dev
+    libswscale-dev
+    python3-dev
+    libtbb-dev
+    libjpeg-dev
+    libpng-dev
+    libtiff-dev
+    # https://stackoverflow.com/questions/55313610
+    ffmpeg
+    libsm6
+    libxext6
+    python3-pyqt5
+    python3-pyqt5.qtquick
+    qml-module-qtquick-controls2
+    qml-module-qt-labs-platform
+    qtdeclarative5-dev
+    qml-module-qtquick2
+    qtbase5-dev
+    qtchooser
+    qt5-qmake
+    qtbase5-dev-tools
+    qml-module-qtquick-layouts
+    qml-module-qtquick-window2
+)
+
+readonly debian_arm_pkgs=(
+    ${linux_pkgs[@]}
+    # https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
+    build-essential
+    libgtk2.0-dev
+    pkg-config
+    libavcodec-dev
+    libavformat-dev
+    libswscale-dev
+    python3-dev
+    libtbb-dev
+    libjpeg-dev
+    libpng-dev
+    libtiff-dev
+    # https://stackoverflow.com/questions/55313610
+    ffmpeg
+    libsm6
+    libxext6
+    python3-pyqt5
+    python3-pyqt5.qtquick
+    qml-module-qtquick-controls2
+    qml-module-qt-labs-platform
+    qtdeclarative5-dev
+    qml-module-qtquick2
+    qtbase5-dev
+    qtchooser
+    qt5-qmake
+    qtbase5-dev-tools
+    qml-module-qtquick-layouts
+    qml-module-qtquick-window2
+    # https://stackoverflow.com/a/53402396/5494277
+    libhdf5-dev
+    libhdf5-dev
+    libatlas-base-dev
+    # https://github.com/EdjeElectronics/TensorFlow-Object-Detection-on-the-Raspberry-Pi/issues/18#issuecomment-433953426
+    libilmbase-dev
+    libopenexr-dev
+    libgstreamer1.0-dev
+)
+
+readonly debian_pkgs_pre22_04=(
+    libdc1394-22-dev
+    libgl1-mesa-glx
+    libtbb2
+
+)
+readonly debian_pkgs_post22_04=(
+    libdc1394-dev
+    libgl1-mesa-glx
+    libtbbmalloc2
+
+)
+readonly debian_pkgs_23=(
+    libdc1394-dev
+    libgl1-mesa-dev
+    libtbbmalloc2
+)
+
+
+readonly fedora_pkgs=(
+    ${linux_pkgs[@]}
+    gtk2-devel
+    # Fedora uses pkgconf instead of pkg-config
+    tbb-devel
+    libjpeg-turbo-devel
+    libpng-devel
+    libtiff-devel
+    libdc1394-devel
+    # TODO(PM): ffmpeg requires enabling rpmfusion-free-updates
+    # TODO(PM): libavcodec-dev libavformat-dev libswscale-dev python-dev libtbb2
+    #           libsm6 libxext6 libgl1-mesa-glx
+)
+
+print_action () {
+    green="\e[0;32m"
+    reset="\e[0;0m"
+    printf "\n$green >>$reset $*\n"
+}
+print_and_exec () {
+    print_action $*
+    $*
+}
+
+version_lte() {
+    [[ "$1" == "$(echo -e "$1\n$2" | sort -V | head -n1)" ]]
+}
+
+declare -A debian_versions=(
+  ["trixie/sid"]="13"
+  ["bookworm/sid"]="12"
+  ["bullseye/sid"]="11"
+  ["buster/sid"]="10"
+  ["stretch/sid"]="9"
+  ["jessie/sid"]="8"
+  ["wheezy/sid"]="7"
+  ["squeeze/sid"]="6"
+)
+
+# Function to lookup and print Debian version number
+lookup_debian_version_number() {
+  debian_version_string="$1"
+  version_number="${debian_versions[$debian_version_string]}"
+  
+  if [ -n "$version_number" ]; then
+    echo "$version_number"
+  else
+    echo "None"
+  fi
+}
+
+if [[ $(uname) == "Darwin" ]]; then
+    echo "During Homebrew install, certain commands need 'sudo'. Requesting access..."
+    sudo true
+    homebrew_install_url="https://raw.githubusercontent.com/Homebrew/install/master/install.sh"
+    print_action "Installing Homebrew from $homebrew_install_url"
+    # CI=1 will skip some interactive prompts
+    CI=1 /bin/bash -c "$(curl -fsSL $homebrew_install_url)"
+    print_and_exec brew install git
+    echo
+    echo "=== Installed successfully!  IMPORTANT: For changes to take effect,"
+    echo "please close and reopen the terminal window, or run:  exec \$SHELL"
+
+elif [ -f /etc/os-release ]; then
+    source /etc/os-release
+    if [ -f /etc/debian_version ]; then
+        output=$(cat /etc/debian_version)
+        echo $output
+        if [[ $output == *sid ]]; then
+            version=$(lookup_debian_version_number $output)
+        else 
+            version=$output
+        fi
+
+        # Correctly determine if the architecture is ARM or aarch64
+        IS_ARM=false
+        if [[ $(uname -m) =~ ^arm* || $(uname -m) == "aarch64" ]]; then
+            IS_ARM=true
+        fi
+
+        echo "$version"
+        echo "$IS_ARM"
+
+        if [ $IS_ARM ]; then
+            sudo DEBIAN_FRONTEND=noninteractive apt install -y "${debian_arm_pkgs[@]}"
+            if [[ $version == 13* ]]; then
+                echo "Detected ARM Debian 13"
+                sudo apt install -y "${debian_pkgs_23[@]}"
+            elif version_lte "$version" "11.99"; then
+                echo "Using pre-22.04 ARM package list"
+                sudo apt-get install -y ${debian_pkgs_pre22_04[@]}
+
+                # Check for uvcdynctrl package and recommend removal if found
+                if dpkg -s uvcdynctrl &> /dev/null; then
+                    echo -e "\033[33mWe detected 'uvcdynctrl' installed on your system.\033[0m"
+                    # Instructions for removal
+                    echo -e "\033[33m$ sudo apt remove uvcdynctrl uvcdynctrl-data\033[0m"
+                    echo -e "\033[33m$ sudo rm -f /var/log/uvcdynctrl-udev.log\033[0m"
+                fi
+
+
+            else
+                echo "Using post-22.04 ARM package list"
+                sudo apt-get install -y ${debian_pkgs_post22_04[@]}
+            fi
+
+            # Add libjasper-dev for ARM but not aarch64
+            [[ $(uname -m) =~ ^arm* ]] && { sudo apt install -y libjasper-dev; }
+
+        else
+            sudo DEBIAN_FRONTEND=noninteractive apt install -y "${debian_pkgs[@]}"
+            if [[ $version == 13* ]]; then
+                echo "Detected Debian 13"
+                sudo apt install -y "${debian_pkgs_23[@]}"
+            elif version_lte "$version" "11.99"; then
+                echo "Using pre-22.04 package list"
+                sudo apt-get install -y "${debian_pkgs_pre22_04[@]}"
+                
+            else
+                echo "Using post-22.04 package list"
+                sudo apt-get install -y "${debian_pkgs_post22_04[@]}"
+            fi
+        fi
+
+        # Check for uvcdynctrl package and recommend removal if found
+        if dpkg -s uvcdynctrl &> /dev/null; then
+            echo -e "\033[33mWe detected 'uvcdynctrl' installed on your system.\033[0m"
+            # Instructions for removal
+            echo -e "\033[33m$ sudo apt remove uvcdynctrl uvcdynctrl-data\033[0m"
+            echo -e "\033[33m$ sudo rm -f /var/log/uvcdynctrl-udev.log\033[0m"
+        fi
+
+        
+            
+        if [ "$VERSION_ID" == "21.04" ]; then
+            echo -e "\033[33mThere are known issues with running our demo script on Ubuntu 21.04, due to package \"python3-pyqt5.sip\" not being in a correct version (>=12.9)\033[0m"
+            echo -e "\033[33mWe recommend installing the updated version manually using the following commands\033[0m"
+            echo -e "\033[33m$ wget http://mirrors.kernel.org/ubuntu/pool/universe/p/pyqt5-sip/python3-pyqt5.sip_12.9.0-1_amd64.deb\033[0m"
+            echo -e "\033[33m$ sudo dpkg -i python3-pyqt5.sip_12.9.0-1_amd64.deb\033[0m"
+            echo ""
+        fi
+
+
+    elif [[ "$ID" == "fedora" ]]; then
+        sudo dnf update -y
+        sudo dnf install -y "${fedora_pkgs[@]}"
+        sudo dnf groupinstall -y "Development Tools" "Development Libraries"
+        python3 -m pip install --upgrade pip
+    else
+        echo "ERROR: Distribution not supported"
+        exit 99
+    fi
+    # Allow all users to read and write to Myriad X devices
+    echo "Installing udev rules..."
+    echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules > /dev/null
+    sudo udevadm control --reload-rules && sudo udevadm trigger
+else
+    echo "ERROR: Host not supported"
+    exit 99
+fi
+
+echo "Finished installing global libraries."
diff --git a/bindings/python/docs/source/_static/install_depthai.sh b/bindings/python/docs/source/_static/install_depthai.sh
new file mode 100755
index 000000000..e36ee888a
--- /dev/null
+++ b/bindings/python/docs/source/_static/install_depthai.sh
@@ -0,0 +1,247 @@
+#!/bin/bash
+
+APP_NAME="depthai"
+WORKING_DIR_NAME="Luxonis"
+WORKING_DIR="$HOME/$WORKING_DIR_NAME"
+mkdir "$WORKING_DIR"
+install_path=""
+path_correct="false"
+
+trap 'RET=$? ; echo -e >&2 "\n\x1b[31mFailed installing dependencies. Could be a bug in the installer or unsupported platform. Open a bug report over at https://github.com/luxonis/depthai - exited with status $RET at line $LINENO \x1b[0m\n" ; exit $RET' ERR
+
+while [ "$path_correct" = "false" ]
+do
+  echo ""
+  echo 'ENTER absolute installation path for depthai or leave empty and default path: $HOME will be used.'
+  read -e install_path < /dev/tty
+  echo ""
+
+  if [ "$install_path" = "" ]; then
+    echo "Using default installation path: $WORKING_DIR"
+    mkdir -p "$WORKING_DIR"
+  else
+    echo "Using given installation path: $install_path"
+    WORKING_DIR="$install_path"
+  fi
+
+  if [ -d "$WORKING_DIR" ]; then
+    echo "Directory: $WORKING_DIR is OK"
+    path_correct="true"
+  else
+    echo "Directory: $WORKING_DIR is not valid. Try again!"
+  fi
+done
+
+DEPTHAI_DIR="$WORKING_DIR/$APP_NAME"
+VENV_DIR="$WORKING_DIR/venv"
+ENTRYPOINT_DIR="$DEPTHAI_DIR/entrypoint"
+
+# Get Python version or find out that python 3.10 must be installed
+python_executable=$(which python3)
+python_chosen="false"
+install_python="false"
+python_version=$(python3 --version)
+python_version_number=""
+if [[ "$python_version" != 'Python'* ]]; then
+  python_version=""
+fi
+echo ""
+
+# check default python version, offer it to the user or get another one
+while [ "$python_chosen" = "false" ]
+do
+  if [[ "$python_version" == "" ]]; then
+    echo "No python version found."
+    echo "Input path for python binary, version 3.8 or higher, or leave empty and python 3.10 will be installed for you."
+    echo "Press ENTER key to continue"
+    read -e python_binary_path < /dev/tty
+    # python not found and user wants to install python 3.10
+    if [ "$python_binary_path" = "" ]; then
+        install_python="true"
+        python_chosen="true"
+    fi
+  else
+    # E.g Python 3.10 -> nr_1=3, nr_2=10, for Python 3.7.5 -> nr_1=r, nr_2=7
+    nr_1="${python_version:7:1}"
+    nr_2=$(echo "${python_version:9:2}" | tr -d -c 0-9)
+    echo "Python version: $python_version found."
+    if [ "$nr_1" -gt 2 ] && [ "$nr_2" -gt 7 ]; then  # first two digits of python version greater then 3.7 -> python version 3.8 or greater is allowed.
+      echo "If you want to use it for installation, press ENTER key, otherwise input path to python binary."
+      echo "Press ENTER key to continue"
+      read -e python_binary_path < /dev/tty
+      # user wants to use already installed python whose version is high enough
+      if [ "$python_binary_path" = "" ]; then
+        python_chosen="true"
+    fi
+    else
+      echo "This python version is not supported by depthai. Enter path to python binary version et least 3.8, or leave empty and python 3.10 will be installed automatically."
+      echo "Press ENTER key to continue"
+      read -e python_binary_path < /dev/tty
+      # python version is too low and user wants to install python 3.10
+      if [ "$python_binary_path" = "" ]; then
+        install_python="true"
+        python_chosen="true"
+      fi
+    fi
+  fi
+  # User entered some path that should lead to python binary, save python --version output and the rest is dealt in the while loop logic.
+  if [ "$python_binary_path" != "" ]; then
+    python_executable="$python_binary_path"
+    python_version=$($python_binary_path --version)
+    if [[ "$python_version" != 'Python'* ]]; then
+      python_version=""
+    fi
+  fi
+done
+
+
+write_in_file () {
+  # just make sure only strings are appended which are not in there yet
+  # first arg is text to write, second arg is the file path
+  if ! grep -Fxq "$1" "$2"
+  then
+    echo "$1" >> "$2"
+  fi
+}
+
+COMMENT='# Entry point for Depthai demo app, enables to run <depthai_launcher> in terminal'
+BASHRC="$HOME/.bashrc"
+ZSHRC="$HOME/.zshrc"
+ADD_ENTRYPOINT_TO_PATH='export PATH=$PATH'":$ENTRYPOINT_DIR"
+
+# add to .bashrc only if it is not in there already
+write_in_file "$COMMENT" "$BASHRC"
+write_in_file "$ADD_ENTRYPOINT_TO_PATH" "$BASHRC"
+
+if [ -f "$ZSHRC" ]; then
+  write_in_file "$COMMENT" "$ZSHRC"
+  write_in_file "$ADD_ENTRYPOINT_TO_PATH" "$ZSHRC"
+fi
+
+if [[ $(uname -s) == "Darwin" ]]; then
+  echo _____________________________
+  echo "Calling macOS_installer.sh"
+  echo _____________________________
+  echo "Running macOS installer."
+
+  echo "Installing global dependencies."
+  bash -c "$(curl -fL https://docs.luxonis.com/install_dependencies.sh)"
+
+  echo "Upgrading brew."
+  brew update
+
+  # clone depthai form git
+  if [ -d "$DEPTHAI_DIR" ]; then
+     echo "Demo app already downloaded. Checking out main and updating."
+  else
+     echo "Downloading demo app."
+     git clone https://github.com/luxonis/depthai.git "$DEPTHAI_DIR"
+  fi
+  cd "$DEPTHAI_DIR"
+  git fetch
+  git checkout main
+  git pull
+
+  # install python 3.10 and python dependencies
+  brew update
+
+  if [ "$install_python" == "true" ]; then
+    echo "installing python 3.10"
+    brew install python@3.10
+    python_executable=$(which python3.10)
+  fi
+
+  # pip does not have pyqt5 for arm
+  if [[ $(uname -m) == 'arm64' ]]; then
+    echo "Installing pyqt5 with homebrew."
+    brew install pyqt@5
+  fi
+
+  # create python virtual environment
+  echo "Creating python virtual environment in $VENV_DIR"
+  echo "$python_executable"
+  "$python_executable" -m venv "$VENV_DIR"
+  # activate environment
+  source "$VENV_DIR/bin/activate"
+  python -m pip install --upgrade pip
+
+  # install launcher dependencies
+  # only on mac silicon point PYTHONPATH to pyqt5 installation via homebrew, otherwise install pyqt5 with pip
+  if [[ $(uname -m) == 'arm64' ]]; then
+    if [[ ":$PYTHONPATH:" == *":/opt/homebrew/lib/python3.10/site-packages:"* ]]; then
+      echo "/opt/homebrew/lib/python$nr_1.$nr_2/site-packages already in PYTHONPATH"
+    else
+      export "PYTHONPATH=/opt/homebrew/lib/python$nr_1.$nr_2/site-packages:"$PYTHONPATH
+      echo "/opt/homebrew/lib/pythonv$nr_1.$nr_2/site-packages added to PYTHONPATH"
+    fi
+  else
+    pip install pyqt5
+  fi
+
+  pip install packaging
+
+elif [[ $(uname -s) == "Linux" ]]; then
+  echo _____________________________
+  echo "Calling linux_installer.sh"
+  echo _____________________________
+
+  echo "Updating sudo-apt."
+  sudo apt-get update
+
+  echo "Installing global dependencies."
+  sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
+
+  echo -e '\nRunning Linux installer.'
+
+  # clone depthai form git
+  if [ -d "$DEPTHAI_DIR" ]; then
+     echo "Demo app already downloaded. Checking out main and updating."
+
+  else
+     echo "Downloading demo app."
+     git clone https://github.com/luxonis/depthai.git "$DEPTHAI_DIR"
+  fi
+
+  cd "$DEPTHAI_DIR"
+  git fetch
+  git checkout main
+  git pull
+
+  # install python 3.10
+  if [ "$install_python" == "true" ]; then
+    echo "installing python 3.10"
+
+    sudo yes "" | sudo add-apt-repository ppa:deadsnakes/ppa
+    sudo apt -y install python3.10
+    sudo apt -y install python3.10-venv
+    python_executable=$(which python3.10)
+  fi
+
+  echo "Creating python virtual environment in $VENV_DIR"
+
+  machine=$(uname -m)
+  if [[ $machine != 'armv6l' && $machine != 'armv7l' && $machine != 'aarch64' && $machine != 'arm64' ]]; then
+    "$python_executable" -m venv "$VENV_DIR"
+  else
+    "$python_executable" -m venv "$VENV_DIR" --system-site-packages
+  fi
+
+  source "$VENV_DIR/bin/activate"
+  python -m pip install --upgrade pip
+
+  pip install packaging
+
+  if [[ $machine != 'armv6l' && $machine != 'armv7l' && $machine != 'aarch64' && $machine != 'arm64' ]]; then
+    pip install pyqt5
+  fi
+else
+  echo "Error: Host $(uname -s) not supported."
+  exit 99
+fi
+
+echo -e '\n\n:::::::::::::::: INSTALATION COMPLETE ::::::::::::::::\n'
+echo -e '\nTo run demo app write <depthai_launcher> in terminal.'
+echo "Press ENTER KEY to finish and run the demo app..."
+read -n1 key < /dev/tty
+echo "STARTING DEMO APP."
+python "$DEPTHAI_DIR/launcher/launcher.py" -r "$DEPTHAI_DIR"
diff --git a/bindings/python/docs/source/components/bootloader.rst b/bindings/python/docs/source/components/bootloader.rst
new file mode 100644
index 000000000..68f4f199f
--- /dev/null
+++ b/bindings/python/docs/source/components/bootloader.rst
@@ -0,0 +1,153 @@
+.. _components_bootloader:
+
+Bootloader
+==========
+
+DepthAI bootloader is a small program which handles the booting process, either by **booting the flashed application** (see :ref:`Standalone mode`),
+or by **initializing the OAK PoE camera** so DepthAI API can connect to it. OAK PoE cameras already come with factory bootloader flashed at the factory.
+
+Bootloader is bundled inside with the ``depthai`` library, so to eg. flash the newest bootloader, you should use the newest ``depthai`` library.
+
+Device Manager
+##############
+
+``device_manager.py`` is a Python script that interfaces with device :ref:`Bootloader` and bootloader configuration.
+It can be found at `depthai-python/utilities <https://github.com/luxonis/depthai-python/tree/main/utilities>`__.
+
+.. image:: https://github.com/luxonis/depthai-python/assets/18037362/1de0d86f-58bf-4979-b7d0-5ca7723db599
+
+About Device
+------------
+
+Allows you to select the device you want to connect to, and you see metadata of connected device.
+
+* First we have to select the device we want to connect (boot) to, you can select that using:
+
+  * **Dropdown** which contains found device MX Ids. Dropdown will only get updated when starting the app.
+  * **Specify IP** button if your OAK PoE camera isn't in the same LAN.
+  * **Search** feature - a new window will show that has a table with all available cameras (either via USB port or on LAN - OAK PoEs), their MxId, name, and status. Clicking on a table row will select that device and boot to it.
+
+Configuration settings
+----------------------
+
+After you select a device that has bootloader flashed, you can also configure bootloader configuration.
+
+- If the device has **NETWORK bootloader flashed**, you will be able to set its static/dynamic IP/mask/gateway, DNS, MAC, etc.
+- If the device has **USB bootloader flashed**, you will be able to set its USB max speed and USB timeout.
+
+After setting some values, you have to click on the ``Flash configuration`` button. You can also ``Clear configuration``, or ``View configuration`` (its JSON).
+
+.. figure:: https://github.com/luxonis/depthai-python/assets/18037362/4bced0ab-92fa-4a73-986f-4a3ba8848940
+
+  When flashing static IP, make sure to also set the gateway/mask
+
+Applications settings
+---------------------
+
+Useful when dealing with :ref:`Standalone mode` applications.
+
+- **Flash application**: Select DepthAI Application Package (``.dap``) you want to flash the device. Below is a code snippet that showcases how to create the dap file.
+- **Remove application**: Removes/clears the flashed application from the device
+- **Open device streaming application**: Starts streaming frames from all connected cameras on the device.
+
+.. code-block:: python
+
+  import depthai as dai
+  pipeline = dai.Pipeline()
+  # ... add nodes to pipeline
+  dai.DeviceBootloader.saveDepthaiApplicationPackage(
+      './file.dap', # Where to save the .dap file
+      pipeline, # My pipeline
+      compress=True, # Compress the FW and assets. In my case, it went from 24MB -> 9.5MB
+      applicationName='myAppName' # Optional, so you know which app is flashed afterwards
+    )
+
+Danger Zone
+-----------
+
+.. warning::
+
+    This section can potentially soft-brick your device, so be careful when using it.
+
+To prevent soft-bricking, OAK devices (since 2023) have factory bootloader and user bootloader. If user flashes a corrupted user bootloader, it will fallback to using factory bootloader. When updating bootloader,
+Device Manager will try to flash the user bootloader first, if flashed (factory) bootloader supports it. If it's not possible, it will flash the factory bootloader.
+
+* **Update Bootloader** button will flash the newest bootloader to the device. You can select AUTO, USB or NETWORK bootloader.
+
+  * AUTO will select the connection type of bootloader with which the camera is currently connected to. If you are connected via USB (doing factory reset) to an OAK PoE camera, you shouldn't select AUTO, as it will flash USB bootloader.
+  * USB bootloader will try to boot the application that is stored on flash memory. If it can't find flashed application, it will just behave as normal USB OAK - so it will wait until a host computer initializes the application.
+  * NETWORK bootloader is used by the OAK PoE cameras, and is flashed at the factory. It handles network initialization so the OAK PoE cameras can be booted through the LAN.
+* **Flash Factory Bootloader**: If you want to flash the factory bootloader, you can use this button. It will flash the factory bootloader, even if the user bootloader is already flashed.
+* **Factory reset** will erase the whole flash content and re-flash it with only the USB or NETWORK bootloader. Flashed application (pipeline, assets) and bootloader configurations will be lost.
+* **Boot into USB recovery mode** will force eg. OAK PoE camera to be available through the USB connector, even if its boot pins are set to PoE booting. It is mostly used by our firmware developers.
+
+Factory and User bootloader
+###########################
+
+There are two types of bootloaders:
+
+- **Factory bootloader**: bootloader that is flashed in the factory. We don't recommend re-flashing this bootloader, as it is not meant to be edited by end users.
+- **User bootloader**: bootloader that can be flashed by the user. If booting is unsuccessful (eg. gets corrupted when flashing), it will fallback to factory bootloader.
+
+USB devices don't support user bootloader. If device has User bootloader, it will be used by default. If user bootloader is not flashed, it will fallback to Factory bootloader.
+
+Boot switches
+#############
+
+- **Boot from flash** - DIP switch: 0x03 (switches 5,6 ON) - used by OAK PoE and USB cameras when bootloader is installed.
+- **Recovery mode for USB** - DIP switch: 0x16 (switches 2,4,5 ON) - to boot directly into USB mode, so camera waits for the host to connect to it via USB.
+
+.. figure:: https://user-images.githubusercontent.com/18037362/154956812-c3fcc961-af46-4dfd-8080-e15c8c6b43f0.png
+
+    OAK-D-PoE with switches 2,4,5 ON, for the purpose of connecting to the device via USB.
+
+On newer versions of OAK devices we have 0 ohm resistors (see image below) instead of a DIP switch, which means OAK will boot into flash by default. These new devices
+have the bootloader flashed, which handles the booting process. There's also an additional button on the baseboard that switches boot to recovery mode when
+pressed, which can be useful if the bootloader hasn't yet been flashed (eg. early access devices). You need to press this button when powering the device (when booting
+happens).
+
+.. image:: https://user-images.githubusercontent.com/18037362/207295832-613fae0a-c0ae-411e-b03b-8a4736f1bfc7.png
+
+API
+###
+
+**DeviceBootloader** is a class to communicate with the bootloader. It is used to flash created :ref:`Pipeline`, depthai application package
+or update the bootloader itself.
+
+.. code-block: cpp
+
+    std::tuple<bool, std::string> flash(std::function<void(float)> progressCb, Pipeline& pipeline);
+
+    std::tuple<bool, std::string> flashDepthaiApplicationPackage(std::function<void(float)> progressCb, std::vector<uint8_t> package);
+
+    std::tuple<bool, std::string> flashBootloader(std::function<void(float)> progressCb, std::string path = "");
+
+progressCb parameter takes a callback function, which will be called each time an progress update occurs (rate limited to 1 second). This is mainly
+used to inform the user of the current flashing progress.
+
+.. _DAP:
+
+DepthAI Application Package (.dap)
+##################################
+
+**DepthAI application package** is a binary file format which stores sections of data. The purpose of this format is to be able to extract
+individual sections and do OTA updates without requiring to update all data. Example: Between update 1 and 2 of users application,
+Depthai firmware, Asset storage (50MiB neural network) and asset structure remained the same, but some additional processing nodes were added
+to the pipeline. Instead of transferring the whole package, only Pipeline description can be sent and updated.
+
+Depthai application package (**.dap**) consists of:
+
+- SBR (512B header which describes sections of data)
+- Depthai device firmware (section "__firmware")
+- Pipeline description (section "pipeline")
+- Assets structure (section "assets")
+- Asset storage (section "asset_storage")
+
+MAC address
+###########
+
+All OAK PoE cameras have a unique MAC address which is used to identify the device on the network. It is calculated from the
+MxID of the device, see `logic here <https://gist.github.com/Erol444/85d6ef7ae9c946f5688854b86c548dc7>`__.
+The MAC address is stored in the DeviceBootloader configuration.
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/device.rst b/bindings/python/docs/source/components/device.rst
new file mode 100644
index 000000000..0f2e74fc8
--- /dev/null
+++ b/bindings/python/docs/source/components/device.rst
@@ -0,0 +1,274 @@
+.. _components_device:
+
+Device
+======
+
+Device is an `OAK camera <https://docs.luxonis.com/projects/hardware/en/latest/>`__ or a RAE robot. On all of our devices there's a powerful Robotics Vision Core
+(`RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__). The RVC is optimized for performing AI inference, CV operations, and
+for processing sensory inputs (eg. stereo depth, video encoders, etc.).
+
+Device API
+##########
+
+:code:`Device` object represents an OAK device. When starting the device, you have to upload a :ref:`Pipeline` to it, which will get executed on the VPU.
+When you create the device in the code, firmware is uploaded together with the pipeline and other assets (such as NN blobs).
+
+.. code-block:: python
+
+  pipeline = depthai.Pipeline()
+
+  # Create nodes, configure them and link them together
+
+  # Upload the pipeline to the device
+  with depthai.Device(pipeline) as device:
+    # Print MxID, USB speed, and available cameras on the device
+    print('MxId:',device.getDeviceInfo().getMxId())
+    print('USB speed:',device.getUsbSpeed())
+    print('Connected cameras:',device.getConnectedCameras())
+
+    # Input queue, to send message from the host to the device (you can receive the message on the device with XLinkIn)
+    input_q = device.getInputQueue("input_name", maxSize=4, blocking=False)
+
+    # Output queue, to receive message on the host from the device (you can send the message on the device with XLinkOut)
+    output_q = device.getOutputQueue("output_name", maxSize=4, blocking=False)
+
+    while True:
+        # Get a message that came from the queue
+        output_q.get() # Or output_q.tryGet() for non-blocking
+
+        # Send a message to the device
+        cfg = depthai.ImageManipConfig()
+        input_q.send(cfg)
+
+Connect to specified device
+###########################
+
+If you have multiple devices and only want to connect to a specific one, or if your OAK PoE camera is outside of your
+subnet, you can specify the device (either with MxID, IP, or USB port name) you want to connect to.
+
+.. code-block:: python
+
+  # Specify MXID, IP Address or USB path
+  device_info = depthai.DeviceInfo("14442C108144F1D000") # MXID
+  #device_info = depthai.DeviceInfo("192.168.1.44") # IP Address
+  #device_info = depthai.DeviceInfo("3.3.3") # USB port name
+  with depthai.Device(pipeline, device_info) as device:
+      # ...
+
+Host clock syncing
+##################
+
+When depthai library connects to a device, it automatically syncs device's timestamp to host's timestamp. Timestamp syncing happens continuously at around 5 second intervals,
+and can be configured via API (example script below).
+
+.. image:: /_static/images/components/device_timesync.jpg
+
+Device clocks are synced at below 500µs accuracy for PoE cameras, and below 200µs accuracy for USB cameras at 1σ (standard deviation) with host clock.
+
+.. image:: /_static/images/components/clock-syncing.png
+
+A graph representing the accuracy of the device clock with respect to the host clock. We had 3 devices connected (OAK PoE cameras), all were hardware synchronized using `FSYNC Y-adapter <https://docs.luxonis.com/projects/hardware/en/latest/pages/FSYNC_Yadapter/>`__.
+Raspberry Pi (the host) had an interrupt pin connected to the FSYNC line, so at the start of each frame the interrupt happened and the host clock was recorded. Then we compared frame (synced) timestamps with
+host timestamps and computed the standard deviation. For the histogram above we ran this test for approximately 3 hours.
+
+.. code-block:: python
+
+    # Configure host clock syncing example
+
+    import depthai as dai
+    from datetime import timedelta
+    # Configure pipeline
+    with dai.Device(pipeline) as device:
+        # 1st value: Interval between timesync runs
+        # 2nd value: Number of timesync samples per run which are used to compute a better value
+        # 3rd value: If true partial timesync requests will be performed at random intervals, otherwise at fixed intervals
+        device.setTimesync(timedelta(seconds=5), 10, True) # (These are default values)
+
+
+Multiple devices
+################
+
+If you want to use multiple devices on a host, check :ref:`Multiple DepthAI per Host`.
+
+Device queues
+#############
+
+After initializing the device, you can create input/output queues that match :ref:`XLinkIn`/:ref:`XLinkOut` nodes in the pipeline. These queues will be located on the host computer (in RAM).
+
+.. code-block:: python
+
+  pipeline = dai.Pipeline()
+
+  xout = pipeline.createXLinkOut()
+  xout.setStreamName("output_name")
+  # ...
+  xin = pipeline.createXLinkIn()
+  xin.setStreamName("input_name")
+  # ...
+  with dai.Device(pipeline) as device:
+
+    outputQueue = device.getOutputQueue("output_name", maxSize=5, blocking=False)
+    inputQueue = device.getInputQueue("input_name")
+
+    outputQueue.get() # Read from the queue, blocks until message arrives
+    outputQueue.tryGet() # Read from the queue, returns None if there's no msg (doesn't block)
+    if outputQueue.has(): # Check if there are any messages in the queue
+
+
+When you define an output queue, the device can push new messages to it at any time, and the host can read from it at any time.
+
+
+Output queue - `maxSize` and `blocking`
+#######################################
+
+When the host is reading very fast from the queue (inside `while True` loop), the queue, regardless of its size, will stay empty most of
+the time. But as we add things on the host side (additional processing, analysis, etc), it may happen that the device will be pushing messages to
+the queue faster than the host can read from it. And then the messages in the queue will start to increase - and both `maxSize` and `blocking`
+flags determine the behavior of the queue in this case. Two common configurations are:
+
+.. code-block:: python
+
+  with dai.Device(pipeline) as device:
+    # If you want only the latest message, and don't care about previous ones;
+    # When a new msg arrives to the host, it will overwrite the previous (oldest) one if it's still in the queue
+    q1 = device.getOutputQueue(name="name1", maxSize=1, blocking=False)
+
+
+    # If you care about every single message (eg. H264/5 encoded video; if you miss a frame, you will get artifacts);
+    # If the queue is full, the device will wait until the host reads a message from the queue
+    q2 = device.getOutputQueue(name="name2", maxSize=30, blocking=True) # Also default values (maxSize=30/blocking=True)
+
+We used `maxSize=30` just as an example, but it can be any `int16` number. Since device queues are on the host computer, memory (RAM) usually isn't that scarce, so `maxSize` wouldn't matter that much.
+But if you are using a small SBC like RPI Zero (512MB RAM), and are streaming large frames (eg. 4K unencoded), you could quickly run out of memory if you set `maxSize` to a high
+value (and don't read from the queue fast enough).
+
+Some additional information
+---------------------------
+
+- Queues are thread-safe - they can be accessed from any thread.
+- Queues are created such that each queue is its own thread which takes care of receiving, serializing/deserializing, and sending the messages forward (same for input/output queues).
+- The :code:`Device` object isn't fully thread-safe. Some RPC calls (eg. :code:`getLogLevel`, :code:`setLogLevel`, :code:`getDdrMemoryUsage`) will get thread-safe once the mutex is set in place (right now there could be races).
+
+Watchdog
+########
+
+The watchdog is a crucial component in the operation of POE (Power over Ethernet) devices with DepthAI. When DepthAI disconnects from a POE device, the watchdog mechanism is the first to respond,
+initiating a reset of the camera. This reset is followed by a complete system reboot, which includes the loading of the DepthAI bootloader and the initialization of the entire networking stack.
+
+The watchdog process is necessary to make the camera available for reconnection and **typically takes about 10 seconds**, which means the fastest possible reconnection time is 10 seconds.
+
+
+Customizing the Watchdog Timeout
+--------------------------------
+
+.. tabs::
+
+  .. tab:: **Linux/MacOS**
+
+    Set the environment variables `DEPTHAI_WATCHDOG_INITIAL_DELAY` and `DEPTHAI_BOOTUP_TIMEOUT` to your desired timeout values (in milliseconds) as follows:
+
+    .. code-block:: bash
+
+      DEPTHAI_WATCHDOG_INITIAL_DELAY=<my_value> DEPTHAI_BOOTUP_TIMEOUT=<my_value> python3 script.py
+
+  .. tab:: **Windows PowerShell**
+
+    For Windows PowerShell, set the environment variables like this:
+
+    .. code-block:: powershell
+
+      $env:DEPTHAI_WATCHDOG_INITIAL_DELAY=<my_value>
+      $env:DEPTHAI_BOOTUP_TIMEOUT=<my_value>
+      python3 script.py
+
+  .. tab:: **Windows CMD**
+
+    In Windows CMD, you can set the environment variables as follows:
+
+    .. code-block:: guess
+
+      set DEPTHAI_WATCHDOG_INITIAL_DELAY=<my_value>
+      set DEPTHAI_BOOTUP_TIMEOUT=<my_value>
+      python3 script.py
+
+Alternatively, you can set the timeout directly in your code:
+
+.. code-block:: python
+
+  pipeline = depthai.Pipeline()
+
+  # Create a BoardConfig object
+  config = depthai.BoardConfig()
+
+  # Set the parameters
+  config.watchdogInitialDelayMs = <my_value>
+  config.watchdogTimeoutMs = <my_value>
+
+  pipeline.setBoardConfig(config)
+
+By adjusting these settings, you can tailor the watchdog functionality to better suit your specific requirements.
+
+
+Environment Variables
+#####################
+
+The following table lists various environment variables used in the system, along with their descriptions:
+
+.. list-table::
+   :widths: 50 50
+   :header-rows: 1
+
+   * - Environment Variable
+     - Description
+   * - `DEPTHAI_LEVEL`
+     - Sets logging verbosity, options: 'trace', 'debug', 'warn', 'error', 'off'
+   * - `XLINK_LEVEL`
+     - Sets logging verbosity of XLink library, options: 'debug', 'info', 'warn', 'error', 'fatal', 'off'
+   * - `DEPTHAI_INSTALL_SIGNAL_HANDLER`
+     - Set to 0 to disable installing Backward signal handler for stack trace printing
+   * - `DEPTHAI_WATCHDOG`
+     - Sets device watchdog timeout. Useful for debugging (DEPTHAI_WATCHDOG=0), to prevent device reset while the process is paused.
+   * - `DEPTHAI_WATCHDOG_INITIAL_DELAY`
+     - Specifies delay after which the device watchdog starts.
+   * - `DEPTHAI_SEARCH_TIMEOUT`
+     - Specifies timeout in milliseconds for device searching in blocking functions.
+   * - `DEPTHAI_CONNECT_TIMEOUT`
+     - Specifies timeout in milliseconds for establishing a connection to a given device.
+   * - `DEPTHAI_BOOTUP_TIMEOUT`
+     - Specifies timeout in milliseconds for waiting the device to boot after sending the binary.
+   * - `DEPTHAI_PROTOCOL`
+     - Restricts default search to the specified protocol. Options: any, usb, tcpip.
+   * - `DEPTHAI_DEVICE_MXID_LIST`
+     - Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs. Lists filter results in an "AND" manner and not "OR"
+   * - `DEPTHAI_DEVICE_ID_LIST`
+     - Alias to MXID list. Lists filter results in an "AND" manner and not "OR"
+   * - `DEPTHAI_DEVICE_NAME_LIST`
+     - Restricts default search to the specified NAMEs. Accepts comma separated list of NAMEs. Lists filter results in an "AND" manner and not "OR"
+   * - `DEPTHAI_DEVICE_BINARY`
+     - Overrides device Firmware binary. Mostly for internal debugging purposes.
+   * - `DEPTHAI_BOOTLOADER_BINARY_USB`
+     - Overrides device USB Bootloader binary. Mostly for internal debugging purposes.
+   * - `DEPTHAI_BOOTLOADER_BINARY_ETH`
+     - Overrides device Network Bootloader binary. Mostly for internal debugging purposes.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.Device
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::Device
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages.rst b/bindings/python/docs/source/components/messages.rst
new file mode 100644
index 000000000..7130d0147
--- /dev/null
+++ b/bindings/python/docs/source/components/messages.rst
@@ -0,0 +1,62 @@
+.. _components_messages:
+
+Messages
+========
+
+Messages are sent between linked :ref:`Nodes`. The only way nodes communicate with each other is by sending messages from one to another. On the
+table of contents (left side of the page) **all DepthAI messages are listed** under the :code:`Messages` entry. You can click on them to find out more.
+
+.. rubric:: Creating a message in Script node
+
+A DepthAI message can be created either on the device, by a node automatically or manually inside the :ref:`Script` node. In below example,
+the code is taken from the :ref:`Script camera control` example, where :ref:`CameraControl` is created inside the Script node every second
+and sent to the :ref:`ColorCamera`'s input (:code:`cam.inputControl`).
+
+.. code-block:: python
+
+   script = pipeline.create(dai.node.Script)
+   script.setScript("""
+      # Create a message
+      ctrl = CameraControl()
+      # Configure the message
+      ctrl.setCaptureStill(True)
+      # Send the message from the Script node
+      node.io['out'].send(ctrl)
+   """)
+
+.. rubric:: Creating a message on a Host
+
+It can also be created on a host computer and sent to the device via :ref:`XLinkIn` node. :ref:`RGB Camera Control`, :ref:`Video & MobilenetSSD`
+and :ref:`Stereo Depth from host` code examples demonstrate this functionality perfectly. In the example below, we have removed all the code
+that isn't relevant to showcase how a message can be created on the host and sent to the device via XLink.
+
+.. code-block:: python
+
+   # Create XLinkIn node and configure it
+   xin = pipeline.create(dai.node.XLinkIn)
+   xin.setStreamName("frameIn")
+   xin.out.link(nn.input) # Connect it to NeuralNetwork's input
+
+   with dai.Device(pipeline) as device:
+      # Create input queue, which allows you to send messages to the device
+      qIn = device.getInputQueue("frameIn")
+      # Create ImgFrame message
+      img = dai.ImgFrame()
+      img.setData(frame)
+      img.setWidth(300)
+      img.setHeight(300)
+      qIn.send(img) # Send the message to the device
+
+.. rubric:: Creating a message on an external MCU
+
+A message can also be created on an external MCU and sent to the device via :ref:`SPIIn` node. An demo of such functionality is the
+`spi_in_landmark <https://github.com/luxonis/esp32-spi-message-demo/tree/main/spi_in_landmark>`__ example.
+
+.. toctree::
+   :maxdepth: 0
+   :hidden:
+   :glob:
+
+   messages/*
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/buffer.rst b/bindings/python/docs/source/components/messages/buffer.rst
new file mode 100644
index 000000000..551d496a4
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/buffer.rst
@@ -0,0 +1,26 @@
+Buffer
+======
+
+Just a good old buffer. All other messages derive from the :code:`Buffer` class.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.Buffer
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::Buffer
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/camera_control.rst b/bindings/python/docs/source/components/messages/camera_control.rst
new file mode 100644
index 000000000..05d181840
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/camera_control.rst
@@ -0,0 +1,35 @@
+CameraControl
+=============
+
+This message is used for controlling the :ref:`color camera <ColorCamera>` as well as the :ref:`mono camera <MonoCamera>`.
+The message handles things like capturing still images, configuring auto focus, anti banding, white balance,
+scenes, effects etc.
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Camera Control`
+- :ref:`Mono Camera Control`
+- :ref:`Auto Exposure on ROI`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.CameraControl
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::CameraControl
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/edge_detector_config.rst b/bindings/python/docs/source/components/messages/edge_detector_config.rst
new file mode 100644
index 000000000..dd1aae70e
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/edge_detector_config.rst
@@ -0,0 +1,32 @@
+EdgeDetectorConfig
+==================
+
+This message is used to configure the :ref:`EdgeDetector` node.
+You can set the horizontal and vertical Sobel filter kernel.
+
+Examples of functionality
+#########################
+
+- :ref:`Edge detector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.EdgeDetectorConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::EdgeDetectorConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/feature_tracker_config.rst b/bindings/python/docs/source/components/messages/feature_tracker_config.rst
new file mode 100644
index 000000000..053409c1f
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/feature_tracker_config.rst
@@ -0,0 +1,27 @@
+FeatureTrackerConfig
+====================
+
+This message is used to configure the :ref:`FeatureTracker` node.
+You can set the CornerDetector, FeatureMaintainer and MotionEstimator.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.FeatureTrackerConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::FeatureTrackerConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/image_manip_config.rst b/bindings/python/docs/source/components/messages/image_manip_config.rst
new file mode 100644
index 000000000..5535536f5
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/image_manip_config.rst
@@ -0,0 +1,35 @@
+ImageManipConfig
+================
+
+This message can is used for cropping, warping, rotating, resizing, etc. an image in runtime.
+It can be sent from host/:ref:`Script` node to either :ref:`ColorCamera` or :ref:`ImageManip`.
+
+.. note:: This message will reconfigure the whole config of the node, meaning you need to set all settings, not just the setting you want to change.
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Camera Control`
+- :ref:`RGB Rotate Warp`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.ImageManipConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::ImageManipConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/img_detections.rst b/bindings/python/docs/source/components/messages/img_detections.rst
new file mode 100644
index 000000000..afca0df55
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/img_detections.rst
@@ -0,0 +1,34 @@
+ImgDetections
+=============
+
+Both :ref:`YoloDetectionNetwork` and :ref:`MobileNetDetectionNetwork` output this message. This message contains a list of :code:`detections`,
+which contains :code:`label`, :code:`confidence`, and the bounding box information (:code:`xmin`, :code:`ymin`, :code:`xmax`, :code:`ymax`).
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`RGB & Tiny YOLO`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.ImgDetections
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::ImgDetections
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/img_frame.rst b/bindings/python/docs/source/components/messages/img_frame.rst
new file mode 100644
index 000000000..ac7302515
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/img_frame.rst
@@ -0,0 +1,34 @@
+ImgFrame
+========
+
+These are all the images (regardless of their encoding/format), as well as the depth/disparity "image". :ref:`ColorCamera` and
+:ref:`MonoCamera` are the source of the image frame messages.
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Preview`
+- :ref:`Mono Preview`
+- :ref:`Depth Preview`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.ImgFrame
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::ImgFrame
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/imu_data.rst b/bindings/python/docs/source/components/messages/imu_data.rst
new file mode 100644
index 000000000..caee03085
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/imu_data.rst
@@ -0,0 +1,26 @@
+IMUData
+=======
+
+IMU data message is created by the :ref:`IMU` node.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.IMUData
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::IMUData
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/message_group.rst b/bindings/python/docs/source/components/messages/message_group.rst
new file mode 100644
index 000000000..e947ad67d
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/message_group.rst
@@ -0,0 +1,32 @@
+MessageGroup
+============
+
+The MessageGroup message type is a versatile container used in DepthAI pipelines to group together a map of arbitrary DepthAI messages. It serves as the primary output of the :ref:`Sync` node, effectively synchronizing various input streams, and acts as the input to the :ref:`MessageDemux` node for subsequent disaggregation and processing. 
+
+Creating MessageGroup
+#####################
+
+MessageGroup can be created automatically by the Sync node as it aligns and groups messages from different sources based on their timestamps. Alternatively, it can be manually constructed in a host application or within a :ref:`Script` node to create custom groupings of DepthAI messages.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.MessageGroup
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::MessageGroup
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/nn_data.rst b/bindings/python/docs/source/components/messages/nn_data.rst
new file mode 100644
index 000000000..cef6922ae
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/nn_data.rst
@@ -0,0 +1,33 @@
+NNData
+======
+
+This message carries tensors and its data. :ref:`NeuralNetwork` node outputs NNData.
+
+Creating NNData
+###############
+
+You can also create this message on the host (`example here <https://github.com/luxonis/depthai-experiments/blob/cd4a1e2be64a7c0319870cf80b4be3bd0561e9a0/gen2-efficientnet-classification/main.py#L125-L127>`__)
+or :ref:`Script` node (:ref:`example here <Script NNData example>`), populate the tensor with the data,
+and send the message to the ``input`` of the :ref:`NeuralNetwork` node.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.NNData
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::NNData
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/spatial_img_detections.rst b/bindings/python/docs/source/components/messages/spatial_img_detections.rst
new file mode 100644
index 000000000..7fccc5461
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/spatial_img_detections.rst
@@ -0,0 +1,35 @@
+SpatialImgDetections
+====================
+
+Similar to :ref:`ImgDetections`, but this message includes **XYZ** coordinates of the detected objects as well.
+
+Both :ref:`YoloSpatialDetectionNetwork` and :ref:`MobileNetSpatialDetectionNetwork` output this message.
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`Mono & MobilenetSSD with spatial data`
+- :ref:`RGB & TinyYolo with spatial data`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.SpatialImgDetections
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::SpatialImgDetections
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/spatial_location_calculator_config.rst b/bindings/python/docs/source/components/messages/spatial_location_calculator_config.rst
new file mode 100644
index 000000000..2a90df73a
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/spatial_location_calculator_config.rst
@@ -0,0 +1,31 @@
+SpatialLocationCalculatorConfig
+===============================
+
+This message is used to configure the :ref:`SpatialLocationCalculator` node.
+
+Examples of functionality
+#########################
+
+- :ref:`Spatial location calculator`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.SpatialLocationCalculatorConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::SpatialLocationCalculatorConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/spatial_location_calculator_data.rst b/bindings/python/docs/source/components/messages/spatial_location_calculator_data.rst
new file mode 100644
index 000000000..ef023de5f
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/spatial_location_calculator_data.rst
@@ -0,0 +1,31 @@
+SpatialLocationCalculatorData
+=============================
+
+This message is an output from the :ref:`SpatialLocationCalculator` node.
+
+Examples of functionality
+#########################
+
+- :ref:`Spatial location calculator`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.SpatialLocationCalculatorData
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::SpatialLocationCalculatorData
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/stereo_depth_config.rst b/bindings/python/docs/source/components/messages/stereo_depth_config.rst
new file mode 100644
index 000000000..c0df070ac
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/stereo_depth_config.rst
@@ -0,0 +1,32 @@
+StereoDepthConfig
+=================
+
+This message is used to configure the :ref:`StereoDepth` node.
+With this message you can set filters, confidences, thresholds and mode of the :ref:`StereoDepth` node.
+
+Examples of functionality
+#########################
+
+- :ref:`Stereo Depth from host`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.StereoDepthConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::StereoDepthConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/system_information.rst b/bindings/python/docs/source/components/messages/system_information.rst
new file mode 100644
index 000000000..4eaee113b
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/system_information.rst
@@ -0,0 +1,35 @@
+SystemInformation
+=================
+
+System information message is created by the :ref:`SystemLogger` node.
+
+
+..
+  TODO: add information about what this data represents
+
+Examples of functionality
+#########################
+
+- :ref:`System information`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.SystemInformation
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::SystemInformation
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/tof_config.rst b/bindings/python/docs/source/components/messages/tof_config.rst
new file mode 100644
index 000000000..1681c1df4
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/tof_config.rst
@@ -0,0 +1,31 @@
+ToFConfig
+=========
+
+This message is used to configure the :ref:`ToF` node.
+
+Examples of functionality
+#########################
+
+- :ref:`ToF depth`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.ToFConfig
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::ToFConfig
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/tracked_features.rst b/bindings/python/docs/source/components/messages/tracked_features.rst
new file mode 100644
index 000000000..8f5146f10
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/tracked_features.rst
@@ -0,0 +1,26 @@
+TrackedFeatures
+===============
+
+TrackedFeatures message. Carries position (X, Y) of tracked features and their ID.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.TrackedFeatures
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::TrackedFeatures
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/messages/tracklets.rst b/bindings/python/docs/source/components/messages/tracklets.rst
new file mode 100644
index 000000000..ead4dca7f
--- /dev/null
+++ b/bindings/python/docs/source/components/messages/tracklets.rst
@@ -0,0 +1,33 @@
+Tracklets
+=========
+
+Tracklets are produced by the :ref:`ObjectTracker` node. They provide tracking information of the tracked objects.
+
+Examples of functionality
+#########################
+
+- :ref:`Object tracker on RGB`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`Object tracker on video`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.Tracklets
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::Tracklets
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes.rst b/bindings/python/docs/source/components/nodes.rst
new file mode 100644
index 000000000..7a88db2c8
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes.rst
@@ -0,0 +1,76 @@
+.. _components_nodes:
+
+Nodes
+=====
+
+Nodes are the building blocks when populating the :ref:`Pipeline`. Each node provides a specific functionality on the DepthAI, a set of configurable
+properties and inputs/outputs. After you create a node on a pipeline, you can also configure it as desired and link it to other nodes.
+
+On the table of contents (left side of the page) all nodes are listed under the :code:`Node` entry. You can click on them to find out more.
+
+.. rubric:: Inputs and outputs
+
+Each node can have zero, one or multiple inputs and outputs. For example :ref:`SystemLogger` node has no inputs and 1 output and :ref:`EdgeDetector` has
+2 inputs and 1 output, as shown below. :ref:`Script` node can have any number of inputs/ouputs.
+
+.. code-block::
+
+                 ┌───────────────────�
+  inputImage     │                   │
+  ──────────────►│                   │
+                 │                   │ outputImage
+                 │   EdgeDetector    ├───────────►
+  inputConfig    │                   │
+  ──────────────►│                   │
+                 │                   │
+                 └───────────────────┘
+      EdgeDetector node has 2 inputs and 1 output
+
+
+.. rubric:: Node input
+
+Node input queue is a queue for :ref:`Messages`. It can be linked with other node's output (that's how you link up nodes). Node inputs are
+configurable - with :code:`input.setBlocking(bool)` and :code:`input.setQueueSize(num)`, eg. :code:`edgeDetector.inputImage.setQueueSize(10)`.
+If the input queue fills up, behavior of the input depends on blocking attribute.
+
+Let's say we have linked :ref:`ColorCamera` :code:`preview` output with :ref:`NeuralNetwork` :code:`input` input.
+
+.. code-block::
+
+  ┌─────────────�                    ┌───────────────�
+  │             │                    │               │
+  │             │ preview      input │               │
+  │ ColorCamera ├───────────────────►│ NeuralNetwork │
+  │             │     [ImgFrame]     │               │
+  │             │                    │               │
+  └─────────────┘                    └───────────────┘
+
+If **input is set to blocking mode**, and input queue fills up, no new messages from ColorCamera will be able to enter the input queue. This means ColorCamera
+will block and wait with sending its messages until it can push the message to the queue of NeuralNetwork input. If ColorCamera preview is connected to
+multiple inputs, the same behavior implies, with the messages being pushed sequentially to each input.
+
+.. warning::
+  Depending on pipeline configuration, this can sometimes lead to pipeline freezing, if some blocking input isn't being properly consumed.
+
+If **blocking is disabled**, new messages will push out old messages. This eliminates the risk of pipeline freezing, but can result in dropped messages (eg. :ref:`ImgFrame`).
+
+.. rubric:: Node output
+
+Node outputs :ref:`Messages`. Some nodes have a configurable output message pool. **Output message pool** is a reserved memory region (to reduce memory
+fragmentation) that holds output messages. After the node creates an output message (for example :ref:`ImgFrame`), it will send it to other nodes as
+specified when linking the inputs/outputs of the node.
+Currently, some nodes (:ref:`VideoEncoder`, :ref:`NeuralNetwork`, :ref:`ImageManip`, :ref:`XLinkIn`) can have the pool size configured.
+The size of the pool specifies how many messages can be created and sent out while other messages are already
+somewhere in the pipeline.
+
+.. warning::
+  When all the messages from pool are sent out and none yet returned, that's when the node will block (freeze) and wait until a message is released (not used by any node in the pipeline).
+
+.. toctree::
+   :maxdepth: 0
+   :hidden:
+   :glob:
+
+   nodes/*
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/camera.rst b/bindings/python/docs/source/components/nodes/camera.rst
new file mode 100644
index 000000000..9f9bfb412
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/camera.rst
@@ -0,0 +1,150 @@
+Camera
+======
+
+Camera node is a source of :ref:`image frames <ImgFrame>`. You can control in at runtime with the :code:`InputControl` and :code:`InputConfig`.
+It aims to unify the :ref:`ColorCamera` and :ref:`MonoCamera` into one node.
+
+Compared to :ref:`ColorCamera` node, Camera node:
+
+- Supports **cam.setSize()**, which replaces both ``cam.setResolution()`` and ``cam.setIspScale()``. Camera node will automatically find resolution that fits best, and apply correct scaling to achieve user-selected size
+- Supports **cam.setCalibrationAlpha()**, example here: :ref:`Undistort camera stream`
+- Supports **cam.loadMeshData()** and **cam.setMeshStep()**, which can be used for custom image warping (undistortion, perspective correction, etc.)
+- Automatically undistorts camera stream if HFOV of the camera is greater than 85°. You can disable this with: ``cam.setMeshSource(dai.CameraProperties.WarpMeshSource.NONE)``.
+
+Besides points above, compared to :ref:`MonoCamera` node, Camera node:
+
+- Doesn't have ``out`` output, as it has the same outputs as :ref:`ColorCamera` (``raw``, ``isp``, ``still``, ``preview``, ``video``). This means that ``preview`` will output 3 planes of the same grayscale frame (3x overhead), and ``isp`` / ``video`` / ``still``  will output luma (useful grayscale information) + chroma (all values are 128), which will result in 1.5x bandwidth overhead
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    cam = pipeline.create(dai.node.Camera)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto cam = pipeline.create<dai::node::Camera>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                            Camera node
+                 ┌──────────────────────────────�
+                 │   ┌─────────────�            │
+                 │   │    Image    │ raw        │     raw
+                 │   │    Sensor   │---┬--------├────────►
+                 │   └────▲────────┘   |        │
+                 │        │   ┌--------┘        │
+                 │      ┌─┴───▼─�               │     isp
+  inputControl   │      │       │-------┬-------├────────►
+  ──────────────►│------│  ISP  │ ┌─────▼────�  │   video
+                 │      │       │ |          |--├────────►
+                 │      └───────┘ │   Image  │  │   still
+  inputConfig    │                │   Post-  │--├────────►
+  ──────────────►│----------------|Processing│  │ preview
+                 │                │          │--├────────►
+                 │                └──────────┘  │
+                 └──────────────────────────────┘
+
+**Message types**
+
+- :code:`inputConfig` - :ref:`ImageManipConfig`
+- :code:`inputControl` - :ref:`CameraControl`
+- :code:`raw` - :ref:`ImgFrame` - RAW10 bayer data. Demo code for unpacking `here <https://github.com/luxonis/depthai-experiments/blob/3f1b2b2/gen2-color-isp-raw/main.py#L13-L32>`__
+- :code:`isp` - :ref:`ImgFrame` - YUV420 planar (same as YU12/IYUV/I420)
+- :code:`still` - :ref:`ImgFrame` - NV12, suitable for bigger size frames. The image gets created when a capture event is sent to the Camera, so it's like taking a photo
+- :code:`preview` - :ref:`ImgFrame` - RGB (or BGR planar/interleaved if configured), mostly suited for small size previews and to feed the image into :ref:`NeuralNetwork`
+- :code:`video` - :ref:`ImgFrame` - NV12, suitable for bigger size frames
+
+**ISP** (image signal processor) is used for bayer transformation, demosaicing, noise reduction, and other image enhancements.
+It interacts with the 3A algorithms: **auto-focus**, **auto-exposure**, and **auto-white-balance**, which are handling image sensor
+adjustments such as exposure time, sensitivity (ISO), and lens position (if the camera module has a motorized lens) at runtime.
+Click `here <https://en.wikipedia.org/wiki/Image_processor>`__ for more information.
+
+**Image Post-Processing** converts YUV420 planar frames from the **ISP** into :code:`video`/:code:`preview`/:code:`still` frames.
+
+``still`` (when a capture is triggered) and ``isp`` work at the max camera resolution, while ``video`` and ``preview`` are
+limited to max 4K (3840 x 2160) resolution, which is cropped from ``isp``.
+For IMX378 (12MP), the **post-processing** works like this:
+
+.. code-block::
+
+    ┌─────�   Cropping to   ┌─────────�  Downscaling   ┌──────────�
+    │ ISP ├────────────────►│  video  ├───────────────►│ preview  │
+    └─────┘  max 3840x2160  └─────────┘  and cropping  └──────────┘
+
+.. image:: /_static/images/tutorials/isp.jpg
+
+The image above is the ``isp`` output from the Camera (12MP resolution from IMX378). If you aren't downscaling ISP,
+the ``video`` output is cropped to 4k (max 3840x2160 due to the limitation of the ``video`` output) as represented by
+the blue rectangle. The Yellow rectangle represents a cropped ``preview`` output when the preview size is set to a 1:1 aspect
+ratio (eg. when using a 300x300 preview size for the MobileNet-SSD NN model) because the ``preview`` output is derived from
+the ``video`` output.
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      cam = pipeline.create(dai.node.Camera)
+      cam.setPreviewSize(300, 300)
+      cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+      # Instead of setting the resolution, user can specify size, which will set
+      # sensor resolution to best fit, and also apply scaling
+      cam.setSize(1280, 720)
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto cam = pipeline.create<dai::node::Camera>();
+      cam->setPreviewSize(300, 300);
+      cam->setBoardSocket(dai::CameraBoardSocket::CAM_A);
+      // Instead of setting the resolution, user can specify size, which will set
+      // sensor resolution to best fit, and also apply scaling
+      cam->setSize(1280, 720);
+
+Limitations
+###########
+
+Here are known camera limitations for the `RVC2 <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__:
+
+- **ISP can process about 600 MP/s**, and about **500 MP/s** when the pipeline is also running NNs and video encoder in parallel
+- **3A algorithms** can process about **200..250 FPS overall** (for all camera streams). This is a current limitation of our implementation, and we have plans for a workaround to run 3A algorithms on every Xth frame, no ETA yet
+
+Examples of functionality
+#########################
+
+- :ref:`Undistort camera stream`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.Camera
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::Camera
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/color_camera.rst b/bindings/python/docs/source/components/nodes/color_camera.rst
new file mode 100644
index 000000000..d9718f8f7
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/color_camera.rst
@@ -0,0 +1,141 @@
+ColorCamera
+===========
+
+ColorCamera node is a source of :ref:`image frames <ImgFrame>`. You can control in at runtime with the :code:`InputControl` and :code:`InputConfig`.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    cam = pipeline.create(dai.node.ColorCamera)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto cam = pipeline.create<dai::node::ColorCamera>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                         ColorCamera node
+                 ┌──────────────────────────────�
+                 │   ┌─────────────�            │
+                 │   │    Image    │ raw        │     raw
+                 │   │    Sensor   │---┬--------├────────►
+                 │   └────▲────────┘   |        │
+                 │        │   ┌--------┘        │
+                 │      ┌─┴───▼─�               │     isp
+  inputControl   │      │       │-------┬-------├────────►
+  ──────────────►│------│  ISP  │ ┌─────▼────�  │   video
+                 │      │       │ |          |--├────────►
+                 │      └───────┘ │   Image  │  │   still
+  inputConfig    │                │   Post-  │--├────────►
+  ──────────────►│----------------|Processing│  │ preview
+                 │                │          │--├────────►
+                 │                └──────────┘  │
+                 └──────────────────────────────┘
+
+**Message types**
+
+- :code:`inputConfig` - :ref:`ImageManipConfig`
+- :code:`inputControl` - :ref:`CameraControl`
+- :code:`raw` - :ref:`ImgFrame` - RAW10 bayer data. Demo code for unpacking `here <https://github.com/luxonis/depthai-experiments/blob/3f1b2b2/gen2-color-isp-raw/main.py#L13-L32>`__
+- :code:`isp` - :ref:`ImgFrame` - YUV420 planar (same as YU12/IYUV/I420)
+- :code:`still` - :ref:`ImgFrame` - NV12, suitable for bigger size frames. The image gets created when a capture event is sent to the ColorCamera, so it's like taking a photo
+- :code:`preview` - :ref:`ImgFrame` - RGB (or BGR planar/interleaved if configured), mostly suited for small size previews and to feed the image into :ref:`NeuralNetwork`
+- :code:`video` - :ref:`ImgFrame` - NV12, suitable for bigger size frames
+
+**ISP** (image signal processor) is used for bayer transformation, demosaicing, noise reduction, and other image enhancements.
+It interacts with the 3A algorithms: **auto-focus**, **auto-exposure**, and **auto-white-balance**, which are handling image sensor
+adjustments such as exposure time, sensitivity (ISO), and lens position (if the camera module has a motorized lens) at runtime.
+Click `here <https://en.wikipedia.org/wiki/Image_processor>`__ for more information.
+
+**Image Post-Processing** converts YUV420 planar frames from the **ISP** into :code:`video`/:code:`preview`/:code:`still` frames.
+
+``still`` (when a capture is triggered) and ``isp`` work at the max camera resolution, while ``video`` and ``preview`` are
+limited to max 4K (3840 x 2160) resolution, which is cropped from ``isp``.
+For IMX378 (12MP), the **post-processing** works like this:
+
+.. code-block::
+
+    ┌─────�   Cropping to   ┌─────────�  Downscaling   ┌──────────�
+    │ ISP ├────────────────►│  video  ├───────────────►│ preview  │
+    └─────┘  max 3840x2160  └─────────┘  and cropping  └──────────┘
+
+.. image:: /_static/images/tutorials/isp.jpg
+
+The image above is the ``isp`` output from the ColorCamera (12MP resolution from IMX378). If you aren't downscaling ISP,
+the ``video`` output is cropped to 4k (max 3840x2160 due to the limitation of the ``video`` output) as represented by
+the blue rectangle. The Yellow rectangle represents a cropped ``preview`` output when the preview size is set to a 1:1 aspect
+ratio (eg. when using a 300x300 preview size for the MobileNet-SSD NN model) because the ``preview`` output is derived from
+the ``video`` output.
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      cam = pipeline.create(dai.node.ColorCamera)
+      cam.setPreviewSize(300, 300)
+      cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+      cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+      cam.setInterleaved(False)
+      cam.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto cam = pipeline.create<dai::node::ColorCamera>();
+      cam->setPreviewSize(300, 300);
+      cam->setBoardSocket(dai::CameraBoardSocket::CAM_A);
+      cam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
+      cam->setInterleaved(false);
+      cam->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);
+
+Limitations
+###########
+
+Here are known camera limitations for the `RVC2 <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__:
+
+- **ISP can process about 600 MP/s**, and about **500 MP/s** when the pipeline is also running NNs and video encoder in parallel
+- **3A algorithms** can process about **200..250 FPS overall** (for all camera streams). This is a current limitation of our implementation, and we have plans for a workaround to run 3A algorithms on every Xth frame, no ETA yet
+- **ISP Scaling** numerator value can be 1..16 and denominator value 1..32 for both vertical and horizontal scaling. So you can downscale eg. 12MP (4056x3040) only to resolutions `calculated here <https://docs.google.com/spreadsheets/d/153yTstShkJqsPbkPOQjsVRmM8ZO3A6sCqm7uayGF-EE/edit#gid=0>`__
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Preview`
+- :ref:`RGB Camera Control`
+- :ref:`RGB video`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.ColorCamera
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::ColorCamera
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/edge_detector.rst b/bindings/python/docs/source/components/nodes/edge_detector.rst
new file mode 100644
index 000000000..d847de9e0
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/edge_detector.rst
@@ -0,0 +1,91 @@
+EdgeDetector
+============
+
+Edge detector uses `Sobel filter <https://en.wikipedia.org/wiki/Sobel_operator>`__ to create an image that emphasises edges.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    edgeDetector = pipeline.create(dai.node.EdgeDetector)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto edgeDetector = pipeline.create<dai::node::EdgeDetector>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  inputImage     │                   │
+  ──────────────►│                   │
+                 │                   │ outputImage
+                 │   EdgeDetector    ├───────────►
+  inputConfig    │                   │
+  ──────────────►│                   │
+                 │                   │
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`inputImage` - :ref:`ImgFrame`
+- :code:`inputConfig` - :ref:`EdgeDetectorConfig`
+- :code:`outputImage` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      edgeDetector = pipeline.create(dai.node.EdgeDetector)
+
+      sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
+      sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
+      edgeDetector.initialConfig.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto edgeDetector = pipeline.create<dai::node::EdgeDetector>();
+
+      std::vector<std::vector<int>> sobelHorizontalKernel = {{1, 0, -1}, {2, 0, -2}, {1, 0, -1}};
+      std::vector<std::vector<int>> sobelVerticalKernel = {{1, 2, 1}, {0, 0, 0}, {-1, -2, -1}};
+      edgeDetector->setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
+
+Examples of functionality
+#########################
+
+- :ref:`Edge detector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.EdgeDetector
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::EdgeDetector
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/feature_tracker.rst b/bindings/python/docs/source/components/nodes/feature_tracker.rst
new file mode 100644
index 000000000..17d23760b
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/feature_tracker.rst
@@ -0,0 +1,158 @@
+FeatureTracker
+==============
+
+FeatureTracker detects key points (features) on a frame and tracks them on the next frame.
+The valid features are obtained from the Harris score or Shi-Tomasi.
+The default number of target features is 320 and the default maximum number of features is 480.
+It supports 720p and 480p resolutions.
+
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    featureTracker = pipeline.create(dai.node.FeatureTracker)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto featureTracker = pipeline.create<dai::node::FeatureTracker>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+               ┌─────────────────�
+  inputConfig  │                 │       outputFeatures
+  ────────────►│     Feature     ├────────────────────►
+  inputImage   │     Tracker     │passthroughInputImage
+  ────────────►│-----------------├────────────────────►
+               └─────────────────┘
+
+
+**Message types**
+
+- :code:`inputConfig` - :ref:`FeatureTrackerConfig`
+- :code:`inputImage` - :ref:`ImgFrame`
+- :code:`outputFeatures` - :ref:`TrackedFeatures`
+- :code:`passthroughInputImage` - :ref:`ImgFrame`
+
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      featureTracker = pipeline.create(dai.node.FeatureTracker)
+
+      # Set number of shaves and number of memory slices to maximum
+      featureTracker.setHardwareResources(2, 2)
+      # Specify to wait until configuration message arrives to inputConfig Input.
+      featureTracker.setWaitForConfigInput(True)
+
+      # You have to use Feature tracker in combination with
+      # an image frame source - mono/color camera or xlinkIn node
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto featureTracker = pipeline.create<dai::node::FeatureTracker>();
+
+      // Set number of shaves and number of memory slices to maximum
+      featureTracker->setHardwareResources(2, 2);
+      // Specify to wait until configuration message arrives to inputConfig Input.
+      featureTracker->setWaitForConfigInput(true);
+
+      // You have to use Feature tracker in combination with
+      // an image frame source - mono/color camera or xlinkIn node
+
+Examples of functionality
+#########################
+
+- :ref:`Feature Detector`
+- :ref:`Feature Tracker`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.FeatureTracker
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::FeatureTracker
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+Image cells
+###########
+
+To have features all around the image, it is divided into cells which are then processed separately.
+Each cell has a :code:`target feature count = frame target features / number of cells`.
+The number of cells can be configured in horizontal and in vertical direction. The default number of cells is
+:code:`4` (horizontal) x :code:`4` (vertical). This means that the default number of target features per cell is:
+:code:`320 / (4 * 4) = 20`. Note that if an already tracked point happens to have its new coordinate in a 
+full cell, it will not be removed, therefore number of features can exceed this limit.
+
+Initial Harris Threshold
+########################
+
+This threshold controls the minimum strength of a feature which will be detected. Setting this value to 0
+enables the automatic thresholds, which are used to adapt to different scenes. If there is a lot of texture,
+this value needs to be increased, to limit the number of detected points. Each cell has its own threshold.
+
+Entry conditions for new features
+#################################
+
+The entry conditions for new features are:
+
+- features must not be too close to each other (minimum distance criteria - default value is 50, the unit of measurement being squared euclidean distance in pixels),
+- Harris score of the feature is high enough,
+- there is enough *room* in the cell for the feature (target feature count is not achieved).
+
+
+Harris Threshold for Tracked Features
+#####################################
+
+Once a feature was detected and we started tracking it, we need to update its Harris score on each image.
+This threshold defines the point where such a feature must be removed.
+The goal is to track points for as long as possible, so the conditoins for entry points are higher than the ones
+for already tracked points. This is why, this value is usually smaller than the detection threshold.
+
+
+Feature Maintenance
+###################
+
+The algorithm has to decide which feature will be removed and which will be kept in the
+subsequent frames. Note that tracked features have priority over new features.
+It will remove the features which:
+
+- have too large tracking error (wasn't tracked correctly),
+- have too small Harris score (configurable threshold).
+
+New position calculation
+########################
+
+A position of the previous features on the current frame can be calculated in two ways:
+
+1. Using the pyramidal Lucas-Kanade optical flow method.
+2. Using a dense motion estimation hardware block (Block matcher).
+
+.. include::  ../../includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/components/nodes/image_manip.rst b/bindings/python/docs/source/components/nodes/image_manip.rst
new file mode 100644
index 000000000..bb466e9fb
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/image_manip.rst
@@ -0,0 +1,118 @@
+ImageManip
+==========
+
+ImageManip node can be used to crop, rotate rectangle area or perform various image transforms: rotate, mirror, flip, perspective transform.
+
+For downscaling, ImageManip uses the bilinear/bicubic interpolation.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    manip = pipeline.create(dai.node.ImageManip)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto manip = pipeline.create<dai::node::ImageManip>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  inputImage     │                   │
+  ──────────────►│                   │
+                 │                   │        out
+                 │    ImageManip     ├───────────►
+  inputConfig    │                   │
+  ──────────────►│                   │
+                 │                   │
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`inputImage` - :ref:`ImgFrame`
+- :code:`inputConfig` - :ref:`ImageManipConfig`
+- :code:`out` - :ref:`ImgFrame`
+
+Usage
+#####
+
+..
+  TODO Add example of how to perform various transformations with the manip and what needs to be kept in mind with regards to grabbing from
+  different streams with their different data formats (color cam, depth)
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      manip = pipeline.create(dai.node.ImageManip)
+
+      manip.initialConfig.setResize(300, 300)
+      manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto manip = pipeline.create<dai::node::ImageManip>();
+
+      manip->initialConfig.setResize(300, 300);
+      manip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);
+
+Image formats supported
+#######################
+
+ImageManip node supports the following image formats (more info `in PR here <https://github.com/luxonis/depthai-core/pull/444>`__):
+
+- Input formats supported: RGB/BGR, planar/interleaved, YUV/NV12, RAW8 and GRAY8
+- Convert format to any other format mentioned above
+- RAW16 (uint16, ``depth`` output)  supported, but without color conversion capability
+
+Note that planar formats are faster to process, so interleaved images should be avoided (eg. NV12 input).
+
+Limitations
+###########
+
+Besides limitations mentioned above (unsupported frame formats), there are other limitations:
+
+- Due to HW warp constraint, rotating/warping can be done only on frames whose width values are multiples of 16
+- Maximum output width of a frame is 4056 pixels
+
+Examples of functionality
+#########################
+
+- :ref:`Mono & MobilenetSSD`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+- :ref:`RGB Camera Control`
+- :ref:`ImageManip tiling` - Using ImageManip for frame tiling
+- :ref:`ImageManip rotate` - Using ImageManip to rotate color/mono frames
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.ImageManip
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::ImageManip
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/imu.rst b/bindings/python/docs/source/components/nodes/imu.rst
new file mode 100644
index 000000000..9489856d3
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/imu.rst
@@ -0,0 +1,193 @@
+IMU
+===
+
+IMU (`inertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data
+from the IMU chip on the device. Our OAK devices use either:
+
+- `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__) 9-axis sensor, combining accelerometer, gyroscope, and magnetometer. It also does sensor fusion on the (IMU) chip itself. We have efficiently integrated `this driver <https://github.com/hcrest/bno080-driver>`__ into the DepthAI.
+- `BMI270 <https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270/>`__ 6-axis sensor, combining accelerometer and gyroscope.
+
+The IMU chip is connected to the `RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__
+over SPI. See `OAK Hardware documentation <https://docs.luxonis.com/projects/hardware/en/latest/>`__ to check whether your OAK camera has IMU integrated.
+
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    imu = pipeline.create(dai.node.IMU)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto imu = pipeline.create<dai::node::IMU>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+  ┌──────────────�
+  │              │
+  │              │      out
+  │     IMU      ├─────────►
+  │              │
+  │              │
+  └──────────────┘
+
+**Message types**
+
+- :code:`out` - :ref:`IMUData`
+
+Limitations
+###########
+
+- For BNO086, gyroscope frequency above 400Hz can produce some jitter from time to time due to sensor HW limitation.
+
+IMU sensor frequencies
+######################
+
+Below are the discrete **stable frequencies** available for each (raw) IMU sensor. Some maximum IMU frequencies are higher, eg.
+for BNO086, maximum frequency for gyroscope is 1000Hz, but up to 400Hz is stable (due to driver limitation).
+
+**BNO086:**
+
+Note that BNO IMU "rounds up" the input frequency to the next available frequency. For example, if you set the frequency to 101 it will round it to 200Hz.
+
+- Accelerometer: 15Hz, 31Hz, 62Hz, 125Hz, 250Hz 500Hz
+- Gyroscope: 25Hz, 33Hz, 50Hz, 100Hz, 200Hz, 400Hz
+- Magnetometer: 100Hz
+
+**BNO086 max frequency:**
+
+.. list-table::
+   :header-rows: 1
+
+   * - BNO086 Sensor
+     - Max Frequency
+   * - ``ACCELEROMETER_RAW``
+     - 512 Hz
+   * - ``ACCELEROMETER``
+     - 512 Hz
+   * - ``LINEAR_ACCELERATION``
+     - 400 Hz
+   * - ``GRAVITY``
+     - 400 Hz
+   * - ``GYROSCOPE_RAW``
+     - 1000 Hz
+   * - ``GYROSCOPE_CALIBRATED`` / ``GYROSCOPE_UNCALIBRATED``
+     - 100 Hz
+   * - ``MAGNETOMETER_RAW``
+     - 100 Hz
+   * - ``MAGNETOMETER_CALIBRATED`` / ``MAGNETOMETER_UNCALIBRATED``
+     - 100 Hz
+   * - ``ROTATION_VECTOR``
+     - 400 Hz
+   * - ``GAME_ROTATION_VECTOR``
+     - 400 Hz
+   * - ``GEOMAGNETIC_ROTATION_VECTOR``
+     - 100 Hz
+   * - ``ARVR_STABILIZED_ROTATION_VECTOR``
+     - 100 Hz
+   * - ``ARVR_STABILIZED_GAME_ROTATION_VECTOR``
+     - 100 Hz
+
+**BMI270:**
+
+Note that BMI279 "rounds down" the input frequency to the next available frequency. For example, if you set the frequency to 99 it will round it to 50Hz.
+Additionally, the current max frequency of ~250 Hz is set when the input is >400Hz.
+
+- Accelerometer: 25Hz, 50Hz, 100Hz, 200Hz, 250Hz
+- Gyroscope: 25Hz, 50Hz, 100Hz, 200Hz, 250Hz
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    imu = pipeline.create(dai.node.IMU)
+
+    # enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 100 hz rate
+    imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 100)
+    # above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
+    imu.setBatchReportThreshold(1)
+    # maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
+    # if lower or equal to batchReportThreshold then the sending is always blocking on device
+    # useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+    imu.setMaxBatchReports(10)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto imu = pipeline.create<dai::node::IMU>();
+
+    // enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 100 hz rate
+    imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 100);
+    // above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
+    imu->setBatchReportThreshold(1);
+    // maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
+    // if lower or equal to batchReportThreshold then the sending is always blocking on device
+    // useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+    imu->setMaxBatchReports(10);
+
+IMU sensors
+###########
+
+When enabling the IMU sensors (:code:`imu.enableIMUSensor()`), you can select between the following sensors:
+
+- :code:`ACCELEROMETER_RAW`
+- :code:`ACCELEROMETER`
+- :code:`LINEAR_ACCELERATION`
+- :code:`GRAVITY`
+- :code:`GYROSCOPE_RAW`
+- :code:`GYROSCOPE_CALIBRATED`
+- :code:`GYROSCOPE_UNCALIBRATED`
+- :code:`MAGNETOMETER_RAW`
+- :code:`MAGNETOMETER_CALIBRATED`
+- :code:`MAGNETOMETER_UNCALIBRATED`
+- :code:`ROTATION_VECTOR`
+- :code:`GAME_ROTATION_VECTOR`
+- :code:`GEOMAGNETIC_ROTATION_VECTOR`
+- :code:`ARVR_STABILIZED_ROTATION_VECTOR`
+- :code:`ARVR_STABILIZED_GAME_ROTATION_VECTOR`
+
+Here are **descriptions of all sensors**:
+
+.. autoclass:: depthai.IMUSensor
+  :noindex:
+
+Examples of functionality
+#########################
+
+- :ref:`IMU Accelerometer & Gyroscope`
+- :ref:`IMU Rotation Vector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.IMU
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::IMU
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/message_demux.rst b/bindings/python/docs/source/components/nodes/message_demux.rst
new file mode 100644
index 000000000..bb6d3ee85
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/message_demux.rst
@@ -0,0 +1,122 @@
+MessageDemux
+============
+
+
+The MessageDemux (Demultiplexer) node is used to separate a :ref:`MessageGroup` into individual outputs. It currently serves as way to demultiplex the output of :ref:`Sync` node. 
+
+How to Place It
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    demux = pipeline.create(dai.node.MessageDemux)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto demux = pipeline.create<dai::node::MessageDemux>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  input          │                   │
+  ──────────────►│                   │
+                 │    MessageDemux   │        output1
+                 │                   ├───────────►
+                 │                   │        output2
+                 │                   ├───────────►
+                 │                   │        ...
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`MessageGroup`
+- :code:`output1`, :code:`output2`, ... - Individual output messages
+
+Usage
+#####
+
+The MessageDemux node is particularly useful for handling different types of data coming from a single source. 
+For example, when the :ref:`Sync` node is used to synchronize the outputs of multiple nodes, the output of the Sync node is a :ref:`MessageGroup` containing all the messages from the synchronized nodes. The Demux node can be used to separate the messages into individual streams.
+
+.. tabs::
+
+  .. code-tab:: py
+
+      # Create sync node and set sync threshold
+      sync = pipeline.create(dai.node.Sync)
+      sync.setSyncThresholdMs(timedelta(milliseconds=100))
+
+      # Create demux node
+      demux = pipeline.create(dai.node.MessageDemux)
+
+      # Sync the outputs of multiple nodes
+      rgb.preview.link(sync.inputs["rgb"])
+      stereo.depth.link(sync.inputs["depth"])
+      script.outputs["out"].link(sync.inputs["script"])
+
+      sync.out.link(demux.input) # Sync output is a MessageGroup containing all the messages from the synchronized nodes
+
+      # Demux the MessageGroup into individual messages
+      demux.outputs["rgb"].link(xout1.input)
+      demux.outputs["depth"].link(xout2.input)
+      demux.outputs["script"].link(xout3.input)
+
+
+
+
+  .. code-tab:: c++
+
+      // Create sync node and set sync threshold
+      auto sync = pipeline.create<dai::node::Sync>();
+      sync->setSyncThreshold(std::chrono::milliseconds(100));
+
+      // Create demux node
+      auto demux = pipeline.create<dai::node::MessageDemux>();
+
+      // Sync the outputs of multiple nodes
+      rgb.preview.link(sync->input["rgb"]);
+      stereo.depth.link(sync->input["depth"]);
+      script.outputs["out"].link(sync->input["script"]);
+
+      sync->out.link(demux->input); // Sync output is a MessageGroup containing all the messages from the synchronized nodes
+
+      // Demux the MessageGroup into individual messages
+      demux->outputs["rgb"].link(xout1.input);
+      demux->outputs["depth"].link(xout2.input);
+      demux->outputs["script"].link(xout3.input);
+
+
+Examples of Functionality
+##########################
+
+- :ref:`Demuxing Synchronized Script Outputs`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.MessageDemux
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+      
+    .. doxygenclass:: dai::node::MessageDemux
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/mobilenet_detection_network.rst b/bindings/python/docs/source/components/nodes/mobilenet_detection_network.rst
new file mode 100644
index 000000000..9e85d7d7f
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/mobilenet_detection_network.rst
@@ -0,0 +1,97 @@
+MobileNetDetectionNetwork
+=========================
+
+MobileNet detection network node is very similar to :ref:`NeuralNetwork` (in fact it extends it). The only difference is that this node
+is specifically for the MobileNet NN and it decodes the result of the NN on device. This means that :code:`out` of this node is not a byte array
+but a :ref:`ImgDetections` that can easily be used in your code.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mobilenetDet = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mobilenetDet = pipeline.create<dai::node::MobileNetDetectionNetwork>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+              ┌───────────────────�
+              │                   │       out
+              │                   ├───────────►
+              │     MobileNet     │
+              │     Detection     │
+  input       │     Network       │ passthrough
+  ───────────►│-------------------├───────────►
+              │                   │
+              └───────────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`ImgFrame`
+- :code:`out` - :ref:`ImgDetections`
+- :code:`passthrough` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mobilenetDet = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+    mobilenetDet.setConfidenceThreshold(0.5)
+    mobilenetDet.setBlobPath(nnBlobPath)
+    mobilenetDet.setNumInferenceThreads(2)
+    mobilenetDet.input.setBlocking(False)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mobilenetDet = pipeline.create<dai::node::MobileNetDetectionNetwork>();
+
+    mobilenetDet->setConfidenceThreshold(0.5f);
+    mobilenetDet->setBlobPath(nnBlobPath);
+    mobilenetDet->setNumInferenceThreads(2);
+    mobilenetDet->input.setBlocking(false);
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.MobileNetDetectionNetwork
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::MobileNetDetectionNetwork
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/mobilenet_spatial_detection_network.rst.rst b/bindings/python/docs/source/components/nodes/mobilenet_spatial_detection_network.rst.rst
new file mode 100644
index 000000000..dbed45c7f
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/mobilenet_spatial_detection_network.rst.rst
@@ -0,0 +1,116 @@
+MobileNetSpatialDetectionNetwork
+================================
+
+Spatial detection for the MobileNet NN. It is similar to a combination of the :ref:`MobileNetDetectionNetwork` and :ref:`SpatialLocationCalculator`.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  input          │                   │       passthrough
+  ──────────────►│-------------------├─────────────────►
+                 │     MobileNet     │               out
+                 │     Spatial       ├─────────────────►
+                 │     Detection     │boundingBoxMapping
+                 │     Network       ├─────────────────►
+  inputDepth     │                   │  passthroughDepth
+  ──────────────►│-------------------├─────────────────►
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`ImgFrame`
+- :code:`inputDepth` - :ref:`ImgFrame`
+- :code:`passthrough` - :ref:`ImgFrame`
+- :code:`out` - :ref:`SpatialImgDetections`
+- :code:`boundingBoxMapping` - :ref:`SpatialLocationCalculatorConfig`
+- :code:`passthroughDepth` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+
+    mobilenetSpatial.setBlobPath(nnBlobPath)
+    # Will ingore all detections whose confidence is below 50%
+    mobilenetSpatial.setConfidenceThreshold(0.5)
+    mobilenetSpatial.input.setBlocking(False)
+    # How big the ROI will be (smaller value can provide a more stable reading)
+    mobilenetSpatial.setBoundingBoxScaleFactor(0.5)
+    # Min/Max threshold. Values out of range will be set to 0 (invalid)
+    mobilenetSpatial.setDepthLowerThreshold(100)
+    mobilenetSpatial.setDepthUpperThreshold(5000)
+
+    # Link depth from the StereoDepth node
+    stereo.depth.link(mobilenetSpatial.inputDepth)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();
+
+    mobilenetSpatial->setBlobPath(nnBlobPath);
+    // Will ingore all detections whose confidence is below 50%
+    mobilenetSpatial->setConfidenceThreshold(0.5f);
+    mobilenetSpatial->input.setBlocking(false);
+    // How big the ROI will be (smaller value can provide a more stable reading)
+    mobilenetSpatial->setBoundingBoxScaleFactor(0.5f);
+    // Min/Max threshold. Values out of range will be set to 0 (invalid)
+    mobilenetSpatial->setDepthLowerThreshold(100);
+    mobilenetSpatial->setDepthUpperThreshold(5000);
+
+    // Link depth from the StereoDepth node
+    stereo->depth.link(mobilenetSpatial->inputDepth);
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`Mono & MobilenetSSD with spatial data`
+
+.. include::  /includes/spatial-coords.rst
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.MobileNetSpatialDetectionNetwork
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::MobileNetSpatialDetectionNetwork
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/mono_camera.rst b/bindings/python/docs/source/components/nodes/mono_camera.rst
new file mode 100644
index 000000000..e5b278337
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/mono_camera.rst
@@ -0,0 +1,88 @@
+MonoCamera
+==========
+
+MonoCamera node is a source of :ref:`image frames <ImgFrame>`. You can control in at runtime with the :code:`inputControl`. Some DepthAI modules don't
+have mono camera(s). Two mono cameras are used to calculate stereo depth (with :ref:`StereoDepth` node).
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mono = pipeline.create(dai.node.MonoCamera)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mono = pipeline.create<dai::node::MonoCamera>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌─────────────────�
+                 │                 │         out
+  inputControl   │                 ├───────────►
+  ──────────────►│    MonoCamera   |         raw
+                 │                 ├───────────►
+                 │                 │
+                 └─────────────────┘
+
+**Message types**
+
+- :code:`inputControl` - :ref:`CameraControl`
+- :code:`out` - :ref:`ImgFrame`
+- :code:`raw` - :ref:`ImgFrame` - RAW10 data. Demo code for unpacking `here <https://github.com/luxonis/depthai-experiments/blob/3f1b2b2/gen2-color-isp-raw/main.py#L13-L32>`__ (for ColorCamera)
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    mono = pipeline.create(dai.node.MonoCamera)
+    mono.setCamera("right")
+    mono.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto mono = pipeline.create<dai::node::MonoCamera>();
+    mono->setCamera("right");
+    mono->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
+
+Examples of functionality
+#########################
+
+- :ref:`Mono Preview`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Mono Camera Control`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.MonoCamera
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::MonoCamera
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/neural_network.rst b/bindings/python/docs/source/components/nodes/neural_network.rst
new file mode 100644
index 000000000..34b3bddf7
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/neural_network.rst
@@ -0,0 +1,146 @@
+NeuralNetwork
+=============
+
+This node runs neural inference on input data. Any OpenVINO neural networks can be run using this node, as long as the VPU `supports all layers <https://docs.luxonis.com/en/latest/pages/model_conversion/#supported-layers>`__.
+This allows you to pick from **200+ pre-trained model** from `Open Model Zoo <https://github.com/openvinotoolkit/open_model_zoo>`__ and `DepthAI Model Zoo <https://github.com/luxonis/depthai-model-zoo>`__
+and directly run it on the OAK device.
+
+Neural network has to be in :code:`.blob` format to be compatible with the VPU. Instructions on how to compile
+your neural network (NN) to :code:`.blob` can be found `here <https://docs.luxonis.com/en/latest/pages/model_conversion/>`__.
+
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    nn = pipeline.create(dai.node.NeuralNetwork)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto nn = pipeline.create<dai::node::NeuralNetwork>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+              ┌───────────────────�
+              │                   │       out
+              │                   ├───────────►
+              │                   │
+              │   NeuralNetwork   │
+  input       │                   │ passthrough
+  ───────────►│-------------------├───────────►
+              │                   │
+              └───────────────────┘
+
+**Message types**
+
+- :code:`input` - Any message type
+- :code:`out` - :ref:`NNData`
+- :code:`passthrough` - :ref:`ImgFrame`
+
+Passthrough mechanism
+#####################
+
+The passthrough mechanism is very useful when a node specifies its input to be non-blocking, where messages can be overwritten.
+There we don't know on which message the node performed its operation (eg NN, was inference done on frame 25 or skipped 25 and performed
+inference on 26). At the same time means that if: xlink and host input queues are blocking, and we receive both say passthrough and
+output we can do a blocking get on both of those queues and be sure to always get matching frames. They might not arrive at the same time,
+but both of them will arrive, and be in queue in correct spot to be taken out together.
+
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    nn = pipeline.create(dai.node.NeuralNetwork)
+    nn.setBlobPath(bbBlobPath)
+    cam.out.link(nn.input)
+
+    # Send NN out to the host via XLink
+    nnXout = pipeline.create(dai.node.XLinkOut)
+    nnXout.setStreamName("nn")
+    nn.out.link(nnXout.input)
+
+    with dai.Device(pipeline) as device:
+      qNn = device.getOutputQueue("nn")
+
+      nnData = qNn.get() # Blocking
+
+      # NN can output from multiple layers. Print all layer names:
+      print(nnData.getAllLayerNames())
+
+      # Get layer named "Layer1_FP16" as FP16
+      layer1Data = nnData.getLayerFp16("Layer1_FP16")
+
+      # You can now decode the output of your NN
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto nn = pipeline.create<dai::node::NeuralNetwork>();
+    nn->setBlobPath(bbBlobPath);
+    cam->out.link(nn->input);
+
+    // Send NN out to the host via XLink
+    auto nnXout = pipeline.create<dai::node::XLinkOut>();
+    nnXout->setStreamName("nn");
+    nn->out.link(nnXout->input);
+
+    dai::Device device(pipeline);
+    // Start the pipeline
+    device.startPipeline();
+
+    auto qNn = device.getOutputQueue("nn");
+
+    auto nnData = qNn->get<dai::NNData>(); // Blocking
+
+    // NN can output from multiple layers. Print all layer names:
+    cout << nnData->getAllLayerNames();
+
+    // Get layer named "Layer1_FP16" as FP16
+    auto layer1Data = nnData->getLayerFp16("Layer1_FP16");
+
+    // You can now decode the output of your NN
+
+Examples of functionality
+#########################
+
+- :ref:`Multi-Input Frame Concationation`
+- :ref:`Frame Normalization`
+- `DeeplabV3 experiment <https://github.com/luxonis/depthai-experiments/tree/master/gen2-deeplabv3_depth>`__
+- `Age/gender experiment <https://github.com/luxonis/depthai-experiments/blob/master/gen2-age-gender/main.py>`__
+- `EfficientDet demo <https://github.com/luxonis/depthai-experiments/blob/master/gen2-efficientDet/main.py>`__
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.NeuralNetwork
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::NeuralNetwork
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/object_tracker.rst b/bindings/python/docs/source/components/nodes/object_tracker.rst
new file mode 100644
index 000000000..579db9321
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/object_tracker.rst
@@ -0,0 +1,138 @@
+ObjectTracker
+=============
+
+Object tracker tracks detected objects from the :ref:`ImgDetections` using Kalman filter and hungarian algorithm.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto objectTracker = pipeline.create<dai::node::ObjectTracker>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                      ┌───────────────────�
+  inputDetectionFrame │                   │passthroughDetectionFrame
+  ───────────────────►│-------------------├─────────────────────────►
+                      │                   │                      out
+                      │      Object       ├─────────────────────────►
+  inputTrackerFrame   │      Tracker      │  passthroughTrackerFrame
+  ───────────────────►│-------------------├─────────────────────────►
+  inputDetections     │                   │    passthroughDetections
+  ───────────────────►│-------------------├─────────────────────────►
+                      └───────────────────┘
+
+**Message types**
+
+- :code:`inputDetectionFrame` - :ref:`ImgFrame`
+- :code:`inputTrackerFrame` - :ref:`ImgFrame`
+- :code:`inputDetections` - :ref:`ImgDetections`
+- :code:`out` - :ref:`Tracklets`
+- :code:`passthroughDetectionFrame` - :ref:`ImgFrame`
+- :code:`passthroughTrackerFrame` - :ref:`ImgFrame`
+- :code:`passthroughDetections` - :ref:`ImgDetections`
+
+
+Zero term tracking
+##################
+
+Zero term tracking performs object association, which means that it does not conduct prediction and tracking based on previous tracking history.
+Object association would mean that detected objects from an external detector are mapped with tracked objects which has been detected and is being tracked from
+previous frames.
+
+Short term tracking
+###################
+
+Short-term tracking allows to track objects between frames, thereby reducing the need to run object detection on each frame. This works great with NN
+models that can't achieve 30FPS (eg. `YoloV5 <https://github.com/luxonis/depthai-experiments/tree/master/gen2-yolov5>`__); tracker can
+provide tracklets when there was no inference, so the whole system can run at 30FPS.
+
+Supported object tracker types
+##############################
+
+- :code:`SHORT_TERM_KCF`: Kernelized Correlation Filter tracking. KCF  utilizes properties of circulant matrix to enhance the processing speed. Paper `here <https://www.robots.ox.ac.uk/~joao/publications/henriques_tpami2015.pdf>`__.
+- :code:`SHORT_TERM_IMAGELESS`: Short-term tracking allows to track objects on frames where object detection was skipped, by extrapolating object trajectory from previous detections.
+- :code:`ZERO_TERM_COLOR_HISTOGRAM`: Utilizes position, shape and input image information such as RGB histogram to perform object tracking.
+- :code:`ZERO_TERM_IMAGELESS`: Only utilizes rectangular shape of detected object and position information for object tracking. It does not use color information of tracking objects. It achieves higher throughput than ZERO_TERM_COLOR_HISTOGRAM. User needs to consider the trade-off between throughput and accuracy when choosing the object tracker type.
+
+A similar comparison of object trackers with more information can be found `here <https://github.com/openvinotoolkit/dlstreamer_gst/wiki/Object-tracking#object-tracking-types>`__.
+
+Maximum number of tracked objects
+#################################
+
+**ObjectTracker** node can track up to 60 objects at once. At the moment the firmware crashes if there are more than 60 objects to track.
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+      objectTracker.setDetectionLabelsToTrack([15])  # Track only person
+      # Possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+      objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+      # Take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+      objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+      # You have to use Object tracker in combination with detection network
+      # and an image frame source - mono/color camera or xlinkIn node
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto objectTracker = pipeline.create<dai::node::ObjectTracker>();
+
+      objectTracker->setDetectionLabelsToTrack({15});  // Track only person
+      // Possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+      objectTracker->setTrackerType(dai::TrackerType::ZERO_TERM_COLOR_HISTOGRAM);
+      // Take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+      objectTracker->setTrackerIdAssignmentPolicy(dai::TrackerIdAssignmentPolicy::SMALLEST_ID);
+
+      // You have to use Object tracker in combination with detection network
+      // and an image frame source - mono/color camera or xlinkIn node
+
+Examples of functionality
+#########################
+
+- :ref:`Object tracker on RGB`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`Object tracker on video`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.ObjectTracker
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::ObjectTracker
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/script.rst b/bindings/python/docs/source/components/nodes/script.rst
new file mode 100644
index 000000000..f8d09030c
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/script.rst
@@ -0,0 +1,273 @@
+Script
+======
+
+Script node allows users to run **custom Python scripts on the device**. Due to the computational resource constraints,
+script node shouldn't be used for heavy computing (eg. image manipulation/CV), but for managing the flow
+of the pipeline (business logic). Example use cases would be controlling nodes like :ref:`ImageManip`, :ref:`ColorCamera`, :ref:`SpatialLocationCalculator`,
+decoding :ref:`NeuralNetwork` results, or interfacing with GPIOs. For **debugging scripts**, we suggest :ref:`Script node logging <script_logging>`.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    script = pipeline.create(dai.node.Script)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto script = pipeline.create<dai::node::Script>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+  inputs[]  ┌──────────────�  outputs[]
+  ---------►│              ├-----------►
+  ---------►│              ├-----------►
+     ...    │    Script    |    ...
+     ...    │              │    ...
+  ---------►│              ├-----------►
+            └──────────────┘
+
+Users can define as many inputs and outputs as they need. Inputs and outputs can be any :ref:`Message <components_messages>` type.
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      script = pipeline.create(dai.node.Script)
+      script.setScript("""
+          import time
+          import marshal
+          num = 123
+          node.warn(f"Number {num}") # Print to host
+          x = [1, "Hello", {"Foo": "Bar"}]
+          x_serial = marshal.dumps(x)
+          b = Buffer(len(x_serial))
+          while True:
+              time.sleep(1)
+              b.setData(x_serial)
+              node.io['out'].send(b)
+      """)
+      script.outputs['out'].link(xout.input)
+
+      # ...
+      # After initializing the device, enable log levels
+      device.setLogLevel(dai.LogLevel.WARN)
+      device.setLogOutputLevel(dai.LogLevel.WARN)
+
+  .. code-tab:: c++
+
+      auto script = pipeline.create<dai::node::Script>();
+      script->setScript(R"(
+          import time
+          import marshal
+          num = 123
+          node.warn(f"Number {num}") # Print to host
+          x = [1, "Hello", {"Foo": "Bar"}]
+          x_serial = marshal.dumps(x)
+          b = Buffer(len(x_serial))
+          while True:
+              time.sleep(1)
+              b.setData(x_serial)
+              node.io['out'].send(b)
+      )");
+      script->outputs["out"].link(xout->input);
+
+      // ...
+      // After initializing the device, enable log levels
+      device.setLogLevel(dai::LogLevel.WARN);
+      device.setLogOutputLevel(dai::LogLevel.WARN);
+
+Interfacing with GPIOs
+######################
+
+In the script node you can interface with GPIOs of the VPU using module GPIO. Currently supported functions are:
+
+.. code-block:: python
+
+  # Module
+  import GPIO
+
+  # General
+  GPIO.setup(gpio, dir, pud, exclusive)
+  GPIO.release(gpio)
+  GPIO.write(gpio, value)
+  GPIO.read(gpio)
+
+  # Interrupts
+  GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here
+  GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specified gpio. Interrupts with callbacks are ignored here
+  GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin
+  GPIO.clearInterrupt(gpio) # clears interrupt of specified pin
+
+  # PWM
+  GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
+  GPIO.enablePwm(gpio, enable)
+
+  # Enumerations
+  GPIO.Direction: GPIO.IN, GPIO.OUT
+  GPIO.State: GPIO.LOW, GPIO.HIGH
+  GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP
+  GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW
+
+Here's **an example** of toggling GPIO pin 40 inside Script node from the host (via :ref:`XLinkIn`). On `OAK-SoM-Pro <https://docs.luxonis.com/projects/hardware/en/latest/pages/BW2099.html>`__,
+GPIO 40 drives FSYNC signal for both 4-lane cameras, and we have used the code below for this exact reason.
+
+.. code-block:: python
+
+  import GPIO
+  MX_PIN = 40
+
+  ret = GPIO.setup(MX_PIN, GPIO.OUT, GPIO.PULL_DOWN)
+  toggleVal = True
+
+  while True:
+    data = node.io['in'].get()  # Wait for a message from the host computer
+
+    node.warn('GPIO toggle: ' + str(toggleVal))
+    toggleVal = not toggleVal
+    ret = GPIO.write(MX_PIN, toggleVal)  # Toggle the GPIO
+
+Time synchronization
+####################
+
+Script node has access to both device (internal) clock and also synchronized host clock. Host clock is synchronized with device clock at below 2.5ms precision at 1σ, :ref:`more information here <Host clock syncing>`.
+
+.. code-block:: python
+
+    import time
+    interval = 60
+    ctrl = CameraControl()
+    ctrl.setCaptureStill(True)
+    previous = 0
+    while True:
+        time.sleep(0.001)
+
+        tnow_full = Clock.nowHost() # Synced clock with host
+        # Clock.now() -> internal/device clock
+        # Clock.offsetToHost() -> Offset between internal/device clock and host clock
+
+        now = tnow_full.seconds
+        if now % interval == 0 and now != previous:
+            previous = now
+            node.warn(f'{tnow_full}')
+            node.io['out'].send(ctrl)
+
+Using DepthAI :ref:`Messages <components_messages>`
+###################################################
+
+The depthai module is implicitly imported to the script node. You can create new
+depthai messages and assign data to it, for example:
+
+.. code-block:: python
+
+  buf = Buffer(100) # Assign 100 bytes to the Buffer message
+
+  # Create CameraControl message, set manual focus
+  control = CameraControl()
+  control.setManualFocus(100)
+
+  imgFrame = ImgFrame(300*300*3) # Buffer with 300x300x3 bytes
+
+Available modules and libraries
+###############################
+
+.. tabs::
+
+  .. tab:: **Modules**
+
+    .. code-block::
+
+      "posix", "errno", "pwd", "_sre", "_codecs", "_weakref", "_functools", "_operator",
+      "_collections", "_abc", "itertools", "atexit", "_stat", "time", "_datetime", "math",
+      "_thread", "_io", "_symtable", "marshal", "_ast", "gc", "_warnings", "_string", "_struct"
+
+  .. tab:: **Modules** for **LEON_CSS**
+
+    .. code-block::
+
+      "binascii", "_random", "_socket", "_md5", "_sha1", "_sha256", "_sha512", "select",
+      "array", "unicodedata"
+
+  .. tab:: **Libraries**
+
+    .. code-block::
+
+      "__main__", "_collections_abc", "_frozen_importlib", "_frozen_importlib_external",
+      "_sitebuiltins", "abc", "codecs", "datetime", "encodings", "encodings.aliases",
+      "encodings.ascii", "encodings.latin_1", "encodings.mbcs", "encodings.utf_8", "genericpath",
+      "io", "os", "posixpath", "site", "stat", "threading", "types", "struct", "copyreg",
+      "reprlib", "operator", "keyword", "heapq", "collections", "functools", "sre_constants",
+      "sre_parse", "sre_compile", "enum", "re", "json", "json.decoder", "json.encoder",
+      "json.scanner", "textwrap"
+
+  .. tab:: **Libraries** for **LEON_CSS**
+
+    .. code-block::
+
+      "http", "http.client", "http.server", "html", "mimetypes", "copy", "shutil", "fnmatch",
+      "socketserver", "contextlib", "email", "email._encoded_words", "email._header_value_parser",
+      "email._parseaddr", "email._policybase", "email.base64mime", "email.charset",
+      "email.contentmanager",  "email.encoders", "email.errors", "email.feedparser",
+      "email.generator", "email.header", "email.headerregistry", "email.iterators", "email.message",
+      "email.parser", "email.policy", "email.quoprimime", "email.utils", "string", "base64",
+      "quopri", "random", "warnings", "bisect", "hashlib", "logging", "traceback", "linecache",
+      "socket", "token", "tokenize", "weakref", "_weakrefset", "collections.abc", "selectors",
+      "urllib", "urllib.parse", "calendar", "locale", "uu", "encodings.idna", "stringprep"
+
+The **difference between module and library** is that module is a precompiled C source with Python bindings, whereas library is Python source code
+packed into a library and precompiled into Python bytecode (before loaded into our Firmware).
+
+**Networking/protocol modules/libraries** that are available on the LEON_CSS **can only be used on** `OAK POE device <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__.
+You can specify on which processor the script will run, eg. for LEON_CSS:
+
+.. code-block:: python
+
+  script = pipeline.create(dai.node.Script)
+  script.setProcessor(dai.ProcessorType.LEON_CSS)
+
+Examples of functionality
+#########################
+
+- :ref:`Script camera control` - Controlling the camera
+- :ref:`Script get local IP` - Get local IP
+- :ref:`Script HTTP client` - Send HTTP request
+- `Script TCP streaming <https://github.com/luxonis/depthai-experiments/tree/master/gen2-poe-tcp-streaming>`__ - TCP communication from within Script node, either in host or client mode
+- `Script MQTT publishing <https://github.com/luxonis/depthai-experiments/tree/master/gen2-poe-mqtt>`__ - MQTT publishing from within Script node
+- :ref:`Script HTTP server` - still image over HTTP
+- :ref:`Script MJPEG server` - MJPEG video stream over HTTP
+- :ref:`Script NNData example` - Constructs :ref:`NNData`
+- `Triangulation experiment <https://github.com/luxonis/depthai-experiments/blob/master/gen2-triangulation/main.py>`__
+- `Movenet decoding (edge mode) <https://github.com/geaxgx/depthai_movenet/blob/main/template_processing_script.py>`__ - A bit more complex example by geaxgx
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.Script
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::Script
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/spatial_location_calculator.rst b/bindings/python/docs/source/components/nodes/spatial_location_calculator.rst
new file mode 100644
index 000000000..c908566fe
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/spatial_location_calculator.rst
@@ -0,0 +1,121 @@
+SpatialLocationCalculator
+=========================
+
+**SpatialLocationCalculator node** calculates the spatial coordinates of the ROI (region-of-interest) based on the
+:code:`depth` map from the :code:`inputDepth`. It will average the depth values in the ROI and remove the ones out of range.
+
+You can also calculate spatial coordiantes on host side, `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-calc-spatials-on-host>`__.
+The demo also has the same logic that's performed on the device (:code:`calc.py` file).
+
+.. image:: https://user-images.githubusercontent.com/18037362/146296930-9e7071f5-33b9-45f9-af21-cace7ffffc0f.gif
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spatialCalc = pipeline.create<dai::node::SpatialLocationCalculator>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+                 │                   │
+  inputConfig    │                   │       out
+  ──────────────►│     Spatial       ├───────────►
+                 │     location      │
+                 │     calculator    │
+  inputDepth     │                   │passthroughDepth
+  ──────────────►│-------------------├───────────►
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`inputConfig` - :ref:`SpatialLocationCalculatorConfig`
+- :code:`inputDepth` - :ref:`ImgFrame`
+- :code:`out` - :ref:`SpatialLocationCalculatorData`
+- :code:`passthroughDepth` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)
+    spatialCalc.setWaitForConfigInput(False)
+
+    # Set initial config
+    config = dai.SpatialLocationCalculatorConfigData()
+    config.depthThresholds.lowerThreshold = 100
+    config.depthThresholds.upperThreshold = 10000
+
+    topLeft = dai.Point2f(0.4, 0.4)
+    bottomRight = dai.Point2f(0.6, 0.6)
+    config.roi = dai.Rect(topLeft, bottomRight)
+
+    spatial_calc.initialConfig.addROI(config)
+
+    # You can later send configs from the host (XLinkIn) / Script node to the InputConfig
+
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spatialCalc = pipeline.create<dai::node::SpatialLocationCalculator>();
+    spatialCalc->setWaitForConfigInput(false);
+
+    // Set initial config
+    dai::SpatialLocationCalculatorConfigData config;
+    config.depthThresholds.lowerThreshold = 100;
+    config.depthThresholds.upperThreshold = 10000;
+
+    dai::Point2f topLeft(0.4f, 0.4f);
+    dai::Point2f bottomRight(0.6f, 0.6f);
+    config.roi = dai::Rect(topLeft, bottomRight);
+
+    spatialCalc->initialConfig.addROI(config);
+
+    // You can later send configs from the host (XLinkIn) / scripting node to the InputConfig
+
+Examples of functionality
+#########################
+
+- :ref:`Spatial location calculator`
+
+.. include::  /includes/spatial-coords.rst
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.SpatialLocationCalculator
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::SpatialLocationCalculator
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/spi_in.rst b/bindings/python/docs/source/components/nodes/spi_in.rst
new file mode 100644
index 000000000..8af2f7f88
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/spi_in.rst
@@ -0,0 +1,90 @@
+SPIIn
+=====
+
+SPIIn node is used for **receiving data** that was sent **from a MCU** (via SPI).
+You can find demos `here <https://github.com/luxonis/esp32-spi-message-demo>`__.
+
+This allows you for example to control eg. :ref:`ColorCamera` or :ref:`ImageManip` from the MCU or send a :ref:`Buffer` of data from the MCU to a :ref:`Script` node.
+
+:ref:`SPIOut` is used for sending data from the VPU to a MCU (via SPI).
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spi = pipeline.create(dai.node.SPIIn)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spi = pipeline.create<dai::node::SPIIn>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+             ┌─────────────�
+  SPI        │             │
+  (from MCU) |             │      out
+  ----------►│    SPIIn    ├─────────►
+             │             │
+             │             │
+             └─────────────┘
+
+**Message types**
+
+- :code:`out` - :code:`Any`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spi = pipeline.create(dai.node.SPIIn)
+
+    spi.setStreamName("control")
+    spi.setBusId(0)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spi = pipeline.create<dai::node::SPIIn>();
+
+    spi->setStreamName("control");
+    spi->setBusId(0);
+
+Examples of functionality
+#########################
+
+- `SPI code demos with ESP32 <https://github.com/luxonis/esp32-spi-message-demo>`__
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.SPIIn
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::SPIIn
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/spi_out.rst b/bindings/python/docs/source/components/nodes/spi_out.rst
new file mode 100644
index 000000000..4861a6fdb
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/spi_out.rst
@@ -0,0 +1,88 @@
+SPIOut
+======
+
+SPIOut node is used for **sending data to a MCU** (via SPI).
+You can find demos `here <https://github.com/luxonis/esp32-spi-message-demo>`__.
+
+:ref:`SPIIn` is used for receiving data from the MCU (via SPI).
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spi = pipeline.create(dai.node.SPIOut)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spi = pipeline.create<dai::node::SPIOut>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+            ┌──────────────�
+            │              │
+  input     │              │ SPI (to MCU)
+  ─────────►│    SPIOut    ├------------►
+            │              │
+            │              │
+            └──────────────┘
+
+**Message types**
+
+- :code:`input` - :code:`Any`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    spi = pipeline.create(dai.node.SPIOut)
+
+    spi.setStreamName("spimetaout")
+    spi.setBusId(0)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto spi = pipeline.create<dai::node::SPIOut>();
+
+    spi->setStreamName("spimetaout");
+    spi->setBusId(0);
+
+Examples of functionality
+#########################
+
+- `SPI code demos with ESP32 <https://github.com/luxonis/esp32-spi-message-demo>`__
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.SPIOut
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::SPIOut
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/stereo_depth.rst b/bindings/python/docs/source/components/nodes/stereo_depth.rst
new file mode 100644
index 000000000..6947eaec5
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/stereo_depth.rst
@@ -0,0 +1,520 @@
+StereoDepth
+###########
+
+StereoDepth node calculates the disparity and/or depth from the stereo camera pair (2x :ref:`MonoCamera <MonoCamera>`/:ref:`ColorCamera`).
+We suggest following :ref:`Configuring Stereo Depth` tutorial to achieve the best depth results.
+
+How to place it
+===============
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    stereo = pipeline.create(dai.node.StereoDepth)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto stereo = pipeline.create<dai::node::StereoDepth>();
+
+
+Inputs and Outputs
+==================
+
+.. code-block::
+
+                 ┌───────────────────�
+                 │                   │ confidenceMap
+                 │                   ├─────────────►
+                 │                   │rectifiedLeft
+                 │                   ├─────────────►
+  left           │                   │   syncedLeft
+  ──────────────►│-------------------├─────────────►
+                 │                   │   depth [mm]
+                 │                   ├─────────────►
+                 │    StereoDepth    │    disparity
+                 │                   ├─────────────►
+  right          │                   │   syncedRight
+  ──────────────►│-------------------├─────────────►
+                 │                   │rectifiedRight
+                 │                   ├─────────────►
+  inputConfig    │                   |     outConfig
+  ──────────────►│-------------------├─────────────►
+                 └───────────────────┘
+
+.. tabs::
+
+  .. tab:: **Inputs**
+
+    - ``left`` - :ref:`ImgFrame` from the left stereo camera
+    - ``right`` - :ref:`ImgFrame` from the right stereo camera
+    - ``inputConfig`` - :ref:`StereoDepthConfig`
+
+  .. tab:: **Outputs**
+
+    - ``confidenceMap`` - :ref:`ImgFrame`
+    - ``rectifiedLeft`` - :ref:`ImgFrame`
+    - ``syncedLeft`` - :ref:`ImgFrame`
+    - ``depth`` - :ref:`ImgFrame`: UINT16 values - depth in depth units (millimeter by default)
+    - ``disparity`` - :ref:`ImgFrame`: UINT8 or UINT16 if Subpixel mode
+    - ``rectifiedRight`` - :ref:`ImgFrame`
+    - ``syncedRight`` - :ref:`ImgFrame`
+    - ``outConfig`` - :ref:`StereoDepthConfig`
+
+  .. tab:: **Debug outputs**
+
+    - ``debugDispLrCheckIt1`` - :ref:`ImgFrame`
+    - ``debugDispLrCheckIt2`` - :ref:`ImgFrame`
+    - ``debugExtDispLrCheckIt1`` - :ref:`ImgFrame`
+    - ``debugExtDispLrCheckIt2`` - :ref:`ImgFrame`
+    - ``debugDispCostDump`` - :ref:`ImgFrame`
+    - ``confidenceMap`` - :ref:`ImgFrame`
+
+Internal block diagram of StereoDepth node
+==========================================
+
+.. image:: /_static/images/components/depth_diagram.png
+   :target: https://whimsical.com/stereo-node-EKcfcXGjGpNL6cwRPV6NPv
+
+On the diagram, red rectangle are firmware settings that are configurable via the API. Gray rectangles are settings that that are not yet
+exposed to the API. We plan on exposing as much configurability as possible, but please inform us if you would like to see these settings
+configurable sooner.
+
+If you click on the image, you will be redirected to the webapp. Some blocks have notes that provide additional technical information.
+
+Currently configurable blocks
+-----------------------------
+
+.. tabs::
+
+  .. tab:: Stereo Mode
+
+    .. tabs::
+
+      .. tab:: Left-Right Check
+
+        **Left-Right Check** or LR-Check is used to remove incorrectly calculated disparity pixels due to occlusions at object borders (Left and Right camera views
+        are slightly different).
+
+        #. Computes disparity by matching in R->L direction
+        #. Computes disparity by matching in L->R direction
+        #. Combines results from 1 and 2, running on Shave: each pixel d = disparity_LR(x,y) is compared with disparity_RL(x-d,y). If the difference is above a threshold, the pixel at (x,y) in the final disparity map is invalidated.
+
+        You can use :code:`debugDispLrCheckIt1` and :code:`debugDispLrCheckIt2` debug outputs for debugging/fine-tuning purposes.
+
+      .. tab:: Extended Disparity
+
+        **Extended disparity mode** allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: **[0..190]**.
+        So this cuts the minimum perceivable distance in half, given that the minimum distance is now :code:`focal_length * base_line_dist / 190` instead
+        of :code:`focal_length * base_line_dist / 95`.
+
+        #. Computes disparity on the original size images (e.g. 1280x720)
+        #. Computes disparity on 2x downscaled images (e.g. 640x360)
+        #. Combines the two level disparities on Shave, effectively covering a total disparity range of 191 pixels (in relation to the original resolution).
+
+        You can use :code:`debugExtDispLrCheckIt1` and :code:`debugExtDispLrCheckIt2` debug outputs for debugging/fine-tuning purposes.
+
+      .. tab:: Subpixel Disparity
+
+        **Subpixel mode** improves the precision and is especially useful for long range measurements. It also helps for better estimating surface normals.
+
+        Besides the integer disparity output, the Stereo engine is programmed to dump to memory the cost volume, that is 96 levels (disparities) per pixel,
+        then software interpolation is done on Shave, resulting a final disparity with 3 fractional bits, resulting in significantly more granular depth
+        steps (8 additional steps between the integer-pixel depth steps), and also theoretically, longer-distance depth viewing - as the maximum depth
+        is no longer limited by a feature being a full integer pixel-step apart, but rather 1/8 of a pixel. In this mode, stereo cameras perform: :code:`94 depth steps * 8 subpixel depth steps + 2 (min/max values) = 754 depth steps`
+
+        For comparison of normal disparity vs. subpixel disparity images, click `here <https://github.com/luxonis/depthai/issues/184>`__.
+
+  .. tab:: Depth Filters
+
+    **Depth Filtering** / **Depth Post-Processing** is performed at the end of the depth pipeline. It helps with noise reduction and overall depth quality.
+
+    .. include::  ../../includes/depth-filters.rst
+
+  .. tab:: Mesh files
+
+    Mesh files (homography matrix) are generated using the camera intrinsics, distortion coeffs, and rectification rotations.
+    These files helps in overcoming the distortions in the camera increasing the accuracy and also help in when `wide FOV <https://docs.luxonis.com/projects/hardware/en/latest/pages/arducam.html#arducam-compatible-cameras>`__ lens are used.
+
+    .. note::
+      Currently mesh files are generated only for stereo cameras on the host during calibration. The generated mesh files are stored in `depthai/resources <https://github.com/luxonis/depthai/tree/main/resources>`__ which users can load to the device. This process will be moved to on device in the upcoming releases.
+
+    .. doxygenfunction:: dai::node::StereoDepth::loadMeshFiles
+        :project: depthai-core
+        :no-link:
+
+    .. doxygenfunction:: dai::node::StereoDepth::loadMeshData
+        :project: depthai-core
+        :no-link:
+
+    .. doxygenfunction:: dai::node::StereoDepth::setMeshStep
+        :project: depthai-core
+        :no-link:
+
+  .. tab:: Confidence Threshold
+
+    - **Confidence threshold**: Stereo depth algorithm searches for the matching feature from right camera point to the left image (along the 96 disparity levels). During this process it computes the cost for each disparity level and chooses the minimal cost between two disparities and uses it to compute the confidence at each pixel. Stereo node will output disparity/depth pixels only where depth confidence is below the **confidence threshold** (lower the confidence value means better depth accuracy).
+    - **LR check threshold**: Disparity is considered for the output when the difference between LR and RL disparities is smaller than the LR check threshold.
+
+    .. doxygenfunction:: dai::StereoDepthConfig::setConfidenceThreshold
+        :project: depthai-core
+        :no-link:
+
+    .. doxygenfunction:: dai::StereoDepthConfig::setLeftRightCheckThreshold
+        :project: depthai-core
+        :no-link:
+
+Limitations
+===========
+
+- Median filtering is disabled when subpixel mode is set to 4 or 5 bits.
+- For RGB-depth alignment the RGB camera has to be placed on the same horizontal line as the stereo camera pair.
+- RGB-depth alignment doesn't work when using disparity shift.
+
+Stereo depth FPS
+================
+
+.. list-table::
+   :header-rows: 1
+
+   * - Stereo depth mode
+     - FPS for 1280x720
+     - FPS for 640x400
+   * - Standard mode
+     - 60
+     - 110
+   * - Left-Right Check
+     - 55
+     - 105
+   * - Subpixel Disparity
+     - 45
+     - 105
+   * - Extended Disparity
+     - 54
+     - 105
+   * - Subpixel + LR check
+     - 34
+     - 96
+   * - Extended + LR check
+     - 26
+     - 62
+
+All stereo modes were measured for :code:`depth` output with **5x5 median filter** enabled. For 720P, mono cameras were set
+to **60 FPS** and for 400P mono cameras were set to **110 FPS**.
+
+Usage
+=====
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    stereo = pipeline.create(dai.node.StereoDepth)
+
+    # Better handling for occlusions:
+    stereo.setLeftRightCheck(False)
+    # Closer-in minimum depth, disparity range is doubled:
+    stereo.setExtendedDisparity(False)
+    # Better accuracy for longer distance, fractional disparity 32-levels:
+    stereo.setSubpixel(False)
+
+    # Define and configure MonoCamera nodes beforehand
+    left.out.link(stereo.left)
+    right.out.link(stereo.right)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto stereo = pipeline.create<dai::node::StereoDepth>();
+
+    // Better handling for occlusions:
+    stereo->setLeftRightCheck(false);
+    // Closer-in minimum depth, disparity range is doubled:
+    stereo->setExtendedDisparity(false);
+    // Better accuracy for longer distance, fractional disparity 32-levels:
+    stereo->setSubpixel(false);
+
+    // Define and configure MonoCamera nodes beforehand
+    left->out.link(stereo->left);
+    right->out.link(stereo->right);
+
+Examples of functionality
+=========================
+
+- :ref:`Depth Preview`
+- :ref:`RGB Depth alignment` - align depth to color camera
+- :ref:`Mono & MobilenetSSD & Depth`
+- :ref:`RGB & MobilenetSSD with spatial data`
+
+Reference
+=========
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.StereoDepth
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::StereoDepth
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+Disparity
+=========
+
+Disparity refers to the distance between two corresponding points in the left and right image of a stereo pair.
+
+.. image:: /_static/images/components/disparity_explanation.jpeg
+   :target: https://stackoverflow.com/a/17620159
+
+When calculating the disparity, each pixel in the disparity map gets assigned a confidence value :code:`0..255` by the stereo matching algorithm,
+as:
+
+- :code:`0` - maximum confidence that it holds a valid value
+- :code:`255` - minimum confidence, so there is more chance that the value is incorrect
+
+(this confidence score is kind-of inverted, if say comparing with NN)
+
+For the final disparity map, a filtering is applied based on the confidence threshold value: the pixels that have their confidence score larger than
+the threshold get invalidated, i.e. their disparity value is set to zero. You can set the confidence threshold with :code:`stereo.initialConfig.setConfidenceThreshold()`.
+
+Calculate depth using disparity map
+===================================
+
+Disparity and depth are inversely related. As disparity decreases, depth increases exponentially depending on baseline and focal length. Meaning, if the disparity value is close to zero, then a small change in disparity generates a large change in depth. Similarly, if the disparity value is big, then large changes in disparity do not lead to a large change in depth.
+
+By considering this fact, depth can be calculated using this formula:
+
+.. code-block:: python
+
+  depth = focal_length_in_pixels * baseline / disparity_in_pixels
+
+Where baseline is the distance between two mono cameras. Note the unit used for baseline and depth is the same.
+
+To get focal length in pixels, you can :ref:`read camera calibration <Calibration Reader>`, as focal length in pixels is
+written in camera intrinsics (``intrinsics[0][0]``):
+
+.. code-block:: python
+
+  import depthai as dai
+
+  with dai.Device() as device:
+    calibData = device.readCalibration()
+    intrinsics = calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C)
+    print('Right mono camera focal length in pixels:', intrinsics[0][0])
+
+Here's theoretical calculation of the focal length in pixels:
+
+.. code-block:: python
+
+  focal_length_in_pixels = image_width_in_pixels * 0.5 / tan(HFOV * 0.5 * PI/180)
+
+  # With 400P mono camera resolution where HFOV=71.9 degrees
+  focal_length_in_pixels = 640 * 0.5 / tan(71.9 * 0.5 * PI / 180) = 441.25
+
+  # With 800P mono camera resolution where HFOV=71.9 degrees
+  focal_length_in_pixels = 1280 * 0.5 / tan(71.9 * 0.5 * PI / 180) = 882.5
+
+Examples for calculating the depth value, using the OAK-D (7.5cm baseline):
+
+.. code-block:: python
+
+  # For OAK-D @ 400P mono cameras and disparity of eg. 50 pixels
+  depth = 441.25 * 7.5 / 50 = 66.19 # cm
+
+  # For OAK-D @ 800P mono cameras and disparity of eg. 10 pixels
+  depth = 882.5 * 7.5 / 10 = 661.88 # cm
+
+Note the value of disparity depth data is stored in :code:`uint16`, where 0 is a special value, meaning that distance is unknown.
+
+Min stereo depth distance
+=========================
+
+If the depth results for close-in objects look weird, this is likely because they are below the minimum depth-perception distance of the device.
+
+To calculate this minimum distance, use the :ref:`depth formula <Calculate depth using disparity map>` and choose the maximum value for disparity_in_pixels parameter (keep in mind it is inveresly related, so maximum value will yield the smallest result).
+
+For example OAK-D has a baseline of **7.5cm**, focal_length_in_pixels of **882.5 pixels** and the default maximum value for disparity_in_pixels is **95**. By using the :ref:`depth formula <Calculate depth using disparity map>` we get:
+
+.. code-block:: python
+
+  min_distance = focal_length_in_pixels * baseline / disparity_in_pixels = 882.5 * 7.5cm / 95 = 69.67cm
+
+or roughly 70cm.
+
+However this distance can be cut in 1/2 (to around 35cm for the OAK-D) with the following options:
+
+1. Changing the resolution to 640x400, instead of the standard 1280x800.
+
+2. Enabling Extended Disparity.
+
+Extended Disparity mode increases the levels of disparity to 191 from the standard 96 pixels, thereby 1/2-ing the minimum depth. It does so by computing the 96-pixel disparities on the original 1280x720 and on the downscaled 640x360 image, which are then merged to a 191-level disparity. For more information see the Extended Disparity tab in :ref:`this table <Currently configurable blocks>`.
+
+Using the previous OAK-D example, disparity_in_pixels now becomes **190** and the minimum distance is:
+
+.. code-block:: python
+
+  min_distance = focal_length_in_pixels * baseline / disparity_in_pixels = 882.5 * 7.5cm / 190 = 34.84cm
+
+or roughly 35cm.
+
+.. note::
+
+    Applying both of those options is possible, which would set the minimum depth to 1/4 of the standard settings, but at such short distances the minimum depth is limited by focal length, which is 19.6cm, since OAK-D mono cameras have fixed focus distance: 19.6cm - infinity.
+
+See `these examples <https://github.com/luxonis/depthai-experiments/tree/master/gen2-camera-demo#real-time-depth-from-depthai-stereo-pair>`__ for how to enable Extended Disparity.
+
+Disparity shift to lower min depth perception
+---------------------------------------------
+
+Another option to perceive closer depth range is to use disparity shift. Disparity shift will shift the starting point
+of the disparity search, which will significantly decrease max depth (MazZ) perception, but it will also decrease min depth (MinZ) perception.
+Disparity shift can be combined with extended/subpixel/LR-check modes.
+
+.. image:: https://user-images.githubusercontent.com/18037362/189375017-2fa137d2-ad6b-46de-8899-6304bbc6c9d7.png
+
+**Left graph** shows min and max disparity and depth for OAK-D (7.5cm baseline, 800P resolution, ~70° HFOV) by default (disparity shift=0). See :ref:`Calculate depth using disparity map`.
+Since hardware (stereo block) has a fixed 95 pixel disparity search, DepthAI will search from 0 pixels (depth=INF) to 95 pixels (depth=71cm).
+
+**Right graph** shows the same, but at disparity shift set to 30 pixels. This means that disparity search will be from 30 pixels (depth=2.2m) to 125 pixels (depth=50cm).
+This also means that depth will be very accurate at the short range (**theoretically** below 5mm depth error).
+
+**Limitations**:
+
+- Because of the inverse relationship between disparity and depth, MaxZ will decrease much faster than MinZ as the disparity shift is increased. Therefore, it is **advised not to use a larger than necessary disparity shift**.
+- Tradeoff in reducing the MinZ this way is that objects at **distances farther away than MaxZ will not be seen**.
+- Because of the point above, **we only recommend using disparity shift when MaxZ is known**, such as having a depth camera mounted above a table pointing down at the table surface.
+- Output disparity map is not expanded, only the depth map. So if disparity shift is set to 50, and disparity value obtained is 90, the real disparity is 140.
+
+**Compared to Extended disparity**, disparity shift:
+
+- **(+)** Is faster, as it doesn't require an extra computation, which means there's also no extra latency
+- **(-)** Reduces the MaxZ (significantly), while extended disparity only reduces MinZ.
+
+Disparity shift can be combined with extended disparity.
+
+.. doxygenfunction:: dai::StereoDepthConfig::setDisparityShift
+  :project: depthai-core
+  :no-link:
+
+Max stereo depth distance
+=========================
+
+The maximum depth perception distance depends on the :ref:`accuracy of the depth perception <Depth perception accuracy>`. The formula used to calculate this distance is an approximation, but is as follows:
+
+.. code-block:: python
+
+  Dm = (baseline/2) * tan((90 - HFOV / HPixels)*pi/180)
+
+So using this formula for existing models the *theoretical* max distance is:
+
+.. code-block:: python
+
+  # For OAK-D (7.5cm baseline)
+  Dm = (7.5/2) * tan((90 - 71.9/1280)*pi/180) = 3825.03cm = 38.25 meters
+
+  # For OAK-D-CM4 (9cm baseline)
+  Dm = (9/2) * tan((90 - 71.9/1280)*pi/180) = 4590.04cm = 45.9 meters
+
+If greater precision for long range measurements is required, consider enabling Subpixel Disparity or using a larger baseline distance between mono cameras. For a custom baseline, you could consider using `OAK-FFC <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM1090.html>`__ device or design your own baseboard PCB with required baseline. For more information see Subpixel Disparity under the Stereo Mode tab in :ref:`this table <Currently configurable blocks>`.
+
+Depth perception accuracy
+=========================
+
+Disparity depth works by matching features from one image to the other and its accuracy is based on multiple parameters:
+
+* Texture of objects / backgrounds
+
+Backgrounds may interfere with the object detection, since backgrounds are objects too, which will make depth perception less accurate. So disparity depth works very well outdoors as there are very rarely perfectly-clean/blank surfaces there - but these are relatively commonplace indoors (in clean buildings at least).
+
+* Lighting
+
+If the illumination is low, the diparity map will be of low confidence, which will result in a noisy depth map.
+
+* Baseline / distance to objects
+
+Lower baseline enables us to detect the depth at a closer distance as long as the object is visible in both the frames. However, this reduces the accuracy for large distances due to less pixels representing the object and disparity decreasing towards 0 much faster.
+So the common norm is to adjust the baseline according to how far/close we want to be able to detect objects.
+
+Limitation
+==========
+
+Since depth is calculated from disparity, which requires the pixels to overlap, there is inherently a vertical
+band on the left side of the left mono camera and on the right side of the right mono camera, where depth
+cannot be calculated, since it is seen by only 1 camera. That band is marked with :code:`B`
+on the following picture.
+
+.. image:: https://user-images.githubusercontent.com/59799831/135310921-67726c28-07e7-4ffa-bc8d-74861049517e.png
+
+Meaning of variables on the picture:
+
+- ``BL [cm]`` - Baseline of stereo cameras.
+- ``Dv [cm]`` - Minimum distace where both cameras see an object (thus where depth can be calculated).
+- ``B [pixels]`` - Width of the band where depth cannot be calculated.
+- ``W [pixels]`` - Width of mono in pixels camera or amount of horizontal pixels, also noted as :code:`HPixels` in other formulas.
+- ``D [cm]`` - Distance from the **camera plane** to an object (see image :ref:`here <Measuring real-world object dimensions>`).
+- ``F [cm]`` - Width of image at the distance ``D``.
+
+.. image:: https://user-images.githubusercontent.com/59799831/135310972-c37ba40b-20ad-4967-92a7-c71078bcef99.png
+
+With the use of the :code:`tan` function, the following formulas can be obtained:
+
+- :code:`F = 2 * D * tan(HFOV/2)`
+- :code:`Dv = (BL/2) * tan(90 - HFOV/2)`
+
+In order to obtain :code:`B`, we can use :code:`tan` function again (same as for :code:`F`), but this time
+we must also multiply it by the ratio between :code:`W` and :code:`F` in order to convert units to pixels.
+That gives the following formula:
+
+.. code-block:: python
+
+  B = 2 * Dv * tan(HFOV/2) * W / F
+  B = 2 * Dv * tan(HFOV/2) * W / (2 * D * tan(HFOV/2))
+  B = W * Dv / D  # pixels
+
+Example: If we are using OAK-D, which has a :code:`HFOV` of 72°, a baseline (:code:`BL`) of 7.5 cm and
+:code:`640x400 (400P)` resolution is used, therefore :code:`W = 640` and an object is :code:`D = 100` cm away, we can
+calculate :code:`B` in the following way:
+
+.. code-block::
+
+  Dv = 7.5 / 2 * tan(90 - 72/2) = 3.75 * tan(54°) = 5.16 cm
+  B = 640 * 5.16 / 100 = 33 # pixels
+
+Credit for calculations and images goes to our community member gregflurry, which he made on
+`this <https://discuss.luxonis.com/d/339-naive-question-regarding-stereodepth-disparity-and-depth-outputs/7>`__
+forum post.
+
+.. note::
+
+   OAK-D-PRO will include both IR dot projector and IR LED, which will enable operation in no light.
+   IR LED is used to illuminate the whole area (for mono/color frames), while IR dot projector is mostly
+   for accurate disparity matching - to have good quality depth maps on blank surfaces as well. For outdoors,
+   the IR laser dot projector is only relevant at night. For more information see the development progress
+   `here <https://github.com/luxonis/depthai-hardware/issues/114>`__.
+
+Measuring real-world object dimensions
+======================================
+
+Because the depth map contains the Z distance, objects in parallel with the camera are measured accurately standard. For objects not in parallel, the Euclidean distance calculation can be used. Please refer to the below:
+
+.. image:: /_static/images/components/Euclidian_distance_fig.png
+
+When running eg. the :ref:`RGB & MobilenetSSD with spatial data` example, you could calculate the distance to the detected object from XYZ coordinates (:ref:`SpatialImgDetections`) using the code below (after code line ``143`` of the example):
+
+.. code-block:: python
+
+    distance = math.sqrt(detection.spatialCoordinates.x ** 2 + detection.spatialCoordinates.y ** 2 + detection.spatialCoordinates.z ** 2) # mm
+
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/sync_node.rst b/bindings/python/docs/source/components/nodes/sync_node.rst
new file mode 100644
index 000000000..913081890
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/sync_node.rst
@@ -0,0 +1,115 @@
+Sync
+====
+
+The Sync node is used for synchronizing multiple input streams based on their timestamps. It outputs a grouped message containing synchronized frames from the input streams.
+The output message is a :ref:`MessageGroup` containing synchronized messages from all the input streams. These can be demultiplexed using the :ref:`MessageDemux` node.
+
+How to Place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    sync = pipeline.create(dai.node.Sync)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto sync = pipeline.create<dai::node::Sync>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  input1         │                   │
+  ──────────────►│                   │
+  input2         │                   │        out
+  ──────────────►│      Sync         ├───────────►
+                 │                   │
+  ...            │                   │
+  ──────────────►│                   │
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`input1`, :code:`input2`, ... - any message type from :ref:`Messages`
+- :code:`out` - :ref:`MessageGroup`
+
+
+Message Synchronization
+########################
+
+The Sync node aligns incoming messages based on their timestamps. The synchronization criteria and behavior can be configured using the :code:`depthai.node.Sync.setSyncThreshold` and :code:`depthai.node.Sync.setSyncAttempts`  method. More info in the :ref:`API Reference <reference>`.
+
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    sync = pipeline.create(dai.node.Sync)
+
+    # Configure threshold for timestamp alignment
+    sync.setSyncThreshold(timedelta(milliseconds=50))
+
+    # Configure inputs to be synchronized
+    camRgb.video.link(sync.inputs["input1"])
+    stereo.depth.link(sync.inputs["input2"])
+
+    sync.output.link(xout.input)
+    # ...
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto sync = pipeline.create<dai::node::Sync>();
+
+    // Configure threshold for timestamp alignment
+    sync->setSyncThreshold(std::chrono::milliseconds(50));
+
+    // Configure inputs to be synchronized
+    camRgb.video.link(sync->input["input1"]);
+    stereo.depth.link(sync->input["input2"]);
+
+    sync->out.link(xout.input);
+    // ...
+
+
+
+Examples of Functionality
+##########################
+
+- :ref:`Depth and Video Sync`
+- :ref:`Multiple Scripts Sync`
+- :ref:`IMU and Video Sync`
+- :ref:`Demuxing Synchronized Script Outputs`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.Sync
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::Sync
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/system_logger.rst b/bindings/python/docs/source/components/nodes/system_logger.rst
new file mode 100644
index 000000000..9dcd99834
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/system_logger.rst
@@ -0,0 +1,92 @@
+SystemLogger
+============
+
+SystemLogger node is used to get :ref:`system information <SystemInformation>` of the device.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    logger = pipeline.create(dai.node.SystemLogger)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto logger = pipeline.create<dai::node::SystemLogger>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+  ┌──────────────�
+  │              │
+  │              │    out
+  │ SystemLogger ├────────►
+  │              │
+  │              │
+  └──────────────┘
+
+**Message types**
+
+- :code:`out` - :ref:`SystemInformation`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    logger = pipeline.create(dai.node.SystemLogger)
+    logger.setRate(1)  # 1 Hz
+
+    # Send system info to the host via XLink
+    xout = pipeline.create(dai.node.XLinkOut)
+    xout.setStreamName("sysinfo")
+    logger.out.link(xout.input)
+
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto logger = pipeline.create<dai::node::SystemLogger>();\
+    logger->setRate(1.0f);  // 1 Hz
+
+    // Send system info to the host via XLink
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    xout->setStreamName("sysinfo");
+    logger->out.link(xout->input);
+
+Examples of functionality
+#########################
+
+- :ref:`System information`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.SystemLogger
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::SystemLogger
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/tof.rst b/bindings/python/docs/source/components/nodes/tof.rst
new file mode 100644
index 000000000..149cb8c50
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/tof.rst
@@ -0,0 +1,110 @@
+ToF
+===
+
+**ToF node** is used for converting the raw data from the ToF sensor into a depth map. Currently, these 2 products contain a ToF sensor:
+
+- `OAK-D SR PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-SR-POE/>`__ - integrated 33D ToF sensor, together with a stereo camera pair
+- `OAK-FFC ToF 33D <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM0256/>`__ - standalone FFC module with a 33D ToF sensor
+
+ToF's ``depth`` output can be used instead of :ref:`StereoDepth`'s - so you can link ToF.depth to :ref:`MobileNetSpatialDetectionNetwork`/:ref:`YoloSpatialDetectionNetwork` or
+:ref:`SpatialLocationCalculator` directly.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    warp = pipeline.create(dai.node.ToF)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto warp = pipeline.create<dai::node::ToF>();
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+              ┌───────────�    depth
+  inputConfig |           ├────────►
+  ───────────►│           | amplitude
+     input    |    ToF    ├────────►
+  ───────────►│           │    error
+              │           ├────────►
+              └───────────┘
+
+**Message types**
+
+- ``inputConfig`` - :ref:`ToFConfig`
+- ``input`` - :ref:`ImgFrame`
+- ``depth`` - :ref:`ImgFrame`
+- ``amplitude`` - :ref:`ImgFrame`
+- ``error`` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+
+    tof_cam = pipeline.create(dai.node.Camera)
+    # We assume the ToF camera sensor is on port CAM_A
+    tof_cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+
+    tof = pipeline.create(dai.node.ToF)
+    # ToF node converts raw sensor frames into depth
+    tof_cam.raw.link(tof.input)
+
+    # Send ToF depth output to the host, or perhaps to SLC / Spatial Detection Network
+    tof.depth.link(xout.input)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+
+    auto tofCam = pipeline.create<dai::node::MonoCamera>();
+    // We assume the ToF camera sensor is on port CAM_A
+    tofCam->setBoardSocket(dai::CameraBoardSocket::AUTO);
+
+    auto tof = pipeline.create<dai::node::ToF>();
+    // ToF node converts raw sensor frames into depth
+    tofCam->raw.link(tof->input);
+
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    xout->setStreamName("depth");
+    // Send ToF depth output to the host
+    tof->depth.link(xout->input);
+
+Examples of functionality
+#########################
+
+- :ref:`ToF depth`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.ToF
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::ToF
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/uvc.rst b/bindings/python/docs/source/components/nodes/uvc.rst
new file mode 100644
index 000000000..96569afe8
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/uvc.rst
@@ -0,0 +1,62 @@
+UVC
+===
+
+The DepthAI UVC (`USB Video Class <https://en.wikipedia.org/wiki/USB_video_device_class>`__) node allows OAK devices to function as standard webcams. This feature is particularly useful for integrating OAK devices into applications that require video input, such as video conferencing tools or custom video processing applications.
+
+What is UVC?
+############
+
+UVC refers to the USB Video Class standard, which is a USB device class that describes devices capable of streaming video. This standard allows video devices to interface with computers and other devices without needing specific drivers, making them immediately compatible with a wide range of systems and software.
+
+How Does the UVC Node Work?
+###########################
+
+The UVC node in DepthAI leverages this standard to stream video from OAK devices. When the UVC node is enabled, the OAK device is recognized as a standard webcam by the host system. This allows the device to be used in any application that supports webcam input, such as Zoom, Skype, or custom video processing software.
+
+The UVC node streams video data over a USB connection. It is important to use a USB3 cable for this purpose, as USB2 may not provide the necessary bandwidth for stable video streaming.
+
+.. note::
+
+    The UVC node can currently handle NV12 video streams from OAK devices. For streams in other formats, conversion to NV12 is necessary, which can be achieved using the :ref:`ImageManip` node. It's important to note that streams incompatible with NV12 conversion, like depth streams, are not supported by the UVC node.
+
+Examples of UVC Node Usage
+##########################
+
+1. **DepthAI Demo Script**: The DepthAI demo script includes a UVC application that can be run to enable the UVC node on an OAK device.
+
+   .. code-block:: bash
+
+       python3 depthai_demo.py --app uvc
+
+2. **Custom Python Script**: A custom Python script can be written to enable the UVC node and configure the video stream parameters. Here are some pre-written examples:
+
+   - :ref:`UVC & Color Camera`
+   - :ref:`UVC & Mono Camera`
+   - :ref:`UVC & Disparity`
+
+
+3. **OBS Forwarding**: For applications where direct UVC node usage is not possible, OBS Studio can be used to forward the UVC stream.
+
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.UVC
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::UVC
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+
+.. include:: ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/video_encoder.rst b/bindings/python/docs/source/components/nodes/video_encoder.rst
new file mode 100644
index 000000000..522c74962
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/video_encoder.rst
@@ -0,0 +1,125 @@
+VideoEncoder
+============
+
+VideoEncoder node is used to encode :ref:`ImgFrame` into either H264, H265, or MJPEG streams. Only NV12 or GRAY8 (which gets converted to NV12) format is
+supported as an input. All codecs are lossy (except lossless MJPEG), for more information please see `encoding quality docs <https://github.com/luxonis/depthai-experiments/tree/master/gen2-record-replay/encoding_quality>`__.
+
+.. include::  /includes/container-encoding.rst
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    encoder = pipeline.create(dai.node.VideoEncoder)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto encoder = pipeline.create<dai::node::VideoEncoder>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+            ┌──────────────�
+            │              │
+   input    │              │bitstream
+  ─────────►│ VideoEncoder ├────────►
+            │              │
+            │              │
+            └──────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`ImgFrame` (NV12/GRAY8)
+- :code:`bitstream` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+
+    # Create ColorCamera beforehand
+    # Set H265 encoding for the ColorCamera video output
+    videoEncoder = pipeline.create(dai.node.VideoEncoder)
+    videoEncoder.setDefaultProfilePreset(cam.getFps(), dai.VideoEncoderProperties.Profile.H265_MAIN)
+    videoEncoder.setBitrateKbps(500) # 0.5 Mbps
+
+    # Create MJPEG encoding for still images
+    stillEncoder = pipeline.create(dai.node.VideoEncoder)
+    stillEncoder.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG)
+    # stillEncoder.setLossless(True) # Lossless only for MJPEG
+    stillEncoder.setQuality(90) # 0-100, 100 being the best quality (not lossless though)
+
+    cam.still.link(stillEncoder.input)
+    cam.video.link(videoEncoder.input)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+
+    // Create ColorCamera beforehand
+    // Set H265 encoding for the ColorCamera video output
+    auto videoEncoder = pipeline.create<dai::node::VideoEncoder>();
+    videoEncoder->setDefaultProfilePreset(cam->getFps(), dai::VideoEncoderProperties::Profile::H265_MAIN);
+    videoEncoder->setBitrateKbps(500); // 0.5 Mbps
+
+    // Create MJPEG encoding for still images
+    stillEncoder = pipeline.create(dai.node.VideoEncoder);
+    stillEncoder->setDefaultProfilePreset(1, dai::VideoEncoderProperties::Profile::MJPEG);
+    // stillEncoder->setLossless(true); // Lossless only for MJPEG
+    stillEncoder->setQuality(90); // 0-100, 100 being the best quality (not lossless though)
+
+    cam->still.link(stillEncoder->input);
+    cam->video.link(videoEncoder->input);
+
+Limitations
+###########
+
+For **H.264 / H.265 encoding**, we have the following limits:
+-  **248 million pixels/second** (4K@30) limit for the encoder. The resolution and frame rate can be divided into multiple streams - but the sum of all the pixels/second needs to be below 248 million.
+- Due to a HW constraint, video encoding can be done only on frames whose width values are multiples of 32.
+- 4096 pixel max width for a frame.
+
+The **MJPEG encoder** is capable of 16384x8192 resolution at 450 MPix/sec. From our testing, we were able to encode 4K at 30FPS and 2x 800P at 55FPS.
+
+Note the processing resources of the encoder **are shared** between H.26x and JPEG.
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & MobilenetSSD`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.VideoEncoder
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::VideoEncoder
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/warp.rst b/bindings/python/docs/source/components/nodes/warp.rst
new file mode 100644
index 000000000..8a929aea7
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/warp.rst
@@ -0,0 +1,114 @@
+Warp
+====
+
+Warp node is used for image warping and dewarping, which can be used to undistort images from wide FOV cameras.
+The node can also be used to apply a perspective transform to the image.
+
+Compared to :ref:`ImageManip` node (the `setWarpMesh()` function):
+
+**Warp node** uses underlyting warp HW block (additional `docs here <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html>`__),
+with no extra resources (SHAVE/cmx cores). HW limitation: **width must be divisible by 16.**
+
+**ImageManip node** combines the power of warp HW block together  the efficiency of CMX memory to achieve higher
+throughput (e.g. 4k@30 fps). Scheduling of the HW block is done by SHAVE cores which also do color space conversion, type conversion (YUV420 to NV12), etc.
+The downside of using ImageManip node is extra RAM and SHAVE usage.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    warp = pipeline.create(dai.node.Warp)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto warp = pipeline.create<dai::node::Warp>();
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+             ┌────────────�
+  inputImage │            │    out
+  ──────────►│    Warp    ├──────►
+             │            │
+             └────────────┘
+
+**Message types**
+
+- ``inputImage`` - :ref:`ImgFrame`
+- ``out`` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+
+    warp = pipeline.create(dai.node.Warp)
+    # Create a custom warp mesh
+    p1 = dai.Point2f(20, 20)
+    p2 = dai.Point2f(460, 20)
+    p3 = dai.Point2f(20, 460)
+    p4 = dai.Point2f(460, 460)
+    warp.setWarpMesh([p1,p2,p3,p4], 2, 2)
+    warp.setOutputSize((512,512))
+    warp.setMaxOutputFrameSize(512 * 512 * 3)
+    # Warp engines to be used (0,1,2)
+    warp.setHwIds([1])
+    # Warp interpolation mode, choose between BILINEAR, BICUBIC, BYPASS
+    warp.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+
+    auto warp = pipeline.create<dai::node::Warp>();
+    // Create a custom warp mesh
+    dai::Point2f p1(20, 20);
+    dai::Point2f p2(460, 20);
+    dai::Point2f p3(20, 460);
+    dai::Point2f p4(460, 460);
+    warp->setWarpMesh({p1,p2,p3,p4}, 2, 2);
+    warp->setOutputSize({512, 512});
+    warp->setMaxOutputFrameSize(512 * 512 * 3);
+    // Warp engines to be used (0,1,2)
+    warp->setHwIds({1});
+    // Warp interpolation mode, choose between BILINEAR, BICUBIC, BYPASS
+    warp->setInterpolation(dai::node::Warp::Properties::Interpolation::BYPASS);
+
+Examples of functionality
+#########################
+
+- :ref:`Warp Mesh`
+- :ref:`Interactive Warp Mesh`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.Warp
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::Warp
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/xlink_in.rst b/bindings/python/docs/source/components/nodes/xlink_in.rst
new file mode 100644
index 000000000..58dcc8b07
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/xlink_in.rst
@@ -0,0 +1,111 @@
+XLinkIn
+=======
+
+XLinkIn node is used to send data from the host to the device via XLink.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    xlinkIn = pipeline.create(dai.node.XLinkIn)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto xlinkIn = pipeline.create<dai::node::XLinkIn>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+              ┌──────────────�
+              │              │
+  (From host) │              │    out
+  ----------->│   XLinkIn    ├────────►
+              │              │
+              │              │
+              └──────────────┘
+
+**Message types**
+
+- :code:`out` - :code:`Any`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    xIn = pipeline.create(dai.node.XLinkIn)
+    xIn.setStreamName("camControl")
+
+    # Create ColorCamera beforehand
+    xIn.out.link(cam.inputControl)
+
+    with dai.Device(pipeline) as device:
+      device.startPipeline()
+      qCamControl = device.getInputQueue("camControl")
+
+      # Send a message to the ColorCamera to capture a still image
+      ctrl = dai.CameraControl()
+      ctrl.setCaptureStill(True)
+      qCamControl.send(ctrl)
+
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto xIn = pipeline.create<dai::node::XLinkIn>();
+    xIn->setStreamName("camControl");
+
+    // Create ColorCamera beforehand
+    xIn->out.link(cam->inputControl);
+
+    // Connect to the device
+    dai::Device device(pipeline);
+    device.startPipeline();
+
+    auto qCamControl = device.getInputQueue("camControl");
+
+    // Send a message to the ColorCamera to capture a still image
+    dai::CameraControl ctrl;
+    ctrl.setCaptureStill(true);
+    qCamControl->send(ctrl)
+
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Camera Control`
+- :ref:`Video & MobilenetSSD`
+- :ref:`RGB Rotate Warp`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.XLinkIn
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::XLinkIn
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/xlink_out.rst b/bindings/python/docs/source/components/nodes/xlink_out.rst
new file mode 100644
index 000000000..ebf67efc2
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/xlink_out.rst
@@ -0,0 +1,92 @@
+XLinkOut
+========
+
+XLinkOut node is used to send data from the device to the host via XLink.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    xlinkOut = pipeline.create(dai.node.XLinkOut)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto xlinkOut = pipeline.create<dai::node::XLinkOut>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+            ┌──────────────�
+            │              │
+  input     │              │   (to host)
+  ─────────►│   XLinkOut   ├------------►
+            │              │
+            │              │
+            └──────────────┘
+
+**Message types**
+
+- :code:`input` - :code:`Any`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    xOut = pipeline.create(dai.node.XLinkOut)
+    xOut.setStreamName("camOut")
+
+    # Here we will send camera preview (ImgFrame) to the host via XLink.
+    # Host can then display the frame to the user
+    cam.preview.link(xOut.input)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto xOut = pipeline.create<dai::node::XLinkOut>();
+    xOut->setStreamName("camOut");
+
+    // Here we will send camera preview (ImgFrame) to the host via XLink.
+    // Host can then display the frame to the user
+    cam->preview.link(xOut->input);
+
+Examples of functionality
+#########################
+
+- :ref:`RGB Preview`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.XLinkOut
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::XLinkOut
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/yolo_detection_network.rst b/bindings/python/docs/source/components/nodes/yolo_detection_network.rst
new file mode 100644
index 000000000..e01bb2bb1
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/yolo_detection_network.rst
@@ -0,0 +1,102 @@
+YoloDetectionNetwork
+====================
+
+Yolo detection network extends :ref:`NeuralNetwork` node by also adding **YOLO NN result decoding**, which happens on the OAK device.
+This means that :code:`Out` of this node is not a :ref:`NNData` (a byte array) but a :ref:`ImgDetections` that can easily be used in your code.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    yoloDet = pipeline.create(dai.node.YoloDetectionNetwork)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto yoloDet = pipeline.create<dai::node::YoloDetectionNetwork>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+              ┌───────────────────�
+              │                   │       out
+              │                   ├───────────►
+              │     Yolo          │
+              │     Detection     │
+  input       │     Network       │ passthrough
+  ───────────►│-------------------├───────────►
+              │                   │
+              └───────────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`ImgFrame`
+- :code:`out` - :ref:`ImgDetections`
+- :code:`passthrough` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    yoloDet = pipeline.create(dai.node.YoloDetectionNetwork)
+    yoloDet.setBlobPath(nnBlobPath)
+
+    # Yolo specific parameters
+    yoloDet.setConfidenceThreshold(0.5)
+    yoloDet.setNumClasses(80)
+    yoloDet.setCoordinateSize(4)
+    yoloDet.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+    yoloDet.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+    yoloDet.setIouThreshold(0.5)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto yoloDet = pipeline.create<dai::node::YoloDetectionNetwork>();
+    yoloDet->setBlobPath(nnBlobPath);
+
+    // yolo specific parameters
+    yoloDet->setConfidenceThreshold(0.5f);
+    yoloDet->setNumClasses(80);
+    yoloDet->setCoordinateSize(4);
+    yoloDet->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319});
+    yoloDet->setAnchorMasks({{"side13", {3, 4, 5}}, {"side26", {1, 2, 3}}});
+    yoloDet->setIouThreshold(0.5f);
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & Tiny YOLO`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.YoloDetectionNetwork
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::YoloDetectionNetwork
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/bindings/python/docs/source/components/nodes/yolo_spatial_detection_network.rst b/bindings/python/docs/source/components/nodes/yolo_spatial_detection_network.rst
new file mode 100644
index 000000000..ba91df0a3
--- /dev/null
+++ b/bindings/python/docs/source/components/nodes/yolo_spatial_detection_network.rst
@@ -0,0 +1,119 @@
+YoloSpatialDetectionNetwork
+===========================
+
+Spatial detection for the Yolo NN. It is similar to a combination of the :ref:`YoloDetectionNetwork` and :ref:`SpatialLocationCalculator`.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    yoloSpatial = pipeline.create(dai.node.YoloSpatialDetectionNetwork)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto yoloSpatial = pipeline.create<dai::node::YoloSpatialDetectionNetwork>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                 ┌───────────────────�
+  input          │                   │       passthrough
+  ──────────────►│-------------------├─────────────────►
+                 │     Yolo          │               out
+                 │     Spatial       ├─────────────────►
+                 │     Detection     │boundingBoxMapping
+                 │     Network       ├─────────────────►
+  inputDepth     │                   │  passthroughDepth
+  ──────────────►│-------------------├─────────────────►
+                 └───────────────────┘
+
+**Message types**
+
+- :code:`input` - :ref:`ImgFrame`
+- :code:`inputDepth` - :ref:`ImgFrame`
+- :code:`passthrough` - :ref:`ImgFrame`
+- :code:`out` - :ref:`SpatialImgDetections`
+- :code:`boundingBoxMapping` - :ref:`SpatialLocationCalculatorConfig`
+- :code:`passthroughDepth` - :ref:`ImgFrame`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    yoloSpatial = pipeline.create(dai.node.YoloSpatialDetectionNetwork)
+    yoloSpatial.setBlobPath(nnBlobPath)
+
+    # Spatial detection specific parameters
+    yoloSpatial.setConfidenceThreshold(0.5)
+    yoloSpatial.input.setBlocking(False)
+    yoloSpatial.setBoundingBoxScaleFactor(0.5)
+    yoloSpatial.setDepthLowerThreshold(100) # Min 10 centimeters
+    yoloSpatial.setDepthUpperThreshold(5000) # Max 5 meters
+
+    # Yolo specific parameters
+    yoloSpatial.setNumClasses(80)
+    yoloSpatial.setCoordinateSize(4)
+    yoloSpatial.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+    yoloSpatial.setAnchorMasks({ "side26": [1,2,3], "side13": [3,4,5] })
+    yoloSpatial.setIouThreshold(0.5)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto yoloSpatial = pipeline.create<dai::node::YoloSpatialDetectionNetwork>();
+    yoloSpatial->setBlobPath(nnBlobPath);
+
+    // Spatial detection specific parameters
+    yoloSpatial->setConfidenceThreshold(0.5f);
+    yoloSpatial->input.setBlocking(false);
+    yoloSpatial->setBoundingBoxScaleFactor(0.5);
+    yoloSpatial->setDepthLowerThreshold(100); // Min 10 centimeters
+    yoloSpatial->setDepthUpperThreshold(5000); // Max 5 meters
+
+    // yolo specific parameters
+    yoloSpatial->setNumClasses(80);
+    yoloSpatial->setCoordinateSize(4);
+    yoloSpatial->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319});
+    yoloSpatial->setAnchorMasks({{"side13", {3, 4, 5}}, {"side26", {1, 2, 3}}});
+    yoloSpatial->setIouThreshold(0.5f);
+
+Examples of functionality
+#########################
+
+- :ref:`RGB & TinyYolo with spatial data`
+
+.. include::  /includes/spatial-coords.rst
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.YoloSpatialDetectionNetwork
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::YoloSpatialDetectionNetwork
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/components/pipeline.rst b/bindings/python/docs/source/components/pipeline.rst
new file mode 100644
index 000000000..5babf9362
--- /dev/null
+++ b/bindings/python/docs/source/components/pipeline.rst
@@ -0,0 +1,80 @@
+.. _components_pipeline:
+
+Pipeline
+========
+
+Pipeline is a collection of :ref:`nodes <Nodes>` and links between them. This flow provides an extensive flexibility that users get for their
+OAK device. When pipeline object is passed to the :ref:`Device` object, pipeline gets serialized to JSON and sent to the OAK device via XLink.
+
+Pipeline first steps
+####################
+
+To get DepthAI up and running, you have to create a pipeline, populate it with nodes, configure the nodes and link them together. After that, the pipeline
+can be loaded onto the :ref:`Device` and be started.
+
+.. code-block:: python
+
+  pipeline = depthai.Pipeline()
+
+  # If required, specify OpenVINO version
+  pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)
+
+  # Create nodes, configure them and link them together
+
+  # Upload the pipeline to the device
+  with depthai.Device(pipeline) as device:
+    # Set input/output queues to configure device/host communication through the XLink...
+
+Specifying OpenVINO version
+###########################
+
+When using a NN blob that was not compiled with the latest OpenVINO (that DepthAI supports), you have to specify the OpenVINO version of the pipeline.
+The reason behind this is that OpenVINO doesn't provide version inside the blob.
+
+.. code-block:: python
+
+  pipeline = depthai.Pipeline()
+  # Set the correct version:
+  pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)
+
+Using multiple devices
+######################
+
+If user has multiple DepthAI devices, each device can run a different pipeline or the same pipeline
+(`demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices>`__). To use different pipeline for each device,
+you can create multiple pipelines and pass the desired pipeline to the desired device on initialization.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.Pipeline
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::Pipeline
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/docs/source/conf.py b/bindings/python/docs/source/conf.py
new file mode 100644
index 000000000..c99a90c4c
--- /dev/null
+++ b/bindings/python/docs/source/conf.py
@@ -0,0 +1,38 @@
+# readthedocs CI build limitation circumvent
+import subprocess
+import os
+import sys
+
+# Get current working directory
+cwd = os.path.dirname(os.path.realpath(__file__))
+
+# Prepare dependencies for library
+env=os.environ.copy()
+
+# Temp dir - remove if exists, and create a new one
+tmpdir = '/home/docs/__temp_dir'
+subprocess.check_call(['rm', '-rf', tmpdir])
+subprocess.check_call(['mkdir', '-p', tmpdir])
+
+# Libusb
+subprocess.check_call(['wget', 'https://github.com/libusb/libusb/releases/download/v1.0.24/libusb-1.0.24.tar.bz2'], cwd=tmpdir)
+subprocess.check_call(['tar', 'xf', 'libusb-1.0.24.tar.bz2'], cwd=tmpdir)
+subprocess.check_call(['./configure', '--disable-udev', '--prefix', tmpdir+'/libusb'], cwd=tmpdir+'/libusb-1.0.24')
+subprocess.check_call(['make', '-j'], cwd=tmpdir+'/libusb-1.0.24')
+subprocess.check_call(['make', 'install'], cwd=tmpdir+'/libusb-1.0.24')
+env['PATH'] = tmpdir+'/libusb/include:'+tmpdir+'/libusb/lib'+':'+env['PATH']
+
+# Not needed since libclang usage in pip requirements (brings its own library)
+# # libclang
+# subprocess.check_call(['wget', 'https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/libclang-11_manylinux2014_x86_64.tar.xz'], cwd=tmpdir)
+# subprocess.check_call(['mkdir', '-p', 'libclang'], cwd=tmpdir)
+# subprocess.check_call(['tar', 'xf', 'libclang-11_manylinux2014_x86_64.tar.xz', '-C', tmpdir+'/libclang/'], cwd=tmpdir)
+# env['LIBCLANG_PATH'] = tmpdir+'/libclang/usr/lib/llvm-11/lib/libclang.so.1'
+# env['LLVM_DIR_PATH'] = tmpdir+'/libclang/usr/lib/llvm-11/'
+
+# Build library and generate actual conf.py
+subprocess.run(["cmake -P ../ci.cmake"], cwd=cwd, shell=True, check=True, env=env)
+
+# Load generated conf.py which includes all needed information to build with sphinx
+with open("../../build/docs/conf.py") as infile:
+    exec(infile.read())
diff --git a/bindings/python/docs/source/includes/container-encoding.rst b/bindings/python/docs/source/includes/container-encoding.rst
new file mode 100644
index 000000000..61ecbec38
--- /dev/null
+++ b/bindings/python/docs/source/includes/container-encoding.rst
@@ -0,0 +1,14 @@
+Encoded bitstream (either MJPEG, H264, or H265) from the device can also be **saved directly into .mp4 container**
+with no computational overhead on the host computer. See `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-container-encoding>`__
+for more information.
+
+**Matroska**
+
+Besides ``ffmpeg`` and ``.mp4`` video container (which is patent encumbered), you could also use the ``mkvmerge``
+(see `MKVToolNix <https://mkvtoolnix.download/doc/mkvmerge.html>`__ for GUI usage) and ``.mkv`` video container
+to mux encoded stream into video file that is supported by all major video players
+(eg. `VLC <https://www.videolan.org/vlc/>`__)
+
+.. code-block::
+    
+    mkvmerge -o vid.mkv video.h265
\ No newline at end of file
diff --git a/bindings/python/docs/source/includes/depth-filters.rst b/bindings/python/docs/source/includes/depth-filters.rst
new file mode 100644
index 000000000..45b81023c
--- /dev/null
+++ b/bindings/python/docs/source/includes/depth-filters.rst
@@ -0,0 +1,65 @@
+.. tabs::
+
+    .. tab:: Median
+
+        This is a non-edge preserving `Median filter <https://en.wikipedia.org/wiki/Median_filter>`__, which can be used
+        to reduce noise and smoothen the depth map. Median filter is implemented in hardware, so it's the fastest filter.
+
+        .. doxygenenum:: dai::MedianFilter
+            :project: depthai-core
+            :no-link:
+
+    .. tab:: Speckle
+
+        **Speckle Filter** is used to reduce the speckle noise. Speckle noise is a region with huge
+        variance between neighboring disparity/depth pixels, and speckle filter tries to filter this region.
+
+        .. doxygenstruct:: dai::StereoDepthConfig::PostProcessing::SpeckleFilter
+            :project: depthai-core
+            :no-link:
+            :members:
+
+    .. tab:: Temporal
+
+        **Temporal Filter** is intended to improve the depth data persistency by manipulating per-pixel
+        values based on previous frames. The filter performs a single pass on the data, adjusting the depth
+        values while also updating the tracking history. In cases where the pixel data is missing or invalid,
+        the filter uses a user-defined persistency mode to decide whether the missing value should be
+        rectified with stored data. Note that due to its reliance on historic data the filter may introduce
+        visible blurring/smearing artifacts, and therefore is best-suited for static scenes.
+
+        .. doxygenstruct:: dai::StereoDepthConfig::PostProcessing::TemporalFilter
+            :project: depthai-core
+            :no-link:
+            :members:
+
+    .. tab:: Spatial
+
+        **Spatial Edge-Preserving Filter** will fill invalid depth pixels with valid neighboring depth pixels.
+        It performs a series of 1D horizontal and vertical passes or iterations, to enhance the smoothness of
+        the reconstructed data. It is based on `this research paper <https://www.inf.ufrgs.br/~eslgastal/DomainTransform/>`__.
+
+        .. doxygenstruct:: dai::StereoDepthConfig::PostProcessing::SpatialFilter
+            :project: depthai-core
+            :no-link:
+            :members:
+
+    .. tab:: Threshold
+
+        **Threshold Filter** filters out all disparity/depth pixels outside the configured min/max
+        threshold values.
+
+        .. autoclass:: depthai.StereoDepthConfig.PostProcessing.ThresholdFilter
+            :members:
+            :inherited-members:
+            :noindex:
+
+    .. tab:: Decimation
+
+        **Decimation Filter** will sub-samples the depth map, which means it reduces the depth scene complexity and allows
+        other filters to run faster. Setting :code:`decimationFactor` to 2 will downscale 1280x800 depth map to 640x400.
+
+        .. doxygenstruct:: dai::StereoDepthConfig::PostProcessing::DecimationFilter
+            :members:
+            :project: depthai-core
+            :no-link:
\ No newline at end of file
diff --git a/bindings/python/docs/source/includes/footer-short.rst b/bindings/python/docs/source/includes/footer-short.rst
new file mode 100644
index 000000000..67cb68912
--- /dev/null
+++ b/bindings/python/docs/source/includes/footer-short.rst
@@ -0,0 +1,5 @@
+.. raw:: html
+
+   <h2>Got questions?</h2>
+
+   Head over to <a href="https://discuss.luxonis.com/"><strong>Discussion Forum</strong></a> for technical support or any other questions you might have.
diff --git a/bindings/python/docs/source/includes/install_from_pypi.rst b/bindings/python/docs/source/includes/install_from_pypi.rst
new file mode 100644
index 000000000..5098d94e0
--- /dev/null
+++ b/bindings/python/docs/source/includes/install_from_pypi.rst
@@ -0,0 +1,12 @@
+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
+
+.. code-block:: python
+   :substitutions:
+
+   git clone https://github.com/luxonis/depthai-python.git
+   cd depthai-python/examples
+   python3 install_requirements.py
+
+
+For additional information, please follow :ref:`installation guide <Installation>`
diff --git a/bindings/python/docs/source/includes/install_req.rst b/bindings/python/docs/source/includes/install_req.rst
new file mode 100644
index 000000000..0e6358109
--- /dev/null
+++ b/bindings/python/docs/source/includes/install_req.rst
@@ -0,0 +1,4 @@
+This example script **requires external file(s) to run**. If you are using:
+
+- depthai-python, run :code:`python3 examples/install_requirements.py` to download required file(s)
+- dephtai-core, required file(s) will get downloaded automatically when building the example
\ No newline at end of file
diff --git a/bindings/python/docs/source/includes/spatial-coords.rst b/bindings/python/docs/source/includes/spatial-coords.rst
new file mode 100644
index 000000000..3e721d21d
--- /dev/null
+++ b/bindings/python/docs/source/includes/spatial-coords.rst
@@ -0,0 +1,8 @@
+Spatial coordinate system
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+OAK camera uses left-handed (Cartesian) coordinate system for all spatial coordiantes.
+
+.. image:: https://github.com/luxonis/depthai-python/assets/18037362/f9bfaa0c-0286-46c0-910c-77c1337493e1
+
+Middle of the frame is 0,0 in terms of X,Y coordinates. If you go up, Y will increase, and if you go right, X will increase.
\ No newline at end of file
diff --git a/bindings/python/docs/source/index.rst b/bindings/python/docs/source/index.rst
new file mode 100644
index 000000000..cb2651049
--- /dev/null
+++ b/bindings/python/docs/source/index.rst
@@ -0,0 +1,92 @@
+.. Luxonis Docs documentation master file, created by
+   sphinx-quickstart on Tue Nov  3 14:34:56 2020.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+DepthAI API Documentation
+=========================
+
+..
+   .. image:: https://github.com/luxonis/depthai-python/workflows/Python%20Wheel%20CI/badge.svg?branch=gen2_develop
+      :target: https://github.com/luxonis/depthai-python/actions?query=workflow%3A%22Python+Wheel+CI%22+branch%3A%22gen2_develop%22
+
+DepthAI API allows users to connect to, configure and communicate with their OAK devices.
+We support both :ref:`Python API <Python API Reference>` and :ref:`C++ API <C++ API Reference>`.
+
+.. image:: /_static/images/api_diagram.png
+
+- **Host side** is a computer, like PC or RPi, to which an OAK device is connected.
+- **Device side** is the OAK device itself. If something is happening on the device side, it means that it's running on the Robotics Vision Core (`RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__). More :ref:`information here <components_device>`.
+- **Pipeline** is a complete workflow on the device side, consisting of :ref:`nodes <Nodes>` and connections between them. More :ref:`information here <components_device>`.
+- **Node** is a single functionality of the DepthAI. :ref:`Nodes` have inputs or outputs, and have configurable properties (like resolution on the camera node).
+- **Connection** is a link between one node's output and another one's input. In order to define the pipeline dataflow, the connections define where to send :ref:`messages <Messages>` in order to achieve an expected result
+- **XLink** is a middleware that is capable to exchange data between device and host. :ref:`XLinkIn` node allows sending the data from the host to a device, while :ref:`XLinkOut` does the opposite.
+- **Messages** are transferred between nodes, as defined by a connection. More :ref:`information here <components_messages>`.
+
+.. image:: https://user-images.githubusercontent.com/18037362/179389982-16711c75-42f1-4a96-9259-7113802d0104.png
+
+Above there's a graph representation of a (more complex) 2-stage pipeline of the `age-gender recognition demo <https://github.com/luxonis/depthai-experiments/tree/master/gen2-age-gender>`__.
+Graph contains different :ref:`Nodes` connected (linked) to each other. `DepthAI Pipeline Graph <https://github.com/geaxgx/depthai_pipeline_graph#depthai-pipeline-graph-experimental>`__
+tool was used to generate this image.
+
+Getting started
+---------------
+
+First, you need to :ref:`install the DepthAI <Installation>` library and its dependencies.
+
+After installation, you can continue with an insightful :ref:`Hello World tutorial <Hello World>`, or with :ref:`code examples <Code Samples>`, where different
+node functionalities are presented with code.
+
+.. include::  /includes/footer-short.rst
+
+.. toctree::
+   :maxdepth: 0
+   :hidden:
+   :caption: Content:
+
+   Home <self>
+   install.rst
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+   :caption: Components:
+
+   components/device.rst
+   components/bootloader.rst
+   components/pipeline.rst
+   components/nodes.rst
+   components/messages.rst
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+   :caption: Code:
+
+   tutorials/code_samples.rst
+   Experiments (GitHub) <https://github.com/luxonis/depthai-experiments>
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+   :caption: Tutorials:
+
+   tutorials/standalone_mode.rst
+   tutorials/message_syncing.rst
+   tutorials/configuring-stereo-depth.rst
+   tutorials/multiple.rst
+   tutorials/maximize_fov.rst
+   tutorials/debugging.rst
+   tutorials/ram_usage.rst
+   tutorials/dispaying_detections.rst
+   tutorials/image_quality.rst
+   tutorials/low-latency.rst
+   tutorials/hello_world.rst
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+   :caption: References:
+
+   references/python.rst
+   references/cpp.rst
diff --git a/bindings/python/docs/source/install.rst b/bindings/python/docs/source/install.rst
new file mode 100644
index 000000000..c53d41367
--- /dev/null
+++ b/bindings/python/docs/source/install.rst
@@ -0,0 +1,601 @@
+Installation
+============
+
+.. note::
+
+  Refer to `DepthAI installer documentation <https://docs.luxonis.com/en/latest/pages/tutorials/first_steps>`__ to install
+  full `DepthAI demo <https://github.com/luxonis/depthai#depthai-api-demo-program>`__ and its dependencies and requirements.
+
+Follow the steps below to just install depthai api library dependencies for your platform.
+
+.. tabs::
+
+  .. tab:: **macOS**
+
+    Execute the script below to install macOS dependencies:
+
+    .. code-block:: bash
+
+      curl -fL https://docs.luxonis.com/install_dependencies.sh | bash
+
+    Please refer to :ref:`documentation below <macOS>` if any issues occur.
+
+  .. tab:: **Windows 10/11**
+
+    Windows 10/11 users can either **install DepthAI dependencies** via `Windows Installer <https://docs.luxonis.com/en/latest/pages/tutorials/first_steps>`__,
+    or follow :ref:`instructions below <Windows 10>`.
+
+  .. tab:: **Linux**
+
+    Execute the script below to install Linux dependencies:
+
+    .. code-block:: bash
+
+      sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
+
+    Please refer to :ref:`Supported Platforms` if any issues occur.
+
+Once installed, you can :ref:`install the DepthAI library <Install from PyPI>` from PyPI.
+
+Supported Platforms
+###################
+
+See documentation below for other platforms or additional information.
+
+.. list-table::
+   :header-rows: 1
+
+   * - Platform
+     - Instructions
+   * - Windows 10/11
+     - :ref:`Platform dependencies <Windows 10>`
+   * - macOS
+     - :ref:`Platform dependencies <macOS>`
+   * - Ubuntu
+     - :ref:`Platform dependencies <Ubuntu>`
+   * - Raspberry Pi OS
+     - :ref:`Platform dependencies <Raspberry Pi OS>`
+   * - Jetson Nano/Xavier
+     - :ref:`Platform dependencies <Jetson>`
+   * - ROS
+     - Follow tutorial at `depthai-ros <https://github.com/luxonis/depthai-ros>`__
+   * - Windows 7
+     - :ref:`WinUSB driver <Windows 7>`
+   * - Docker
+     - :ref:`Pull and run official images <Docker>`
+   * - Kernel Virtual Machine
+     - :ref:`Run on KVM <Kernel Virtual Machine>`
+   * - VMware
+     - :ref:`Run on VMware <vmware>`
+   * - Virtual Box
+     - :ref:`Run on Virtual Box <Virtual Box>`
+   * - WSL2
+     - :ref:`Run on WSL2 <WSL 2>`
+
+If you do not see a particular platform or package format listed below please reach out to us on `Discord <luxonis.com/discord>`__
+or on `Github <https://github.com/luxonis/depthai>`__.
+
+macOS
+*****
+
+.. code-block:: bash
+
+  bash -c "$(curl -fL https://docs.luxonis.com/install_depthai.sh)"
+
+Close and re-open the terminal window after this command.
+
+The script also works on M1 Macs, Homebrew being installed under Rosetta 2, as some Python packages are still missing native M1
+support.  In case you already have Homebrew installed natively and things don't work, see `here <https://github.com/luxonis/depthai/issues/299#issuecomment-757110966>`__
+for some additional troubleshooting steps.
+
+Note that if the video streaming window does not appear consider running the following:
+
+.. code-block:: bash
+
+    python3 -m pip install opencv-python --force-reinstall --no-cache-dir
+
+See the `Video preview window fails to appear on macOS <https://discuss.luxonis.com/d/95-video-preview-window-fails-to-appear-on-macos>`_ thread on our forum for more information.
+
+We provide **Mac M1 prebuilt Python wheels** for depthai since the version ``2.17.3.1``.
+
+Ubuntu
+******
+
+.. code-block:: bash
+
+  sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
+
+
+Note! If opencv fails with illegal instruction after installing from PyPi, add:
+
+.. code-block:: bash
+
+  echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc
+  source ~/.bashrc
+
+
+Raspberry Pi OS
+***************
+
+  .. code-block:: bash
+
+    sudo curl -fL https://docs.luxonis.com/install_dependencies.sh | bash
+
+We have also prepared `pre-configured RPi images <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/raspberrypi.html>`__ so you can get up & running faster.
+
+Jetson
+******
+
+To install DepthAI on `Jetson Nano <https://developer.nvidia.com/embedded/jetson-nano-developer-kit>`__ or `Jetson Xavier <https://developer.nvidia.com/embedded/jetson-xavier-nx-devkit>`__,
+perform the following steps, after completing a fresh install and setup. On the first log in, **do not** immediately run updates.
+
+This first step is optional: go to the *Software* (App Store) and delete the apps or software that you probably will not use. 
+
+Open a terminal window and run the following commands:
+
+  .. code-block:: bash
+
+    sudo apt update && sudo apt upgrade
+    sudo reboot now
+
+Change the size of your SWAP. These instructions come from the `Getting Started with AI on Jetson <https://developer.nvidia.com/embedded/learn/jetson-ai-certification-programs>`__ from Nvidia:
+
+  .. code-block:: bash
+
+    # Disable ZRAM:
+    sudo systemctl disable nvzramconfig
+    # Create 4GB swap file
+    sudo fallocate -l 4G /mnt/4GB.swap
+    sudo chmod 600 /mnt/4GB.swap
+    sudo mkswap /mnt/4GB.swap
+
+If you have an issue with the final command, you can try the following:
+
+    .. code-block:: bash
+
+      sudo vi /etc/fstab
+
+      # Add this line at the bottom of the file
+      /mnt/4GB.swap swap swap defaults 0 0
+
+      # Reboot 
+      sudo reboot now
+
+The next step is to install :code:`pip` and :code:`python3`:
+
+  .. code-block:: bash
+  
+    sudo -H apt install -y python3-pip
+
+After that, install and set up virtual environment:
+
+  .. code-block:: bash
+
+    sudo -H pip3 install virtualenv virtualenvwrapper
+
+Add following lines to the bash script:
+
+  .. code-block:: bash
+
+    sudo vi ~/.bashrc
+
+    # Virtual Env Wrapper Configuration
+    export WORKON_HOME=$HOME/.virtualenvs
+    export VIRTUALENVWRAPPER_PYTHON=/usr/bin/python3
+    source /usr/local/bin/virtualenvwrapper.sh
+
+Save and reload the script by running the command :code:`source ~/.bashrc`. Then create a virtual environment (in this example it's called :code:`depthAI`).
+  
+  .. code-block:: bash
+
+    mkvirtualenv depthAI -p python3
+
+
+**Note!** Before installing :code:`depthai`, make sure you're in the virtual environment.
+
+  .. code-block:: bash
+
+    #Download and install the dependency package
+    sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
+
+    #Clone github repository
+    git clone https://github.com/luxonis/depthai-python.git
+    cd depthai-python
+
+Last step is to edit :code:`.bashrc` with the line:
+
+  .. code-block:: bash
+
+    echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc
+
+
+Navigate to the folder with :code:`depthai` examples folder, run :code:`python install_requirements.py` and then run :code:`python rgb_preview.py`.
+
+Solution provided by `iacisme <https://github.com/iacisme>`__ via our `Discord <https://discord.com/channels/790680891252932659/795742008119132250>`__ channel.
+
+openSUSE
+********
+
+For openSUSE, available `in this official article <https://en.opensuse.org/SDB:Install_OAK_AI_Kit>`__ how to install the OAK device on the openSUSE platform.
+
+Windows 10
+**********
+
+For Windows 10/11, we recommend using the Chocolatey package manager to install DepthAI's dependencies on Windows. Chocolatey is very similar to Homebrew for macOS.
+
+To `install Chocolatey <https://docs.chocolatey.org/en-us/choco/setup>`__ and
+use it to install DepthAI's dependencies do the following:
+
+- Right click on `Start`
+- Choose `Windows PowerShell (Admin)` and run the following:
+
+.. code-block:: bash
+
+  Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))
+
+- Close the PowerShell and then re-open another PowerShell (Admin) by repeating the first two steps.
+- Install Python and PyCharm
+
+.. code-block:: bash
+
+  choco install cmake git python pycharm-community -y
+
+Windows 7
+*********
+
+Although we do not officially support Windows 7, members of the community `have
+had success <https://discuss.luxonis.com/d/105-run-on-win7-sp1-x64-manual-instal-usb-driver>`__ manually installing WinUSB using `Zadig
+<https://zadig.akeo.ie/>`__. After connecting your DepthAI device look for a
+device with :code:`USB ID: 03E7 2485` and install the WinUSB driver by
+selecting `WinUSB(v6.1.7600.16385)` and then `Install WCID Driver`.
+
+WSL 2
+*****
+
+Steps below were performed on WSL 2 running Ubuntu 20.04, while host machine was running Win10 20H2 (OS build 19042.1586).
+Original tutorial `written here <https://discuss.luxonis.com/d/693-i-got-depthai-demo-to-run-in-wsl>`__ by SputTheBot.
+
+To get an OAK running on WSL 2, you first need to attach USB device to WSL 2. We have used `usbipd-win <https://github.com/dorssel/usbipd-win/releases>`__ (2.3.0)
+for that. Inside WSL 2 you also need to install :ref:`depthai dependencies <Ubuntu>` and `USB/IP client tool <https://github.com/dorssel/usbipd-win/wiki/WSL-support#usbip-client-tools>`__ (2 commands).
+
+To attach the OAK camera to WSL 2, we have prepared a Python script below that you need to execute on the host computer (in Admin mode).
+
+.. code-block:: python
+
+  import time
+  import os
+  while True:
+      output = os.popen('usbipd wsl list').read() # List all USB devices
+      rows = output.split('\n')
+      for row in rows:
+          if ('Movidius MyriadX' in row or 'Luxonis Device' in row) and 'Not attached' in row: # Check for OAK cameras that aren't attached
+              busid = row.split(' ')[0]
+              out = os.popen(f'usbipd wsl attach --busid {busid}').read() # Attach an OAK camera
+              print(out)
+              print(f'Usbipd attached Myriad X on bus {busid}') # Log
+      time.sleep(.5)
+
+After that, you can check ``lsusb`` command inside the WLS 2 and you should be able to see ``Movidius MyriadX``.
+
+.. note::
+  Examples that don't show any frames (eg. IMU example) should work. We haven't spent enough time to get OpenCV display frames inside WSL 2, but you could try it out yourself, some ideas `here <https://stackoverflow.com/questions/65453763/python3-9-on-wsl2-ubuntu-20-04-how-to-display-image-using-cv2-opencv-python-4>`__.
+
+Docker
+******
+
+We maintain a Docker image containing DepthAI, it's dependencies and helpful
+tools in the `luxonis/depthai-library <https://hub.docker.com/r/luxonis/depthai-library>`__
+repository on Docker Hub. It builds upon the `luxonis/depthai-base
+<https://hub.docker.com/r/luxonis/depthai-base>`__ image.
+
+Run the :code:`rgb_preview.py` example inside a Docker container on a Linux host
+(with the X11 windowing system):
+
+.. code-block:: bash
+
+   docker pull luxonis/depthai-library
+   docker run --rm \
+       --privileged \
+       -v /dev/bus/usb:/dev/bus/usb \
+       --device-cgroup-rule='c 189:* rmw' \
+       -e DISPLAY=$DISPLAY \
+       -v /tmp/.X11-unix:/tmp/.X11-unix \
+       luxonis/depthai-library:latest \
+       python3 /depthai-python/examples/ColorCamera/rgb_preview.py
+
+To allow the container to update X11 you may need to run :code:`xhost local:root` on the host.
+
+**Note: If you are using OAK POE** device on Linux host machine, you should add :code:`--network=host` argument to your docker command, so depthai inside docker will be able to communicate with the OAK POE.
+
+Kernel Virtual Machine
+**********************
+
+To access the OAK-D camera in the `Kernel Virtual Machine <https://www.linux-kvm.org/page/Main_Page>`__, there is a need to attach and detach USB 
+devices on the fly when the host machine detects changes in the USB bus.
+
+OAK-D camera changes the USB device type when it is used by DepthAI API. This happens in background when the camera is used natively.
+But when the camera is used in a virtual environment the situation is different.
+
+On your host machine, use the following code:
+
+.. code-block:: bash
+
+  SUBSYSTEM=="usb", ACTION=="bind", ENV{ID_VENDOR_ID}=="03e7", MODE="0666", RUN+="/usr/local/bin/movidius_usb_hotplug.sh depthai-vm"
+  SUBSYSTEM=="usb", ACTION=="remove", ENV{PRODUCT}=="3e7/2485/1", ENV{DEVTYPE}=="usb_device", MODE="0666", RUN+="/usr/local/bin/movidius_usb_hotplug.sh depthai-vm"
+  SUBSYSTEM=="usb", ACTION=="remove", ENV{PRODUCT}=="3e7/f63b/100", ENV{DEVTYPE}=="usb_device", MODE="0666", RUN+="/usr/local/bin/movidius_usb_hotplug.sh depthai-vm"
+
+The script that the udev rule is calling (movidius_usb_hotplug.sh) should then attach/detach the USB device to the virtual machine.
+In this case we need to call :code:`virsh` command. For example, the script could do the following:
+
+.. code-block::
+
+  #!/bin/bash
+  # Abort script execution on errors
+  set -e
+  if [ "${ACTION}" == 'bind' ]; then
+    COMMAND='attach-device'
+  elif [ "${ACTION}" == 'remove' ]; then
+    COMMAND='detach-device'
+    if [ "${PRODUCT}" == '3e7/2485/1' ]; then
+      ID_VENDOR_ID=03e7
+      ID_MODEL_ID=2485
+    fi
+    if [ "${PRODUCT}" == '3e7/f63b/100' ]; then
+      ID_VENDOR_ID=03e7
+      ID_MODEL_ID=f63b
+    fi
+  else
+    echo "Invalid udev ACTION: ${ACTION}" >&2
+    exit 1
+  fi
+  echo "Running virsh ${COMMAND} ${DOMAIN} for ${ID_VENDOR}." >&2
+  virsh "${COMMAND}" "${DOMAIN}" /dev/stdin <<END
+  <hostdev mode='subsystem' type='usb'>
+    <source>
+      <vendor id='0x${ID_VENDOR_ID}'/>
+      <product id='0x${ID_MODEL_ID}'/>
+    </source>
+  </hostdev>
+  END
+  exit 0
+
+
+Note that when the device is disconnected from the USB bus, some udev environmental variables are not available (:code:`ID_VENDOR_ID` or :code:`ID_MODEL_ID`),
+that is why you need to use :code:`PRODUCT` environmental variable to identify which device has been disconnected.
+
+The virtual machine where DepthAI API application is running should have defined a udev rules that identify the OAK-D camera.
+The udev rule is described `here <https://docs.luxonis.com/en/latest/pages/faq/#does-depthai-work-on-the-nvidia-jetson-series>`__
+
+Solution provided by `Manuel Segarra-Abad <https://github.com/maseabunikie>`__
+
+VMware
+******
+
+Using the OAK-D device in a VMware requires some extra one-time settings that need to be set up for it to work. 
+
+First of all, make sure  the USB controller is switched from USB2 to USB3. Go to :code:`Virtual Machine Settings -> USB Controller -> USB compatibility` and change 
+to USB 3.1 (or USB 3.0 for older VMware versions, as available).
+
+Depending on what state the device is, there could be two devices showing up, and both need to be routed to the VM. 
+Those could be visible at :code:`Player -> Removable Devices`:
+
+* Intel Movidius MyriadX
+* Intel VSC Loopback Device or Intel Luxonis Device 
+
+In Linux OS, run these commands to give USB permissions for the regular user:
+
+.. code-block:: bash
+
+  echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
+  sudo udevadm control --reload-rules && sudo udevadm trigger
+
+If Virtual Machine doesn't detect the device, try the following: find and select option like *Forget connection rule* (for both devices), then try running
+the DepthAI example again inside the VM. Choose to route to VM and select to *not ask again* (this is important, as there is a timeout, and the device 
+watchdog could get triggered if the host doesn't start communication in few seconds). You may need to repeat running the script a few times, until all gets 
+set properly for VMware.
+
+Virtual Box
+***********
+
+If you want to use VirtualBox to run the DepthAI source code, please make sure that you allow the VM to access the USB devices. Also, be aware that 
+by default, it supports only USB 1.1 devices, and DepthAI operates in two stages:
+
+#. For showing up when plugged in. We use this endpoint to load the firmware onto the device, which is a usb-boot technique.  This device is USB2.
+#. For running the actual code. This shows up after USB booting and is USB3.
+
+In order to support the DepthAI modes, you need to download and install `Oracle VM VirtualBox Extension Pack <https://www.virtualbox.org/wiki/Downloads>`__.  Once this is installed, enable USB3 (xHCI) Controller in the USB settings.
+
+Once this is done, you'll need to route the Myriad as USB device from Host to the VBox.  This is the filter for depthai before it has booted, which is 
+at that point a USB2 device:
+
+.. image:: https://user-images.githubusercontent.com/32992551/105070455-8d4d6b00-5a40-11eb-9bc6-19b164a55b4c.png
+  :alt: Routing the not-yet-booted depthai to the VirtualBox.
+
+The last step is to add the USB Intel Loopback device. The depthai device boots its firmware over USB, and after it has booted, it shows up as a new device.
+
+This device shows just up when the depthai/OAK is trying to reconnect (during runntime, so right after running a pipeline on depthai, such as `:bash: python3 depthai_demo.py`).
+
+It might take a few tries to get this loopback device shown up and added, as you need to do this while depthai is trying to connect after a pipeline has been built (and so it has at that point now booted its internal firmware over USB2).
+
+For enabling it only once, you can see the loopback device here (after the pipeline has been started):
+
+.. image:: https://user-images.githubusercontent.com/32992551/105112208-c527d300-5a7f-11eb-96b4-d14bcf974313.png
+  :alt: Find the loopback device right after you tell depthai to start the pipeline, and select it.
+
+And then for permanently enabling this pass-through to virtual box, enable this in setting below:
+
+.. image:: https://user-images.githubusercontent.com/32992551/105070474-93dbe280-5a40-11eb-94b3-6557cd83fe1f.png
+  :alt: Making the USB Loopback Device for depthai/OAK, to allow the booted device to communicate in virtualbox
+
+And then for each additional depthai/OAK device you would like to pass through, repeat just this last loopback settings step for each unit (as each unit will have its own unique ID).
+
+
+Install from PyPI
+#################
+
+After installing depthai dependencies, you can either refer to depthai-core for C++ development, or download the depthai **Python library**
+`via PyPi <https://pypi.org/project/depthai/>`__:
+
+.. code-block:: bash
+
+  python3 -m pip install depthai
+
+For other installation options, see :ref:`other installation options <Other installation methods>`.
+
+Test installation
+#################
+
+We have `a set of examples <https://github.com/luxonis/depthai-python/tree/develop/examples>`__ that should help you verify if your setup was correct.
+
+First, clone the `depthai-python <https://github.com/luxonis/depthai-python/tree/develop>`__ repository and change directory into this repo:
+
+.. code-block:: bash
+
+  git clone https://github.com/luxonis/depthai-python.git
+  cd depthai-python
+
+Next install the requirements for this repository.
+Note that we recommend installing the dependencies in a virtual environment, so that they don't interfere with other Python
+tools/environments on your system.
+
+- For development machines like Mac/Windows/Ubuntu/etc., we recommend the `PyCharm <https://www.jetbrains.com/pycharm/>`__ IDE, as it automatically makes/manages virtual environments for you, along with a bunch of other benefits.  Alternatively, :code:`conda`, :code:`pipenv`, or :code:`virtualenv` could be used directly (and/or with your preferred IDE).
+- For installations on resource-constrained systems, such as the Raspberry Pi or other small Linux systems, we recommend :code:`conda`, :code:`pipenv`, or :code:`virtualenv`.  To set up a virtual environment with :code:`virtualenv`, run :code:`virtualenv venv && source venv/bin/activate`.
+
+Using a virtual environment (or system-wide, if you prefer), run the following to install the requirements for this example repository:
+
+.. code-block:: bash
+
+  cd examples
+  python3 install_requirements.py
+
+Now, run the :code:`rgb_preview.py` script from within :code:`examples` directory to make sure everything is working:
+
+.. code-block:: bash
+
+  python3 ColorCamera/rgb_preview.py
+
+If all goes well a small window video display should appear.  And example is shown below:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/WP-Vo-awT9A" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+Run Other Examples
+##################
+
+After you have run this example, you can run other examples to learn about DepthAI possibilities. You can also proceed to:
+
+- Our tutorials, starting with a Hello World tutorial explaining the API usage step by step (:ref:`here <Hello World>`)
+- Our experiments, containing implementations of various user use cases on DepthAI (`here <https://github.com/luxonis/depthai-experiments>`__)
+
+You can also proceed below to learn how to convert your own neural network to run on DepthAI.
+
+And we also have online model training below, which shows you how to train and convert models for DepthAI:
+
+- Online ML Training and model Conversion: `HERE <https://github.com/luxonis/depthai-ml-training/tree/master/colab-notebooks>`__
+
+Other installation methods
+##########################
+
+To get the latest and yet unreleased features from our source code, you can go ahead and compile depthai package manually.
+
+.. tabs::
+
+  .. tab:: **Build from source**
+
+      **Dependencies to build from source**
+
+      - CMake > 3.2.0
+      - Generation tool (Ninja, make, ...)
+      - C/C++ compiler
+      - libusb1 development package
+
+      .. tabs::
+
+        .. tab:: Debian/Ubuntu/RPi OS
+
+          On Debian based systems (Raspberry Pi OS, Ubuntu, ...) these can be acquired by running:
+
+          .. code-block:: bash
+
+            sudo apt-get -y install cmake libusb-1.0-0-dev build-essential
+
+        .. tab:: maxOS
+
+          Assuming a stock Mac OS X install, `depthai-python <https://github.com/luxonis/depthai-python>`__ library needs following dependencies
+
+          - Homebrew (If it's not installed already)
+
+            .. code-block:: bash
+
+              /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+
+          - Python, :code:`libusb`, CMake, :code:`wget`
+
+            .. code-block:: bash
+
+                brew install coreutils python3 cmake libusb wget
+
+          And now you're ready to clone the `depthai-python <https://github.com/luxonis/depthai-python>`__ from Github and build it for Mac OS X.
+
+  .. tab:: **Install from commit**
+
+    Pip allows users to install the packages from specific commits, even if they are not yet released on PyPi.
+
+    To do so, use the command below - and be sure to replace the :code:`<commit_sha>` with the correct commit hash `from here <https://github.com/luxonis/depthai-python/commits>`__
+
+    .. code-block:: bash
+
+        python3 -m pip install git+https://github.com/luxonis/depthai-python.git@<commit_sha>
+
+  .. tab:: **Using specific branch/PR**
+
+    From time to time, it may be of interest to use a specific branch.  This may occur, for example,
+    because we have listened to your feature request and implemented a quick implementation in a branch.
+    Or it could be to get early access to a feature that is soaking in our :code:`develop` for stability purposes before being merged into :code:`main`
+    (:code:`develop` is the branch we use to soak new features before merging them into :code:`main`):
+
+    So when working in the `depthai-python <https://github.com/luxonis/depthai-python>`__ repository, using a branch can be accomplished
+    with the following commands.
+
+    Prior to running the following, you can either clone the repository independently
+    (for not over-writing any of your local changes) or simply do a :code:`git pull` first.
+
+    .. code-block:: bash
+
+      git checkout <branch>
+      git submodule update --init --recursive
+      python3 setup.py develop
+
+  .. tab:: **Install from source**
+
+    If desired, you can also install the package from the source code itself - it will allow you to make the changes
+    to the API and see them live in action.
+
+    To do so, first download the repository and then add the package to your python interpreter in development mode
+
+    .. code-block:: bash
+
+      git clone https://github.com/luxonis/depthai-python.git
+      cd depthai-python
+      git submodule update --init --recursive
+      python3 setup.py develop  # you may need to add sudo if using system interpreter instead of virtual environment
+
+    If you want to use other branch (e.g. :code:`develop`) than default (:code:`main`), you can do so by typing
+
+    .. code-block:: bash
+
+      git checkout develop  # replace the "develop" with a desired branch name
+      git submodule update --recursive
+      python3 setup.py develop
+
+    Or, if you want to checkout a specific commit, type
+
+    .. code-block:: bash
+
+      git checkout <commit_sha>
+      git submodule update --recursive
+      python3 setup.py develop
diff --git a/bindings/python/docs/source/references/cpp.rst b/bindings/python/docs/source/references/cpp.rst
new file mode 100644
index 000000000..2b9d19072
--- /dev/null
+++ b/bindings/python/docs/source/references/cpp.rst
@@ -0,0 +1,7 @@
+C++ API Reference
+-----------------
+
+.. doxygennamespace:: dai
+   :members:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/references/python.rst b/bindings/python/docs/source/references/python.rst
new file mode 100644
index 000000000..d177bd1ad
--- /dev/null
+++ b/bindings/python/docs/source/references/python.rst
@@ -0,0 +1,21 @@
+Python API Reference
+--------------------
+
+
+.. automodule:: depthai
+    :autosummary:
+    :members:
+    :special-members: __init__
+    :show-inheritance:
+    :undoc-members:
+
+========
+Nodes
+========
+
+.. automodule:: depthai.node
+    :autosummary:
+    :members:
+    :special-members: __init__
+    :show-inheritance:
+    :undoc-members:
diff --git a/bindings/python/docs/source/samples/Camera/camera_undistort.rst b/bindings/python/docs/source/samples/Camera/camera_undistort.rst
new file mode 100644
index 000000000..eaa43da43
--- /dev/null
+++ b/bindings/python/docs/source/samples/Camera/camera_undistort.rst
@@ -0,0 +1,43 @@
+Undistort camera stream
+=======================
+
+This example shows how you can use :ref:`Camera` node to undistort wide FOV camera stream. :ref:`Camera` node will automatically undistort ``still``, ``video`` and ``preview`` streams, while ``isp`` stream will be left as is.
+
+Demo
+####
+
+.. figure:: https://github.com/luxonis/depthai-python/assets/18037362/936b9ad7-179b-42a5-a6cb-25efdbdf73d9
+
+    Left: Camera.isp output. Right: Camera.video (undistorted) output
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Camera/camera_undistort.py>`__
+
+        .. literalinclude:: ../../../../examples/Camera/camera_undistort.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Work in progress.
+
+
+..
+    Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Camera/camera_undistort.cpp>`__
+
+    .. literalinclude:: ../../../../depthai-core/examples/Camera/camera_undistort.cpp
+        :language: cpp
+        :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ColorCamera/autoexposure_roi.rst b/bindings/python/docs/source/samples/ColorCamera/autoexposure_roi.rst
new file mode 100644
index 000000000..b32d76fa5
--- /dev/null
+++ b/bindings/python/docs/source/samples/ColorCamera/autoexposure_roi.rst
@@ -0,0 +1,45 @@
+Auto Exposure on ROI
+====================
+
+This example shows how to dynamically set the Auto Exposure (AE) of the RGB camera dynamically, during application runtime,
+based on bounding box position.
+
+By default, AutoExposure region is adjusted based on neural network output. If desired, the region can be set manually.
+You can do so by pressing one of the following buttons:
+
+- `w` - move AE region up
+- `s` - move AE region down
+- `a` - move AE region left
+- `d` - move AE region right
+- `n` - deactivate manual region (switch back to nn-based roi)
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/aTqUwNL_9Bo" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/autoexposure_roi.py>`__
+
+        .. literalinclude:: ../../../../examples/ColorCamera/autoexposure_roi.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ColorCamera/rgb_camera_control.rst b/bindings/python/docs/source/samples/ColorCamera/rgb_camera_control.rst
new file mode 100644
index 000000000..2b8fbbd01
--- /dev/null
+++ b/bindings/python/docs/source/samples/ColorCamera/rgb_camera_control.rst
@@ -0,0 +1,84 @@
+RGB Camera Control
+==================
+
+This example shows how to control the :ref:`ColorCamera`, such as exposure, sensitivity, white balance, luma/chroma denoise,
+device-side crop, camera triggers, etc.
+
+An output is a full frame along with cropped frame (``video``) which can be moved with ``WASD`` keys.
+
+**List of all controls**:
+
+.. code-block::
+
+  Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to
+  trigger autofocus, 'IOKL,.NM' for manual exposure/focus/white-balance:
+    Control:      key[dec/inc]  min..max
+    exposure time:     I   O      1..33000 [us]
+    sensitivity iso:   K   L    100..1600
+    focus:             ,   .      0..255 [far..near]
+    white balance:     N   M   1000..12000 (light color temperature K)
+
+  To go back to auto controls:
+    'E' - autoexposure
+    'F' - autofocus (continuous)
+    'B' - auto white-balance
+
+  Other controls:
+    '1' - AWB lock (true / false)
+    '2' - AE lock (true / false)
+    '3' - Select control: AWB mode
+    '4' - Select control: AE compensation
+    '5' - Select control: anti-banding/flicker mode
+    '6' - Select control: effect mode
+    '7' - Select control: brightness
+    '8' - Select control: contrast
+    '9' - Select control: saturation
+    '0' - Select control: sharpness
+    '[' - Select control: luma denoise
+    ']' - Select control: chroma denoise
+
+  For the 'Select control: ...' options, use these keys to modify the value:
+    '-' or '_' to decrease
+    '+' or '=' to increase
+
+.. rubric:: Similar samples:
+
+- :ref:`Mono Camera Control`
+- :ref:`Depth Crop Control`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/httOxe2LAkI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/rgb_camera_control.py>`__
+
+        .. literalinclude:: ../../../../examples/ColorCamera/rgb_camera_control.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ColorCamera/rgb_camera_control.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ColorCamera/rgb_camera_control.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ColorCamera/rgb_preview.rst b/bindings/python/docs/source/samples/ColorCamera/rgb_preview.rst
new file mode 100644
index 000000000..091f36c37
--- /dev/null
+++ b/bindings/python/docs/source/samples/ColorCamera/rgb_preview.rst
@@ -0,0 +1,55 @@
+RGB Preview
+===========
+
+This example shows how to set up a pipeline that outputs a small preview of the RGB camera,
+connects over XLink to transfer these to the host real-time, and displays the RGB frames
+on the host with OpenCV.
+
+Note that preview frames are not suited for larger resolution (eg. 1920x1080).
+Preview is more suitable for either NN or visualization purposes.
+Please check out :ref:`ColorCamera` node to get a better view.
+
+If you want to get higher resolution RGB frames sample please visit :ref:`RGB video`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Video` (higher resolution)
+- :ref:`Mono Preview`
+- :ref:`Depth Preview`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/WP-Vo-awT9A" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/rgb_preview.py>`__
+
+        .. literalinclude:: ../../../../examples/ColorCamera/rgb_preview.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ColorCamera/rgb_preview.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ColorCamera/rgb_preview.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ColorCamera/rgb_scene.rst b/bindings/python/docs/source/samples/ColorCamera/rgb_scene.rst
new file mode 100644
index 000000000..3a57a2341
--- /dev/null
+++ b/bindings/python/docs/source/samples/ColorCamera/rgb_scene.rst
@@ -0,0 +1,32 @@
+RGB scene
+=========
+
+This example shows how to select :ref:`ColorCamera` scene and effect.
+
+#. `s` will switch between available scenes
+#. `e` will switch between available effects (currently not available)
+
+Demo
+####
+
+.. image:: /_static/images/examples/scene.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/rgb_scene.py>`__
+
+        .. literalinclude:: ../../../../examples/ColorCamera/rgb_scene.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ColorCamera/rgb_video.rst b/bindings/python/docs/source/samples/ColorCamera/rgb_video.rst
new file mode 100644
index 000000000..5021bab92
--- /dev/null
+++ b/bindings/python/docs/source/samples/ColorCamera/rgb_video.rst
@@ -0,0 +1,46 @@
+RGB video
+=========
+
+This example shows how to use high resolution video at low latency. Compared to :ref:`RGB Preview`, this demo outputs NV12 frames whereas
+preview frames are BGR and are not suited for larger resoulution (eg. 1920x1080). Preview is more suitable for either NN or visualization purposes.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Preview` (lower resolution)
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/-sTQLEVvO38" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ColorCamera/rgb_video.py>`__
+
+        .. literalinclude:: ../../../../examples/ColorCamera/rgb_video.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ColorCamera/rgb_video.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ColorCamera/rgb_video.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/EdgeDetector/edge_detector.rst b/bindings/python/docs/source/samples/EdgeDetector/edge_detector.rst
new file mode 100644
index 000000000..96a00a7a5
--- /dev/null
+++ b/bindings/python/docs/source/samples/EdgeDetector/edge_detector.rst
@@ -0,0 +1,39 @@
+Edge Detector
+=============
+
+This example performs edge detection on 3 different inputs: left, right and RGB camera.
+HW accelerated sobel filter 3x3 is used.
+Sobel filter parameters can be changed by keys 1 and 2.
+
+Demo
+####
+
+.. image:: /_static/images/examples/edge_detections.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/EdgeDetector/edge_detector.py>`__
+
+        .. literalinclude:: ../../../../examples/EdgeDetector/edge_detector.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/EdgeDetector/edge_detector.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/EdgeDetector/edge_detector.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/FeatureTracker/feature_detector.rst b/bindings/python/docs/source/samples/FeatureTracker/feature_detector.rst
new file mode 100644
index 000000000..7c16f7115
--- /dev/null
+++ b/bindings/python/docs/source/samples/FeatureTracker/feature_detector.rst
@@ -0,0 +1,38 @@
+Feature Detector
+================
+
+Example shows capabilities of :ref:`FeatureTracker`. It only detects features.
+:ref:`Feature Tracker` example also tracks these features.
+
+Demo
+####
+
+.. image:: /_static/images/examples/feature_detector.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/FeatureTracker/feature_detector.py>`__
+
+        .. literalinclude:: ../../../../examples/FeatureTracker/feature_detector.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/FeatureTracker/feature_detector.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/FeatureTracker/feature_detector.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/FeatureTracker/feature_motion_estimation.rst b/bindings/python/docs/source/samples/FeatureTracker/feature_motion_estimation.rst
new file mode 100644
index 000000000..d3e4ec230
--- /dev/null
+++ b/bindings/python/docs/source/samples/FeatureTracker/feature_motion_estimation.rst
@@ -0,0 +1,37 @@
+Feature Tracker with Motion Estimation
+======================================
+
+This example demonstrates the capabilities of the :ref:`FeatureTracker` combined with motion estimation. It detects and tracks features between consecutive frames using optical flow. 
+Each feature is assigned a unique ID. The motion of the camera is estimated based on the tracked features, and the estimated motion (e.g., Up, Down, Left, Right, Rotating) is displayed on screen. 
+
+The :ref:`Feature Detector` example only detects features without estimating motion.
+
+Demo
+####
+
+.. image:: ../../../../docs/source/_static/images/examples/feature_motion_estimation.gif
+    :alt: Feature Tracker with Motion Estimation Demo
+    :width: 100%
+    :align: center
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/FeatureTracker/feature_motion_estimation.py>`__
+
+        .. literalinclude:: ../../../../examples/FeatureTracker/feature_motion_estimation.py
+           :language: python
+           :linenos:
+
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/FeatureTracker/feature_tracker.rst b/bindings/python/docs/source/samples/FeatureTracker/feature_tracker.rst
new file mode 100644
index 000000000..618b27ddd
--- /dev/null
+++ b/bindings/python/docs/source/samples/FeatureTracker/feature_tracker.rst
@@ -0,0 +1,42 @@
+Feature Tracker
+===============
+
+Example shows capabilities of :ref:`FeatureTracker`. It detects features and tracks them between consecutive frames using optical
+flow by assigning unique ID to matching features. :ref:`Feature Detector` example only detects features.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/0WonOa0xmDY" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/FeatureTracker/feature_tracker.py>`__
+
+        .. literalinclude:: ../../../../examples/FeatureTracker/feature_tracker.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/FeatureTracker/feature_tracker.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/FeatureTracker/feature_tracker.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/IMU/imu_accelerometer_gyroscope.rst b/bindings/python/docs/source/samples/IMU/imu_accelerometer_gyroscope.rst
new file mode 100644
index 000000000..3fdc0c5c2
--- /dev/null
+++ b/bindings/python/docs/source/samples/IMU/imu_accelerometer_gyroscope.rst
@@ -0,0 +1,50 @@
+IMU Accelerometer & Gyroscope
+=============================
+
+This example shows accelerometer and gyroscope at a combined/synchronized 500 hz rate using the onboard IMU.
+Returns acceleration [m/s^2] and angular velocity [rad/s].
+
+Demo
+####
+
+Example script output
+
+.. code-block::
+
+    ~/depthai-python/examples$ python3 imu_gyroscope_accelerometer.py
+    Accelerometer timestamp: 0.000 ms
+    Accelerometer [m/s^2]: x: -0.162806 y: 6.445191 z: 3.189077
+    Gyroscope timestamp: 1.642 ms
+    Gyroscope [rad/s]: x: -0.040480 y: 0.088417 z: -0.168312
+    Accelerometer timestamp: 2.073 ms
+    Accelerometer [m/s^2]: x: -0.229843 y: 6.263232 z: 3.572149
+    Gyroscope timestamp: 3.663 ms
+    Gyroscope [rad/s]: x: -0.072438 y: 0.115049 z: -0.350472
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/IMU/imu_gyroscope_accelerometer.py>`__
+
+        .. literalinclude:: ../../../../examples/IMU/imu_gyroscope_accelerometer.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/IMU/imu_gyroscope_accelerometer.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/IMU/imu_gyroscope_accelerometer.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/IMU/imu_rotation_vector.rst b/bindings/python/docs/source/samples/IMU/imu_rotation_vector.rst
new file mode 100644
index 000000000..daa7ce012
--- /dev/null
+++ b/bindings/python/docs/source/samples/IMU/imu_rotation_vector.rst
@@ -0,0 +1,51 @@
+IMU Rotation Vector
+===================
+
+This example shows rotation vector output at 400 hz rate using the onboard IMU.
+Returns quaternion.
+
+Demo
+####
+
+Example script output
+
+.. code-block::
+
+    ~/depthai-python/examples$ python3 imu_rotation_vector.py
+    Rotation vector timestamp: 0.000 ms
+    Quaternion: i: 0.089355 j: 0.355103 k: 0.034058 real: 0.929932
+    Accuracy (rad): 3.141602
+    Rotation vector timestamp: 3.601 ms
+    Quaternion: i: 0.088928 j: 0.354004 k: 0.036560 real: 0.930298
+    Accuracy (rad): 3.141602
+    Rotation vector timestamp: 6.231 ms
+    Quaternion: i: 0.094604 j: 0.344543 k: 0.040955 real: 0.933105
+    Accuracy (rad): 3.141602
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/IMU/imu_rotation_vector.py>`__
+
+        .. literalinclude:: ../../../../examples/IMU/imu_rotation_vector.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/IMU/imu_rotation_vector.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/IMU/imu_rotation_vector.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ImageManip/image_manip_rotate.rst b/bindings/python/docs/source/samples/ImageManip/image_manip_rotate.rst
new file mode 100644
index 000000000..595da5fff
--- /dev/null
+++ b/bindings/python/docs/source/samples/ImageManip/image_manip_rotate.rst
@@ -0,0 +1,44 @@
+ImageManip Rotate
+=================
+
+This example showcases how to rotate color and mono frames with the help of :ref:`ImageManip` node.
+In the example, we are rotating by 90°. 
+
+.. note::
+    Due to HW warp constraint, input image (to be rotated) has to have **width value of multiples of 16.**
+
+Demos
+#####
+
+.. image:: https://user-images.githubusercontent.com/18037362/128074634-d2baa78e-8f35-40fc-8661-321f3a3c3850.png
+  :alt: Rotated mono and color frames
+
+Here I have DepthAI device positioned vertically on my desk.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ImageManip/image_manip_rotate.py>`__
+
+        .. literalinclude:: ../../../../examples/ImageManip/image_manip_rotate.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ImageManip/image_manip_rotate.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ImageManip/image_manip_rotate.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ImageManip/image_manip_tiling.rst b/bindings/python/docs/source/samples/ImageManip/image_manip_tiling.rst
new file mode 100644
index 000000000..297b3836c
--- /dev/null
+++ b/bindings/python/docs/source/samples/ImageManip/image_manip_tiling.rst
@@ -0,0 +1,41 @@
+ImageManip Tiling
+=================
+
+Frame tiling could be useful for eg. feeding large frame into a :ref:`NeuralNetwork` whose input size isn't as large. In such case,
+you can tile the large frame into multiple smaller ones and feed smaller frames to the :ref:`NeuralNetwork`.
+
+In this example we use 2 :ref:`ImageManip` for splitting the original :code:`1000x500` preview frame into two :code:`500x500` frames.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/128074673-045ed4b6-ac8c-4a76-83bb-0f3dc996f7a5.png
+  :alt: Tiling preview into 2 frames/tiles
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ImageManip/image_manip_tiling.py>`__
+
+        .. literalinclude:: ../../../../examples/ImageManip/image_manip_tiling.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ImageManip/image_manip_tiling.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ImageManip/image_manip_tiling.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ImageManip/rgb_rotate_warp.rst b/bindings/python/docs/source/samples/ImageManip/rgb_rotate_warp.rst
new file mode 100644
index 000000000..4c02478df
--- /dev/null
+++ b/bindings/python/docs/source/samples/ImageManip/rgb_rotate_warp.rst
@@ -0,0 +1,48 @@
+RGB Rotate Warp
+===============
+
+This example shows usage of :ref:`ImageManip` to crop a rotated rectangle area on a frame,
+or perform various image transforms: rotate, mirror, flip, perspective transform.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/152208899-461fa163-42ec-4922-84b5-5cd09332ea32.png
+
+.. code-block::
+
+    === Controls:
+    z -rotated rectangle crop, decrease rate
+    x -rotated rectangle crop, increase rate
+    c -warp 4-point transform, cycle through modes
+    v -resize cropped region, or disable resize
+    h -print controls (help)
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ImageManip/rgb_rotate_warp.py>`__
+
+        .. literalinclude:: ../../../../examples/ImageManip/rgb_rotate_warp.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ImageManip/rgb_rotate_warp.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ImageManip/rgb_rotate_warp.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MobileNet/mono_mobilenet.rst b/bindings/python/docs/source/samples/MobileNet/mono_mobilenet.rst
new file mode 100644
index 000000000..dfec79611
--- /dev/null
+++ b/bindings/python/docs/source/samples/MobileNet/mono_mobilenet.rst
@@ -0,0 +1,51 @@
+Mono & MobilenetSSD
+===================
+
+This example shows how to run MobileNetv2SSD on the right grayscale camera and how to display the
+neural network results on a preview of the right camera stream.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`RGB & MobileNetSSD @ 4K`
+- :ref:`Video & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/8Jih63NWFdI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MobileNet/mono_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/MobileNet/mono_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MobileNet/mono_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MobileNet/mono_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet.rst b/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet.rst
new file mode 100644
index 000000000..ba94b5116
--- /dev/null
+++ b/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet.rst
@@ -0,0 +1,51 @@
+RGB & MobilenetSSD
+==================
+
+This example shows how to run MobileNetv2SSD on the RGB input frame, and how to display both the RGB
+preview and the metadata results from the MobileNetv2SSD on the preview.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD @ 4K`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Video & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/3j4cNFKzLek" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MobileNet/rgb_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/MobileNet/rgb_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MobileNet/rgb_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MobileNet/rgb_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet_4k.rst b/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet_4k.rst
new file mode 100644
index 000000000..f60b91dee
--- /dev/null
+++ b/bindings/python/docs/source/samples/MobileNet/rgb_mobilenet_4k.rst
@@ -0,0 +1,55 @@
+RGB & MobileNetSSD @ 4K
+=======================
+
+This example shows how to run MobileNetv2SSD on the RGB input frame, and how to display both the RGB
+preview and the metadata results from the MobileNetv2SSD on the preview.
+The preview size is set to 4K resolution.
+
+It's a variation of :ref:`RGB & MobilenetSSD`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Video & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/4CWPVCeynw8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MobileNet/rgb_mobilenet_4k.py>`__
+
+        .. literalinclude:: ../../../../examples/MobileNet/rgb_mobilenet_4k.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MobileNet/rgb_mobilenet_4k.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MobileNet/rgb_mobilenet_4k.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MobileNet/video_mobilenet.rst b/bindings/python/docs/source/samples/MobileNet/video_mobilenet.rst
new file mode 100644
index 000000000..0ae972c3b
--- /dev/null
+++ b/bindings/python/docs/source/samples/MobileNet/video_mobilenet.rst
@@ -0,0 +1,53 @@
+Video & MobilenetSSD
+====================
+
+This example shows how to MobileNetv2SSD on the RGB input frame, which is read from the specified file,
+and not from the RGB camera, and how to display both the RGB
+frame and the metadata results from the MobileNetv2SSD on the frame.
+DepthAI is used here only as a processing unit
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`RGB & MobilenetSSD @ 4K`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Mono & MobilenetSSD & Depth`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/4DVzHw1f8p8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MobileNet/video_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/MobileNet/video_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MobileNet/video_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MobileNet/video_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MonoCamera/mono_camera_control.rst b/bindings/python/docs/source/samples/MonoCamera/mono_camera_control.rst
new file mode 100644
index 000000000..8f1edf038
--- /dev/null
+++ b/bindings/python/docs/source/samples/MonoCamera/mono_camera_control.rst
@@ -0,0 +1,56 @@
+Mono Camera Control
+===================
+
+This example shows how to control the device-side crop and camera triggers.
+TWo output is a displayed mono cropped frame, that can be manipulated using the following keys:
+
+#. `w` will move the crop up
+#. `a` will move the crop left
+#. `s` will move the crop down
+#. `d` will move the crop right
+#. `e` will trigger autoexposure
+#. `i` and `o` will decrease/increase the exposure time
+#. `k` and `l` will decrease/increase the sensitivity iso
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Camera Control`
+- :ref:`Depth Crop Control`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/7zNAJp8bYCg" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MonoCamera/mono_camera_control.py>`__
+
+        .. literalinclude:: ../../../../examples/MonoCamera/mono_camera_control.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MonoCamera/mono_camera_control.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MonoCamera/mono_camera_control.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MonoCamera/mono_full_resolution_saver.rst b/bindings/python/docs/source/samples/MonoCamera/mono_full_resolution_saver.rst
new file mode 100644
index 000000000..0fd0c4244
--- /dev/null
+++ b/bindings/python/docs/source/samples/MonoCamera/mono_full_resolution_saver.rst
@@ -0,0 +1,49 @@
+Mono Full Resolution Saver
+==========================
+
+This example does its best to save  1280x720 .png files as fast at it can from the
+Mono sensor. It serves as an example of recording mono pictures to disk.
+
+Be careful, this example saves pictures to your host storage. So if you leave
+it running, you could fill up your storage on your host.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Full Resolution Saver`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/h2HaiszQLuE" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MonoCamera/mono_full_resolution_saver.py>`__
+
+        .. literalinclude:: ../../../../examples/MonoCamera/mono_full_resolution_saver.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MonoCamera/mono_full_resolution_saver.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MonoCamera/mono_full_resolution_saver.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MonoCamera/mono_preview.rst b/bindings/python/docs/source/samples/MonoCamera/mono_preview.rst
new file mode 100644
index 000000000..fa2eb570e
--- /dev/null
+++ b/bindings/python/docs/source/samples/MonoCamera/mono_preview.rst
@@ -0,0 +1,47 @@
+Mono Preview
+============
+
+This example shows how to set up a pipeline that outputs the left and right grayscale camera
+images, connects over XLink to transfer these to the host real-time, and displays both using OpenCV.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Preview`
+- :ref:`Depth Preview`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/NLIIazhE6O4" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MonoCamera/mono_preview.py>`__
+
+        .. literalinclude:: ../../../../examples/MonoCamera/mono_preview.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MonoCamera/mono_preview.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/MonoCamera/mono_preview.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/MonoCamera/mono_preview_alternate_pro.rst b/bindings/python/docs/source/samples/MonoCamera/mono_preview_alternate_pro.rst
new file mode 100644
index 000000000..7212d0476
--- /dev/null
+++ b/bindings/python/docs/source/samples/MonoCamera/mono_preview_alternate_pro.rst
@@ -0,0 +1,52 @@
+Mono preview - Alternate between dot projector and illumination LED
+===================================================================
+
+This example will alternate between the IR illumination LED and IR dot projector. By default, example script will run
+both left and right monochrome camera sensors at 30FPS, and it will switch between the IR LED and dot projector
+every frame - meaning you will get LED-illuminated frames at 15FPS, and dot projector-illuminated frames at 15FPS.
+
+LED-illuminated frames can be used for your `AI vision tasks <https://docs.luxonis.com/en/latest/pages/ai_ml_nn/#ai-vision-tasks>`__
+and CV algorithms (eg. :ref:`Feature Tracker`) in low-light environments. Dot projector-illuminated frames are used for `active stereo depth <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s2/#pro-version>`__.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/LkW50C4N-R8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+On the video, we disabled both projector and LED for about a second, just to demonstrate how the scene looks
+in almost-complete darkness.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/MonoCamera/mono_preview_alternate_pro.py>`__
+
+        .. literalinclude:: ../../../../examples/MonoCamera/mono_preview_alternate_pro.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Not yet implemented.
+
+..
+            Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/MonoCamera/mono_preview_alternate_pro.cpp>`__
+
+            .. literalinclude:: ../../../../depthai-core/examples/MonoCamera/mono_preview_alternate_pro.cpp
+            :language: cpp
+            :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/NeuralNetwork/concat_multi_input.rst b/bindings/python/docs/source/samples/NeuralNetwork/concat_multi_input.rst
new file mode 100644
index 000000000..c2bb30ac2
--- /dev/null
+++ b/bindings/python/docs/source/samples/NeuralNetwork/concat_multi_input.rst
@@ -0,0 +1,39 @@
+Multi-Input Frame Concationation
+================================
+
+Example concatenates all 3 inputs with a simple custom model created with PyTorch (`link here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-custom-models/generate_model/pytorch_concat.py>`__,
+`tutorial here <https://docs.luxonis.com/en/latest/pages/tutorials/creating-custom-nn-models/>`__).
+It uses :ref:`NeuralNetwork`'s multiple input feature and links all 3 camera streams directly to the NeuralNetwork node.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/134209980-09c6e2f9-8a26-45d5-a6ad-c31d9e2816e1.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/NeuralNetwork/concat_multi_input.py>`__
+
+        .. literalinclude:: ../../../../examples/NeuralNetwork/concat_multi_input.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/tree/main/examples/NeuralNetwork/concat_multiple_input.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/NeuralNetwork/concat_multi_input.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/NeuralNetwork/normalization_multi_input.rst b/bindings/python/docs/source/samples/NeuralNetwork/normalization_multi_input.rst
new file mode 100644
index 000000000..46b9d77fd
--- /dev/null
+++ b/bindings/python/docs/source/samples/NeuralNetwork/normalization_multi_input.rst
@@ -0,0 +1,46 @@
+Frame Normalization
+===================
+
+This example shows how you can normalize a frame before sending it to another neural network. Many neural network models
+require frames with RGB values (pixels) in range between :code:`-0.5` to :code:`0.5`. :ref:`ColorCamera`'s preview outputs
+values between :code:`0` and :code:`255`. Simple custom model, created with PyTorch (`link here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-custom-models/generate_model/pytorch_normalize.py>`__, `tutorial here <https://docs.luxonis.com/en/latest/pages/tutorials/creating-custom-nn-models/>`__),
+allows users to specify mean and scale factors that will be applied to all frame values (pixels).
+
+.. math::
+
+   output = (input - mean) / scale
+
+.. image:: /_static/images/examples/normalize_model.png
+
+On the host, values are converted back to :code:`0`-:code:`255`, so they can be displayed by OpenCV.
+
+.. note::
+    This is just a demo, for normalization you should use OpenVINO's `model optimizer <https://docs.openvinotoolkit.org/latest/openvino_docs_MO_DG_prepare_model_convert_model_Converting_Model_General.html>`__ arguments :code:`--mean_values` and :code:`--scale_values`.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/NeuralNetwork/normalization_multi_input.py>`__
+
+        .. literalinclude:: ../../../../examples/NeuralNetwork/normalization_multi_input.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/tree/main/examples/NeuralNetwork/normalization_multiple_input.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/NeuralNetwork/normalization_multi_input.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ObjectTracker/object_tracker.rst b/bindings/python/docs/source/samples/ObjectTracker/object_tracker.rst
new file mode 100644
index 000000000..9d4bfb1d2
--- /dev/null
+++ b/bindings/python/docs/source/samples/ObjectTracker/object_tracker.rst
@@ -0,0 +1,50 @@
+Object tracker on RGB
+=====================
+
+This example shows how to run MobileNetv2SSD on the RGB input frame, and perform object tracking on persons.
+
+.. rubric:: Similar samples:
+
+- :ref:`Object tracker on video`
+- :ref:`Spatial object tracker on RGB`
+
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/_r-1_THTVic" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ObjectTracker/object_tracker.py>`__
+
+        .. literalinclude:: ../../../../examples/ObjectTracker/object_tracker.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ObjectTracker/object_tracker.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ObjectTracker/object_tracker.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ObjectTracker/object_tracker_video.rst b/bindings/python/docs/source/samples/ObjectTracker/object_tracker_video.rst
new file mode 100644
index 000000000..ca7d0876a
--- /dev/null
+++ b/bindings/python/docs/source/samples/ObjectTracker/object_tracker_video.rst
@@ -0,0 +1,43 @@
+Object tracker on video
+=======================
+
+This example shows how to run MobileNetv2SSD on video input frame, and perform object tracking on persons.
+
+.. rubric:: Similar samples:
+
+- :ref:`Object tracker on RGB`
+- :ref:`Spatial object tracker on RGB`
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ObjectTracker/object_tracker_video.py>`__
+
+        .. literalinclude:: ../../../../examples/ObjectTracker/object_tracker_video.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ObjectTracker/object_tracker_video.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ObjectTracker/object_tracker_video.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ObjectTracker/spatial_object_tracker.rst b/bindings/python/docs/source/samples/ObjectTracker/spatial_object_tracker.rst
new file mode 100644
index 000000000..5ab645fc7
--- /dev/null
+++ b/bindings/python/docs/source/samples/ObjectTracker/spatial_object_tracker.rst
@@ -0,0 +1,45 @@
+Spatial object tracker on RGB
+=============================
+
+This example shows how to run MobileNetv2SSD on the RGB input frame, and perform spatial object tracking on persons.
+
+setConfidenceThreshold - confidence threshold above which objects are detected
+
+.. rubric:: Similar samples:
+
+- :ref:`Object tracker on video`
+- :ref:`Object tracker on RGB`
+
+Demo
+####
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ObjectTracker/spatial_object_tracker.py>`__
+
+        .. literalinclude:: ../../../../examples/ObjectTracker/spatial_object_tracker.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ObjectTracker/spatial_object_tracker.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/ObjectTracker/spatial_object_tracker.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_camera_control.rst b/bindings/python/docs/source/samples/Script/script_camera_control.rst
new file mode 100644
index 000000000..be9cc5073
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_camera_control.rst
@@ -0,0 +1,42 @@
+Script camera control
+=====================
+
+This example shows how to use :ref:`Script` node. It controls the :ref:`ColorCamera` to
+capture a still image every second.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://user-images.githubusercontent.com/18037362/126664262-bdd8b567-052c-4985-95df-c4da67f1e3c1.gif" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_camera_control.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_camera_control.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_camera_control.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_camera_control.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_change_pipeline_flow.rst b/bindings/python/docs/source/samples/Script/script_change_pipeline_flow.rst
new file mode 100644
index 000000000..4667928bd
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_change_pipeline_flow.rst
@@ -0,0 +1,43 @@
+Script change pipeline flow
+===========================
+
+This example shows how you can change the flow of data inside your pipeline in runtime using the :ref:`Script` node. In this example, we send a message from
+the host to choose whether we want Script node to forwards color frame to the :ref:`MobileNetDetectionNetwork`.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/187734814-df3b46c9-5e04-4a9d-bf6f-d738b40b4421.gif
+
+Pipeline Graph
+##############
+
+.. image:: https://user-images.githubusercontent.com/18037362/187736249-db7ff175-fcea-4d4e-b567-f99087bd82ee.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_change_pipeline_flow.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_change_pipeline_flow.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_change_pipeline_flow.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_change_pipeline_flow.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_emmc_access.rst b/bindings/python/docs/source/samples/Script/script_emmc_access.rst
new file mode 100644
index 000000000..c4db24eb0
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_emmc_access.rst
@@ -0,0 +1,64 @@
+Script EMMC access
+==================
+
+.. note::
+
+    This example requires a device with onboard EMMC memory (e.g. OAK-1-POE). 
+    To check whether your device has EMMC memory, run the bootloader version script at :ref:`Bootloader Version` and check whether the output contains ``Memory.EMMC``.
+
+
+
+This example shows how to use :ref:`Script` node to access EMMC memory of the device. Default location for EMMC memory is ``/media/mmcsd-0-0/``. The first script in the pipeline works by writing an image to EMMC memory. 
+The second script starts a webserver on ::code:`/media/mmcsd-0-0/` directory and serves the image from EMMC memory.
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Prerequisites
+#############
+
+We first need to enable the EMMC memory as storage on the device. To do so, we need to flash the device with an application that has EMMC enabled. 
+
+Example application:
+
+.. code-block:: python
+
+    import depthai as dai
+
+    # Create pipeline
+    pipeline = dai.Pipeline()
+
+    # Set board config
+    board = dai.BoardConfig()
+    board.emmc = True
+    config = dai.Device.Config()
+    config.board = board
+    pipeline.setBoardConfig(board)
+
+    (f, bl) = dai.DeviceBootloader.getFirstAvailableDevice()
+    bootloader = dai.DeviceBootloader(bl)
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+    (r, errmsg) = bootloader.flash(progress, pipeline, memory=dai.DeviceBootloader.Memory.EMMC)
+    if r: print("Flash OK")
+
+
+The above code will flash the device with the application that enables the script node to access EMMC memory. Now we should be able to access EMMC memory even when the device is in standard mode (connected to the host PC).
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_emmc_access.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_emmc_access.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_forward_frames.rst b/bindings/python/docs/source/samples/Script/script_forward_frames.rst
new file mode 100644
index 000000000..b5a07b53e
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_forward_frames.rst
@@ -0,0 +1,38 @@
+Script forward frames
+=====================
+
+This example shows how to use :ref:`Script` node to forward (demultiplex) frames to two different outputs - in this case directly to two :ref:`XLinkOut` nodes.
+Script also changes exposure ratio for each frame, which results in two streams, one lighter and one darker.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/138553268-c2bd3525-c407-4b8e-bd0d-f87f13b8546d.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_forward_frames.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_forward_frames.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_forward_frames.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_forward_frames.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_get_ip.rst b/bindings/python/docs/source/samples/Script/script_get_ip.rst
new file mode 100644
index 000000000..262a33f3c
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_get_ip.rst
@@ -0,0 +1,49 @@
+Script get local IP
+===================
+
+.. note::
+    This example can only run on `OAK POE devices <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__. You need **bootloader** on/above version **0.0.15**. You can flash bootloader by running :code:`python3 examples/bootloader/flash_bootloader.py`.
+
+This example shows you how to get local IP (IP in the `private network <https://en.wikipedia.org/wiki/Private_network>`__) of the device.
+
+Demo
+####
+
+.. code-block:: bash
+
+    ~/depthai-python/examples/Script$ python3 script_get_ip.py
+    Found device with name: 14442C1031425FD700-ma2480
+    Version: 0.0.15
+
+    Names of layers: ['fp16', 'uint8']
+    NNData size: 13
+    FP16 values: [1.0, 1.2001953125, 3.900390625, 5.5]
+    UINT8 values: [6, 9, 4, 2, 0]
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_get_ip.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_get_ip.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_get_ip.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_get_ip.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_http_client.rst b/bindings/python/docs/source/samples/Script/script_http_client.rst
new file mode 100644
index 000000000..92bf68d9b
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_http_client.rst
@@ -0,0 +1,45 @@
+Script HTTP client
+==================
+
+.. note::
+    This example can only run on `OAK POE devices <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__. You need **bootloader** on/above version **0.0.15**. You can flash bootloader by running :code:`python3 examples/bootloader/flash_bootloader.py`.
+
+This example will send an `HTTP request <https://en.wikipedia.org/wiki/Hypertext_Transfer_Protocol>`__ to the http://api.ipify.org and print your public IP.
+
+Demo
+####
+
+.. code-block:: bash
+
+    ~/depthai-python/examples/Script$ python3 script_http_client.py
+    Sending http GET request...
+    200 OK
+    Public IP: b'123.123.123.123'
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_http_client.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_http_client.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_http_client.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_http_client.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_http_server.rst b/bindings/python/docs/source/samples/Script/script_http_server.rst
new file mode 100644
index 000000000..54a007ec8
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_http_server.rst
@@ -0,0 +1,51 @@
+Script HTTP server
+==================
+
+.. note::
+    This example can only run on `OAK POE devices <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__. You need **bootloader** on/above version **0.0.15**. You can flash bootloader by running :code:`python3 examples/bootloader/flash_bootloader.py`.
+
+This demo runs an HTTP server on the device itself. Server will serve you a static image when you connect to it (send a GET request).
+
+Demo
+####
+
+When you run the demo, it will print something similar to
+
+.. code-block:: bash
+
+    Serving at 192.168.1.193:8080
+
+If you open this IP in the browser (eg. chrome), you will see this:
+
+.. image:: /_static/images/components/http_server.png
+
+if you click on the :code:`here` href, you will get a static image. For video stream,
+you should check out :ref:`Script MJPEG server`.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_http_server.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_http_server.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_http_server.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_http_server.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_json_communication.rst b/bindings/python/docs/source/samples/Script/script_json_communication.rst
new file mode 100644
index 000000000..f068aff40
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_json_communication.rst
@@ -0,0 +1,58 @@
+Script JSON communication
+=========================
+
+This example shows how Script node can communicate with the outside world (host computer) using JSON serialization
+by sending a :ref:`Buffer` message. Similarly, you could use :ref:`SPIIn` and :ref:`SPIOut` to send JSON between MCU and Script node via SPI.
+
+**How would this be useful:**
+
+2-way communication between Script node and host/MCU could be used to eg. alter the flow of an application.
+
+For example, we might want to
+use 2 different NN models on the device, one until noon and the other from noon till midnight. Host (eg. RPi) could check the current time
+and when it's noon, it would send a simple message to the Script node which would start forwarding all frames to the other NeuralNetwork node
+(which has different NN model).
+
+**What it does:**
+
+Host creates a dictionary, serializes it, sends it to the Script node. Script node receives the Buffer message, deserializes the dictionary,
+changes values a bit, serializes the dictionary again and sends it to the host, which deserializes the changed dictionary and prints the new values.
+
+Demo
+####
+
+.. code-block:: bash
+
+    ~/depthai-python/examples/Script$ python3 script_json_communication.py
+    dict {'one': 1, 'foo': 'bar'}
+    [14442C1041B7EFD000] [3.496] [Script(1)] [warning] Original: {'one': 1, 'foo': 'bar'}
+    [14442C1041B7EFD000] [3.496] [Script(1)] [warning] Changed: {'one': 2, 'foo': 'baz'}
+    changedDict {'one': 2, 'foo': 'baz'}
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_json_communication.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_json_communication.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_json_communication.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_json_communication.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_mjpeg_server.rst b/bindings/python/docs/source/samples/Script/script_mjpeg_server.rst
new file mode 100644
index 000000000..73a0ccdf5
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_mjpeg_server.rst
@@ -0,0 +1,51 @@
+Script MJPEG server
+===================
+
+.. note::
+    This example can only run on `OAK POE devices <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__. You need **bootloader** on/above version **0.0.15**. You can flash bootloader by running :code:`python3 examples/bootloader/flash_bootloader.py`.
+
+This demo runs an HTTP server on the device itself. Server will serve you MJPEG stream when you connect to it.
+
+Demo
+####
+
+When you run the demo, it will print something similar to
+
+.. code-block:: bash
+
+    Serving at 192.168.1.193:8080
+
+If you open this IP in the browser (eg. chrome), you will see this:
+
+.. image:: /_static/images/components/http_server.png
+
+if you click on the :code:`here` href, you will get the MJPEG video stream. For static image, you can check
+out :ref:`Script HTTP server`.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_mjpeg_server.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_mjpeg_server.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_mjpeg_server.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_mjpeg_server.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/Script/script_nndata_example.rst b/bindings/python/docs/source/samples/Script/script_nndata_example.rst
new file mode 100644
index 000000000..78014921a
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_nndata_example.rst
@@ -0,0 +1,44 @@
+Script NNData example
+=====================
+
+This example shows how to create a :ref:`NNData` message inside the :ref:`Script` node and then
+send it to the host (where it gets printed to the console).
+
+Demo
+####
+
+.. code-block:: bash
+
+    ~/depthai-python/examples/Script$ python3 script_nndata_datatype.py
+    Names of layers: ['fp16', 'uint8']
+    NNData size: 13
+    FP16 values: [1.0, 1.2001953125, 3.900390625, 5.5]
+    UINT8 values: [6, 9, 4, 2, 0]
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_nndata_example.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_nndata_example.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Script/script_nndata_example.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Script/script_nndata_example.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Script/script_uart.rst b/bindings/python/docs/source/samples/Script/script_uart.rst
new file mode 100644
index 000000000..5e4656890
--- /dev/null
+++ b/bindings/python/docs/source/samples/Script/script_uart.rst
@@ -0,0 +1,49 @@
+Script UART communication
+=========================
+
+This example uses :ref:`Script` node for `UART communication <https://en.wikipedia.org/wiki/Universal_asynchronous_receiver-transmitter>`__. Note that OAK
+cameras don't have UART pins easily disposed, and we soldered wires on `OAK-FFC-4P <https://docs.luxonis.com/projects/hardware/en/latest/pages/DD2090.html>`__
+to expose UART pins.
+
+.. note::
+
+    This should only be run on OAK-FFC-4P, as other OAK cameras might have different GPIO configuration.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/nbS1BczO5sE" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+.. figure:: https://user-images.githubusercontent.com/18037362/232458809-a36dc418-6bb5-411f-9172-5130a926191d.jpg
+
+    Oscilloscope connected to the OAK-FFC-4P UART pins
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Script/script_uart.py>`__
+
+        .. literalinclude:: ../../../../examples/Script/script_uart.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Not yet available
+
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SpatialDetection/spatial_calculator_multi_roi.rst b/bindings/python/docs/source/samples/SpatialDetection/spatial_calculator_multi_roi.rst
new file mode 100644
index 000000000..585a5630f
--- /dev/null
+++ b/bindings/python/docs/source/samples/SpatialDetection/spatial_calculator_multi_roi.rst
@@ -0,0 +1,42 @@
+Spatial Calculator Multi-ROI
+============================
+
+This example shows how one can use multiple ROIs with a single :ref:`SpatialLocationCalculator` node. A similar logic could be used as a simple depth line
+scanning camera for mobile robots.
+
+.. rubric:: Similar samples:
+
+- :ref:`Spatial location calculator`
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/231822498-6e3699a0-039e-424b-acb2-b246575e91ee.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_calculator_multi_roi.py>`__
+
+        .. literalinclude:: ../../../../examples/SpatialDetection/spatial_calculator_multi_roi.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SpatialDetection/spatial_calculator_multi_roi.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SpatialDetection/spatial_calculator_multi_roi.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SpatialDetection/spatial_location_calculator.rst b/bindings/python/docs/source/samples/SpatialDetection/spatial_location_calculator.rst
new file mode 100644
index 000000000..591d40794
--- /dev/null
+++ b/bindings/python/docs/source/samples/SpatialDetection/spatial_location_calculator.rst
@@ -0,0 +1,47 @@
+Spatial location calculator
+===========================
+
+This example shows how to retrieve spatial location data (X,Y,Z) on a runtime configurable ROI. You can move the ROI using WASD keys.
+X,Y,Z coordinates are relative to the center of depth map.
+
+You can also calculate spatial coordiantes on host side, `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-calc-spatials-on-host>`__.
+
+.. rubric:: Similar samples:
+
+- :ref:`Spatial object tracker on RGB`
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`Mono & MobilenetSSD with spatial data`
+- :ref:`RGB & TinyYolo with spatial data`
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/146296930-9e7071f5-33b9-45f9-af21-cace7ffffc0f.gif
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_location_calculator.py>`__
+
+        .. literalinclude:: ../../../../examples/SpatialDetection/spatial_location_calculator.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SpatialDetection/spatial_location_calculator.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SpatialDetection/spatial_location_calculator.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet.rst b/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet.rst
new file mode 100644
index 000000000..148ab8f9f
--- /dev/null
+++ b/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet.rst
@@ -0,0 +1,55 @@
+RGB & MobilenetSSD with spatial data
+====================================
+
+This example shows how to run MobileNetv2SSD on the RGB input frame, and how to display both the RGB
+preview, detections, depth map and spatial information (X,Y,Z). It's similar to example
+:ref:`RGB & MobilenetSSD` except it has spatial data.
+X,Y,Z coordinates are relative to the center of depth map.
+
+setConfidenceThreshold - confidence threshold above which objects are detected
+
+.. rubric:: Similar samples:
+
+- :ref:`Spatial location calculator`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`Mono & MobilenetSSD with spatial data`
+- :ref:`RGB & TinyYolo with spatial data`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/oM95Lz3aGkc" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/SpatialDetection/spatial_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SpatialDetection/spatial_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SpatialDetection/spatial_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet_mono.rst b/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet_mono.rst
new file mode 100644
index 000000000..b64311631
--- /dev/null
+++ b/bindings/python/docs/source/samples/SpatialDetection/spatial_mobilenet_mono.rst
@@ -0,0 +1,55 @@
+Mono & MobilenetSSD with spatial data
+=====================================
+
+This example shows how to run MobileNetv2SSD on the rectified right input frame, and
+how to display both the  preview, detections, depth map and spatial information (X,Y,Z).
+It's similar to example :ref:`RGB & MobilenetSSD` except it has spatial data.
+X,Y,Z coordinates are relative to the center of depth map.
+
+setConfidenceThreshold - confidence threshold above which objects are detected
+
+.. rubric:: Similar samples:
+
+- :ref:`Spatial location calculator`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`RGB & TinyYolo with spatial data`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/SZz7NwM86uw" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_mobilenet_mono.py>`__
+
+        .. literalinclude:: ../../../../examples/SpatialDetection/spatial_mobilenet_mono.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SpatialDetection/spatial_mobilenet_mono.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SpatialDetection/spatial_mobilenet_mono.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SpatialDetection/spatial_tiny_yolo.rst b/bindings/python/docs/source/samples/SpatialDetection/spatial_tiny_yolo.rst
new file mode 100644
index 000000000..e0643ccbe
--- /dev/null
+++ b/bindings/python/docs/source/samples/SpatialDetection/spatial_tiny_yolo.rst
@@ -0,0 +1,61 @@
+RGB & TinyYolo with spatial data
+================================
+
+This example shows how to run Yolo on the RGB input frame, and how to display both the RGB
+preview, detections, depth map and spatial information (X,Y,Z). It's similar to example
+:ref:`RGB & MobilenetSSD with spatial data` except it is running TinyYolo network.
+X,Y,Z coordinates are relative to the center of depth map.
+
+
+setNumClasses - number of YOLO classes
+setCoordinateSize - size of coordinate
+setAnchors - yolo anchors
+setAnchorMasks - anchorMasks26, anchorMasks13 (anchorMasks52 - additionally for full YOLOv4)
+setIouThreshold - intersection over union threshold
+setConfidenceThreshold - confidence threshold above which objects are detected
+
+.. rubric:: Similar samples:
+
+- :ref:`Spatial location calculator`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`Mono & MobilenetSSD with spatial data`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/93tG_qBweN8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_tiny_yolo.py>`__
+
+        .. literalinclude:: ../../../../examples/SpatialDetection/spatial_tiny_yolo.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SpatialDetection/spatial_tiny_yolo.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SpatialDetection/spatial_tiny_yolo.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/depth_crop_control.rst b/bindings/python/docs/source/samples/StereoDepth/depth_crop_control.rst
new file mode 100644
index 000000000..08c4cfb7d
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/depth_crop_control.rst
@@ -0,0 +1,52 @@
+Depth Crop Control
+==================
+
+This example shows usage of depth camera in crop mode with the possibility to move the crop.
+You can manipulate the movement of the cropped frame by using the following keys:
+
+#. `w` will move the crop up
+#. `a` will move the crop left
+#. `s` will move the crop down
+#. `d` will move the crop right
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Camera Control`
+- :ref:`Mono Camera Control`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/QDAd2edvHq0" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/depth_crop_control.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/depth_crop_control.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/StereoDepth/depth_crop_control.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/StereoDepth/depth_crop_control.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/depth_post_processing.rst b/bindings/python/docs/source/samples/StereoDepth/depth_post_processing.rst
new file mode 100644
index 000000000..37b4eb6eb
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/depth_post_processing.rst
@@ -0,0 +1,49 @@
+Depth Post-Processing
+=====================
+
+This example shows how you can run depth post-processing filters on the device itself to reduce noise,
+smooth the depth map and overall improve the depth map quality. Post-processing can be added to :ref:`StereoDepth` node.
+
+
+Demo
+####
+
+.. image:: /_static/images/examples/depth_comparison.png
+
+Depth filters
+#############
+
+.. include::  /includes/depth-filters.rst
+
+.. rubric:: Similar samples:
+
+- :ref:`Depth Preview`
+- :ref:`Stereo Depth from host`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/depth_post_processing.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/depth_post_processing.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/StereoDepth/depth_post_processing.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/StereoDepth/depth_post_processing.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/depth_preview.rst b/bindings/python/docs/source/samples/StereoDepth/depth_preview.rst
new file mode 100644
index 000000000..6c69518c0
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/depth_preview.rst
@@ -0,0 +1,63 @@
+Depth Preview
+=============
+
+This example shows how to set the SGBM (semi-global-matching) disparity-depth node, connects
+over XLink to transfer the results to the host real-time, and displays the depth map in OpenCV.
+Note that disparity is used in this case, as it colorizes in a more intuitive way.
+Below is also a preview of using different median filters side-by-side on a depth image.
+There are 3 depth modes which you can select inside the code:
+
+#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Preview`
+- :ref:`Mono Preview`
+- :ref:`Stereo Depth Video`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/GYw_iJrnGO4" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+**Filtering depth using median filter**
+
+.. raw:: html
+
+    <div style="position: relative; padding-top: 10px;padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <img src="https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/images/depth-demo-filters.png" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;">
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/depth_preview.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/depth_preview.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/StereoDepth/depth_preview.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/StereoDepth/depth_preview.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/rgb_depth_aligned.rst b/bindings/python/docs/source/samples/StereoDepth/rgb_depth_aligned.rst
new file mode 100644
index 000000000..4c854cbe6
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/rgb_depth_aligned.rst
@@ -0,0 +1,50 @@
+RGB Depth alignment
+===================
+
+This example shows usage of RGB depth alignment. Since OAK-D has a color and a pair of stereo cameras,
+you can align depth map to the color frame on top of that to get RGB depth.
+
+In this example, rgb and depth aren't perfectly in sync. For that, you would need to add :ref:`Software syncing`, which
+has been added to the `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#host-rgb-depth-sync>`__,
+where RGB and depth frames have sub-ms delay.
+
+By default, the depth map will get scaled to match the resolution of the camera sensor we want to align to. In other words, if
+depth is aligned to the 1080P color sensor, StereoDepth will upscale depth to 1080P as well.
+Depth scaling can be avoided by configuring :ref:`StereoDepth`'s ``stereo.setOutputSize(width, height)``.
+
+To align depth with **higher resolution color stream** (eg. 12MP), you need to limit the resolution of the depth map. You can
+do that with ``stereo.setOutputSize(w,h)``. Code `example here <https://gist.github.com/Erol444/25f374fa18efa7939ec9bb848b39249a>`__.
+
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/151351377-a5752fbe-3b8b-4985-b8d1-d5f8a7d5a868.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/rgb_depth_aligned.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/rgb_depth_aligned.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/StereoDepth/rgb_depth_aligned.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/StereoDepth/rgb_depth_aligned.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/stereo_depth_custom_mesh.rst b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_custom_mesh.rst
new file mode 100644
index 000000000..ae51f1eb9
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_custom_mesh.rst
@@ -0,0 +1,52 @@
+Stereo Depth custom Mesh
+========================
+
+This example shows how you can load custom mesh to the device and use it for depth calculation.
+In this example, mesh files are generated from camera calibration data, but you can also use
+your own mesh files.
+
+By default, :ref:`StereoDepth` will use the same logic as inside the ``def getMesh()`` to calculate
+mesh files whenever horizontal FOV is larger than 90°. You could also force calculate the mesh using:
+
+.. code-block:: python
+
+    stereo = pipeline.create(dai.node.StereoDepth)
+    # Enable mesh calculation to correct distortion:
+    stereo.enableDistortionCorrection(True)
+
+
+StereoDepth node also allows you to load mesh files directly from a file path:
+
+.. code-block:: python
+
+    stereo = pipeline.create(dai.node.StereoDepth)
+    stereo.loadMeshFiles('path/to/left_mesh', 'path/to/right_mesh')
+
+Demo
+####
+
+.. image:: https://github.com/luxonis/depthai-python/assets/18037362/f2031bd4-0748-4a06-abb1-b52e9a17134e
+
+On the image above you can see that the rectified frame isn't as wide FOV as the original one,
+that's because the distortion correction is applied (in this case via custom mesh files), so the
+disparity matching can be performed correctly.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/stereo_depth_custom_mesh.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/stereo_depth_custom_mesh.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/stereo_depth_from_host.rst b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_from_host.rst
new file mode 100644
index 000000000..1a9043b5f
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_from_host.rst
@@ -0,0 +1,37 @@
+Stereo Depth from host
+======================
+
+This example shows depth map from host using stereo images. There are 3 depth modes which you can select inside the code:
+
+#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
+Otherwise a median with kernel_7x7 is activated.
+
+.. rubric:: Similar samples:
+
+- :ref:`Stereo Depth Video`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+This example also requires dataset folder - you can download it from
+`here <https://drive.google.com/file/d/1mPyghc_0odGtSU2cROS1uLD-qwRU8aug>`__
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/stereo_depth_from_host.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/stereo_depth_from_host.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/StereoDepth/stereo_depth_video.rst b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_video.rst
new file mode 100644
index 000000000..3ea27e03a
--- /dev/null
+++ b/bindings/python/docs/source/samples/StereoDepth/stereo_depth_video.rst
@@ -0,0 +1,55 @@
+Stereo Depth Video
+==================
+
+This example is an upgraded :ref:`Depth Preview`. It has higher resolution (720p), each frame can be shown
+(mono left-right, rectified left-right, disparity and depth). There are 6 modes which you can select
+inside the code:
+
+#. `withDepth`: if you turn it off it will became :ref:`Mono Preview`, so it will show only the 2 mono cameras
+#. `outputDepth`: if you turn it on it will show the depth
+#. `lrcheck`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
+Stereo Alpha Param
+##################
+
+With `--alpha` you can select scaling during the rectification. Values between 0 and 1:
+
+- 0.0 (default value) means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification)
+- 1.0 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost).
+
+.. image:: https://github.com/luxonis/depthai-python/assets/18037362/887d489a-6bf6-41ac-9b8f-06ab7b0cd488
+
+.. rubric:: Similar samples:
+
+- :ref:`Depth Preview`
+- :ref:`Stereo Depth from host`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/StereoDepth/stereo_depth_video.py>`__
+
+        .. literalinclude:: ../../../../examples/StereoDepth/stereo_depth_video.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/StereoDepth/stereo_depth_video.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/StereoDepth/stereo_depth_video.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Sync/demux_message_group.rst b/bindings/python/docs/source/samples/Sync/demux_message_group.rst
new file mode 100644
index 000000000..5cbd08be8
--- /dev/null
+++ b/bindings/python/docs/source/samples/Sync/demux_message_group.rst
@@ -0,0 +1,78 @@
+Demuxing Synchronized Script Outputs
+====================================
+
+This example demonstrates the use of the DepthAI Sync node in conjunction with the Demux node to synchronize and then demux outputs from two separate script nodes. Each script node generates data buffers at different intervals, which are first synchronized by the Sync node and then demultiplexed by the MessageDemux node.
+
+.. rubric:: Similar samples:
+
+- :ref:`Multiple Scripts Sync`
+- :ref:`Depth and Video Sync`
+- :ref:`IMU and Video Sync`
+
+Demo
+####
+
+
+.. code-block::
+
+    ~/depthai-python/examples/Sync $ python3 demux_message_group.py
+    Start
+    Buffer 1 timestamp: 0:00:03.581073
+    Buffer 2 timestamp: 0:00:03.591084
+    ----------
+    Buffer 1 timestamp: 0:00:04.583100
+    Buffer 2 timestamp: 0:00:04.497079
+    ----------
+    Buffer 1 timestamp: 0:00:06.587174
+    Buffer 2 timestamp: 0:00:06.611154
+    ----------
+    Buffer 1 timestamp: 0:00:07.589147
+    Buffer 2 timestamp: 0:00:07.517125
+    ----------
+    Buffer 1 timestamp: 0:00:09.593076
+    Buffer 2 timestamp: 0:00:09.631089
+    ----------
+    Buffer 1 timestamp: 0:00:10.595106
+    Buffer 2 timestamp: 0:00:10.537082
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/examples/demux_message_group.py>`__
+
+        .. literalinclude:: ../../../../examples/Sync/demux_message_group.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Sync/demux_message_group.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Sync/demux_message_group.cpp
+           :language: cpp
+           :linenos:
+
+How it Works
+############
+
+#. Initialize a DepthAI pipeline.
+#. Create two Script nodes, with each script generating and sending data buffers at different intervals.
+#. Set up a Sync node with a synchronization threshold.
+#. Integrate a MessageDemux node to separate the synchronized data streams.
+#. Link the outputs of the Script nodes to the Sync node, and then from the Sync node to the MessageDemux node.
+#. Start the pipeline and continuously receive demultiplexed data from the MessageDemux node.
+#. Print the timestamps of the demultiplexed data for comparison.
+
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Sync/depth_video_sync.rst b/bindings/python/docs/source/samples/Sync/depth_video_sync.rst
new file mode 100644
index 000000000..a9b62c4e3
--- /dev/null
+++ b/bindings/python/docs/source/samples/Sync/depth_video_sync.rst
@@ -0,0 +1,59 @@
+Depth and Video Sync
+====================
+
+This example demonstrates the use of the DepthAI Sync node to synchronize output from StereoDepth and Color Camera nodes. It showcases how to process and display disparity maps from stereo cameras and video frames from a color camera in real time.
+
+
+.. rubric:: Similar samples:
+
+- :ref:`IMU and Video Sync`
+- :ref:`Multiple Scripts Sync`
+
+
+Demo
+####
+
+.. image:: ../../../../docs/source/_static/images/examples/depth_video_synced.gif
+    :alt: Depth and Video Sync Demo
+    :width: 100%
+    :align: center
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Source code
+###########
+
+.. tabs::
+    
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/depth_video_synced.py>`__
+
+        .. literalinclude:: ../../../../examples/Sync/depth_video_synced.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Sync/depth_video_synced.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Sync/depth_video_synced.cpp
+           :language: cpp
+           :linenos:
+
+How it Works
+############
+
+#. Initialize MonoCamera nodes for left and right cameras.
+#. Set up a ColorCamera node.
+#. Create a StereoDepth node for depth perception.
+#. Configure the Sync node to synchronize disparity from the StereoDepth node and video frames from the ColorCamera node.
+#. Display the synchronized frames using OpenCV. Frames are synchronized to threshold of 50 milliseconds.
+
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Sync/imu_video_sync.rst b/bindings/python/docs/source/samples/Sync/imu_video_sync.rst
new file mode 100644
index 000000000..ab2dbb1b9
--- /dev/null
+++ b/bindings/python/docs/source/samples/Sync/imu_video_sync.rst
@@ -0,0 +1,82 @@
+IMU and Video Sync
+==================
+
+This example demonstrates the use of the DepthAI Sync node to synchronize IMU (Inertial Measurement Unit) data with video frames from a color camera. It highlights the capability to process and display the latest rotation vector from the IMU alongside the video stream in real-time.
+
+.. rubric:: Similar samples:
+
+- :ref:`Depth and Video Sync`
+- :ref:`Multiple Scripts Sync`
+
+Demo
+####
+
+.. code-block:: 
+
+    ~/depthai-python/examples/Sync $ python3 imu_video_synced.py
+    IMU type: BNO086, firmware version: 3.9.7
+
+    Device timestamp imu: 0:00:05.379914
+    Device timestamp video:0:00:05.385096
+    Quaternion: i: -0.0549 j: -0.0335 k: 0.0018 real: 0.9979
+
+
+    Device timestamp imu: 0:00:05.410274
+    Device timestamp video:0:00:05.418425
+    Quaternion: i: -0.0549 j: -0.0334 k: 0.0018 real: 0.9979
+
+
+    Device timestamp imu: 0:00:05.445439
+    Device timestamp video:0:00:05.451753
+    Quaternion: i: -0.0548 j: -0.0334 k: 0.0018 real: 0.9979
+
+
+    Device timestamp imu: 0:00:05.475084
+    Device timestamp video:0:00:05.485082
+    Quaternion: i: -0.0547 j: -0.0334 k: 0.0018 real: 0.9979
+
+
+    Device timestamp imu: 0:00:05.510046
+    Device timestamp video:0:00:05.518411
+    Quaternion: i: -0.0546 j: -0.0334 k: 0.0018 real: 0.9979
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/examples/imu_video_synced.py>`__
+
+        .. literalinclude:: ../../../../examples/Sync/imu_video_synced.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Sync/imu_video_synced.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Sync/imu_video_synced.cpp
+           :language: cpp
+           :linenos:
+
+How it Works
+############
+
+#. Initialize the DepthAI device.
+#. Check the connected IMU type and firmware version.
+#. Create a pipeline and add a ColorCamera and IMU node.
+#. Set up the Sync node to synchronize the IMU data with the video frames.
+#. Link the output of the ColorCamera and IMU nodes to the Sync node.
+#. Start the pipeline and continuously receive synchronized data.
+#. Display the video frames and print the IMU rotation vector data, including quaternion values.
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Sync/scripts_sync.rst b/bindings/python/docs/source/samples/Sync/scripts_sync.rst
new file mode 100644
index 000000000..73236d48b
--- /dev/null
+++ b/bindings/python/docs/source/samples/Sync/scripts_sync.rst
@@ -0,0 +1,74 @@
+Multiple Scripts Sync
+=====================
+
+This example illustrates the use of the DepthAI Sync node to synchronize outputs from two separate script nodes. Each script generates and sends data buffers at different intervals, and the Sync node aligns these outputs based on their timestamps.
+
+.. rubric:: Similar samples:
+
+- :ref:`Depth and Video Sync`
+- :ref:`IMU and Video Sync`
+
+Demo
+####
+
+.. code-block:: 
+
+    ~/depthai-python/examples/Sync $ python3 sync_scripts.py
+    Start
+    Received s1 with timestamp 0:00:02.420089
+    Received s2 with timestamp 0:00:02.461076
+    Time interval between messages: 40.987ms
+    ----------
+    Received s1 with timestamp 0:00:03.422108
+    Received s2 with timestamp 0:00:03.367069
+    Time interval between messages: 55.039ms
+    ----------
+    Received s1 with timestamp 0:00:05.426088
+    Received s2 with timestamp 0:00:05.481086
+    Time interval between messages: 54.998ms
+    ----------
+    Received s1 with timestamp 0:00:06.428106
+    Received s2 with timestamp 0:00:06.387129
+    Time interval between messages: 40.977ms
+    ----------
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/examples/sync_scripts.py>`__
+
+        .. literalinclude:: ../../../../examples/Sync/sync_scripts.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Sync/sync_scripts.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Sync/sync_scripts.cpp
+           :language: cpp
+           :linenos:
+
+
+How it Works
+############
+
+#. Initialize a DepthAI pipeline.
+#. Create two Script nodes, each generating and sending data buffers at different intervals.
+#. Set up a Sync node with a synchronization threshold.
+#. Link the outputs of the Script nodes to the Sync node.
+#. Start the pipeline and continuously receive synchronized data from the Script nodes.
+#. Print the received data along with timestamps and the interval between messages.
+
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/SystemLogger/system_information.rst b/bindings/python/docs/source/samples/SystemLogger/system_information.rst
new file mode 100644
index 000000000..e7d73e442
--- /dev/null
+++ b/bindings/python/docs/source/samples/SystemLogger/system_information.rst
@@ -0,0 +1,71 @@
+System information
+==================
+
+This example shows how to get system information (memory usage, cpu usage and temperature) from the board.
+
+Demo
+####
+
+Example script output
+
+.. code-block::
+
+  Ddr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.59, css: 39.81, mss: 37.71, upa: 38.65, dss: 38.18
+  Cpu usage - Leon CSS: 7.08%, Leon MSS: 1.48 %
+  ----------------------------------------
+  Ddr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.59, css: 39.58, mss: 37.94, upa: 38.18, dss: 38.65
+  Cpu usage - Leon CSS: 1.55%, Leon MSS: 0.30 %
+  ----------------------------------------
+  Ddr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 38.94, css: 40.04, mss: 38.18, upa: 39.35, dss: 38.18
+  Cpu usage - Leon CSS: 0.56%, Leon MSS: 0.06 %
+  ----------------------------------------
+  Ddr used / total - 0.13 / 414.80 MiB
+  Cmx used / total - 2.24 / 2.50 MiB
+  LeonCss heap used / total - 4.17 / 46.41 MiB
+  LeonMss heap used / total - 2.87 / 27.58 MiB
+  Chip temperature - average: 39.46, css: 40.28, mss: 38.88, upa: 39.81, dss: 38.88
+  Cpu usage - Leon CSS: 0.51%, Leon MSS: 0.06 %
+  ----------------------------------------
+
+- :code:`upa` represents the temperature of the SHAVE block
+- :code:`dss` represents the temperature of the DDR subsystem
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SystemLogger/system_information.py>`__
+
+        .. literalinclude:: ../../../../examples/SystemLogger/system_information.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/SystemLogger/system_information.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/SystemLogger/system_information.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/ToF/tof_depth.rst b/bindings/python/docs/source/samples/ToF/tof_depth.rst
new file mode 100644
index 000000000..ac86656ec
--- /dev/null
+++ b/bindings/python/docs/source/samples/ToF/tof_depth.rst
@@ -0,0 +1,45 @@
+ToF depth
+=========
+
+This is a sample code that showcases how to use the ToF sensor. The :ref:`ToF node <ToF>` converts raw data from the ToF sensor into a depth map.
+
+Demo
+####
+
+This demo was recorded using the `OAK-D SR PoE <https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-SR-POE/>`__, that's why we selected CAM_A port
+on the ToF sensor.
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/D2MnnyxdsMA" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/ToF/tof_depth.py>`__
+
+        .. literalinclude:: ../../../../examples/ToF/tof_depth.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        ..
+            Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/ToF/tof_depth.cpp>`__
+
+            .. literalinclude:: ../../../../depthai-core/examples/ToF/tof_depth.cpp
+            :language: cpp
+            :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/UVC/uvc_disparity.rst b/bindings/python/docs/source/samples/UVC/uvc_disparity.rst
new file mode 100644
index 000000000..9136fcafc
--- /dev/null
+++ b/bindings/python/docs/source/samples/UVC/uvc_disparity.rst
@@ -0,0 +1,70 @@
+UVC & Disparity
+===============
+
+This example demonstrates how to use your OAK device as a UVC webcam. The UVC feature allows you to use your OAK device as a regular webcam in applications like OpenCV's :code:`cv2.VideoCapture()`, native camera apps, and more.
+
+.. rubric:: How It Works:
+
+The :ref:`StereoDepth` node outputs image data in the UINT8 format. However, the :ref:`UVC` node expects the data in NV12 format. To bridge this gap, an intermediary :ref:`ImageManip` node is used to convert the GRAY8 output from the MonoCamera node to NV12 format, which is then passed to the UVC node for streaming.
+This doesn't work with stereo depth output, since depth is UINT16 which we cannot convert to NV12.
+
+This example won't work if we enable the subpixel disparity feature, since that outputs UINT16 as well.
+
+.. rubric:: Similar samples:
+
+- :ref:`UVC & Color Camera`
+- :ref:`UVC & Mono Camera`
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Code used for testing
+#####################
+
+.. code-block:: python
+
+    import cv2
+
+    # Initialize the VideoCapture object to use the default camera (camera index 0 is webcam)
+    cap = cv2.VideoCapture(1)
+
+    # Check if the camera opened successfully
+    if not cap.isOpened():
+        print("Error: Could not open camera.")
+        exit()
+
+    # Loop to continuously get frames from the camera
+    while True:
+        ret, frame = cap.read()
+
+        if not ret:
+            print("Error: Could not read frame.")
+            break
+
+        cv2.imshow('Video Feed', frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/UVC/uvc_disparity.py>`__
+
+        .. literalinclude:: ../../../../examples/UVC/uvc_disparity.py
+           :language: python
+           :linenos:
+
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/UVC/uvc_mono.rst b/bindings/python/docs/source/samples/UVC/uvc_mono.rst
new file mode 100644
index 000000000..75801958b
--- /dev/null
+++ b/bindings/python/docs/source/samples/UVC/uvc_mono.rst
@@ -0,0 +1,69 @@
+UVC & Mono Camera
+=================
+
+This example demonstrates how to use a mono camera on your OAK device to function as a webcam. The UVC feature allows you to use your OAK device as a regular webcam in applications like OpenCV's :code:`cv2.VideoCapture()`, native camera apps, and more.
+
+.. rubric:: How It Works:
+
+The :ref:`MonoCamera` node outputs image data in the GRAY8 format. However, the :ref:`UVC` node expects the data in NV12 format. To bridge this gap, an intermediary :ref:`ImageManip` node is used to convert the GRAY8 output from the MonoCamera node to NV12 format, which is then passed to the UVC node for streaming.
+
+
+.. rubric:: Similar samples:
+
+- :ref:`UVC & Color Camera`
+- :ref:`UVC & Disparity`
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Code used for testing
+#####################
+
+.. code-block:: python
+
+    import cv2
+
+    # Initialize the VideoCapture object to use the default camera (camera index 0 is webcam)
+    cap = cv2.VideoCapture(1)
+
+    # Check if the camera opened successfully
+    if not cap.isOpened():
+        print("Error: Could not open camera.")
+        exit()
+
+    # Loop to continuously get frames from the camera
+    while True:
+        ret, frame = cap.read()
+
+        if not ret:
+            print("Error: Could not read frame.")
+            break
+
+        cv2.imshow('Video Feed', frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/UVC/uvc_mono.py>`__
+
+        .. literalinclude:: ../../../../examples/UVC/uvc_mono.py
+           :language: python
+           :linenos:
+
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/UVC/uvc_rgb.rst b/bindings/python/docs/source/samples/UVC/uvc_rgb.rst
new file mode 100644
index 000000000..e3c379cec
--- /dev/null
+++ b/bindings/python/docs/source/samples/UVC/uvc_rgb.rst
@@ -0,0 +1,66 @@
+UVC & Color Camera
+==================
+
+This example demonstrates how to use the RGB camera on your OAK device as a UVC webcam. The :ref:`UVC` node allows you to use your OAK device as a regular webcam in applications like OpenCV's :code:`cv2.VideoCapture()`, native camera apps, and more.
+
+
+.. rubric:: Similar samples:
+
+- :ref:`UVC & Disparity`
+- :ref:`UVC & Mono Camera`
+
+
+Setup
+#####
+
+
+.. include::  /includes/install_from_pypi.rst
+
+
+Code used for testing
+#####################
+
+.. code-block:: python
+
+    import cv2
+
+    # Initialize the VideoCapture object to use the default camera (camera index 0 is webcam)
+    cap = cv2.VideoCapture(1)
+
+    # Check if the camera opened successfully
+    if not cap.isOpened():
+        print("Error: Could not open camera.")
+        exit()
+
+    # Loop to continuously get frames from the camera
+    while True:
+        ret, frame = cap.read()
+
+        if not ret:
+            print("Error: Could not read frame.")
+            break
+
+        cv2.imshow('Video Feed', frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/UVC/uvc_rgb.py>`__
+
+        .. literalinclude:: ../../../../examples/UVC/uvc_rgb.py
+           :language: python
+           :linenos:
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/VideoEncoder/disparity_encoding.rst b/bindings/python/docs/source/samples/VideoEncoder/disparity_encoding.rst
new file mode 100644
index 000000000..3e19f6d3e
--- /dev/null
+++ b/bindings/python/docs/source/samples/VideoEncoder/disparity_encoding.rst
@@ -0,0 +1,51 @@
+Disparity encoding
+==================
+
+This example encodes disparity output of the :ref:`StereoDepth`. Note that you shouldn't enable subpixel mode, as UINT16
+isn't supported by the :ref:`VideoEncoder`.
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`RGB & Mono Encoding`
+
+.. include::  /includes/container-encoding.rst
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/138722539-649aef24-266f-4e83-b264-6f80ae896f5b.png
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/disparity_encoding.py>`__
+
+        .. literalinclude:: ../../../../examples/VideoEncoder/disparity_encoding.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/VideoEncoder/disparity_encoding.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/VideoEncoder/disparity_encoding.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/VideoEncoder/encoding_max_limit.rst b/bindings/python/docs/source/samples/VideoEncoder/encoding_max_limit.rst
new file mode 100644
index 000000000..b20b7d90f
--- /dev/null
+++ b/bindings/python/docs/source/samples/VideoEncoder/encoding_max_limit.rst
@@ -0,0 +1,62 @@
+Encoding Max Limit
+==================
+
+This example shows how to set up the encoder node to encode the RGB camera and both grayscale cameras
+(of DepthAI/OAK-D) at the same time, having all encoder parameters set to maximum quality and FPS.
+The RGB is set to 4K (3840x2160) and the grayscale are set to 1280x720 each, all at 25FPS.
+Each encoded video stream is transferred over XLINK and saved to a respective file.
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+It's a variation of :ref:`RGB Encoding` and :ref:`RGB & Mono Encoding`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`RGB & Mono Encoding`
+- :ref:`RGB Encoding & MobilenetSSD`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth`
+
+.. include::  /includes/container-encoding.rst
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/myqmcSFq-i0" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/encoding_max_limit.py>`__
+
+        .. literalinclude:: ../../../../examples/VideoEncoder/encoding_max_limit.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/VideoEncoder/encoding_max_limit.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/VideoEncoder/encoding_max_limit.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/VideoEncoder/rgb_encoding.rst b/bindings/python/docs/source/samples/VideoEncoder/rgb_encoding.rst
new file mode 100644
index 000000000..df8690d7f
--- /dev/null
+++ b/bindings/python/docs/source/samples/VideoEncoder/rgb_encoding.rst
@@ -0,0 +1,60 @@
+RGB Encoding
+============
+
+This example shows how to configure the depthai video encoder in h.265 format to encode the RGB camera
+input at 8MP/4K/2160p (3840x2160) at 30FPS (the maximum possible encoding resolultion possible for the
+encoder, higher frame-rates are possible at lower resolutions, like 1440p at 60FPS), and transfers the
+encoded video over XLINK to the host, saving it to disk as a video file.
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & Mono Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & MobilenetSSD`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth`
+
+.. include::  /includes/container-encoding.rst
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/k_4t8h_7OWo" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/rgb_encoding.py>`__
+
+        .. literalinclude:: ../../../../examples/VideoEncoder/rgb_encoding.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/VideoEncoder/rgb_encoding.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/VideoEncoder/rgb_encoding.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/VideoEncoder/rgb_full_resolution_saver.rst b/bindings/python/docs/source/samples/VideoEncoder/rgb_full_resolution_saver.rst
new file mode 100644
index 000000000..f453d58fc
--- /dev/null
+++ b/bindings/python/docs/source/samples/VideoEncoder/rgb_full_resolution_saver.rst
@@ -0,0 +1,51 @@
+RGB Full Resolution Saver
+=========================
+
+This example saves full-resolution 3840x2160 ``.jpeg`` images when ``c`` key is pressed.
+It serves as an example of recording high resolution frames to disk for the purposes of
+high-resolution ground-truth data.
+
+Note that each frame consumes above 2MB of storage, so "spamming" capture key could fill up your storage.
+
+.. rubric:: Similar samples:
+
+- :ref:`Mono Full Resolution Saver`
+
+.. include::  /includes/container-encoding.rst
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/DJYzj7jwyY4" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/rgb_full_resolution_saver.py>`__
+
+        .. literalinclude:: ../../../../examples/VideoEncoder/rgb_full_resolution_saver.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/VideoEncoder/rgb_full_resolution_saver.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/VideoEncoder/rgb_full_resolution_saver.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/VideoEncoder/rgb_mono_encoding.rst b/bindings/python/docs/source/samples/VideoEncoder/rgb_mono_encoding.rst
new file mode 100644
index 000000000..3b23e396f
--- /dev/null
+++ b/bindings/python/docs/source/samples/VideoEncoder/rgb_mono_encoding.rst
@@ -0,0 +1,59 @@
+RGB & Mono Encoding
+===================
+
+This example shows how to set up the encoder node to encode the RGB camera and both grayscale cameras
+(of DepthAI/OAK-D) at the same time. The RGB is set to 1920x1080 and the grayscale are set to 1280x720
+each, all at 30FPS. Each encoded video stream is transferred over XLINK and saved to a respective file.
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & MobilenetSSD`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth`
+
+.. include::  /includes/container-encoding.rst
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/DWlkMjjH68M" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/rgb_mono_encoding.py>`__
+
+        .. literalinclude:: ../../../../examples/VideoEncoder/rgb_mono_encoding.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/VideoEncoder/rgb_mono_encoding.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/VideoEncoder/rgb_mono_encoding.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Warp/warp_mesh.rst b/bindings/python/docs/source/samples/Warp/warp_mesh.rst
new file mode 100644
index 000000000..671e6933c
--- /dev/null
+++ b/bindings/python/docs/source/samples/Warp/warp_mesh.rst
@@ -0,0 +1,40 @@
+Warp Mesh
+=========
+
+This example shows usage of :ref:`Warp` node to warp the input image frame.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Demo
+####
+
+.. figure:: https://user-images.githubusercontent.com/18037362/214597821-2f76239a-48fa-4146-ba47-9cad872454ea.png
+
+    Warped images
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Warp/warp_mesh.py>`__
+
+        .. literalinclude:: ../../../../examples/Warp/warp_mesh.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Warp/warp_mesh.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Warp/warp_mesh.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Warp/warp_mesh_interactive.rst b/bindings/python/docs/source/samples/Warp/warp_mesh_interactive.rst
new file mode 100644
index 000000000..d72e0697d
--- /dev/null
+++ b/bindings/python/docs/source/samples/Warp/warp_mesh_interactive.rst
@@ -0,0 +1,45 @@
+Interactive Warp Mesh
+=====================
+
+This example shows usage of :ref:`Warp` node to warp the input image frame. It let's you interactively change the mesh points to warp the image. After changing the points,
+**user has to press** ``r`` to restart the pipeline and apply the changes.
+
+User-defined arguments:
+
+- ``--mesh_dims`` - Mesh dimensions (default: ``4x4``).
+- ``--resolution`` - Resolution of the input image (default: ``512x512``). Width must be divisible by 16.
+- ``--random`` - To generate random mesh points (disabled by default).
+
+Originally developed by `geaxgx <https://github.com/geaxgx>`__.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Demo
+####
+
+.. figure:: https://user-images.githubusercontent.com/18037362/214605914-87cf0404-2d89-478f-9062-2dfb4baa6512.png
+
+    Original and warped image
+
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Warp/warp_mesh_interactive.py>`__
+
+        .. literalinclude:: ../../../../examples/Warp/warp_mesh_interactive.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        WIP
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/Yolo/tiny_yolo.rst b/bindings/python/docs/source/samples/Yolo/tiny_yolo.rst
new file mode 100644
index 000000000..dd1f23ff2
--- /dev/null
+++ b/bindings/python/docs/source/samples/Yolo/tiny_yolo.rst
@@ -0,0 +1,56 @@
+RGB & Tiny YOLO
+===============
+
+This example shows how to run YOLO on the RGB input frame, and how to display both the RGB
+preview and the metadata results from the YOLO model on the preview. Decoding is done on the `RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__
+instead on the host computer.
+
+Configurable, network dependent parameters are required for correct decoding:
+
+- **setNumClasses** - number of YOLO classes
+- **setCoordinateSize** - size of coordinate
+- **setAnchors** - yolo anchors
+- **setAnchorMasks** - anchorMasks26, anchorMasks13 (anchorMasks52 - additionally for full YOLOv4)
+- **setIouThreshold** - intersection over union threshold
+- **setConfidenceThreshold** - confidence threshold above which objects are detected
+
+**By default, Tiny YOLOv4 is used**. You can add :code:`yolo3` as a CMD argument to use Tiny YOLOv3.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/l4jDLs9d8GI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/Yolo/tiny_yolo.py>`__
+
+        .. literalinclude:: ../../../../examples/Yolo/tiny_yolo.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/Yolo/tiny_yolo.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/Yolo/tiny_yolo.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/bootloader/bootloader_config.rst b/bindings/python/docs/source/samples/bootloader/bootloader_config.rst
new file mode 100644
index 000000000..ce767e20e
--- /dev/null
+++ b/bindings/python/docs/source/samples/bootloader/bootloader_config.rst
@@ -0,0 +1,55 @@
+Bootloader Config
+=================
+
+This example allows you to read/flash/clear bootloader on the device. You can specify
+the :code:`.json` bootloader config file via cmd arguments, which will get flashed to the device.
+
+Click on :ref:`Bootloader` for more information.
+
+.. note::
+    We suggest using :ref:`Device Manager`, a GUI tool for interfacing with the bootloader and its configurations.
+
+Demo
+####
+
+Example script output
+
+.. code-block:: bash
+
+    ~/depthai-python/examples$ python3 Bootloader/bootloader_config.py flash
+    Found device with name: 14442C10D1789ACD00-ma2480
+    Successfully flashed bootloader configuration
+
+    ~/depthai-python/examples$ python3 Bootloader/bootloader_config.py read
+    Found device with name: 14442C10D1789ACD00-ma2480
+    Current flashed configuration
+    {'appMem': -1, 'network': {'ipv4': 0, 'ipv4Dns': 0, 'ipv4DnsAlt': 0, 'ipv4Gateway': 0, 'ipv4Mask': 0, 'ipv6': [0, 0, 0, 0], 'ipv6Dns': [0, 0, 0, 0], 'ipv6DnsAlt': [0, 0, 0, 0], 'ipv6Gateway': [0, 0, 0, 0], 'ipv6Prefix': 0, 'mac': [0, 0, 0, 0, 0, 0], 'staticIpv4': False, 'staticIpv6': False, 'timeoutMs': 30000}, 'usb': {'maxUsbSpeed': 3, 'pid': 63036, 'timeoutMs': 3000, 'vid': 999}}
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/bootloader/bootloader_config.py>`__
+
+        .. literalinclude:: ../../../../examples/bootloader/bootloader_config.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/bootloader/bootloader_config.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/bootloader/bootloader_config.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/bootloader/bootloader_version.rst b/bindings/python/docs/source/samples/bootloader/bootloader_version.rst
new file mode 100644
index 000000000..77d00c926
--- /dev/null
+++ b/bindings/python/docs/source/samples/bootloader/bootloader_version.rst
@@ -0,0 +1,50 @@
+Bootloader Version
+==================
+
+This example shows basic bootloader interaction, retrieving the version of bootloader running on the device.
+
+Click on :ref:`Bootloader` for more information.
+
+.. note::
+    We suggest using :ref:`Device Manager`, a GUI tool for interfacing with the bootloader and its configurations.
+
+Demo
+####
+
+Example script output
+
+.. code-block:: bash
+
+    ~/depthai-python/examples$ python3 bootloader_version.py
+    Found device with name: 1.1
+    Version: 0.0.26
+    USB Bootloader - supports only Flash memory
+    Memory 'Memory.FLASH' size: 33554432, info: JEDEC ID: 01 02 19
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/bootloader/bootloader_version.py>`__
+
+        .. literalinclude:: ../../../../examples/bootloader/bootloader_version.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/bootloader/bootloader_version.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/bootloader/bootloader_version.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/bootloader/flash_bootloader.rst b/bindings/python/docs/source/samples/bootloader/flash_bootloader.rst
new file mode 100644
index 000000000..c52891777
--- /dev/null
+++ b/bindings/python/docs/source/samples/bootloader/flash_bootloader.rst
@@ -0,0 +1,59 @@
+Flash Bootloader
+================
+
+This script will flash :ref:`factory bootloader <Factory and User bootloader>` to the connected OAK camera. It will
+also clear the :ref:`user bootloader <Factory and User bootloader>` (if it exists).
+:ref:`Bootloader` can only be flashed to devices that have on-board flash memory.
+
+.. note::
+    We suggest using :ref:`Device Manager`, a GUI tool for interfacing with the bootloader and its configurations.
+
+Demo
+####
+
+Example script output
+
+.. code-block:: bash
+
+    ~/depthai-python/examples$ python3 flash_bootloader.py
+    [0] 1844301041C83D0E00 [X_LINK_USB_VSC]
+    Which DepthAI device to flash bootloader for [0..0]: 0
+    Booting latest bootloader first, will take a tad longer...
+    Bootloader version to flash: 0.0.26
+    No config found, skipping erasing user bootloader
+    Flashing USB bootloader...
+    Flashing progress: 0.0%
+    Flashing progress: 18.8%
+    Flashing progress: 31.2%
+    Flashing progress: 48.2%
+    Flashing progress: 94.2%
+    Flashing progress: 100.0%
+    Flashing successful. Took 7.55600329185836 seconds
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/bootloader/flash_bootloader.py>`__
+
+        .. literalinclude:: ../../../../examples/bootloader/flash_bootloader.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/bootloader/flash_bootloader.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/bootloader/flash_bootloader.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/bootloader/flash_user_bootloader.rst b/bindings/python/docs/source/samples/bootloader/flash_user_bootloader.rst
new file mode 100644
index 000000000..1a2ac421e
--- /dev/null
+++ b/bindings/python/docs/source/samples/bootloader/flash_user_bootloader.rst
@@ -0,0 +1,56 @@
+Flash User Bootloader
+=====================
+
+This script will flash :ref:`user bootloader <Factory and User bootloader>` to the connected OAK camera.
+:ref:`Bootloader` can only be flashed to devices that have on-board flash memory.
+
+.. note::
+    We suggest using :ref:`Device Manager`, a GUI tool for interfacing with the bootloader and its configurations.
+
+Demo
+####
+
+Example script output
+
+.. code-block:: bash
+
+    ~/depthai-python/examples/bootloader$ python3 flash_user_bootloader.py
+    [0] 1844301041C83D0E00 [X_LINK_USB_VSC] current bootloader: 0.0.26
+    Which DepthAI device to flash User Bootloader for (Note: Only NETWORK supported) [0..0]: 0
+    User Bootloader version to flash: 0.0.26
+    Flashing User Bootloader...
+    Flashing progress: 0.0%
+    Flashing progress: 18.8%
+    Flashing progress: 31.2%
+    Flashing progress: 48.2%
+    Flashing progress: 94.2%
+    Flashing progress: 100.0%
+    Flashing successful. Took 7.55600329185836 seconds
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/bootloader/flash_user_bootloader.py>`__
+
+        .. literalinclude:: ../../../../examples/bootloader/flash_user_bootloader.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/bootloader/flash_user_bootloader.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/bootloader/flash_user_bootloader.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/bootloader/poe_set_ip.rst b/bindings/python/docs/source/samples/bootloader/poe_set_ip.rst
new file mode 100644
index 000000000..a8c9867f5
--- /dev/null
+++ b/bindings/python/docs/source/samples/bootloader/poe_set_ip.rst
@@ -0,0 +1,73 @@
+POE set IP
+==========
+
+This script allows you to set static or dynamic IP, or clear bootloader config on your OAK-POE device.
+
+.. warning::
+    Make sure to **set mask and gateway correctly!** If they are set incorrectly you will soft-brick your
+    device (you won't be able to access it), and will have to `factory reset <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/getting-started-with-poe.html#factory-reset>`__
+    your OAK PoE.
+
+.. note::
+    We suggest using :ref:`Device Manager`, a GUI tool for interfacing with the bootloader and its configurations.
+
+Demo
+####
+
+Example script output:
+
+.. code-block:: bash
+
+    Found device with name: 192.168.1.136
+    -------------------------------------
+    "1" to set a static IPv4 address
+    "2" to set a dynamic IPv4 address
+    "3" to clear the config
+    1
+    -------------------------------------
+    Enter IPv4: 192.168.1.200
+    Enter IPv4 Mask: 255.255.255.0
+    Enter IPv4 Gateway: 192.168.1.1
+    Flashing static IPv4 192.168.1.200, mask 255.255.255.0, gateway 192.168.1.1 to the POE device. Enter 'y' to confirm. y
+    Flashing successful.
+
+If you run the same example again after 10 seconds, you will see that IP changed to **192.168.1.200**:
+
+.. code-block:: bash
+
+    Found device with name: 192.168.1.200
+    -------------------------------------
+    "1" to set a static IPv4 address
+    "2" to set a dynamic IPv4 address
+    "3" to clear the config
+
+You can now also use the `Manually specify device IP <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/getting-started-with-poe.html#manually-specify-device-ip>`__
+script and change the IP to :code:`192.168.1.200`.
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/bootloader/poe_set_ip.py>`__
+
+        .. literalinclude:: ../../../../examples/bootloader/poe_set_ip.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/bootloader/poe_set_ip.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/bootloader/poe_set_ip.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/calibration/calibration_flash.rst b/bindings/python/docs/source/samples/calibration/calibration_flash.rst
new file mode 100644
index 000000000..22b712407
--- /dev/null
+++ b/bindings/python/docs/source/samples/calibration/calibration_flash.rst
@@ -0,0 +1,50 @@
+Calibration Flash
+=================
+
+This example shows how to flash calibration data of version 6 (gen2 calibration data) to the device.
+
+.. rubric:: Similar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Reader`
+- :ref:`Calibration Load`
+
+Demo
+####
+
+Example script output
+
+.. code-block:: bash
+
+    ~/depthai-python/examples$ python3 Calibration/calibration_flash.py
+    Calibration Data on the device is backed up at:
+    /home/erik/Luxonis/depthai-python/examples/Calibration/depthai_calib_backup.json
+    Calibration Flash Successful
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration/calibration_flash.py>`__
+
+        .. literalinclude:: ../../../../examples/calibration/calibration_flash.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/calibration/calibration_flash.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/calibration/calibration_flash.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/calibration/calibration_flash_v5.rst b/bindings/python/docs/source/samples/calibration/calibration_flash_v5.rst
new file mode 100644
index 000000000..765bb155f
--- /dev/null
+++ b/bindings/python/docs/source/samples/calibration/calibration_flash_v5.rst
@@ -0,0 +1,38 @@
+Calibration Flash v5
+====================
+
+This example shows how to flash calibration data of version 5 (gen1 calibration data) to the device.
+
+.. rubric:: Similar samples:
+
+- :ref:`Calibration Flash`
+- :ref:`Calibration Reader`
+- :ref:`Calibration Load`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration/calibration_flash_v5.py>`__
+
+        .. literalinclude:: ../../../../examples/calibration/calibration_flash_v5.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/calibration/calibration_flash_v5.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/calibration/calibration_flash_v5.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/calibration/calibration_load.rst b/bindings/python/docs/source/samples/calibration/calibration_load.rst
new file mode 100644
index 000000000..3838d0cb1
--- /dev/null
+++ b/bindings/python/docs/source/samples/calibration/calibration_load.rst
@@ -0,0 +1,38 @@
+Calibration Load
+================
+
+This example shows how to load and use calibration data of version6 (gen2 calibration data) in a pipeline.
+
+.. rubric:: Similar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Flash`
+- :ref:`Calibration Reader`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration/calibration_load.py>`__
+
+        .. literalinclude:: ../../../../examples/calibration/calibration_load.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/calibration/calibration_load.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/calibration/calibration_load.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/calibration/calibration_reader.rst b/bindings/python/docs/source/samples/calibration/calibration_reader.rst
new file mode 100644
index 000000000..f9d928730
--- /dev/null
+++ b/bindings/python/docs/source/samples/calibration/calibration_reader.rst
@@ -0,0 +1,76 @@
+Calibration Reader
+==================
+
+This example shows how to read calibration data stored on device over XLink. This example will print camera extrinsic and instrinsic parameters, along with other calibration values written on device (EEPROM).
+
+.. rubric:: Similar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Flash`
+- :ref:`Calibration Load`
+
+Camera intrinsics
+~~~~~~~~~~~~~~~~~
+
+Calibration also contains camera intrinsics and extrinsics parameters.
+
+.. code-block:: python
+
+  import depthai as dai
+
+  with dai.Device() as device:
+    calibData = device.readCalibration()
+    intrinsics = calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT)
+    print('Right mono camera focal length in pixels:', intrinsics[0][0])
+
+Here's theoretical calculation of the focal length in pixels:
+
+.. math::
+
+  f_x = \text{width}_x \cdot \frac{1}{2 \cdot \tan \left(\frac{\text{HFOV}_x}{2}\frac{\pi}{180}\right)}
+
+To get the HFOV you can use `this script <https://gist.github.com/Erol444/4aff71f4576637624d56dce4a60ad62e>`__, which also works for wide-FOV cameras and allows you to
+specif alpha parameter.
+
+With 400P (640x400) camera resolution where HFOV=71.9 degrees:
+
+.. math::
+
+  f_x = 640 \cdot \frac{1}{2 \cdot \tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 441.25
+
+And for 800P (1280x800) camera resolution where HFOV=71.9 degrees:
+
+.. math::
+
+  f_x = 1280 \cdot \frac{1}{2 \cdot \tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 882.5
+
+
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration/calibration_reader.py>`__
+
+        .. literalinclude:: ../../../../examples/calibration/calibration_reader.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/calibration/calibration_reader.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/calibration/calibration_reader.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/crash_report/crash_report.rst b/bindings/python/docs/source/samples/crash_report/crash_report.rst
new file mode 100644
index 000000000..b6bb4fa00
--- /dev/null
+++ b/bindings/python/docs/source/samples/crash_report/crash_report.rst
@@ -0,0 +1,50 @@
+Crash report
+============
+
+In case of a firmware crash, OAK cameras will automatically generate a crash report and store it in the device.
+The crash report contains information about the crash, such as the stack trace, the device's configuration,
+and the device's state at the time of the crash. The crash report can be read from the device and sent to Luxonis for debugging purposes.
+
+
+Demo
+####
+
+In case a crash report was found on the device, this example will read it and save it to a json file:
+
+.. code-block:: bash
+
+    > python crash_report.py
+    Crash dump found on your device!
+    Saved to crashDump_0_184430102163DB0F00_3575b77f20e796b4e79953bf3d2ba22f0416ee8b.json
+    Please report to developers!
+
+Please **send the crash reports** together `with an MRE <https://docs.luxonis.com/en/latest/pages/support/#depthai-issue>`__ (DepthAI issue)
+to our `Discuss Forum <https://discuss.luxonis.com/>`__. Thank you!
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/CrashReport/crash_report.py>`__
+
+        .. literalinclude:: ../../../../examples/CrashReport/crash_report.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/CrashReport/crash_report.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/CrashReport/crash_report.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/host_side/device_information.rst b/bindings/python/docs/source/samples/host_side/device_information.rst
new file mode 100644
index 000000000..d19302bef
--- /dev/null
+++ b/bindings/python/docs/source/samples/host_side/device_information.rst
@@ -0,0 +1,57 @@
+Device information
+==================
+
+This example shows how you can query device information.
+
+The first part of the code queries all available devices without actually booting any device. For each found device, it prints the following information:
+
+- **Device name**: Either IP, in case of OAK PoE cameras, or USB path in case of OAK USB cameras
+- **MxId**: Unique Mx (chip) identification code
+- **State**: State of the device. Note that OAK PoE cameras have bootloader flashed which initializes the network stack
+
+Afterwards, the example boots into the first found device and prints available camera sensors, and reads calibration and eeprom data which stores product and
+board names.
+
+Demo
+####
+
+.. code-block::
+
+    Searching for all available devices...
+
+    Found device '1.3', MxId: '18443010D116631200', State: 'UNBOOTED'
+    Found device '192.168.33.201', MxId: '184430102163DB0F00', State: 'BOOTLOADER'
+    Found device '192.168.33.192', MxId: '1844301011F4C51200', State: 'BOOTLOADER'
+
+    Booting the first available camera (1.3)...
+    Available camera sensors:  {<CameraBoardSocket.CAM_C: 2>: 'OV9282', <CameraBoardSocket.CAM_A: 0>: 'IMX378', <CameraBoardSocket.CAM_B: 1>: 'OV9282'}
+    Product name: OAK-D Pro AF, board name DM9098
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/host_side/device_information.py>`__
+
+        .. literalinclude:: ../../../../examples/host_side/device_information.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/host_side/device_information.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/host_side/device_information.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/host_side/device_queue_event.rst b/bindings/python/docs/source/samples/host_side/device_queue_event.rst
new file mode 100644
index 000000000..29aeef478
--- /dev/null
+++ b/bindings/python/docs/source/samples/host_side/device_queue_event.rst
@@ -0,0 +1,43 @@
+Device Queue Event
+==================
+
+This example shows how to use :code:`getQueueEvent` function in order to be notified when one of
+the packets from selected streams arrive
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/QsFGPRX5fhw" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/host_side/device_queue_event.py>`__
+
+        .. literalinclude:: ../../../../examples/host_side/device_queue_event.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/host_side/device_queue_event.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/host_side/device_queue_event.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/host_side/latency_measurement.rst b/bindings/python/docs/source/samples/host_side/latency_measurement.rst
new file mode 100644
index 000000000..ea01cba4d
--- /dev/null
+++ b/bindings/python/docs/source/samples/host_side/latency_measurement.rst
@@ -0,0 +1,47 @@
+Latency measurement
+===================
+
+This example shows how to :ref:`ImgFrame`'s ``.getTimestamp()`` function in combination with ``dai.Clock.now()`` to measure
+the latency since image was captured (more accurately since it was processed by ISP and timestamp was attached to it) until
+the frame was received on the host computer.
+
+If you would like to **learn more about low-latency, see** :ref:`documentation page here <Low latency>`.
+
+Demo
+####
+
+This example measures latency of ``isp`` 1080P output (YUV420 encoded frame) from :ref:`ColorCamera` running at 60FPS. We get
+about 33ms, which is what was measured in :ref:`Low latency` docs page as well.
+
+.. code-block::
+
+    UsbSpeed.SUPER
+    Latency: 33.49 ms, Average latency: 33.49 ms, Std: 0.00
+    Latency: 34.92 ms, Average latency: 34.21 ms, Std: 0.71
+    Latency: 33.23 ms, Average latency: 33.88 ms, Std: 0.74
+    Latency: 33.70 ms, Average latency: 33.84 ms, Std: 0.65
+    Latency: 33.94 ms, Average latency: 33.86 ms, Std: 0.58
+    Latency: 34.18 ms, Average latency: 33.91 ms, Std: 0.54
+
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/host_side/latency_measurement.py>`__
+
+        .. literalinclude:: ../../../../examples/host_side/latency_measurement.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        (Work in progress)
\ No newline at end of file
diff --git a/bindings/python/docs/source/samples/host_side/opencv_support.rst b/bindings/python/docs/source/samples/host_side/opencv_support.rst
new file mode 100644
index 000000000..38356ef40
--- /dev/null
+++ b/bindings/python/docs/source/samples/host_side/opencv_support.rst
@@ -0,0 +1,43 @@
+OpenCV support
+==============
+
+This example shows API which exposes both numpy and OpenCV compatible image types for eaiser usage.
+It uses ColorCamera node to retrieve both BGR interleaved 'preview' and NV12 encoded 'video' frames.
+Both are displayed using functions `getFrame` and `getCvFrame`.
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/YyhUivHFsaU" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/host_side/opencv_support.py>`__
+
+        .. literalinclude:: ../../../../examples/host_side/opencv_support.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/host_side/opencv_support.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/host_side/opencv_support.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/host_side/queue_add_callback.rst b/bindings/python/docs/source/samples/host_side/queue_add_callback.rst
new file mode 100644
index 000000000..266f4cb09
--- /dev/null
+++ b/bindings/python/docs/source/samples/host_side/queue_add_callback.rst
@@ -0,0 +1,39 @@
+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 :code:`XLinkOut` node. In the callback function :code:`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
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/120119546-309d5200-c190-11eb-932a-8235be7a4aa1.gif
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/host_side/queue_add_callback.py>`__
+
+        .. literalinclude:: ../../../../examples/host_side/queue_add_callback.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/host_side/queue_add_callback.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/host_side/queue_add_callback.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/frame_sync.rst b/bindings/python/docs/source/samples/mixed/frame_sync.rst
new file mode 100644
index 000000000..cc8a49781
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/frame_sync.rst
@@ -0,0 +1,54 @@
+Frame syncing on OAK
+====================
+
+This example showcases how you can use :ref:`Script` node to perform :ref:`Message syncing` of multiple streams.
+Example uses :ref:`ImgFrame`'s timestamps to achieve syncing precision.
+
+Similar syncing demo scripts (python) can be found at our depthai-experiments repository in `gen2-syncing <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing>`__
+folder.
+
+Demo
+####
+
+Terminal log after about 13 minutes. Color and disparity streams are perfectly in-sync.
+
+.. code-block:: bash
+
+[1662574807.8811488] Stream rgb, timestamp: 7:26:21.601595, sequence number: 21852
+[1662574807.8821492] Stream disp, timestamp: 7:26:21.601401, sequence number: 21852
+
+[1662574807.913144] Stream rgb, timestamp: 7:26:21.634982, sequence number: 21853
+[1662574807.9141443] Stream disp, timestamp: 7:26:21.634730, sequence number: 21853
+
+[1662574807.9451444] Stream rgb, timestamp: 7:26:21.668243, sequence number: 21854
+[1662574807.946151] Stream disp, timestamp: 7:26:21.668057, sequence number: 21854
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/frame_sync.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/frame_sync.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/frame_sync.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/frame_sync.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/mono_depth_mobilenetssd.rst b/bindings/python/docs/source/samples/mixed/mono_depth_mobilenetssd.rst
new file mode 100644
index 000000000..adab7f2b6
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/mono_depth_mobilenetssd.rst
@@ -0,0 +1,53 @@
+Mono & MobilenetSSD & Depth
+===========================
+
+This example shows how to run MobileNetv2SSD on the left grayscale camera in parallel with running
+the disparity depth results, displaying both the depth map and the right grayscale stream, with the
+bounding box from the neural network overlaid.
+It's a combination of :ref:`Depth Preview` and :ref:`Mono & MobilenetSSD`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD`
+- :ref:`RGB & MobileNetSSD @ 4K`
+- :ref:`Mono & MobilenetSSD`
+- :ref:`Video & MobilenetSSD`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/aCT0CRXx1qI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/mono_depth_mobilenetssd.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/mono_depth_mobilenetssd.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/mono_depth_mobilenetssd.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/mono_depth_mobilenetssd.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/multiple_devices.rst b/bindings/python/docs/source/samples/mixed/multiple_devices.rst
new file mode 100644
index 000000000..1a80c3e5e
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/multiple_devices.rst
@@ -0,0 +1,67 @@
+Multiple devices
+================
+
+For many applications it's useful to have **multiple OAK cameras running at the same time**, as more cameras can perceive
+more (of the world around them). Examples here would include:
+
+- `Box measurement <https://github.com/luxonis/depthai-experiments/tree/master/gen2-box_measurement>`__ app, multiple cameras from multiple **different perspectives could provide better dimension estimation**
+- `People counter/tracker <https://github.com/luxonis/depthai-experiments/tree/master/gen2-people-tracker#gen2-people-tracker>`__ app, multiple cameras could **count/track people across a large area (eg. shopping mall)**
+- Attaching multiple cameras on front/back/left/right side of your robot **for full 360° vision**, so your **robot can perceive the whole area around it regardless of how it's positioned**.
+
+This example shows how you can use multiple OAK cameras on a single host. The demo will find all devices
+connected to the host computer and display an RGB preview from each of the camera.
+
+An demo application that does object detection from multiple cameras can be
+`found here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices>`__.
+
+Demo
+####
+
+.. figure:: https://user-images.githubusercontent.com/18037362/185141173-5fe8708f-8a35-463d-8be3-66251f31d14f.png
+
+    Two OAK cameras looking at each other.
+
+.. code-block:: bash
+
+    ===Connected to  18443010F105060F00
+        >>> MXID: 18443010F105060F00
+        >>> Num of cameras: 3
+        >>> USB speed: UsbSpeed.SUPER
+        >>> Board name: DM9098
+        >>> Product name: OAK-D S2 FF
+    ===Connected to  1844301011F4C51200
+        >>> MXID: 1844301011F4C51200
+        >>> Num of cameras: 3
+        >>> USB speed: UsbSpeed.UNKNOWN
+        >>> Board name: NG9097
+        >>> Product name: OAK-D Pro PoE AF
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/multiple_devices.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/multiple_devices.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/multiple_devices.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/multiple_devices.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/rgb_encoding_mobilenet.rst b/bindings/python/docs/source/samples/mixed/rgb_encoding_mobilenet.rst
new file mode 100644
index 000000000..24b39537c
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/rgb_encoding_mobilenet.rst
@@ -0,0 +1,62 @@
+RGB Encoding & MobilenetSSD
+===========================
+
+This example shows how to configure the depthai video encoder in h.265 format to encode the RGB camera
+input at Full-HD resolution at 30FPS, and transfers the encoded video over XLINK to the host,
+saving it to disk as a video file. In the same time, a MobileNetv2SSD network is ran on the
+frames from the same RGB camera that is used for encoding
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+It's a combination of :ref:`RGB Encoding` and :ref:`RGB & MobilenetSSD`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`RGB & Mono Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/ZFc_w5zKLPg" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/rgb_encoding_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/rgb_encoding_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/rgb_encoding_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/rgb_encoding_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet.rst b/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet.rst
new file mode 100644
index 000000000..8d07b409b
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet.rst
@@ -0,0 +1,63 @@
+RGB Encoding & Mono & MobilenetSSD
+====================================
+
+This example shows how to configure the depthai video encoder in h.265 format to encode the RGB camera
+input at Full-HD resolution at 30FPS, and transfers the encoded video over XLINK to the host,
+saving it to disk as a video file. At the same time, a MobileNetv2SSD network is ran on the
+frames from right grayscale camera
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+It's a combination of :ref:`RGB Encoding` and :ref:`Mono & MobilenetSSD`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`RGB & Mono Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & MobilenetSSD`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth`
+
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/3n549_6dANo" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/rgb_encoding_mono_mobilenet.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/rgb_encoding_mono_mobilenet.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/rgb_encoding_mono_mobilenet.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/rgb_encoding_mono_mobilenet.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet_depth.rst b/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet_depth.rst
new file mode 100644
index 000000000..0bcb606cb
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/rgb_encoding_mono_mobilenet_depth.rst
@@ -0,0 +1,64 @@
+RGB Encoding & Mono with MobilenetSSD & Depth
+=============================================
+
+This example shows how to configure the depthai video encoder in h.265 format to encode the RGB camera
+input at Full-HD resolution at 30FPS, and transfers the encoded video over XLINK to the host,
+saving it to disk as a video file. At the same time, a MobileNetv2SSD network is ran on the
+frames from right grayscale camera, while the application also displays the depth map produced by both
+of the grayscale cameras. Note that disparity is used in this case, as it colorizes in a more
+intuitive way.
+
+Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it
+playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed.
+
+Be careful, this example saves encoded video to your host storage. So if you leave it running,
+you could fill up your storage on your host.
+
+It's a combination of :ref:`RGB Encoding` and :ref:`Mono & MobilenetSSD & Depth`.
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB Encoding`
+- :ref:`RGB & Mono Encoding`
+- :ref:`Encoding Max Limit`
+- :ref:`RGB Encoding & MobilenetSSD`
+- :ref:`RGB Encoding & Mono & MobilenetSSD`
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/3sijxVDVFY8" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/rgb_encoding_mono_mobilenet_depth.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/rgb_encoding_mono_mobilenet_depth.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/mixed/rgb_encoding_mono_mobilenet_depth.cpp>`__
+
+        .. literalinclude:: ../../../../depthai-core/examples/mixed/rgb_encoding_mono_mobilenet_depth.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/samples/mixed/rotated_spatial_detections.rst b/bindings/python/docs/source/samples/mixed/rotated_spatial_detections.rst
new file mode 100644
index 000000000..c9a5eedb4
--- /dev/null
+++ b/bindings/python/docs/source/samples/mixed/rotated_spatial_detections.rst
@@ -0,0 +1,57 @@
+Spatial detections on rotated OAK
+=================================
+
+This example is very similar to :ref:`RGB & MobilenetSSD with spatial data` - it only assumes we have OAK rotated by 180° (upside down)
+
+:ref:`ColorCamera` frames are rotated on the sensor itself, by setting ``camRgb.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)``.
+This means all outputs from the node (still/isp/video/preview) will already be rotated.
+
+We rotate ``depth`` frames after the :ref:`StereoDepth` creates them. One might try rotating mono frames before sending them
+to the :ref:`StereoDepth` node, but this wouldn't work as stereo calibration would need to reflect such changes. So we use
+the :ref:`ImageManip` node to rotate ``depth`` (code below) and then send it to the :ref:`MobileNetSpatialDetectionNetwork`.
+
+.. code-block:: python
+
+    manip = pipeline.createImageManip()
+    # Vertical + Horizontal flip == rotate frame for 180°
+    manip.initialConfig.setVerticalFlip(True)
+    manip.initialConfig.setHorizontalFlip(True)
+    manip.setFrameType(dai.ImgFrame.Type.RAW16)
+    stereo.depth.link(manip.inputImage)
+
+:ref:`MobileNetSpatialDetectionNetwork` node then receives correctly rotated color and depth frame, which results in correct
+spatial detection output.
+
+
+.. rubric:: Similar samples:
+
+- :ref:`RGB & MobilenetSSD with spatial data`
+- :ref:`Spatial object tracker on RGB`
+- :ref:`Mono & MobilenetSSD with spatial data`
+- :ref:`RGB & TinyYolo with spatial data`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+.. include:: /includes/install_req.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/mixed/rotated_spatial_detections.py>`__
+
+        .. literalinclude:: ../../../../examples/mixed/rotated_spatial_detections.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        (Work in progress)
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/code_samples.rst b/bindings/python/docs/source/tutorials/code_samples.rst
new file mode 100644
index 000000000..cbb25f600
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/code_samples.rst
@@ -0,0 +1,201 @@
+Code Samples
+============
+
+.. toctree::
+   :hidden:
+   :glob:
+
+   ../samples/bootloader/*
+   ../samples/calibration/*
+   ../samples/Camera/*
+   ../samples/ColorCamera/*
+   ../samples/crash_report/*
+   ../samples/EdgeDetector/*
+   ../samples/FeatureTracker/*
+   ../samples/host_side/*
+   ../samples/ImageManip/*
+   ../samples/IMU/*
+   ../samples/mixed/*
+   ../samples/MobileNet/*
+   ../samples/MonoCamera/*
+   ../samples/NeuralNetwork/*
+   ../samples/ObjectTracker/*
+   ../samples/Script/*
+   ../samples/SpatialDetection/*
+   ../samples/StereoDepth/*
+   ../samples/Sync/*
+   ../samples/SystemLogger/*
+   ../samples/ToF/*
+   ../samples/VideoEncoder/*
+   ../samples/Warp/*
+   ../samples/UVC/*
+   ../samples/Yolo/*
+
+Code samples are used for automated testing. They are also a great starting point for the DepthAI API, as different node functionalities
+are presented with code.
+
+.. rubric:: Bootloader
+
+- :ref:`Bootloader Config` - Read/Flash/Clear bootloader on the device
+- :ref:`Bootloader Version` - Retrieves Version of Bootloader on the device
+- :ref:`Flash Bootloader` - Flash factory bootloader to the device
+- :ref:`Flash User Bootloader` - Flash user bootloader to the device
+- :ref:`POE set IP` - Sets IP of the POE device
+
+.. rubric:: Calibration
+
+- :ref:`Calibration Flash v5` - Flashes calibration data of version 5 (gen1 calibration data) to the device
+- :ref:`Calibration Flash` - Flashes calibration data of version 6 (gen2 calibration data) to the device
+- :ref:`Calibration Reader` - Reads calibration data stored on device over XLink
+- :ref:`Calibration Load` - Loads and uses calibration data of version 6 (gen2 calibration data) in a pipeline
+
+
+.. rubric:: Camera
+
+- :ref:`Undistort camera stream` - Showcases how Camera node undistorts camera streams
+
+.. rubric:: ColorCamera
+
+- :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI
+- :ref:`RGB Camera Control` - Demonstrates how to control the RGB camera (crop, focus, exposure, sensitivity) from the host
+- :ref:`RGB Preview` - Displays a small preview of the RGB camera
+- :ref:`RGB scene` - Shows how to select ColorCamera's scene and effect
+- :ref:`RGB video` - Displays high resolution frames of the RGB camera
+
+.. rubric:: Crash report
+
+- :ref:`Crash report` - In case of a firmware crash, example reads it from the device and saves it to a json file
+
+.. rubric:: EdgeDetector
+
+- :ref:`Edge Detector` - Performs edge detection on all camera streams
+
+.. rubric:: FeatureTracker
+
+- :ref:`Feature Detector` - Feature detection on input frame
+- :ref:`Feature Tracker` - Feature detection and tracking on input frame
+- :ref:`Feature Tracker with Motion Estimation` - Camera movement estimation based on feature tracking
+
+.. rubric:: Host side
+
+- :ref:`Latency measurement` - Measure frame latency from capturing to the host
+- :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
+- :ref:`Device Queue Event` - Demonstrates how to use device queue events
+- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
+
+.. rubric:: ImageManip
+
+- :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
+- :ref:`ImageManip tiling` - Using ImageManip for frame tiling
+- :ref:`ImageManip rotate` - Using ImageManip to rotate color/mono frames
+
+.. rubric:: IMU
+
+- :ref:`IMU Accelerometer & Gyroscope` - Accelerometer and gyroscope at 500hz rate
+- :ref:`IMU Rotation Vector` - Rotation vector at 400 hz rate
+
+.. rubric:: Mixed
+
+- :ref:`Mono & MobilenetSSD & Depth` - Runs MobileNetSSD on mono frames and displays detections on mono/disparity frames
+- :ref:`Multiple Devices` - Run multiple OAK cameras from the same host computer
+- :ref:`RGB Encoding & MobilenetSSD` - Runs MobileNetSSD on RGB frames and encodes FUll-HD RGB into :code:`.h265` and saves it on the host
+- :ref:`RGB Encoding & Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame + encodes RGB to :code:`.h265`
+- :ref:`RGB Encoding & Mono with MobilenetSSD & Depth` - A combination of **RGB Encoding** and **Mono & MobilenetSSD & Depth** code samples
+- :ref:`Spatial detections on rotated OAK` - Spatail detections on upside down OAK camera
+
+.. rubric:: MobileNet
+
+- :ref:`Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame
+- :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
+- :ref:`RGB & MobilenetSSD` - Runs MobileNetSSD on RGB frames and displays detections on the frame
+- :ref:`RGB & MobileNetSSD @ 4K` - Runs MobileNetSSD on RGB frames and displays detections on both preview and 4k frames
+
+.. rubric:: MonoCamera
+
+- :ref:`Mono Preview` - Displays right/left mono cameras
+- :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
+- :ref:`Mono preview - Alternate between dot projector and illumination LED` on OAK Pro devices
+- :ref:`Mono Full Resolution Saver` - Saves mono (720P) images to the host (:code:`.png`)
+
+.. rubric:: NeuralNetwork
+
+- :ref:`Multi-Input Frame Concat <Multi-Input Frame Concationation>` - Concat mono/rgb streams on the device with a custom model
+- :ref:`Frame Normalization` - Normalize the frame on the device with a custom model
+
+.. rubric:: ObjectTracker
+
+- :ref:`Object tracker on video` - Performs object tracking from the video
+- :ref:`Object tracker on RGB` - Performs object tracking from the RGB camera
+- :ref:`Spatial object tracker on RGB` - Performs object tracking and also provides spatial coordinates
+
+.. rubric:: Script
+
+- :ref:`Script camera control` - Controlling the camera with the Script node
+- :ref:`Script change pipeline flow` - Change the flow of data inside your pipeline in runtime with :ref:`Script` node
+- :ref:`Script forward frames` - Forward incoming image stream to two different output streams (demuxing)
+- :ref:`Script get local IP` - Get local IP of the device (only OAK-POE devices)
+- :ref:`Script HTTP client` - Send HTTP request to a server (only OAK-POE devices)
+- :ref:`Script JSON communication` - 2-way JSON communication between Script <-> Host
+- :ref:`Script HTTP server` - Serve still image over HTTP response (only OAK-POE devices)
+- :ref:`Script MJPEG server` - Serve MJPEG video stream over HTTP response (only OAK-POE devices)
+- :ref:`Script NNData example` - Constructs :ref:`NNData` in Script node and sends it to the host
+- :ref:`Script UART communication` - UART communication with Script node
+- :ref:`Script EMMC access` - Access EMMC memory from the Script node
+
+.. rubric:: SpatialDetection
+
+- :ref:`Spatial Calculator Multi-ROI` - Selects multiple ROIs and calculates spatial coordinates for each of them
+- :ref:`Spatial location calculator` - Demonstrates how to use the spatial location calculator
+- :ref:`RGB & MobilenetSSD with spatial data` - Displays RGB frames with MobileNet detections and spatial coordinates on them
+- :ref:`Mono & MobilenetSSD with spatial data` - Displays mono frames with MobileNet detections and spatial coordinates on them
+- :ref:`RGB & TinyYolo with spatial data`- Displays RGB frames with Yolo detections and spatial coordinates on them
+
+.. rubric:: StereoDepth
+
+- :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
+- :ref:`Depth Post-Processing` - Depth post-processing filters
+- :ref:`Depth Preview` - Displays colorized stereo disparity
+- :ref:`Stereo Depth custom Mesh` - Calculate and load custom mesh for stereo depth calculation
+- :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
+- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
+- :ref:`RGB Depth alignment` - Displays RGB depth aligned frames
+
+
+.. rubric:: Sync Node
+
+- :ref:`Depth and Video Sync` - Synchronizes depth and video streams for real-time processing and display.
+- :ref:`IMU and Video Sync` - Aligns IMU data with video frames, showcasing real-time rotation vector display alongside video.
+- :ref:`Multiple Scripts Sync` - Demonstrates synchronization of data from two script nodes emitting data at different intervals.
+- :ref:`Demuxing Synchronized Script Outputs` - Features synchronization of script outputs followed by demultiplexing for distinct processing streams.
+
+
+.. rubric:: SystemLogger
+
+- :ref:`System information` - Displays device system information (memory/cpu usage, temperature)
+
+.. rubric:: ToF
+
+- :ref:`ToF depth` - Displays colorized ToF depth frames
+
+.. rubric:: VideoEncoder
+
+- :ref:`Disparity encoding` - Encodes stereo disparity into :code:`.mjpeg`
+- :ref:`RGB Encoding` - Encodes RGB (1080P, 30FPS) into :code:`.h265` and saves it on the host
+- :ref:`RGB & Mono Encoding`- Encodes RGB (1080P, 30FPS) and both mono streams (720P, 30FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
+- :ref:`Encoding Max Limit` - Encodes RGB (4k 25FPS) and both mono streams (720P, 25FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
+- :ref:`RGB Full Resolution Saver` - Saves full resolution RGB images (4k) on the host (:code:`.jpeg`)
+
+.. rubric:: Warp
+
+- :ref:`Warp Mesh` - Displays an image warped with 2 different meshes
+- :ref:`Interactive Warp Mesh` - Interactively change the warp mesh
+
+.. rubric:: UVC
+
+- :ref:`UVC & Color Camera` - Displays RGB frames from a UVC camera
+- :ref:`UVC & Mono Camera` - Displays mono frames from a UVC camera
+- :ref:`UVC & Disparity` - Displays disparity frames from a UVC camera
+
+.. rubric:: Yolo
+
+- :ref:`RGB & Tiny YOLO` - Runs Tiny YOLO on RGB frames and displays detections on the frame
diff --git a/bindings/python/docs/source/tutorials/configuring-stereo-depth.rst b/bindings/python/docs/source/tutorials/configuring-stereo-depth.rst
new file mode 100644
index 000000000..594526eda
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/configuring-stereo-depth.rst
@@ -0,0 +1,518 @@
+Configuring Stereo Depth
+########################
+
+Our :ref:`StereoDepth node <StereoDepth>` is very configurable and with this tutorial we will go over some **configurations and troubleshooting**
+you can do to get the best results.
+
+This documentation is divided into 6 chapters:
+
+- :ref:`1. Stereo Depth Basics`
+- :ref:`2. Fixing noisy depth`
+- :ref:`3. Improving depth accuracy`
+- :ref:`4. Short range stereo depth`
+- :ref:`5. Long range stereo depth`
+- :ref:`6. Fixing noisy pointcloud`
+
+1. Stereo Depth Basics
+**********************
+
+`Stereo depth vision <https://en.wikipedia.org/wiki/Computer_stereo_vision>`__ works by calculating the disparity between two images taken from
+slightly different points.
+
+Stereo vision works a lot like our eyes. Our brains (subconsciously) estimate the depth of objects and scenes based on the difference between what our left eye sees
+versus what our right eye sees. On OAK-D cameras, it's exactly the same; we have left and right cameras (of the stereo camera pair)
+and the OAK does on-device disparity matching to estimate the depth of objects and scenes.
+
+Disparity refers to the distance between two corresponding points in the left and right image of a stereo pair.
+
+.. image:: /_static/images/components/disparity_explanation.jpeg
+
+Depth from disparity
+--------------------
+
+Let's first look at how the depth is calculated:
+
+.. math::
+
+   \text{depth[mm]} =f_{x}\text{[px]} \cdot \frac{\text{baseline[mm]}}{\text{disparity[px]}}
+
+Examples for calculating the depth value, using the OAK-D (7.5cm baseline OV9282), for 400P resolution and disparity of 50 pixels:
+
+.. math::
+
+  \text{depth} = 441.25 \cdot \frac{7.5}{50} = 66.19 \text{ cm}
+
+`RVC2 <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html>`__-based cameras have a **0..95 disparity search** range,
+which limits the minimal depth perception. Baseline is the distance between two cameras of the
+stereo camera pair. You can read the camera's focal length (in pixels) from calibration, see the :ref:`tutorial here <Camera intrinsics>`
+
+Disparity and depth are inversely related. As disparity decreases, the depth increases exponentially depending on the baseline and focal length.
+Meaning, if the disparity value is close to zero, then a small change in disparity generates a large change in depth.
+Similarly, if the disparity value is big, then some change in disparity doesn't lead to a large change in depth (better accuracy).
+
+Here's a graph showing disparity vs depth for OAK-D (7.5cm baseline distance) at 800P:
+
+.. figure:: /_static/images/components/disp_to_depth.jpg
+
+    `Full chart here <https://docs.google.com/spreadsheets/d/1ymn-0D4HcCbzYP-iPycj_PIdSwmrLenlGryuZDyA4rQ/edit#gid=0>`__
+
+Note the value of depth data is stored in *uint16*, where 0 means that the distance is invalid/unknown.
+
+How baseline distance and focal length affect depth
+---------------------------------------------------
+
+Looking at the depth formula above, we can see that either a larger baseline distance or a larger focal length will result
+in further depth at the same disparity, which means that the depth accuracy will be better.
+
+Focal length is the distance between the camera lens and the image sensor. The larger the focal length, the narrower the FOV.
+
+So to get **long-range depth** perception, you can **increase the baseline distance and/or decrease the FOV**.
+
+.. note::
+
+    Wider FOV will result in worse depth accuracy, even at shorter ranges (where accuracy drop isn't as noticeable).
+
+2. Fixing noisy depth
+*********************
+
+A few topics we have noticed that are relevant for stereo depth quality are:
+
+- :ref:`Scene Texture`
+- :ref:`Stereo depth confidence threshold`
+- :ref:`Stereo camera pair noise`
+- :ref:`Stereo postprocessing filters`
+
+Scene Texture
+-------------
+
+Due to the way the stereo matching algorithm works, **passive stereo depth requires** to have a **good texture** in the scene, otherwise, the depth will be noisy/invalid.
+low-visual-interest surfaces (blank surfaces with little to no texture), such as a wall or floor.
+
+**Solution:** Our `Pro version <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s2.html#pro-version>`__ of OAK cameras have onboard **IR laser dot projector**,
+which projects thousands of little dots on the scene, which helps the stereo matching algorithm as it provides more texture to the scene.
+
+.. image:: https://user-images.githubusercontent.com/18037362/222730554-a6c8d4d3-cb0b-422e-8474-6a979e73727a.gif
+
+The technique that we use is called ASV (`Conventional Active Stereo Vision <https://en.wikipedia.org/wiki/Computer_stereo_vision#Conventional_active_stereo_vision_(ASV)>`__)
+as stereo matching is performed on the device the same way as on a passive stereo OAK-D.
+
+
+Stereo depth confidence threshold
+---------------------------------
+
+When calculating the disparity, each pixel in the disparity map gets assigned a confidence value :code:`0..255` by the stereo matching algorithm.
+This confidence score is kind of inverted (if, say, comparing with NN confidences):
+
+- **0** - maximum confidence that it holds a valid value
+- **255** - minimum confidence, so there is more chance that the value is incorrect
+
+For the final disparity map, filtering is applied based on the confidence threshold value: the pixels that have their confidence score larger than
+the threshold get invalidated, i.e. their disparity value is set to zero. You can set the confidence threshold via the API below.
+
+This means that with the confidence threshold, users can prioritize **fill-rate or accuracy**.
+
+.. tabs::
+
+    .. tab:: Python
+
+        .. code-block:: python
+
+            # Create the StereoDepth node
+            stereo_depth = pipeline.create(dai.node.StereoDepth)
+            stereo_depth.initialConfig.setConfidenceThreshold(threshold)
+
+            # Or, alternatively, set the Stereo Preset Mode:
+            # Prioritize fill-rate, sets Confidence threshold to 245
+            stereo_depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+            # Prioritize accuracy, sets Confidence threshold to 200
+            stereo_depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_ACCURACY)
+
+    .. tab:: C++
+
+        .. code-block:: cpp
+
+            // Create the StereoDepth node
+            auto stereo_depth = pipeline.create<dai::node::StereoDepth>();
+            stereo_depth->initialConfig.setConfidenceThreshold(threshold);
+
+            // Or, alternatively, set the Stereo Preset Mode:
+            // Prioritize fill-rate, sets Confidence threshold to 245
+            stereo_depth->setDefaultProfilePreset(dai::node::StereoDepth::Preset::HIGH_DENSITY);
+            // Prioritize accuracy, sets Confidence threshold to 200
+            stereo_depth->setDefaultProfilePreset(dai::node::StereoDepth::Preset::HIGH_ACCURACY);
+
+
+..
+    .. image:: gif of changing threshold, and how fill-rate/accuracy changes
+
+Stereo camera pair noise
+------------------------
+
+If input left/right images are noisy, the disparity map will be noisy as well. So the prerequisite for good depth are high IQ (see :ref:`Image Quality <Improving Image Quality>` docs)
+left/right stereo images. Active stereo (`Pro version <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s2.html#pro-version>`__ of OAK cameras)
+mostly alleviates this issue, but for passive stereo cameras, there are a few things you can do to improve the quality of the stereo camera pair.
+
+It is preferred to use mono (grayscale) cameras for the stereo camera pair as they
+have better quantum efficiency (QE) as they don't have color (Bayer) filter. Higher QE means more signal will be generated for the same amount of light (photons),
+which leads to better SNR (signal-to-noise ratio).
+
+For better low-light performance, it's advised to use longer exposure times instead of higher gain (ISO) as it will improve SNR. Sometimes this means lowering
+camera FPS - at 30 FPS, you can use 1/30s exposure time, at 15 FPS, you can use 1/15s exposure time, etc. For more information, see :ref:`Low-light increased sensitivity`.
+
+Another potential improvement is to tweak the sensor's ISP settings, like chroma & luma denoise, and sharpness. For more information, see the :ref:`Color camera ISP configuration`.
+
+Stereo postprocessing filters
+-----------------------------
+
+The :ref:`StereoDepth` node has a few postprocessing filters that **run on-device**, which can be enabled to improve the quality of the disparity map. For **implementation
+(API) details**, see :ref:`StereoDepth configurable blocks <Currently configurable blocks>`. For an example, see the :ref:`Depth Post-Processing` example.
+
+As these filters run on the device, it has a some **performance cost**, which means that at high-resolution frames (1MP) these might bottleneck the FPS. To improve 
+the cost, one should consider using lower-resolution frames (eg. 400P) and/or using :ref:`Decimation filter`. Due to additional processing, these filters also introduce
+:ref:`additional latency <Low Latency>`.
+
+Median filter
+~~~~~~~~~~~~~
+
+This is a non-edge preserving Median filter, which can be used to reduce noise and smoothen the depth map. Median filter is implemented in hardware, so it's the
+fastest filter.
+
+Speckle filter
+~~~~~~~~~~~~~~
+
+Speckle Filter is used to reduce the speckle noise. Speckle noise is a region with huge variance between neighboring disparity/depth pixels, and speckle
+filter tries to filter this region.
+
+Temporal filter
+~~~~~~~~~~~~~~~
+
+Temporal Filter is intended to improve the depth data persistency by manipulating per-pixel values based on previous frames. The filter performs a single pass on
+the data, adjusting the depth values while also updating the tracking history.
+
+In cases where the pixel data is missing or invalid, the filter uses a user-defined persistency mode to decide whether the missing value should be improved
+with stored data. Note that due to its reliance on historic data, the filter may introduce
+visible motion blurring/smearing artifacts, and therefore is best-suited for **static scenes**.
+
+Spatial filter
+~~~~~~~~~~~~~~
+
+Spatial Edge-Preserving Filter will fill invalid depth pixels with valid neighboring depth pixels. It performs a series of 1D horizontal and vertical passes or
+iterations, to enhance the smoothness of the reconstructed data. It is based on `this research paper <https://www.inf.ufrgs.br/~eslgastal/DomainTransform/>`__.
+
+Brightness filter
+~~~~~~~~~~~~~~~~~
+
+Brightness filter will filter out (invalidate, by setting to 0) all depth pixels for which input stereo camera image pixels are outside the configured
+min/max brightness threshold values. This filter is useful when you have a high dynamic range scene, like outside on a bright day, or in general whenever
+stereo camera pair can directly see a light source:
+
+.. figure:: https://user-images.githubusercontent.com/18037362/216110871-fe807fc0-858d-4c4d-bbae-3a8eff35645d.png
+
+    Direct light source (ceiling light) - depth pixels are invalid
+
+It also helps with rectification "artifacts", especially when you have Wide FOV lenses and you apply alpha param. When there's no available pixel,
+StereoDepth node will set that area to 0 (black) by default, but can be changed with ``stereoDepth.setRectifyEdgeFillColor(int8)``. This black area can then be
+invalidated with brightness filter, as seen below:
+
+.. figure:: https://user-images.githubusercontent.com/18037362/223171135-734babe6-72b4-4aa1-9741-9fd8b4552555.jpeg
+
+    Invalidating depth where we have rectification "artifacts"
+
+Threshold filter
+~~~~~~~~~~~~~~~~
+
+Threshold filter will filter out all depth pixels outside the configured min/max threshold values. In a controlled environment, where you know exactly how far the scene
+can be (eg. 30cm - 2m) it's advised to use this filter.
+
+Decimation filter
+~~~~~~~~~~~~~~~~~
+
+Decimation Filter will sub-sample the depth map, which means it reduces the depth scene complexity and allows other filters to run faster. Setting
+*decimationFactor* to 2 will downscale 1280x800 depth map to 640x400. We can either select pixel skipping, median, or mean decimation mode, and the latter two
+modes help with filtering as well.
+
+It's also very useful :ref:`for pointclouds <Decimation filter for pointcloud>`.
+
+3. Improving depth accuracy
+***************************
+
+The above chapter we focused on noise, which isn't necessarily the only reason for inaccurate depth.
+
+There are a few ways to improve depth accuracy:
+
+- (mentioned above) :ref:`Fixing noisy depth <2. Fixing noisy depth>` - depth should be high quality in order to be accurate
+- (mentioned above) :ref:`Stereo depth confidence threshold` should be low(er) in order to get the best accuracy
+- :ref:`Move the camera closer to the object` for the best depth accuracy
+- Enable :ref:`Stereo Subpixel mode`, especially if the object/scene isn't close to MinZ of the camera
+
+Move the camera closer to the object
+------------------------------------
+
+Looking at the :ref:`Depth from disparity` section, from the graph it's clear that at the 95 disparity pixels (close distance),
+depth change between disparity pixels (eg. 95->94) is the lowest, so the **depth accuracy is the best**.
+
+
+.. image:: /_static/images/components/theoretical_error.jpg
+
+Depth accuracy decreases exponentially with the distance from the camera. Note that with :ref:`Stereo Subpixel mode`
+enabled you can have better depth accuracy (even at a longer distance) but it only works to some extent.
+
+So to conclude, **object/scene you are measuring** should be **as close as possible to MinZ** (minimal depth perception) of the camera
+for **best depth accuracy**. You can find MinZ specification for each device in the `hardware documentation <https://docs.luxonis.com/projects/hardware/en/latest/>`__.
+
+Stereo Subpixel mode
+--------------------
+
+Let's first start with what Stereo Subpixel mode is and how it works. For image subpixel explanation, see `What's subpixel? <https://dsp.stackexchange.com/questions/34103/subpixel-what-is-it>`__).
+
+.. note::
+
+    The stereo depth pipeline is very complex (see :ref:`Internal block diagram of StereoDepth node`), and we will simplify it here for better understanding. It actually doesn't use confidence (eg. ``stereoDepth.confidenceMap`` output), but cost dump, which is what is used to calculate confidence values.
+
+When calculating disparity depth, stereo matching algorithm assign a "confidence" for each disparity pixel, which means each pixel
+of the depth image contains 96 bytes (for confidence). If you are interested in all these cost values, you can use ``stereoDepth.debugDispCostDump`` output,
+just note it's a very large output (eg. 1280*800*96 => 98MB for each frame).
+
+.. image:: /_static/images/components/disparity_confidence.jpg
+
+Stereo Subpixel mode will calculate subpixel disparity by looking at the confidence values of the 2 neighboring disparity pixels in each direction.
+In the above example graph, in normal mode, StereoDepth would just get the max disparity = 34 pixels, but in Subpixel
+mode, it will return a bit more, eg. 34.375 pixels, as confidences for pixels 35 and 36 are quite high as well.
+
+**TL;DR:** Stereo Subpixel mode should always provide more accurate depth, but will consume additional HW resources (see :ref:`Stereo depth FPS` for impact).
+
+Stereo subpixel effect on layering
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Default stereo depth output has 0..95 disparity pixels, which would produce 96 unique depth values. This can especially be seen when using pointcloud representation
+and seeing how there are discrete "layers" of points, instead of a smooth transition:
+
+.. image:: /_static/images/components/pointcloud_layering.jpg
+
+This layering can especially be seen at longer distances, where these layers are exponentially further apart.
+
+But with Stereo Subpixel mode enabled, there are many more unique values possible, which produces more granular depth steps, and thus smoother a pointcloud.
+
+.. code-block:: python
+
+    # Number of unique values based on subpixel bits setting
+    unique_values = 94 * 2 ^ subpixel_bits + 2 [min/max value]
+
+.. math::
+    94 * 2^3 + 2 = 754
+
+.. math::
+    94 * 2^4 + 2 = 1506
+
+.. math::
+    94 * 2^5 + 2 = 3010
+
+One can change the number of subpixel bits by setting ``stereoDepth.setSubpixelFractionalBits(int)`` parameter to 3, 4 or 5 bits.
+
+4. Short range stereo depth
+***************************
+
+To get accurate short-range depth, you'd first need to follow :ref:`3. Improving depth accuracy` steps.
+For most normal-FOV, OV9282 OAK-D* cameras, you'd want to have the object/scene about 70cm away from the camera,
+where you'd get below 2% error (with good :ref:`Scene Texture`), so ± 1.5cm error.
+
+But how to get an even better depth accuracy, eg. **sub-cm stereo depth accuracy**?
+As we have learned at :Ref:`How baseline distance and focal length affect depth`, we would want to
+have a closer baseline distance and/or narrower FOV lenses.
+
+That's why for the short-range depth perception **we suggest using** `OAK-D SR <https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-SR.html>`__,
+which has 2 cm baseline distance, 800P resolution, and is ideal for depth sensing of up to 1 meter.
+
+Going back to :ref:`Depth from disparity`, minimal depth perception (**MinZ**) is defined by the following formula, where the disparity is 95 pixels
+(maximum number of pixel for disparity search):
+
+.. math::
+    depth = focalLength * baseline / disparity
+
+.. math::
+    MinZ = focalLength * baseline / 95
+
+How to get lower MinZ
+---------------------
+
+If the depth results for close-in objects look weird, this is likely because they are below MinZ distance of the OAK camera. You can get lower MinZ for OAK cameras by either:
+
+- :ref:`Lowering resolution <Lowering resolution to decrease MinZ>`
+- Enabling :ref:`Stereo Extended Disparity mode`
+- Using :ref:`Disparity shift` - suggested in a controlled environment, where MaxZ is known
+
+Both of these last 2 options can be enabled at the same time, which would set the minimum depth to 1/4 of the standard settings, but at such short distances the MinZ
+could be limited by the focal length.
+
+Lowering resolution to decrease MinZ
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Above we have a formula for MinZ, and by lowering the resolution, we are lowering focal length (in pixels), so let's look at the formula again:
+
+.. math::
+    MinZ = focalLength * baseline / 95
+
+.. math::
+    MinZ [800P] = 882.5 * 7.5 / 95 = 70 cm
+
+.. math::
+    MinZ [400P] = 441 * 7.5 / 95 = 35 cm
+
+As you can see, by lowering resolution by 2, we are also lowering MinZ by 2. Note that because you have fewer pixels, you will also have lower depth accuracy (in cm).
+
+Stereo Extended Disparity mode
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Very similar to :ref:`Lowering resolution to decrease MinZ`, Extended mode runs stereo depth pipeline twice (thus consuming more HW resources); once with resolution of
+the frame that was passed to :ref:`StereoDepth` node, and once with resolution downscaled by 2, then combines the 2 output disparity maps.
+
+Disparity shift
+~~~~~~~~~~~~~~~
+
+In a controlled environment, where MaxZ is known in advance, to perceive closer depth range it's advised to use disparity shift, as it doesn't decrease depth accuracy
+as the other 2 methods above do.
+
+Disparity shift will shift the starting point of the disparity search, which will significantly decrease MaxZ, but
+it will also decrease the MinZ. Disparity shift can be combined with extended/subpixel/LR-check modes.
+
+.. image:: /_static/images/components/disparity_shift.png
+
+The **Left graph** shows min and max disparity and depth for OAK-D (7.5cm baseline, 800P resolution, ~70° HFOV) by default (disparity shift=0). See :ref:`Depth from disparity`.
+Since hardware (stereo block) has a fixed 95 pixel disparity search, DepthAI will search from 0 pixels (depth=INF) to 95 pixels (depth=71cm).
+
+**Limitations**:
+The **Right graph** shows the same, but at disparity shift set to 30 pixels. This means that disparity search will be from 30 pixels (depth=2.2m) to 125 pixels (depth=50cm).
+This also means that depth will be very accurate at the short range (**theoretically** below 5mm depth error).
+
+
+- Because of the inverse relationship between disparity and depth, MaxZ will decrease much faster than MinZ as the disparity shift is increased. Therefore, it is **advised not to use a larger-than-necessary disparity shift**.
+- Teh tradeoff in reducing the MinZ this way is that objects at **distances farther away than MaxZ will not be seen**.
+- Because of the point above, **we only recommend using disparity shift when MaxZ is known**, such as having a depth camera mounted above a table pointing down at the table surface.
+- Output disparity map is not expanded, only the depth map. So if disparity shift is set to 50, and disparity value obtained is 90, the real disparity is 140.
+
+**Compared to Extended disparity**, disparity shift:
+
+- **(+)** Is faster, as it doesn't require an extra computation, which means there's also no extra latency
+- **(-)** Reduces the MaxZ (significantly), while extended disparity only reduces MinZ.
+
+Disparity shift can be combined with extended disparity.
+
+.. doxygenfunction:: dai::StereoDepthConfig::setDisparityShift
+  :project: depthai-core
+  :no-link:
+
+Close range depth limitations
+-----------------------------
+
+Since depth is calculated from disparity, which requires the pixels to overlap, there is inherently a vertical
+band on the left side of the left mono camera and on the right side of the right mono camera, where depth
+can not be calculated, since it is seen by only 1 stereo camera.
+
+At very close distance, even when enabling :ref:`Stereo Extended Disparity mode` and :ref:`Lowering resolution <Lowering resolution to decrease MinZ>`,
+you will notice this vertical band of invalid depth pixel.
+
+.. image:: https://user-images.githubusercontent.com/59799831/135310921-67726c28-07e7-4ffa-bc8d-74861049517e.png
+
+Meaning of variables on the picture:
+
+- ``BL [cm]`` - Baseline of stereo cameras.
+- ``Dv [cm]`` - Minimum distance where both cameras see an object (thus where depth can be calculated).
+- ``W [pixels]`` - Width of mono in pixels camera or amount of horizontal pixels, also noted as :code:`HPixels` in other formulas.
+- ``D [cm]`` - Distance from the **camera plane** to an object (see image :ref:`here <Measuring real-world object dimensions>`).
+
+.. image:: https://user-images.githubusercontent.com/59799831/135310972-c37ba40b-20ad-4967-92a7-c71078bcef99.png
+
+With the use of the :code:`tan` function, the following formulas can be obtained:
+
+.. math::
+    F = 2 * D * tan(HFOV/2)
+
+.. math::
+    Dv = (BL/2) * tan(90 - HFOV/2)
+
+In order to obtain :code:`B`, we can use :code:`tan` function again (same as for :code:`F`), but this time
+we must also multiply it by the ratio between :code:`W` and :code:`F` in order to convert units to pixels.
+That gives the following formula:
+
+.. math::
+  B = 2 * Dv * tan(HFOV/2) * W / F
+
+.. math::
+  B = 2 * Dv * tan(HFOV/2) * W / (2 * D * tan(HFOV/2))
+
+.. math::
+  B [pixels] = W * Dv / D
+
+Example: If we are using OAK-D, which has a HFOV of 72°, a baseline (:code:`BL`) of 7.5 cm and
+640x400 (400P) resolution is used, therefore :code:`W = 640` and an object is :code:`D = 100` cm away, we can
+calculate :code:`B` in the following way:
+
+.. math::
+
+  Dv = 7.5 / 2 * tan(90 - 72/2) = 3.75 * tan(54°) = 5.16 cm
+  B = 640 * 5.16 / 100 = 33
+
+Credit for calculations and images goes to our community member gregflurry, which he made on
+`this <https://discuss.luxonis.com/d/339-naive-question-regarding-stereodepth-disparity-and-depth-outputs/7>`__
+forum post.
+
+5. Long range stereo depth
+**************************
+
+To get accurate long-range depth, we should first check :ref:`3. Improving depth accuracy` steps,
+as they are especially applicable to long-range depth.
+
+For long-range depth, we should also consider the following:
+
+- Narrow FOV lenses
+- Wide baseline distance between stereo cameras
+
+That's why for long range, **we suggest using** `OAK-D LR <https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-LR.html>`__,
+which has a (larger) baseline distance of 15cm and default FOV of 60°. It has `M12 mount lenses <https://docs.luxonis.com/projects/hardware/en/latest/pages/ffc-cameras.html#m12-selectable-fov>`__,
+so users can replace these with even narrower (or wider) FOV lenses.
+
+6. Fixing noisy pointcloud
+**************************
+
+For noisy pointcloud we suggest a few approaches:
+
+* (mentioned above) Start with the :ref:`Fixing noisy depth <2. Fixing noisy depth>` chapter, as otherwise, noise will produce points all over the pointcloud
+* (mentioned above) Continue with the :ref:`Improving depth accuracy <3. Improving depth accuracy>` chapter - depth inaccuracy will be easily visible in pointcloud
+
+    * Enable Stereo subpixel mode, especially due to the :ref:`Stereo subpixel effect on layering`
+
+* :ref:`Decimation filter for pointcloud` for faster processing (FPS) and additional filtering
+* :ref:`Invalidating pixels around the corner` should help to reduce noise around the corners of the depth frame
+* :ref:`Host-side pointcloud filtering` for additional filtering
+
+Decimation filter for pointcloud
+--------------------------------
+
+:ref:`Decimation filter` is especially useful for pointclouds, you don't really want 1 million points (even though it sounds good for marketing),
+as it's too much data to process. Decimation filter helps here, and should be enabled when working with pointclouds.
+
+When using decimation filter for pointcloud you should enable **median/mean mode decimation**, as it will provide additional filtering (compared to pixel skipping mode).
+It also makes other :ref:`Stereo postprocessing filters` faster, since there will be less data to process.
+
+Invalidating pixels around the corner
+-------------------------------------
+
+There are often invalid/noisy pixels around the corners, and we have seen that some customers preventively invalidate a few pixels (eg. 3) all around the corner of depth
+image. We also suggest enabling :ref:`Brightness filter`, especially due to rectification "artifacts".
+
+Host-side pointcloud filtering
+------------------------------
+
+Besides device-side :ref:`Stereo postprocessing filters`, we also suggest running host-side pointcloud filtering (with eg. `Open3D <www.open3d.org/>`__, or `PCL <https://pointclouds.org/>`__ library).
+
+We especially suggest using pointcloud voxalization and removing statistical outliers techniques, `example here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-box_measurement/projector_3d.py#L35-L38>`__ for both of these.
+
+
+..
+    Best practices in certain environments
+    **************************************
+
+    - In high dynamic range env (like outside), use brightness filter (img above)
+    - In more static env, temporal filter
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/tutorials/debugging.rst b/bindings/python/docs/source/tutorials/debugging.rst
new file mode 100644
index 000000000..8570ac4d4
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/debugging.rst
@@ -0,0 +1,165 @@
+Debugging DepthAI pipeline
+##########################
+
+Currently, tools for debugging the DepthAI pipeline are limited. We plan on creating a software that would track all messages and queues,
+which would allow users to debug a "frozen" pipeline much easier, which is usually caused by a filled up :ref:`blocking queue <Device queues>`.
+
+.. _depthai_logging:
+
+DepthAI debugging level
+=======================
+
+You can enable debugging by changing the debugging level. It's set to :code:`warning` by default.
+
+================  =======
+Level             Logging
+================  =======
+:code:`critical`  Only a critical error that stops/crashes the program.
+:code:`error`     Errors will not stop the program, but won't complete the action. Examples:
+                    - When :ref:`ImageManip` cropping ROI was out of bounds, error will get printed and the cropping won't take place
+
+                    - When :ref:`NeuralNetwork` gets a frame whose shape (width/heigth/channel) isn't that of the :code:`.blob`
+:code:`warn`      Warnings are printed in cases where user action could improve certain behavior/fix it. Example:
+                    - When API changes, the old API style will be deprecated and warning will be shown to the user.
+:code:`info`      Will print information about CPU/RAM consumption, temperature, CMX slices and SHAVE core allocation.
+:code:`debug`     Useful especially on starting and stopping the pipeline. Debug will print:
+                    - Information about device initialization eg. Pipeline JSON, firmware/bootloader/OpenVINO version
+
+                    - How device/XLink is being closed/disposed
+:code:`trace`     Trace will print out a :ref:`Message <components_messages>` whenever one is received from the device.
+================  =======
+
+Debugging can be enabled either **in code**:
+
+.. code-block:: python
+
+    with dai.Device() as device: # Initialize device
+        # Set debugging level
+        device.setLogLevel(dai.LogLevel.DEBUG)
+        device.setLogOutputLevel(dai.LogLevel.DEBUG)
+
+Where :code:`setLogLevel` sets verbosity which filters messages that get sent from the device to the host and :code:`setLogOutputLevel` sets
+verbosity which filters messages that get printed on the host (stdout). This difference allows to capture the log messages internally and
+not print them to stdout, and use those to eg. display them somewhere else or analyze them.
+
+You can also enable debugging using an **environmental variable DEPTHAI_LEVEL**:
+
+.. tabs::
+
+    .. tab:: Linux/MacOS
+
+        .. code-block:: bash
+
+            DEPTHAI_LEVEL=debug python3 script.py
+
+    .. tab:: Windows PowerShell
+
+        .. code-block:: bash
+
+            $env:DEPTHAI_LEVEL='debug'
+            python3 script.py
+
+            # Turn debugging off afterwards
+            Remove-Item Env:\DEPTHAI_LEVEL
+
+    .. tab:: Windows CMD
+
+        .. code-block:: bash
+
+            set DEPTHAI_LEVEL=debug
+            python3 script.py
+
+            # Turn debugging off afterwards
+            set DEPTHAI_LEVEL=
+
+.. _script_logging:
+
+Script node logging
+===================
+
+Currently, the best way to debug a behaviour inside the :ref:`Script` node, is to use :code:`node.warn('')` logging capability. This will
+send the warning back to the host and it will get printed to the user. Users can also print values, such as frame sequence numbers, which
+would be valuable when debugging on-device frame-syncing logic.
+
+.. code-block:: python
+
+    script = pipeline.create(dai.node.Script)
+    script.setScript("""
+        buf = NNData(13)
+        buf.setLayer("fp16", [1.0, 1.2, 3.9, 5.5])
+        buf.setLayer("uint8", [6, 9, 4, 2, 0])
+        # Logging
+        node.warn(f"Names of layers: {buf.getAllLayerNames()}")
+        node.warn(f"Number of layers: {len(buf.getAllLayerNames())}")
+        node.warn(f"FP16 values: {buf.getLayerFp16('fp16')}")
+        node.warn(f"UINT8 values: {buf.getLayerUInt8('uint8')}")
+    """)
+
+Code above will print the following values to the user:
+
+.. code-block:: bash
+
+    [Script(0)] [warning] Names of layers: ['fp16', 'uint8']
+    [Script(0)] [warning] Number of layers: 2
+    [Script(0)] [warning] FP16 values: [1.2001953125, 1.2001953125, 3.900390625, 5.5]
+    [Script(0)] [warning] UINT8 values: [6, 9, 4, 2, 0]
+
+Resource Debugging
+==================
+
+By enabling ``info`` log level (or lower), depthai will print usage of `hardware resources <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#hardware-blocks-and-accelerators>`__,
+specifically SHAVE core and CMX memory usage:
+
+.. code-block:: bash
+
+    NeuralNetwork allocated resources: shaves: [0-11] cmx slices: [0-11] # 12 SHAVES/CMXs allocated to NN
+    ColorCamera allocated resources: no shaves; cmx slices: [13-15] # 3 CMXs allocated to Color an Mono cameras (ISP)
+    MonoCamera allocated resources: no shaves; cmx slices: [13-15]
+    StereoDepth allocated resources: shaves: [12-12] cmx slices: [12-12] # StereoDepth node consumes 1 CMX and 1 SHAVE core
+    ImageManip allocated resources: shaves: [15-15] no cmx slices. # ImageManip node(s) consume 1 SHAVE core
+    SpatialLocationCalculator allocated resources: shaves: [14-14] no cmx slices. # SLC consumes 1 SHAVE core
+
+In total, this pipeline consumes 15 SHAVE cores and 16 CMX slices. The pipeline is running an object detection model compiled for 6 SHAVE cores.
+
+CPU usage
+=========
+
+When setting the :ref:`DepthAI debugging level` to debug (or lower), depthai will also print our CPU usage for LeonOS and LeonRT. CPU usage
+at 100% (or close to it) can cause many undesirable effects, such as higher frame latency, lower FPS, and in some cases even firmware crash.
+
+Compared to OAK USB cameras, OAK PoE cameras will have increased CPU consumption, as the networking stack is running on the LeonOS core. Besides
+reducing pipeline (doing less processing), a good alternative is to reduce 3A FPS (ISP). This means that 3A algorithms (auto exposure, auto white balance
+and auto focus) won't be run every frame, but every N frames. When updating DepthAI SDK's `camera_preview.py <https://github.com/luxonis/depthai/blob/main/depthai_sdk/examples/CameraComponent/camera_preview.py>`__
+example (code change below), the LeonOS CPU usage decreased from 100% to ~46%:
+
+.. code-block:: bash
+
+    # Without 3A FPS limit on OAK PoE camera:
+    Cpu Usage - LeonOS 99.99%, LeonRT: 6.91%
+
+    # Limiting 3A to 15 FPS on OAK PoE camera:
+    Cpu Usage - LeonOS 46.24%, LeonRT: 3.90%
+
+Not having 100% CPU usage also drastically decreased frame latency, in the example for the script below it went from ~710 ms to ~110ms:
+
+.. image:: https://github.com/luxonis/depthai-python/assets/18037362/84ec8de8-58ce-49c7-b882-048141d284e0
+
+.. code-block:: diff
+
+    from depthai_sdk import OakCamera
+
+    with OakCamera() as oak:
+        color = oak.create_camera('color')
+        left = oak.create_camera('left')
+        right = oak.create_camera('right')
+
+  +     # Limiting 3A to 15 FPS
+  +     for node in [color.node, left.node, right.node]:
+  +         node.setIsp3aFps(15)
+
+        oak.visualize([color, left, right], fps=True, scale=2/3)
+        oak.start(blocking=True)
+
+Limiting 3A FPS can be achieved by calling :code:`setIsp3aFps()` function on the camera node (either :ref:`ColorCamera` or :ref:`MonoCamera`).
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/tutorials/dispaying_detections.rst b/bindings/python/docs/source/tutorials/dispaying_detections.rst
new file mode 100644
index 000000000..6e1263b1b
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/dispaying_detections.rst
@@ -0,0 +1,50 @@
+Displaying detections in High-Res
+=================================
+
+If you are running object detection model eg. MobileNet or Yolo, they usually require smaller frame for inferencing (eg. :code:`300x300` or
+:code:`416x416`). **Instead of displaying bounding boxes on such small frames**, you could also **stream higher resolution frames** (eg. :code:`video`
+output from :ref:`ColorCamera`) and **display bounding boxes on these high-res frames**. There are several approaches to achieving that,
+and in this tutorial we will take a look at them.
+
+1. Passthrough
+##############
+
+Just using the small inferencing frame. Here we used :code:`passthrough` frame of :ref:`MobileNetDetectionNetwork`'s output
+so bounding boxes are in sync with the frame. Other option would be to stream :code:`preview` frames from :ref:`ColorCamera` and sync on
+the host (or don't sync at all). `300x300` frame with detections below.
+`Demo code here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-display-detections/1-passthrough.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/141348065-3b531aa0-eed9-4364-b5b8-b55424cf306d.png
+
+2. Crop high resolution frame
+#############################
+
+A simple solution to low resolution frame is to stream high resolution frames (eg. :code:`video` output from :ref:`ColorCamera`) to the host, and
+draw bounding boxes to it. For bounding boxes to match the frame, :code:`preview` and :code:`video` sizes should have the same aspect ratio, so
+:code:`1:1`. In the example, we downscale 4k resolution to 720P, so maximum resolution is `720x720`, which is exactly the resolution we used
+(:code:`camRgb.setVideoSize(720,720)`). We could also use 1080P resolution and stream `1080x1080` frames back to the host.
+`Demo code here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-display-detections/2-crop_highres.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/141347876-25b60d3c-9942-4193-99b8-79dfacc2bdd1.png
+
+3. Stretch the frame
+####################
+
+A problem that we often encounter with models is that their aspect ratio is :code:`1:1`, not eg. :code:`16x9` as our camera resolution.
+This means that some of the FOV will be lost. In our :ref:`Maximizing FOV` tutorial we showcased that changing aspect ratio will
+preserve the whole aspect ratio of the camera, but it will "squeeze"/"stretch" the frame, as you can see below.
+`Demo code here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-display-detections/3-stretch_img.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/141347900-8a9d8269-4eb3-4df9-8bb3-434a24cea68f.png
+
+4. Edit bounding boxes
+######################
+
+To avoid stretching the frame (as it can have an affect on NN accuracy), we could also stream full FOV `video` from the device and do
+inferencing on `300x300` frames. This would, however, mean that we have to re-calculate bounding boxes to match with different aspect
+ratio of the image. This approach **does not preserve the whole aspect ratio**, it only displays bounding boxes on whole FOV :code:`video` frames.
+`Demo code here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-display-detections/4-edit_bb.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/141347853-00a1c5ac-d473-4cf9-a9f5-bdf6271e8ebe.png
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/tutorials/hello_world.rst b/bindings/python/docs/source/tutorials/hello_world.rst
new file mode 100644
index 000000000..6829d0865
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/hello_world.rst
@@ -0,0 +1,280 @@
+Hello World
+===========
+
+Learn how to use the DepthAI Python API to display a color video stream.
+
+
+Demo
+####
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="//www.youtube.com/embed/puI57TaFCUM" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+.. _hello_world_dependencies:
+
+Dependencies
+############
+
+Let's get your development environment setup first. This tutorial uses:
+
+- Python >=3.6
+- DepthAI :ref:`Python API <Installation>`
+- :code:`cv2`, :code:`blobconverter` and :code:`numpy` Python modules.
+
+
+Code Overview
+#############
+
+The :code:`depthai` Python module provides access to your board's 4K 60 Hz color camera.
+We'll display a video stream from this camera to your desktop.
+You can find the `complete source code for this tutorial on GitHub <https://github.com/luxonis/depthai-tutorials/tree/master/1-hello-world>`__.
+
+File Setup
+##########
+
+Setup the following file structure on your computer:
+
+.. code-block:: bash
+
+  cd ~
+  mkdir -p depthai-tutorials-practice/1-hello-world
+  touch depthai-tutorials-practice/1-hello-world/hello_world.py
+  cd depthai-tutorials-practice/1-hello-world
+
+What's with the :code:`-practice` suffix in parent directory name? Our tutorials are available on GitHub
+via the `depthai-tutorials <https://github.com/luxonis/depthai-tutorials>`__ repository.
+We're appending :code:`-practice` so you can distinguish between your work and our finished
+tutorials (should you choose to download those).
+
+
+Install pip dependencies
+########################
+
+To display the DepthAI color video stream we need to import a small number of packages.
+Download and install the requirements for this tutorial:
+
+.. code-block:: bash
+
+  python3 -m pip install numpy opencv-python depthai blobconverter --user
+
+
+Test your environment
+#####################
+
+Let's verify we're able to load all of our dependencies. Open the :code:`hello_world.py` file you
+:ref:`created earlier <File Setup>` in your code editor. Copy and paste the following into :code:`hello_world.py`:
+
+
+.. code-block:: python
+
+  import numpy as np  # numpy - manipulate the packet data returned by depthai
+  import cv2  # opencv - display the video stream
+  import depthai  # depthai - access the camera and its data packets
+  import blobconverter  # blobconverter - compile and download MyriadX neural network blobs
+
+Try running the script and ensure it executes without error:
+
+.. code-block:: bash
+
+  python3 hello_world.py
+
+If you see the following error:
+
+.. code-block::
+
+  ModuleNotFoundError: No module named 'depthai'
+
+...follow `these steps in our troubleshooting section <https://docs.luxonis.com/en/latest/pages/troubleshooting/#importerror-no-module-named-depthai'>`__.
+
+Define a pipeline
+#################
+
+Any action from DepthAI, whether it's a neural inference or color camera output, require a **pipeline** to be defined,
+including nodes and connections corresponding to our needs.
+
+In this case, we want to see the frames from **color camera**, as well as a simple **neural network** to be ran on top of them.
+
+Let's start off with an empty :class:`Pipeline` object
+
+.. code-block:: python
+
+  pipeline = depthai.Pipeline()
+
+Now, first node we will add is a :class:`ColorCamera`. We will use the :code:`preview` output, resized to 300x300 to fit the
+`mobilenet-ssd input size <https://docs.openvino.ai/2021.4/omz_models_model_mobilenet_ssd.html>`__ (which we will define later)
+
+.. code-block:: python
+
+  cam_rgb = pipeline.create(depthai.node.ColorCamera)
+  cam_rgb.setPreviewSize(300, 300)
+  cam_rgb.setInterleaved(False)
+
+Up next, let's define a :class:`MobileNetDetectionNetwork` node with `mobilenet-ssd network <https://docs.openvinotoolkit.org/latest/omz_models_public_mobilenet_ssd_moblenet_ssd.html>`__.
+The blob file for this example will be compiled and downloaded automatically using `blobconverter tool <https://pypi.org/project/blobconverter/>`__.
+:code:`blobconverter.from_zoo()` function returns Path to the model, so we can directly put it inside the :code:`detection_nn.setBlobPath()` function.
+With this node, the output from nn will be parsed on device side and we'll receive a ready to use detection objects. For this to work properly, we need also to set the confidence threshold
+to filter out the incorrect results
+
+.. code-block:: python
+
+  detection_nn = pipeline.create(depthai.node.MobileNetDetectionNetwork)
+  # Set path of the blob (NN model). We will use blobconverter to convert&download the model
+  # detection_nn.setBlobPath("/path/to/model.blob")
+  detection_nn.setBlobPath(blobconverter.from_zoo(name='mobilenet-ssd', shaves=6))
+  detection_nn.setConfidenceThreshold(0.5)
+
+And now, let's connect a color camera :code:`preview` output to neural network input
+
+.. code-block:: python
+
+  cam_rgb.preview.link(detection_nn.input)
+
+Finally, we want to receive both color camera frames and neural network inference results - as these are produced on the
+device, they need to be transported to our machine (host). The communication between device and host is handled by :code:`XLink`,
+and in our case, since we want to receive data from device to host, we will use :class:`XLinkOut` node
+
+.. code-block:: python
+
+  xout_rgb = pipeline.create(depthai.node.XLinkOut)
+  xout_rgb.setStreamName("rgb")
+  cam_rgb.preview.link(xout_rgb.input)
+
+  xout_nn = pipeline.create(depthai.node.XLinkOut)
+  xout_nn.setStreamName("nn")
+  detection_nn.out.link(xout_nn.input)
+
+
+Initialize the DepthAI Device
+#############################
+
+Having the pipeline defined, we can now initialize a device with pipeline and start it
+
+.. code-block:: python
+
+  with depthai.Device(pipeline) as device:
+
+.. note::
+
+  By default, the DepthAI is accessed as a USB3 device. This comes with `several limitations <https://docs.luxonis.com/en/latest/pages/troubleshooting/#intermittent-connectivity-with-long-2-meter-usb3-cables>`__.
+
+  If you'd like to communicate via USB2, being free from these but having a limited bandwidth, initialize the DepthAI with the following code
+
+  .. code-block:: python
+
+    device = depthai.Device(pipeline, usb2Mode=True)
+
+
+
+From this point on, the pipeline will be running on the device, producing results we requested. Let's grab them
+
+Adding helpers
+##############
+
+As :class:`XLinkOut` nodes has been defined in the pipeline, we'll define now a host side output queues to access the
+produced results
+
+.. code-block:: python
+
+  q_rgb = device.getOutputQueue("rgb")
+  q_nn = device.getOutputQueue("nn")
+
+These will fill up with results, so next thing to do is consume the results. We will need two placeholders - one
+for rgb frame and one for nn results
+
+.. code-block:: python
+
+  frame = None
+  detections = []
+
+Also, due to neural network implementation details, bounding box coordinates in inference results are represented
+as floats from <0..1> range - so relative to frame width/height (e.g. if image has 200px width and nn returned x_min
+coordinate equal to 0.2, this means the actual (normalised) x_min coordinate is 40px).
+
+That's why we need to define a helper function, :code:`frameNorm`, that will convert these <0..1> values into actual
+pixel positions
+
+.. code-block:: python
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+
+Consuming the results
+#####################
+
+Having everything prepared, we are ready to start out main program loop
+
+.. code-block:: python
+
+  while True:
+    # ...
+
+Now, inside this loop, first thing to do is fetching latest results from both nn node and color camera
+
+.. code-block:: python
+
+  in_rgb = q_rgb.tryGet()
+  in_nn = q_nn.tryGet()
+
+The :code:`tryGet` method returns either the latest result or :code:`None` if the queue is empty.
+
+Results, both from rgb camera or neural network, will be delivered as 1D arrays, so both of them will require transformations
+to be useful for display (we have already defined one of the transformations needed - the :code:`frameNorm` function)
+
+First up, if we receive a frame from rgb camera using the :code:`getCvFrame` command
+
+.. code-block:: python
+
+  if in_rgb is not None:
+      frame = in_rgb.getCvFrame()
+
+Second, we will receive the neural network results. Default MobileNetSSD result has 7 fields, each being respectively :code:`image_id, label, confidence, x_min, y_min, x_max, y_max`,
+and by accessing the :code:`detections` array, we receive the detection objects that allow us to access these fields
+
+.. code-block:: python
+
+  if in_nn is not None:
+      detections = in_nn.detections
+
+Display the results
+###################
+
+Up to this point, we have all our results consumed from the DepthaI device, and only thing left is to actually display them.
+
+.. code-block:: python
+
+  if frame is not None:
+      for detection in detections:
+          bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+          cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+      cv2.imshow("preview", frame)
+
+You can see here the usage of :code:`frameNorm` we defined earlier for bounding box coordinates normalization.
+By using :code:`cv2.rectangle` we draw a rectangle on the rgb frame as an indicator where the face position is, and then
+we display the frame using :code:`cv2.imshow`
+
+Finally, we add a way to terminate our program (as it's running inside an infinite loop). We will use :code:`cv2.waitKey`
+method, that waits for a key to be pressed by user - in our case, we want to break out of the loop when user presses :code:`q` key
+
+.. code-block:: python
+
+    if cv2.waitKey(1) == ord('q'):
+        break
+
+Running the example
+###################
+
+Putting it all together, only thing left to do is to run the file we've prepared in this tutorial and see the results
+
+.. code-block:: bash
+
+  python3 hello_world.py
+
+You're on your way! You can find the `complete code for this tutorial on GitHub <https://github.com/luxonis/depthai-tutorials/blob/master/1-hello-world/hello_world.py>`__.
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/image_quality.rst b/bindings/python/docs/source/tutorials/image_quality.rst
new file mode 100644
index 000000000..5542badda
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/image_quality.rst
@@ -0,0 +1,104 @@
+Improving Image Quality
+=======================
+
+There are a few ways to improve Image Quality (IQ) on OAK cameras. A few examples:
+
+#. Changing :ref:`Color camera ISP configuration`
+#. Try keeping camera sensitivity low - :ref:`Low-light increased sensitivity`
+#. :ref:`Camera tuning` with custom tuning blobs
+#. Ways to reduce :ref:`Motion blur` effects
+
+Note that the `Series 3 OAK cameras <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s3.html>`__ will
+also have **temporal noise filter**, which will improve IQ.
+
+For best IQ, **we suggest testing it yourself for your specific application**. You can use :ref:`RGB Camera Control` to try out
+different ISP configurations and exposure/sensitivity values dynamically (live).
+
+Color camera ISP configuration
+##############################
+
+You can **configure** :ref:`ColorCamera` **ISP values** such as ``sharpness``, ``luma denoise`` and ``chroma denoise``, which
+can improve IQ. We have noticed that sometimes these values provide better results:
+
+.. code-block:: python
+
+    camRgb = pipeline.create(dai.node.ColorCamera)
+    camRgb.initialControl.setSharpness(0)     # range: 0..4, default: 1
+    camRgb.initialControl.setLumaDenoise(0)   # range: 0..4, default: 1
+    camRgb.initialControl.setChromaDenoise(4) # range: 0..4, default: 1
+
+.. image:: https://user-images.githubusercontent.com/18037362/181258871-f0c47fd8-e12b-4d33-89e5-15b48ffd5a3d.png
+
+The zoomed-in image above showcases the IQ difference between ISP configuration (`discussion here <https://discuss.luxonis.com/d/554-image-pipelines-compression-and-filtering/8>`__).
+Note that for best IQ, you would need to test and evaluate these values for your specific application.
+
+On Wide FOV `Series 2 cameras <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s2.html>`__,
+you can select between wide FOV IMX378 and OV9782. In general, the **IQ of
+OV9782 can't be as good as say IMX378**, as the resolution is much lower, and it's harder to deal with sharpness/noise at
+low resolutions. With high resolution the image can be downscaled and noise would be less visible.
+And even though OV9782 has quite large pixels, in general the noise levels of global shutters are more significant than for
+rolling shutter.
+
+Low-light increased sensitivity
+###############################
+
+On the image below you can see how different sensitivity values affect the IQ. Sensitivity will only add analog gain, which
+will increase the image noise. When in low-light environment, one should always increase exposure, not sensitivity. Note
+that by default, depthai will always do so - but when using 30FPS, max exposure is 33ms. For the right image below, we
+have set ColorCamera to 10 FPS, so we were able to increase exposure to 100ms.
+
+.. image:: https://user-images.githubusercontent.com/18037362/181298535-085d135e-5817-48fa-8392-f711ade69a77.png
+
+About **15x digitally zoomed-in** image of a standard A4 camera tuning target at 420cm (40 lux). We have used 12MP IMX378 (on OAK-D) for this image.
+
+Camera tuning
+#############
+
+Our library supports setting camera IQ tuning blob, which would be used for all cameras.
+By default, cameras will use a *general* tuning blob, which works great in most cases - so changing the camera
+tuning blob is not needed for most cases.
+
+.. code-block:: python
+
+    import depthai as dai
+
+    pipeline = dai.Pipeline()
+    pipeline.setCameraTuningBlobPath('/path/to/tuning.bin')
+
+**Available tuning blobs**
+
+To tune your own camera sensors, one would need Intel's software, for which a license is needed
+- so the majority of people will only be able to use pre-tuned blobs. Currently available tuning blobs:
+
+- **Mono tuning for low-light environments** `here <https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/tuning_mono_low_light.bin>`__. This allows auto-exposure to go up to 200ms (otherwise limited with default tuning to 33ms). For 200ms auto-exposure, you also need to limit the FPS (:code:`monoRight.setFps(5)`)
+- **Color tuning for low-light environments** `here <https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/tuning_color_low_light.bin>`__. Comparison below. This allows auto-exposure to go up to 100ms (otherwise limited with default tuning to 33ms). For 200ms auto-exposure, you also need to limit the FPS (:code:`rgbCam.setFps(10)`). *Known limitation*: flicker can be seen with auto-exposure over 33ms, it is caused by auto-focus working in continuous mode. A workaround is to change from CONTINUOUS_VIDEO (default) to AUTO (focusing only once at init, and on further focus trigger commands): :code:`camRgb.initialControl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO)`
+- **OV9782 Wide FOV color tuning for sunlight environments** `here <https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/tuning_color_ov9782_wide_fov.bin>`__.  Fixes lens color filtering on direct sunglight, see `blog post here <https://www.luxonis.com/blog/lens_color_filtering_enhancement>`__. It also improves LSC (Lens Shading Correction). Currently doesn't work for OV9282, so when used on eg. Series 2 OAK with Wide FOV cams, mono cameras shouldn't be enabled.
+- **Camera exposure limit**: `max 500us <https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/tuning_exp_limit_500us.bin>`__, `max 8300us <https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/tuning_exp_limit_8300us.bin>`__. These tuning blobs will limit the maximum exposure time, and instead start increasing ISO (sensitivity) after max exposure time is reached. This is a useful approach to reduce the :ref:`Motion blur`.
+
+.. image:: https://user-images.githubusercontent.com/18037362/149826169-3b92901d-3367-460b-afbf-c33d8dc9d118.jpeg
+
+Motion blur
+###########
+
+`Motion blur <https://en.wikipedia.org/wiki/Motion_blur>`__ appears when the camera shutter is opened for a longer time, and the object is moving during that time.
+
+.. image:: https://user-images.githubusercontent.com/18037362/209683640-2a640794-8422-4119-9d78-6c23690418a1.jpg
+
+In the image above the right foot moved about 50 pixels during the exposure time, which results in a blurry image in that region.
+The left foot was on the ground the whole time of the exposure, so it's not blurry.
+
+In **high-vibration environments** we recommend **using Fixed-Focus** color camera, as otherwise the Auto-Focus lens will be shaking and
+cause blurry images (`docs here <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/af_ff.html#trade-offs>`__).
+
+**Potential workarounds:**
+
+1. Decrease the shutter (exposure) time - this will decrease the motion blur, but will also decrease the light that reaches the sensor, so the image will be darker. You could either use a larger sensor (so more photons hit the sensor) or use a higher ISO (sensitivity) value. One option to limit max exposure time is by using a :reF:`Camera tuning` blob.
+2. If the motion blur negatively affects your model's accuracy, you could fine-tune it to be more robust to motion blur by including motion blur images in your training dataset. Example video:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/q9r8IJBTev0" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>
+
+.. include::  /includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/tutorials/low-latency.rst b/bindings/python/docs/source/tutorials/low-latency.rst
new file mode 100644
index 000000000..484e9aa61
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/low-latency.rst
@@ -0,0 +1,336 @@
+Low Latency
+===========
+
+These tables show what performance you can expect from **USB 3.2** Gen 1 (5 Gbps) connection with an OAK camera. XLink chunking was
+disabled for these tests (:code:`pipeline.setXLinkChunkSize(0)`). For an example code, see :ref:`Latency measurement`.
+
+.. list-table:: USB 5gbps latency
+   :header-rows: 1
+
+   * - What
+     - Resolution
+     - FPS
+     - FPS set
+     - Latency [ms]
+     - Bandwidth
+     - Histogram
+   * - Color (isp)
+     - 1080P
+     - 60
+     - 60
+     - 33
+     - 1.5 Gbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675407-77882498-5bf1-4af8-b779-9b9e8321af57.png>`__
+   * - Color (isp)
+     - 4K
+     - 28.5
+     - 30
+     - 150
+     - 2.8 Gbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675403-f3c5a4c3-1f7d-4acc-a5d5-f5aecff5a66a.png>`__
+   * - Color (isp)
+     - 4K
+     - 26
+     - 26
+     - 83 (Std: 3.6)
+     - 2.6 Gbps
+     - /
+   * - Mono
+     - 720P/800P
+     - 120
+     - 120
+     - 24.5
+     - 442/482 Mbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675400-b19f1e2c-bee0-4482-a861-39481bf2e35e.png>`__
+   * - Mono
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - 246 Mbps
+     - `link <https://user-images.githubusercontent.com/18037362/162675393-e3fb08fb-0f17-49d0-85d0-31ae7b5af0f9.png>`__
+
+Below are the same tests, but also with **OAK PoE** camera, which uses Gigabit ethernet link. The camera was connected directly to the computer,
+without any switches or routers in between. Power was supplied via M8 connector. `oak_bandwidth_test.py <https://github.com/luxonis/depthai-experiments/tree/master/random-scripts#oak-bandwidth-test>`__ results: 797 mbps downlink, 264 mbps uplink.
+`oak_latency_test.py <https://github.com/luxonis/depthai-experiments/tree/master/random-scripts#oak-latency-test>`__ results: Average: 5.2 ms, Std: 6.2.
+
+.. list-table::
+   :header-rows: 1
+
+   * - What
+     - Resolution
+     - FPS
+     - FPS set
+     - PoE Latency [ms]
+     - USB Latency [ms]
+     - Bandwidth
+   * - Color (isp)
+     - 1080P
+     - 25
+     - 25
+     - 51
+     - 33 Std: 0.8
+     - 622 Mbps
+   * - Color (isp)
+     - 4K
+     - 8
+     - 8
+     - 148
+     - 80 Std: 1.2
+     - 530 Mbps
+   * - Color (isp)
+     - 4K
+     - 8.5
+     - 10
+     - 530
+     - 80 Std: 1.3
+     - 663 Mbps
+   * - Mono
+     - 400P
+     - 90
+     - 90
+     - 12 Std: 5.0
+     - 8 Std: 0.47
+     - 184 Mbps
+   * - Mono
+     - 400P
+     - 110
+     - 110
+     - 16 Std: 9.4
+     - 8 Std: 0.45
+     - 225 Mbps
+
+We set lower FPS for the POE measurements due to bandwidth constraints. For example, 4K 8 FPS had 150ms latency, while
+4K 10FPS had 530ms latency, as link was saturated.
+
+- **Latency** is measured time between frame timestamp (:code:`imgFrame.getTimestamp()`) and host timestamp when the frame is received (:code:`dai.Clock.now()`).
+- **Histogram** shows how much Time-to-Host varies frame to frame. Y axis represents number of frame that occurred at that time while the X axis represents microseconds.
+- **Bandwidth** is calculated bandwidth required to stream specified frames at specified FPS.
+
+Encoded frames
+##############
+
+.. list-table::
+   :header-rows: 1
+
+   * - What
+     - Resolution
+     - FPS
+     - FPS set
+     - Time-to-Host [ms]
+     - Histogram
+   * - Color video H.265
+     - 4K
+     - 28.5
+     - 30
+     - 210
+     - `link <https://user-images.githubusercontent.com/18037362/162675386-a59a58d1-1d5c-4c82-89d8-12882926425b.png>`__
+   * - Color video MJPEG
+     - 4K
+     - 30
+     - 30
+     - 71
+     - `link <https://user-images.githubusercontent.com/18037362/162675384-64842bd6-f5e7-4b40-adf4-39b9c25d1c89.png>`__
+   * - Color video H.265
+     - 1080P
+     - 60
+     - 60
+     - 42
+     - `link <https://user-images.githubusercontent.com/18037362/162675356-c7c86730-63cd-4de8-bad6-4e1484b29ca5.png>`__
+   * - Color video MJPEG
+     - 1080P
+     - 60
+     - 60
+     - 31
+     - `link <https://user-images.githubusercontent.com/18037362/162675371-62aadb93-20f0-4838-9aab-727fb1bfe6f4.png>`__
+   * - Mono H.265
+     - 800P
+     - 60
+     - 60
+     - 23.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675318-92a8541b-424c-49b1-8ec4-6d9e0170410a.png>`__
+   * - Mono MJPEG
+     - 800P
+     - 60
+     - 60
+     - 22.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675328-20afbe8f-4587-4263-8981-919e5a8811c7.png>`__
+   * - Mono H.265
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675345-dfb4d04a-5d3a-4f84-81e9-dfc091bc00b5.png>`__
+   * - Mono MJPEG
+     - 400P
+     - 120
+     - 120
+     - 7.5
+     - `link <https://user-images.githubusercontent.com/18037362/162675335-2e5a9581-972a-448c-b650-6b6d076a04b8.png>`__
+
+You can also reduce frame latency by using `Zero-Copy <https://github.com/luxonis/depthai-core/tree/message_zero_copy>`__
+branch of the DepthAI. This will pass pointers (at XLink level) to cv2.Mat instead of doing memcopy (as it currently does),
+so performance improvement would depend on the image sizes you are using.
+(Note: API differs and not all functionality is available as is on the `message_zero_copy` branch)
+
+PoE latency
+###########
+
+On PoE, the latency can vary quite a bit due to a number of factors:
+
+* **Network** itself. Eg. if you are in a large network with many nodes, the latency will be higher compared to using a direct connection.
+* There's a **bottleneck** in **bandwidth**:
+
+  * Perhaps some network link is 10mbps/100mbps instead of full 1gbps (due to switch/network card..). You can test this with `PoE Test script <https://github.com/luxonis/depthai-experiments/tree/master/random-scripts#poe-test-script>`__ (``speed`` should be 1000).
+  * Network/computer is saturated with other traffic. You can test the actual bandwidth with `OAK bandwidth test <https://github.com/luxonis/depthai-experiments/tree/master/random-scripts#oak-bandwidth-test>`__ script. With direct link I got ~800mbps downlink and ~210mbps uplink.
+
+* Computer's **Network Interface Card settings**, `documentation here <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/getting-started-with-poe.html#network-interface-controller-settings>`__
+* 100% OAK Leon CSS (CPU) usage. The Leon CSS core handles the POE communication (`see docs here <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#hardware-blocks-and-accelerators>`__), and if the CPU is 100% used, it will not be able to handle the communication as fast as it should. **Workaround:** See :ref:`CPU usage` docs.
+* Another potential way to improve PoE latency would be to fine-tune network settings, like MTU, TCP window size, etc. (see `here <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/getting-started-with-poe.html#advance-network-settings>`__ for more info)
+
+Bandwidth
+#########
+
+With large, unencoded frames, one can quickly saturate the bandwidth even at 30FPS, especially on PoE devices (1gbps link):
+
+.. code-block::
+
+  4K NV12/YUV420 frames: 3840 * 2160 * 1.5 * 30fps * 8bits = 3 gbps
+  1080P NV12/YUV420 frames: 1920 * 1080 * 1.5 * 30fps * 8bits = 747 mbps
+  720P NV12/YUV420 frames: 1280 * 720 * 1.5 * 30fps * 8bits = 331 mbps
+
+  1080P RGB frames: 1920 * 1080 * 3 * 30fps * 8bits = 1.5 gbps
+
+  800P depth frames: 1280 * 800 * 2 * 30fps * 8bits = 492 mbps
+  400P depth frames: 640 * 400 * 2 * 30fps * 8bits = 123 mbps
+
+  800P mono frames: 1280 * 800 * 1 * 30fps * 8bits = 246 mbps
+  400P mono frames: 640 * 400 * 1 * 30fps * 8bits = 62 mbps
+
+The third value in the formula is byte/pixel, which is 1.5 for NV12/YUV420, 3 for RGB, and 2 for depth frames, and 1
+for mono (grayscale) frames. It's either 1 (normal) or 2 (subpixel mode) for disparity frames.
+
+A few options to reduce bandwidth:
+
+- Encode frames (H.264, H.265, MJPEG) on-device using :ref:`VideoEncoder node <VideoEncoder>`
+- Reduce FPS/resolution/number of streams
+
+Measuring operation times
+#########################
+
+If user sets depthai level to `trace` (see :ref:`DepthAI debugging level`), depthai will log operation times for each node/process, as shown below.
+
+.. code-block:: bash
+  :emphasize-lines: 1,2,5,6,7,8,9,10,13
+
+  [SpatialDetectionNetwork(1)] [trace] SpatialDetectionNetwork syncing took '70.39142' ms.
+  [StereoDepth(4)] [trace] Warp node took '2.2945' ms.
+  [system] [trace] EV:0,S:0,IDS:27,IDD:10,TSS:2,TSN:601935518
+  [system] [trace] EV:0,S:1,IDS:27,IDD:10,TSS:2,TSN:602001382
+  [StereoDepth(4)] [trace] Stereo took '12.27392' ms.
+  [StereoDepth(4)] [trace] 'Median+Disparity to depth' pipeline took '0.86295' ms.
+  [StereoDepth(4)] [trace] Stereo post processing (total) took '0.931422' ms.
+  [SpatialDetectionNetwork(1)] [trace] NeuralNetwork inference took '62.274784' ms.
+  [StereoDepth(4)] [trace] Stereo rectification took '2.686294' ms.
+  [MonoCamera(3)] [trace] Mono ISP took '1.726888' ms.
+  [system] [trace] EV:0,S:0,IDS:20,IDD:25,TSS:2,TSN:616446812
+  [system] [trace] EV:0,S:1,IDS:20,IDD:25,TSS:2,TSN:616489715
+  [SpatialDetectionNetwork(1)] [trace] DetectionParser took '3.464118' ms.
+
+Reducing latency when running NN
+################################
+
+In the examples above we were only streaming frames, without doing anything else on the OAK camera. This section will focus
+on how to reduce latency when also running NN model on the OAK.
+
+1. Increasing NN resources
+--------------------------
+
+One option to reduce latency is to increase the NN resources. This can be done by changing the number of allocated NCEs and SHAVES (see HW accelerator `docs here <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#hardware-blocks-and-accelerators>`__).
+`Compile Tool <https://docs.luxonis.com/en/latest/pages/model_conversion/#compile-tool>`__ can compile a model for more SHAVE cores. To allocate more NCEs, you can use API below:
+
+.. code-block:: python
+
+  import depthai as dai
+
+  pipeline = dai.Pipeline()
+  # nn = pipeline.createNeuralNetwork()
+  # nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+  nn = pipeline.create(dai.node.YoloDetectionNetwork)
+  nn.setNumInferenceThreads(1) # By default 2 threads are used
+  nn.setNumNCEPerInferenceThread(2) # By default, 1 NCE is used per thread
+
+Models usually run at **max FPS** when using 2 threads (1 NCE/Thread), and compiling model for ``AVAILABLE_SHAVES / 2``.
+
+Example of FPS & latency comparison for YoloV7-tiny:
+
+.. list-table::
+   :header-rows: 1
+
+   * - NN resources
+     - Camera FPS
+     - Latency
+     - NN FPS
+   * - **6 SHAVEs, 2x Threads (1NCE/Thread)**
+     - 15
+     - 155 ms
+     - 15
+   * - 6 SHAVEs, 2x Threads (1NCE/Thread)
+     - 14
+     - 149 ms
+     - 14
+   * - 6 SHAVEs, 2x Threads (1NCE/Thread)
+     - 13
+     - 146 ms
+     - 13
+   * - 6 SHAVEs, 2x Threads (1NCE/Thread)
+     - 10
+     - 141 ms
+     - 10
+   * - **13 SHAVEs, 1x Thread (2NCE/Thread)**
+     - 30
+     - 145 ms
+     - 11.6
+   * - 13 SHAVEs, 1x Thread (2NCE/Thread)
+     - 12
+     - 128 ms
+     - 12
+   * - 13 SHAVEs, 1x Thread (2NCE/Thread)
+     - 10
+     - 118 ms
+     - 10
+
+2. Lowering camera FPS to match NN FPS
+--------------------------------------
+
+Lowering FPS to not exceed NN capabilities typically provides the best latency performance, since the NN is able to
+start the inference as soon as a new frame is available.
+
+For example, with 15 FPS we get a total of about 70 ms latency, measured from capture time (end of exposure and MIPI
+readout start).
+
+This time includes the following:
+
+- MIPI readout
+- ISP processing
+- Preview post-processing
+- NN processing
+- Streaming to host
+- And finally, eventual extra latency until it reaches the app
+
+Note: if the FPS is increased slightly more, towards 19..21 FPS, an extra latency of about 10ms appears, that we believe
+is related to firmware. We are actively looking for improvements for lower latencies.
+
+
+3. NN input queue size and blocking behavior
+--------------------------------------------
+
+If the app has ``detNetwork.input.setBlocking(False)``, but the queue size doesn't change, the following adjustment
+may help improve latency performance:
+
+By adding ``detNetwork.input.setQueueSize(1)``, while setting back the camera FPS to 40, we get about 80.. 105ms latency.
+One of the causes of being non-deterministic is that the camera is producing at a different rate (25ms frame-time),
+vs. when NN has finished and can accept a new frame to process.
+
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/maximize_fov.rst b/bindings/python/docs/source/tutorials/maximize_fov.rst
new file mode 100644
index 000000000..5ccf28891
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/maximize_fov.rst
@@ -0,0 +1,68 @@
+Maximizing FOV
+==============
+
+In this tutorial we will look at how you can use the full FOV of the image sensor.
+
+When you are using ``preview`` output from :ref:`ColorCamera`, DepthAI will crop the
+frames by default to get the desired aspect ratio. ``preview`` stream derives from the ``video`` stream, which is cropped
+(16:9 aspect ratio, max 4k resolution) from the ``isp`` stream, which has the full FOV.
+
+**To get the full FOV** of a sensor you need to use its **max resolution** (or 1/N of it, if supported).
+So for `OV9282 <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/sensors/ov9282.html#ov9282>`__ (800P)
+you can use either 800P or 400P resolution to get full FOV. Meanwhile, for `IMX378 <https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/sensors/imx378.html#imx378>`__,
+you need to set full 12MP resolution (as there's no eg. 6MP support). You can use :ref:`ColorCamera`'s' ``.setIspScale()``
+to downscale the 12MP if you don't need such large frames.
+
+A challenge occurs when your **NN model expects a different aspect ratio** (eg. 1:1) compared to the **sensors aspect ratio**
+(eg. 4:3), and we want to run NN inference on the full FOV of the sensor. Let's say we have a MobileNet-SSD that
+requires 300x300 frames (1:1 aspect ratio) - we have a few options:
+
+#. :ref:`Stretch the ISP frame <Change aspect ratio>` to 1:1 aspect ratio of the NN
+#. :ref:`Apply letterboxing <Letterboxing>` to the ISP frame to get 1:1 aspect ratio frame
+#. :ref:`Crop the ISP frame <Cropping>` to 1:1 aspect ratio and lose some FOV
+
+.. image:: /_static/images/tutorials/isp.jpg
+
+The image above is the ``isp`` output from the :ref:`ColorCamera` (12MP resolution from IMX378). If you aren't downscaling ISP,
+the ``video`` output is cropped to 4k (max 3840x2160 due to the limitation of the ``video`` output) as represented by
+the blue rectangle. The Yellow rectangle represents a cropped ``preview`` output when the preview size is set to a 1:1 aspect
+ratio (eg. when using a 300x300 preview size for the MobileNet-SSD NN model) because the ``preview`` output is derived from
+the ``video`` output (see :ref:`ColorCamera` for more information).
+
+Change aspect ratio
+*******************
+
+**Pros: Preserves full FOV. Cons: Due to stretched frames, NNs accuracy might decrease.**
+
+Changing aspect ratio (**stretching**) can be used Use :code:`camRgb.setPreviewKeepAspectRatio(False)`. This means the aspect
+ratio will not be preserved and the image will be "stretched". This might be problematic for some off-the-shelf NN models, so some fine-tuning might be required.
+`Usage example here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-full-fov-nn/stretching.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/180607962-e616cdc7-fcad-4bc8-a15f-617b89a2c047.jpg
+
+Letterboxing
+************
+
+**Pros: Preserves full FOV. Cons: Smaller "frame" means less features might decrease NN accuracy.**
+
+`Letterboxing <https://en.wikipedia.org/wiki/Letterboxing_%28filming%29>`__ approach will apply "black bars" above and below
+the image to the full FOV (isp) frames, so the aspect ratio will be preserved. You can
+achieve this by using :ref:`ImageManip` with :code:`manip.setResizeThumbnail(x,y)` (for Mobilenet :code:`x=300,y=300`).
+The downside of using this method is that your actual image will be smaller, so some features might not be preserved,
+which can mean the NN accuracy could decrease.
+`Usage example here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-full-fov-nn/letterboxing.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/180607958-0db7fb34-1221-42a1-b889-10d1f9793912.jpg
+
+Cropping
+********
+
+**Pros: No NN accuracy decrease. Cons: Frame is cropped, so it's not full FOV.**
+
+Cropping the full FOV (isp) frames to match the NN aspect ratio can be used to get the best NN accuracy, but this
+decreases FOV.
+`Usage example here <https://github.com/luxonis/depthai-experiments/blob/master/gen2-full-fov-nn/cropping.py>`__.
+
+.. image:: https://user-images.githubusercontent.com/18037362/180607873-6a476ea4-55e0-4557-a93e-a7cadcd80725.jpg
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/message_syncing.rst b/bindings/python/docs/source/tutorials/message_syncing.rst
new file mode 100644
index 000000000..da03b0fd1
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/message_syncing.rst
@@ -0,0 +1,85 @@
+Message syncing
+###############
+
+There are two ways to synchronize messages from different sensors (frames, IMU packet, ToF, etc.);
+
+- :ref:`Software syncing <Software syncing>` (based on timestamp/sequence numbers)
+- `Hardware syncing <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/sync_frames.html>`__ (multi-sensor sub-ms accuracy, hardware trigger)
+
+Software syncing
+****************
+
+This documentation page focuses on software syncing. There are two approaches for it:
+
+- :ref:`Sequence number syncing` - for streams set to the same FPS, sub-ms accuracy can be achieved
+- :ref:`Timestamp syncing` - for streams with different FPS, syncing with other sensors either onboard (eg. IMU) or also connected to the host computer (eg. USB ToF sensor)
+
+Sequence number syncing
+=======================
+
+If we want to synchronize multiple messages from the same OAK, such as:
+
+- Camera frames from `ColorCamera <https://docs.luxonis.com/projects/api/en/latest/components/nodes/color_camera/#colorcamera>`__ or `MonoCamera <https://docs.luxonis.com/projects/api/en/latest/components/nodes/mono_camera/#monocamera>`__ (color, left and right frames)
+- Messages generated from camera frames (NN results, disparity/depth, edge detections, tracklets, encoded frames, tracked features, etc.)
+
+We can use sequence number syncing, `demos here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#message-syncing>`__.
+Each frame from ColorCamera/MonoCamera will get assigned a sequence number, which then also gets copied to message generated from that frame.
+
+For sequence number syncing **FPS of all cameras need to be the same**. On host or inside script node you can get message's sequence number like this:
+
+.. code-block:: python
+
+    # Get the message from the queue
+    message = queue.get()
+    # message can be ImgFrame, NNData, Tracklets, ImgDetections, TrackedFeatures...
+    seqNum = message.getSequenceNum()
+
+
+Through firmware sync, we're monitoring for drift and aligning the capture timestamps of all cameras (left, right, color), which are taken
+at the MIPI Start-of-Frame (SoF) event. The Left/Right global shutter cameras are driven by the same clock, started by broadcast write
+on I2C, so no drift will happen over time, even when running freely without a hardware sync.
+
+The RGB rolling shutter has a slight difference in clocking/frame-time, so when we detect a small drift, we're modifying the
+frame-time (number of lines) for the next frame by a small amount to compensate.
+
+If sensors are set to the same FPS (default is 30), the above two approaches are **already integrated into depthai and enabled**
+by default, which allows us to **achieve sub-ms delay between all frames** + messages generated by these frames!
+
+.. code-block:: bash
+
+    [Seq 325] RGB timestamp: 0:02:33.549449
+    [Seq 325] Disparity timestamp: 0:02:33.549402
+    -----------
+    [Seq 326] RGB timestamp: 0:02:33.582756
+    [Seq 326] Disparity timestamp: 0:02:33.582715
+    -----------
+    [Seq 327] RGB timestamp: 0:02:33.616075
+    [Seq 327] Disparity timestamp: 0:02:33.616031
+
+Disparity and color frame timestamps indicate that we achieve well below sub-ms accuracy.
+
+Timestamp syncing
+=================
+
+As opposed to sequence number syncing, **timestamp syncing** can sync:
+
+- **streams** with **different FPS**
+- **IMU** results with other messages
+- messages with **other devices connected to the computer**, as timestamps are :ref:`synced to the host computer clock <Host clock syncing>`
+
+
+.. note::
+    DepthAI 2.24 introduces **Sync node** which can be used to sync messages from different streams, or messages from different sensors (eg. IMU and color frames). See :ref:`Sync node <Sync>` for more details.
+    The sync node does not currently support multiple device syncing, so if you want to sync messages from multiple devices, you should use the manual approach.
+
+Feel free to check the `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#imu--rgb--depth-timestamp-syncing>`__
+which uses timestamps to sync IMU, color and disparity frames together, with all of these streams producing messages at different FPS.
+
+In case of multiple streams having different FPS, there are 2 options on how to sync them:
+
+#. **Removing some messages** from faster streams to get the synced FPS of the slower stream
+#. **Duplicating some messages** from slower streams to get the synced FPS of the fastest stream
+
+**Timestamps are assigned** to the frame at the **MIPI Start-of-Frame** (SoF) events, `more details here <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/sync_frames.html#frame-capture-graphs>`__.
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/multiple.rst b/bindings/python/docs/source/tutorials/multiple.rst
new file mode 100644
index 000000000..6354b5606
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/multiple.rst
@@ -0,0 +1,60 @@
+Multiple DepthAI per Host
+=========================
+
+You can find `Demo scripts here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices>`__.
+Learn how to discover multiple OAK cameras connected to your system, and use them individually.
+
+.. image:: /_static/images/tutorials/multiple/setup.jpg
+  :alt: face
+
+Shown on the left is Luxonis `OAK-1 <https://shop.luxonis.com/products/bw1093>`__ which is actually plugged into
+an `OAK-D-CM3 <https://shop.luxonis.com/products/depthai-rpi-compute-module-edition>`__.
+
+So in this case, everything is running on the (single) Raspberry Pi 3B+ host which is in the back of the OAK-D-CM3.
+
+Discovering OAK cameras
+#######################
+
+You can use DepthAI to discover all connected OAK cameras, either via USB or through the LAN (OAK POE cameras).
+The code snippet below finds all OAK cameras and prints their MxIDs (unique identifier) and their XLink state.
+
+.. code-block:: python
+
+  import depthai
+  for device in depthai.Device.getAllAvailableDevices():
+      print(f"{device.getMxId()} {device.state}")
+
+Example results for 2x DepthAI on a system:
+
+.. code-block::
+
+  14442C10D13EABCE00 XLinkDeviceState.X_LINK_UNBOOTED
+  14442C1071659ACD00 XLinkDeviceState.X_LINK_UNBOOTED
+
+Selecting a Specific DepthAI device to be used
+##############################################
+
+From the Detected devices(s) above, use the following code to select the device you would like to use with your pipeline.
+For example, if the first device is desirable from above use the following code:
+
+.. code-block:: python
+
+  # Specify MXID, IP Address or USB path
+  device_info = depthai.DeviceInfo("14442C108144F1D000") # MXID
+  #device_info = depthai.DeviceInfo("192.168.1.44") # IP Address
+  #device_info = depthai.DeviceInfo("3.3.3") # USB port name
+  with depthai.Device(pipeline, device_info) as device:
+      # ...
+
+And you can use this code as a basis for your own use cases, such that you can run differing neural models
+on different OAK models.
+
+Specifying POE device to be used
+********************************
+
+You can specify the POE device to be used by the IP address as well, as shown in the code snippet above.
+
+Now use as many OAK cameras as you need!
+And since DepthAI does all the heavy lifting, you can usually use quite a few of them with very little burden to the host.
+
+.. include::  /includes/footer-short.rst
diff --git a/bindings/python/docs/source/tutorials/ram_usage.rst b/bindings/python/docs/source/tutorials/ram_usage.rst
new file mode 100644
index 000000000..677d38ec8
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/ram_usage.rst
@@ -0,0 +1,54 @@
+RAM usage
+=========
+
+All OAK devices have 512 MiB (4 Gbit) on-board RAM, which is used for firmware (about 15MB), assets (a few KB up to 100MB+, eg. NN models), and other
+resources, such as message pools where messages are stored.
+
+If you enable :code:`info` :ref:`logging <depthai_logging>`, you will see how RAM is used:
+
+.. code-block:: bash
+
+    [info] Memory Usage - DDR: 41.23 / 358.82 MiB, CMX: 2.17 / 2.50 MiB,
+    LeonOS Heap: 20.70 / 78.63 MiB, LeonRT Heap: 3.51 / 23.84 MiB
+
+As you can see, RAM is split between the two LEON (CPU) cores, :code:`CMX` (used for image manipulation), and :code:`DDR` (everything else).
+If :code:`DDR` usage is close to the max (in this example, 358 MiB), you might get an error such as:
+
+.. code-block:: bash
+
+    [error] Neural network executor '0' out of '2' error: OUT_OF_MEMORY
+
+This means you should decrease RAM consumption, and we will take a look at a few ways on how to do this.
+
+Decreasing RAM consumption
+##########################
+
+- **Large frames**
+
+    If we change the resolution from 1080P to 4K in the :ref:`RGB video` example, DDR usage will increase from 41 MiB to 161 MiB. That's because
+    4K uses 4x more RAM compared to 1080P frame. An easy way to decrease RAM consumption is to use lower resolution / smaller frames.
+
+- **VideoEncoder**
+
+    :ref:`VideoEncoder` nodes can consume a lot of RAM, especially at high resolutions. For example, :ref:`RGB Encoding` example consumes
+    259 MiB. If we change the resolution from 4K to 1080P, we decrease DDR consumption to only 65 MiB.
+
+- **ImageManip**
+
+    Each :ref:`ImageManip` node will have it's own (output) pool of 4 frames (by default), so having multiple ImageManips that are manipulating
+    high resolution frames will consume a lot of DDR RAM. You can change the pool size with :code:`manip.setNumFramesPool(4)`. By default,
+    each pool "spot" will consume 1 MiB, even if it's a small 300x300 RGB frame (which is 270kB). Specifying the output frame size
+    can therefore decrease the RAM as well, eg. for a 300x300 RGB frame, you can set :code:`manip.setMaxOutputFrameSize(270000)`.
+
+- **XLinkIn**
+
+    Just like :ref:`ImageManip`, each :ref:`XLinkIn` node has it's own message pool as well. By default, each XLinkIn will consume 40 MiB, as
+    each pool "spot" has 5 MiB reserved, and there are 8 "spots" in the pool. If you are sending 300x300 RGB frames from the host to the device,
+    you can set :code:`xin.setMaxDataSize(270000)`, and also limit number of messages per pool :code:`xin.setNumFrames(4)`. This will decrease
+    DDR RAM consumption from 40 MiB to about 1 MiB.
+
+    If you are just sending control/config from the host, you can
+    set :code:`xin.setMaxDataSize(1)`, as :ref:`CameraControl` and :ref:`ImageManipConfig` don't have any extra data
+    (like :ref:`NNData`/:ref:`ImgFrame`/:ref:`Buffer`).
+
+.. include::  ../includes/footer-short.rst
\ No newline at end of file
diff --git a/bindings/python/docs/source/tutorials/standalone_mode.rst b/bindings/python/docs/source/tutorials/standalone_mode.rst
new file mode 100644
index 000000000..680137b13
--- /dev/null
+++ b/bindings/python/docs/source/tutorials/standalone_mode.rst
@@ -0,0 +1,144 @@
+Standalone mode
+===============
+
+**Standalone / Hostless / On-The-Edge mode** means that the camera starts the (:ref:`flashed <Flash the pipeline>`) application as soon as it gets power, without being connected to any particular host computer.
+This is useful for applications where camera is stationary and just inspecting the world and providing analytics (eg. people/vehicle counting, LPR, fall detection, etc.)
+
+Usually, this mode is also more robust to any instabilities (eg. networking issues, where connection between camera and host computer would drop), as application will restart automatically.
+
+Standalone mode is **only possible on OAKs that have on-board flash** memory, which are currently
+`OAK POE <https://docs.luxonis.com/projects/hardware/en/latest/#poe-designs>`__ and OAK IOT camera models.
+
+**Scenarios** when standalone mode is particularly useful:
+
+- People/vehicle/object tracking and counting (People counting `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-people-tracker>`__). Each camera can do its own counting (inside Script node), and only send final count (eg. every hour) to some server via MQTT/HTTP.
+- License Plate Recognition (LPR) camera (`demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-license-plate-recognition>`__). Each camera does vehicle detection, license plate detection and LPR, and only reports license plate (in string) to a server.
+- Fall detection for elderly people (`demo here <https://www.youtube.com/watch?v=npiG-Dy7yQ4>`__). Each camera tracks people and checks their poses for any anomalies (eg. person falling down). If anomaly is detected, it sends an alert to a server.
+
+In case you already have a computer on-board (eg. a robot/drone), standalone mode isn't as useful, and just adds extra complexity.
+
+Communication with the camera
+#############################
+
+To "communicate" with the outside world (eg. a server), POE cameras can use :ref:`Script` node to send/receive networking packets (HTTP/TCP/UDP...). Here are a few examples:
+
+- `TCP streaming <https://github.com/luxonis/depthai-experiments/tree/master/gen2-poe-tcp-streaming>`__ (camera being either server or client)
+- `HTTP server <https://docs.luxonis.com/projects/api/en/latest/samples/Script/script_mjpeg_server/#script-mjpeg-server>`__
+- `HTTP client <https://docs.luxonis.com/projects/api/en/latest/samples/Script/script_http_client/>`__
+- `MQTT client <https://github.com/luxonis/depthai-experiments/tree/master/gen2-poe-mqtt>`__
+
+.. note::
+    Standalone mode is missing a DNS resolver, so you will need to use IP addresses instead of domain names.
+
+
+Converting a demo to standalone mode
+####################################
+
+Since there won't be any communication between the host and the device, you first need to remove all
+:ref:`XLinkOut` and :ref:`XLinkIn` nodes. This means that the device will only communicate with the "outside world"
+via either SPI (:ref:`SPIOut`/:ref:`SPIIn`) or :ref:`Script` node (GPIO/UART or network protocols if you have
+OAK POE mode; HTTP/TCP/UDP...).
+
+Next thing you can also remove the host-side code, which usually looks something like this:
+
+.. code-block:: python
+
+    with dai.Device(pipeline) as device:
+        videoQ = device.getOutputQueue("video")
+        faceDetQ = device.getOutputQueue("face_det")
+        nnQ = device.getOutputQueue("nn")
+
+        while True:
+            frame = videoQ.get().getCvFrame()
+            # ...
+
+
+After you remove all host-side code, you would only be left with the :ref:`Pipeline` definition (with nodes/links).
+Since device no longer communicates with the host, you need to "route" your program's output through either SPI
+or script node, as mentioned above.
+
+Flash the bootloader
+####################
+
+To run the application on the camera, a `Bootloader` is required. Note that bootloader is already flashed on all POE cameras, as it's also required for network booting.
+The :ref:`Bootloader` is packaged together with the depthai, so if you have the latest depthai version, you can flash the
+latest bootloader version. To flash the latest bootloader, we suggest using the :ref:`Device Manager`. To view the API code behind
+it, see :ref:`Flash Bootloader` example code.
+
+Flash the pipeline
+##################
+
+After you have standalone :ref:`Pipeline` defined and :ref:`Bootloader` already flashed on the device, you
+can flash the pipeline to the device, along with its assests (eg. AI models). You can flash the pipeline with the following snippet:
+
+.. code-block:: python
+
+        import depthai as dai
+
+        pipeline = dai.Pipeline()
+
+        # Define standalone pipeline; add nodes and link them
+        # cam = pipeline.create(dai.node.ColorCamera)
+        # script = pipeline.create(dai.node.Script)
+        # ...
+
+        # Flash the pipeline
+        (f, bl) = dai.DeviceBootloader.getFirstAvailableDevice()
+        bootloader = dai.DeviceBootloader(bl)
+        progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+        bootloader.flash(progress, pipeline)
+
+After successfully flashing the pipeline, it will get started automatically when you power up the device.
+If you would like to change the flashed pipeline, simply re-flash it again.
+
+Alternatively, you can also flash the pipeline with the :ref:`Device Manager`. For this approach, you will need a Depthai Application Package (.dap), which you
+can create with the following script:
+
+
+.. code-block:: python
+
+    import depthai as dai
+
+    pipeline = dai.Pipeline()
+
+    # Define standalone pipeline; add nodes and link them
+    # cam = pipeline.create(dai.node.ColorCamera)
+    # script = pipeline.create(dai.node.Script)
+    # ...
+
+    # Create Depthai Application Package (.dap)
+    (f, bl) = dai.DeviceBootloader.getFirstAvailableDevice()
+    bootloader = dai.DeviceBootloader(bl)
+    bootloader.saveDepthaiApplicationPackage(pipeline=pipeline, path=<path_of_new_dap>)
+
+
+Clear flash
+###########
+
+Since pipeline will start when powering the device, this can lead to unnecesary heating. If you would like to clear
+the flashed pipeline, use the code snippet below.
+
+
+.. warning::
+    Code below doesn't work yet. We will be adding "flashClear" helper function to the library.
+
+
+.. code-block:: python
+
+    import depthai as dai
+    (f, bl) = dai.DeviceBootloader.getFirstAvailableDevice()
+    if not f:
+        print('No devices found, exiting...')
+        exit(-1)
+
+    with dai.DeviceBootloader(bl) as bootloader:
+        bootloader.flashClear()
+        print('Successfully cleared bootloader flash')
+
+Factory reset
+#############
+
+In case you have soft-bricked your device, or just want to clear everything (flashed pipeline/assets and bootloader config),
+we recommend using the :ref:`Device Manager`. Factory reset will also flash the latest bootloader.
+
+.. include::  ../includes/footer-short.rst
diff --git a/bindings/python/examples/.gitignore b/bindings/python/examples/.gitignore
new file mode 100644
index 000000000..ad6bd74e0
--- /dev/null
+++ b/bindings/python/examples/.gitignore
@@ -0,0 +1,4 @@
+*.h26*
+*.mp4
+*_data
+*.json
\ No newline at end of file
diff --git a/bindings/python/examples/AprilTag/apriltag.py b/bindings/python/examples/AprilTag/apriltag.py
new file mode 100755
index 000000000..bb41d5e70
--- /dev/null
+++ b/bindings/python/examples/AprilTag/apriltag.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+aprilTag = pipeline.create(dai.node.AprilTag)
+
+xoutMono = pipeline.create(dai.node.XLinkOut)
+xoutAprilTag = pipeline.create(dai.node.XLinkOut)
+
+xoutMono.setStreamName("mono")
+xoutAprilTag.setStreamName("aprilTagData")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+
+aprilTag.initialConfig.setFamily(dai.AprilTagConfig.Family.TAG_36H11)
+
+# Linking
+aprilTag.passthroughInputImage.link(xoutMono.input)
+monoLeft.out.link(aprilTag.inputImage)
+aprilTag.out.link(xoutAprilTag.input)
+# always take the latest frame as apriltag detections are slow
+aprilTag.inputImage.setBlocking(False)
+aprilTag.inputImage.setQueueSize(1)
+
+# advanced settings, configurable at runtime
+aprilTagConfig = aprilTag.initialConfig.get()
+aprilTagConfig.quadDecimate = 4
+aprilTagConfig.quadSigma = 0
+aprilTagConfig.refineEdges = True
+aprilTagConfig.decodeSharpening = 0.25
+aprilTagConfig.maxHammingDistance = 1
+aprilTagConfig.quadThresholds.minClusterPixels = 5
+aprilTagConfig.quadThresholds.maxNmaxima = 10
+aprilTagConfig.quadThresholds.criticalDegree = 10
+aprilTagConfig.quadThresholds.maxLineFitMse = 10
+aprilTagConfig.quadThresholds.minWhiteBlackDiff = 5
+aprilTagConfig.quadThresholds.deglitch = False
+aprilTag.initialConfig.set(aprilTagConfig)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the mono frames from the outputs defined above
+    monoQueue = device.getOutputQueue("mono", 8, False)
+    aprilTagQueue = device.getOutputQueue("aprilTagData", 8, False)
+
+    color = (0, 255, 0)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+
+    while(True):
+        inFrame = monoQueue.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        monoFrame = inFrame.getFrame()
+        frame = cv2.cvtColor(monoFrame, cv2.COLOR_GRAY2BGR)
+
+        aprilTagData = aprilTagQueue.get().aprilTags
+        for aprilTag in aprilTagData:
+            topLeft = aprilTag.topLeft
+            topRight = aprilTag.topRight
+            bottomRight = aprilTag.bottomRight
+            bottomLeft = aprilTag.bottomLeft
+
+            center = (int((topLeft.x + bottomRight.x) / 2), int((topLeft.y + bottomRight.y) / 2))
+
+            cv2.line(frame, (int(topLeft.x), int(topLeft.y)), (int(topRight.x), int(topRight.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(topRight.x), int(topRight.y)), (int(bottomRight.x), int(bottomRight.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(bottomRight.x), int(bottomRight.y)), (int(bottomLeft.x), int(bottomLeft.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(bottomLeft.x), int(bottomLeft.y)), (int(topLeft.x), int(topLeft.y)), color, 2, cv2.LINE_AA, 0)
+
+            idStr = "ID: " + str(aprilTag.id)
+            cv2.putText(frame, idStr, center, cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+
+        cv2.putText(frame, "Fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
+
+        cv2.imshow("mono", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/AprilTag/apriltag_rgb.py b/bindings/python/examples/AprilTag/apriltag_rgb.py
new file mode 100755
index 000000000..fa4f5ad31
--- /dev/null
+++ b/bindings/python/examples/AprilTag/apriltag_rgb.py
@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+aprilTag = pipeline.create(dai.node.AprilTag)
+manip = pipeline.create(dai.node.ImageManip)
+
+xoutAprilTag = pipeline.create(dai.node.XLinkOut)
+xoutAprilTagImage = pipeline.create(dai.node.XLinkOut)
+
+xoutAprilTag.setStreamName("aprilTagData")
+xoutAprilTagImage.setStreamName("aprilTagImage")
+
+# Properties
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+
+manip.initialConfig.setResize(480, 270)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.GRAY8)
+
+aprilTag.initialConfig.setFamily(dai.AprilTagConfig.Family.TAG_36H11)
+
+# Linking
+aprilTag.passthroughInputImage.link(xoutAprilTagImage.input)
+camRgb.video.link(manip.inputImage)
+manip.out.link(aprilTag.inputImage)
+aprilTag.out.link(xoutAprilTag.input)
+# always take the latest frame as apriltag detections are slow
+aprilTag.inputImage.setBlocking(False)
+aprilTag.inputImage.setQueueSize(1)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the mono frames from the outputs defined above
+    manipQueue = device.getOutputQueue("aprilTagImage", 8, False)
+    aprilTagQueue = device.getOutputQueue("aprilTagData", 8, False)
+
+    color = (0, 255, 0)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+
+    while(True):
+        inFrame = manipQueue.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        monoFrame = inFrame.getFrame()
+        frame = cv2.cvtColor(monoFrame, cv2.COLOR_GRAY2BGR)
+
+        aprilTagData = aprilTagQueue.get().aprilTags
+        for aprilTag in aprilTagData:
+            topLeft = aprilTag.topLeft
+            topRight = aprilTag.topRight
+            bottomRight = aprilTag.bottomRight
+            bottomLeft = aprilTag.bottomLeft
+
+            center = (int((topLeft.x + bottomRight.x) / 2), int((topLeft.y + bottomRight.y) / 2))
+
+            cv2.line(frame, (int(topLeft.x), int(topLeft.y)), (int(topRight.x), int(topRight.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(topRight.x), int(topRight.y)), (int(bottomRight.x), int(bottomRight.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(bottomRight.x), int(bottomRight.y)), (int(bottomLeft.x), int(bottomLeft.y)), color, 2, cv2.LINE_AA, 0)
+            cv2.line(frame, (int(bottomLeft.x), int(bottomLeft.y)), (int(topLeft.x), int(topLeft.y)), color, 2, cv2.LINE_AA, 0)
+
+            idStr = "ID: " + str(aprilTag.id)
+            cv2.putText(frame, idStr, center, cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+
+        cv2.putText(frame, "Fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
+
+        cv2.imshow("April tag frame", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/CMakeLists.txt b/bindings/python/examples/CMakeLists.txt
new file mode 100644
index 000000000..511a59cce
--- /dev/null
+++ b/bindings/python/examples/CMakeLists.txt
@@ -0,0 +1,201 @@
+# Prevent from being configured
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+    message(FATAL_ERROR "Use projects root CMakeLists.txt to configure")
+endif()
+
+# Add options
+option(DEPTHAI_PYTHON_TEST_EXAMPLES "Test examples - examples will be ran as a part of the test suite" OFF)
+
+# Specify path separator
+set(SYS_PATH_SEPARATOR ";")
+if(UNIX)
+    set(SYS_PATH_SEPARATOR ":")
+endif()
+
+# Add a target to install_requirements (added to ALL)
+add_custom_target(install_requirements ALL
+    COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_LIST_DIR}/install_requirements.py" "--skip_depthai"
+    DEPENDS ${TARGET_NAME}
+    VERBATIM
+    COMMAND_EXPAND_LISTS
+)
+
+# Function for adding new python test
+function(add_python_example example_name python_script_path)
+    # Modify example name to signify that its Python based
+    set(example_name "py_${example_name}")
+
+    # parse the rest of the arguments
+    set(arguments ${ARGV})
+    list(REMOVE_AT arguments 0 1)
+
+    # Creates a target (python my_test [args])
+    add_custom_target(${example_name}
+        ${CMAKE_COMMAND} -E env
+        # Environment variables
+        # PATH (dlls)
+        "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
+        # Python path (to find compiled module)
+        "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+        # ASAN in case of sanitizers
+        "${ASAN_ENVIRONMENT_VARS}"
+        # Example
+        ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_LIST_DIR}/${python_script_path} ${ARGN}
+        DEPENDS ${TARGET_NAME} install_requirements
+        VERBATIM
+        COMMAND_EXPAND_LISTS
+    )
+
+    if(DEPTHAI_PYTHON_TEST_EXAMPLES)
+
+        # Adds test with 5 seconds timeout and bumps all python warnings to errors
+        add_test(NAME ${example_name} COMMAND
+            ${CMAKE_COMMAND} -E env
+            # PATH (dlls)
+            "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
+            # Python path (to find compiled module)
+            "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+            # ASAN in case of sanitizers
+            ${ASAN_ENVIRONMENT_VARS}
+            ${CMAKE_COMMAND} -DTIMEOUT_SECONDS=10 -P ${CMAKE_CURRENT_LIST_DIR}/cmake/ExecuteTestTimeout.cmake
+            # Actual script to run
+            ${PYTHON_EXECUTABLE} -Werror "${CMAKE_CURRENT_LIST_DIR}/${python_script_path}" ${arguments}
+        )
+
+        # Sets a regex catching any logged warnings, errors or critical (coming either from device or host)
+        set_tests_properties (${example_name} PROPERTIES FAIL_REGULAR_EXPRESSION "\\[warning\\];\\[error\\];\\[critical\\]")
+
+    endif()
+
+endfunction()
+
+if(DEPTHAI_PYTHON_TEST_EXAMPLES)
+
+    # Adds install requirements test with 5 minute timeout
+    add_test(NAME install_requirements COMMAND
+        ${CMAKE_COMMAND} -E env
+        # PATH (dlls)
+        "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
+        # Python path (to find compiled module)
+        "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+        # ASAN in case of sanitizers
+        ${ASAN_ENVIRONMENT_VARS}
+        ${CMAKE_COMMAND} -DFORCE_TIMEOUT_SECONDS=300 -P ${CMAKE_CURRENT_LIST_DIR}/cmake/ExecuteTestTimeout.cmake
+        # Actual script to run
+        ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_LIST_DIR}/install_requirements.py" "--skip_depthai"
+    )
+
+    # Sets a regex catching any logged warnings, errors or critical (coming either from device or host)
+    set_tests_properties (install_requirements PROPERTIES FAIL_REGULAR_EXPRESSION "\\[warning\\];\\[error\\];\\[critical\\]")
+
+endif()
+
+# Add examples
+
+## Bootloader
+# add_python_example(bootloader_config bootloader/bootloader_config.py)
+add_python_example(bootloader_version bootloader/bootloader_version.py)
+# add_python_example(flash_bootloader bootloader/flash_bootloader.py)
+
+## Calibration
+# add_python_example(calibration_flash_v5 calibration/calibration_flash_v5.py)
+# add_python_example(calibration_flash calibration/calibration_flash.py)
+add_python_example(calibration_load calibration/calibration_load.py)
+add_python_example(calibration_reader calibration/calibration_reader.py)
+
+## ColorCamera
+add_python_example(autoexposure_roi ColorCamera/autoexposure_roi.py)
+add_python_example(rgb_camera_control ColorCamera/rgb_camera_control.py)
+add_python_example(rgb_preview ColorCamera/rgb_preview.py)
+add_python_example(rgb_scene ColorCamera/rgb_scene.py)
+add_python_example(rgb_video ColorCamera/rgb_video.py)
+add_python_example(rgb_isp_scale ColorCamera/rgb_isp_scale.py)
+
+## EdgeDetector
+add_python_example(edge_detector EdgeDetector/edge_detector.py)
+
+## FeatureTracker
+add_python_example(feature_tracker FeatureTracker/feature_tracker.py)
+add_python_example(feature_tracker_color FeatureTracker/feature_tracker_color.py)
+add_python_example(feature_detector FeatureTracker/feature_detector.py)
+
+## HostSide
+add_python_example(device_queue_event host_side/device_queue_event.py)
+add_python_example(opencv_support host_side/opencv_support.py)
+add_python_example(queue_add_callback host_side/queue_add_callback.py)
+
+## ImageManip
+add_python_example(image_manip_rotate ImageManip/image_manip_rotate.py)
+add_python_example(image_manip_tiling ImageManip/image_manip_tiling.py)
+add_python_example(rgb_rotate_warp ImageManip/rgb_rotate_warp.py)
+add_python_example(image_manip_warp_mesh ImageManip/image_manip_warp_mesh.py)
+add_python_example(crop_input_chunck_oom issue_solved/crop_input_chunck_oom.py)
+
+## IMU
+add_python_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.py)
+add_python_example(imu_rotation_vector IMU/imu_rotation_vector.py)
+
+## Mixed
+add_python_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.py)
+add_python_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.py)
+add_python_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.py)
+add_python_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.py)
+
+## MobileNet
+add_python_example(mono_mobilenet MobileNet/mono_mobilenet.py)
+add_python_example(rgb_mobilenet_4k MobileNet/rgb_mobilenet_4k.py)
+add_python_example(rgb_mobilenet MobileNet/rgb_mobilenet.py)
+add_python_example(video_mobilenet MobileNet/video_mobilenet.py)
+
+## MonoCamera
+add_python_example(mono_preview MonoCamera/mono_preview.py)
+add_python_example(mono_full_resolution_saver MonoCamera/mono_full_resolution_saver.py)
+add_python_example(mono_camera_control MonoCamera/mono_camera_control.py)
+
+## NeuralNetwork
+# add_python_example(concat_multiple_input NeuralNetwork/concat_multiple_input.py)
+# add_python_example(normalization_multiple_input NeuralNetwork/normalization_multiple_input.py)
+
+## ObjectTracker
+add_python_example(object_tracker_video ObjectTracker/object_tracker_video.py)
+add_python_example(object_tracker ObjectTracker/object_tracker.py)
+add_python_example(spatial_object_tracker ObjectTracker/spatial_object_tracker.py)
+# add_python_example(spatial_object_tracker_yolo ObjectTracker/spatial_object_tracker_yolo.py)
+
+## Script
+add_python_example(script_camera_control Script/script_camera_control.py)
+add_python_example(script_json_communication Script/script_json_communication.py)
+add_python_example(script_get_device_info Script/script_get_device_info.py)
+
+## SpatialDetection
+add_python_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.py yolo3)
+add_python_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.py yolo4)
+add_python_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.py)
+add_python_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.py)
+add_python_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.py)
+
+## StereoDepth
+add_python_example(depth_crop_control StereoDepth/depth_crop_control.py)
+add_python_example(depth_preview StereoDepth/depth_preview.py)
+add_python_example(depth_post_processing StereoDepth/depth_post_processing.py)
+add_python_example(rgb_depth_aligned StereoDepth/rgb_depth_aligned.py)
+add_python_example(rgb_depth_confidence_aligned StereoDepth/rgb_depth_confidence_aligned.py)
+add_python_example(stereo_depth_from_host StereoDepth/stereo_depth_from_host.py)
+add_python_example(stereo_depth_video StereoDepth/stereo_depth_video.py)
+
+## SystemLogger
+add_python_example(system_information SystemLogger/system_information.py)
+
+## VideoEncoder
+add_python_example(encoding_max_limit VideoEncoder/encoding_max_limit.py)
+add_python_example(rgb_encoding VideoEncoder/rgb_encoding.py)
+add_python_example(rgb_full_resolution_saver VideoEncoder/rgb_full_resolution_saver.py)
+add_python_example(rgb_mono_encoding VideoEncoder/rgb_mono_encoding.py)
+
+## Yolo
+add_python_example(tiny_yolo_v3_device_side_decoding Yolo/tiny_yolo.py yolo3)
+add_python_example(tiny_yolo_v4_device_side_decoding Yolo/tiny_yolo.py yolo4)
+
+## AprilTag
+add_python_example(apriltag AprilTag/apriltag.py)
+add_python_example(apriltag_rgb AprilTag/apriltag_rgb.py)
diff --git a/bindings/python/examples/Camera/camera_isp.py b/bindings/python/examples/Camera/camera_isp.py
new file mode 100755
index 000000000..5173d56e9
--- /dev/null
+++ b/bindings/python/examples/Camera/camera_isp.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+
+# Connect to device and start pipeline
+with dai.Device() as device:
+    # Device name
+    print('Device name:', device.getDeviceName())
+    # Bootloader version
+    if device.getBootloaderVersion() is not None:
+        print('Bootloader version:', device.getBootloaderVersion())
+    # Print out usb speed
+    print('Usb speed:', device.getUsbSpeed().name)
+    # Connected cameras
+    print('Connected cameras:', device.getConnectedCameraFeatures())
+
+    # Create pipeline
+    pipeline = dai.Pipeline()
+    cams = device.getConnectedCameraFeatures()
+    streams = []
+    for cam in cams:
+        print(str(cam), str(cam.socket), cam.socket)
+        c = pipeline.create(dai.node.Camera)
+        x = pipeline.create(dai.node.XLinkOut)
+        c.isp.link(x.input)
+        c.setBoardSocket(cam.socket)
+        stream = str(cam.socket)
+        if cam.name:
+            stream = f'{cam.name} ({stream})'
+        x.setStreamName(stream)
+        streams.append(stream)
+
+    # Start pipeline
+    device.startPipeline(pipeline)
+    fpsCounter = {}
+    lastFpsCount = {}
+    tfps = time.time()
+    while not device.isClosed():
+        queueNames = device.getQueueEvents(streams)
+        for stream in queueNames:
+            messages = device.getOutputQueue(stream).tryGetAll()
+            fpsCounter[stream] = fpsCounter.get(stream, 0.0) + len(messages)
+            for message in messages:
+                # Display arrived frames
+                if type(message) == dai.ImgFrame:
+                    # render fps
+                    fps = lastFpsCount.get(stream, 0)
+                    frame = message.getCvFrame()
+                    cv2.putText(frame, "Fps: {:.2f}".format(fps), (10, 10), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
+                    cv2.imshow(stream, frame)
+
+        if time.time() - tfps >= 1.0:
+            scale = time.time() - tfps
+            for stream in fpsCounter.keys():
+                lastFpsCount[stream] = fpsCounter[stream] / scale
+            fpsCounter = {}
+            tfps = time.time()
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/Camera/camera_preview.py b/bindings/python/examples/Camera/camera_preview.py
new file mode 100755
index 000000000..88c5cc3c3
--- /dev/null
+++ b/bindings/python/examples/Camera/camera_preview.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+
+# Connect to device and start pipeline
+with dai.Device() as device:
+    # Device name
+    print('Device name:', device.getDeviceName())
+    # Bootloader version
+    if device.getBootloaderVersion() is not None:
+        print('Bootloader version:', device.getBootloaderVersion())
+    # Print out usb speed
+    print('Usb speed:', device.getUsbSpeed().name)
+    # Connected cameras
+    print('Connected cameras:', device.getConnectedCameraFeatures())
+
+    # Create pipeline
+    pipeline = dai.Pipeline()
+    cams = device.getConnectedCameraFeatures()
+    streams = []
+    for cam in cams:
+        print(str(cam), str(cam.socket), cam.socket)
+        c = pipeline.create(dai.node.Camera)
+        x = pipeline.create(dai.node.XLinkOut)
+        c.preview.link(x.input)
+        c.setBoardSocket(cam.socket)
+        stream = str(cam.socket)
+        if cam.name:
+            stream = f'{cam.name} ({stream})'
+        x.setStreamName(stream)
+        streams.append(stream)
+
+    # Start pipeline
+    device.startPipeline(pipeline)
+    fpsCounter = {}
+    lastFpsCount = {}
+    tfps = time.time()
+    while not device.isClosed():
+        queueNames = device.getQueueEvents(streams)
+        for stream in queueNames:
+            messages = device.getOutputQueue(stream).tryGetAll()
+            fpsCounter[stream] = fpsCounter.get(stream, 0.0) + len(messages)
+            for message in messages:
+                # Display arrived frames
+                if type(message) == dai.ImgFrame:
+                    # render fps
+                    fps = lastFpsCount.get(stream, 0)
+                    frame = message.getCvFrame()
+                    cv2.putText(frame, "Fps: {:.2f}".format(fps), (10, 10), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
+                    cv2.imshow(stream, frame)
+
+        if time.time() - tfps >= 1.0:
+            scale = time.time() - tfps
+            for stream in fpsCounter.keys():
+                lastFpsCount[stream] = fpsCounter[stream] / scale
+            fpsCounter = {}
+            tfps = time.time()
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/Camera/camera_undistort.py b/bindings/python/examples/Camera/camera_undistort.py
new file mode 100644
index 000000000..0d78f1d9e
--- /dev/null
+++ b/bindings/python/examples/Camera/camera_undistort.py
@@ -0,0 +1,32 @@
+import depthai as dai
+import cv2
+
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb: dai.node.Camera = pipeline.create(dai.node.Camera)
+
+#Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setSize((1280, 800))
+
+# Linking
+videoOut = pipeline.create(dai.node.XLinkOut)
+videoOut.setStreamName("video")
+camRgb.video.link(videoOut.input)
+
+ispOut = pipeline.create(dai.node.XLinkOut)
+ispOut.setStreamName("isp")
+camRgb.isp.link(ispOut.input)
+
+with dai.Device(pipeline) as device:
+    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
+    isp = device.getOutputQueue(name="isp", maxSize=1, blocking=False)
+
+    while True:
+        if video.has():
+            cv2.imshow("video", video.get().getCvFrame())
+        if isp.has():
+            cv2.imshow("isp", isp.get().getCvFrame())
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/Camera/thermal_cam.py b/bindings/python/examples/Camera/thermal_cam.py
new file mode 100644
index 000000000..4fff60ca9
--- /dev/null
+++ b/bindings/python/examples/Camera/thermal_cam.py
@@ -0,0 +1,107 @@
+import depthai as dai
+import cv2
+import numpy as np
+
+mouseX, mouseY = 0, 0
+
+
+def onMouse(event, x, y, *args):
+    global mouseX, mouseY
+    mouseX = x
+    mouseY = y
+
+
+device = dai.Device()
+pipeline = dai.Pipeline()
+
+# Thermal camera
+thermalCam = pipeline.create(dai.node.Camera)
+width, height = -1, -1
+thermalFound = False
+for features in device.getConnectedCameraFeatures():
+    if dai.CameraSensorType.THERMAL in features.supportedTypes:
+        thermalFound = True
+        thermalCam.setBoardSocket(features.socket)
+        width, height = features.width, features.height
+        break
+if not thermalFound:
+    raise RuntimeError("No thermal camera found!")
+thermalCam.setPreviewSize(width, height)
+
+# Output raw: FP16 temperature data (degrees Celsius)
+xoutRaw = pipeline.create(dai.node.XLinkOut)
+xoutRaw.setStreamName("thermal_raw")
+thermalCam.raw.link(xoutRaw.input)
+
+# Output preview,video, isp: RGB or NV12 or YUV420 thermal image.
+xoutImage = pipeline.create(dai.node.XLinkOut)
+xoutImage.setStreamName("image")
+thermalCam.preview.link(xoutImage.input)
+device.startPipeline(pipeline)
+
+qRaw = device.getOutputQueue("thermal_raw", 2, False)
+qImage = device.getOutputQueue("image", 2, False)
+
+
+RAW_WINDOW_NAME = "temperature"
+IMAGE_WINDOW_NAME = "image"
+# Scale 4x and position one next to another
+cv2.namedWindow(RAW_WINDOW_NAME, cv2.WINDOW_NORMAL)
+cv2.namedWindow(IMAGE_WINDOW_NAME, cv2.WINDOW_NORMAL)
+cv2.moveWindow(RAW_WINDOW_NAME, 0, 0)
+cv2.resizeWindow(RAW_WINDOW_NAME, width * 4, height * 4)
+cv2.moveWindow(IMAGE_WINDOW_NAME, width * 4, 0)
+cv2.resizeWindow(IMAGE_WINDOW_NAME, width * 4, height * 4)
+cv2.setMouseCallback(RAW_WINDOW_NAME, onMouse)
+cv2.setMouseCallback(IMAGE_WINDOW_NAME, onMouse)
+
+while True:
+    inRaw = qRaw.get()
+    inImg = qImage.get()
+
+    # Retrieve one point of fp16 data
+    frame = inRaw.getCvFrame().astype(np.float32)
+    colormappedFrame = cv2.normalize(frame, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
+    colormappedFrame = cv2.applyColorMap(colormappedFrame, cv2.COLORMAP_MAGMA)
+    if (
+        mouseX < 0
+        or mouseY < 0
+        or mouseX >= frame.shape[1]
+        or mouseY >= frame.shape[0]
+    ):
+        mouseX = max(0, min(mouseX, frame.shape[1] - 1))
+        mouseY = max(0, min(mouseY, frame.shape[0] - 1))
+    textColor = (255, 255, 255)
+    # Draw crosshair
+    cv2.line(
+        colormappedFrame,
+        (mouseX - 10, mouseY),
+        (mouseX + 10, mouseY),
+        textColor,
+        1,
+    )
+    cv2.line(
+        colormappedFrame,
+        (mouseX, mouseY - 10),
+        (mouseX, mouseY + 10),
+        textColor,
+        1,
+    )
+    # Draw deg C
+    text = f"{frame[mouseY, mouseX]:.2f} deg C"
+    putTextLeft = mouseX > colormappedFrame.shape[1] / 2
+    cv2.putText(
+        colormappedFrame,
+        text,
+        (mouseX - 100 if putTextLeft else mouseX + 10, mouseY - 10),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.5,
+        textColor,
+        1,
+    )
+    cv2.imshow(RAW_WINDOW_NAME, colormappedFrame)
+
+    cv2.imshow(IMAGE_WINDOW_NAME, inImg.getCvFrame())
+
+    if cv2.waitKey(1) == ord("q"):
+        break
diff --git a/bindings/python/examples/ColorCamera/autoexposure_roi.py b/bindings/python/examples/ColorCamera/autoexposure_roi.py
new file mode 100755
index 000000000..013ce2698
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/autoexposure_roi.py
@@ -0,0 +1,173 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Press WASD to move a manual ROI window for auto-exposure control.
+# Press N to go back to the region controlled by the NN detections.
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+previewSize = (300, 300)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(*previewSize)
+camRgb.setInterleaved(False)
+
+camControlIn = pipeline.create(dai.node.XLinkIn)
+camControlIn.setStreamName('camControl')
+camControlIn.out.link(camRgb.inputControl)
+
+# Define a neural network that will make predictions based on the source frames
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+camRgb.preview.link(nn.input)
+
+# Linking
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName("rgb")
+camRgb.preview.link(xoutRgb.input)
+
+nnOut = pipeline.create(dai.node.XLinkOut)
+nnOut.setStreamName("nn")
+nn.out.link(nnOut.input)
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+def clamp(num, v0, v1):
+    return max(v0, min(num, v1))
+
+def asControl(roi):
+    camControl = dai.CameraControl()
+    camControl.setAutoExposureRegion(*roi)
+    return camControl
+
+class AutoExposureRegion:
+    step = 10
+    position = (0, 0)
+    size = (100, 100)
+    resolution = camRgb.getResolutionSize()
+    maxDims = previewSize[0], previewSize[1]
+
+    def grow(self, x=0, y=0):
+        self.size = (
+            clamp(x + self.size[0], 1, self.maxDims[0]),
+            clamp(y + self.size[1], 1, self.maxDims[1])
+        )
+
+    def move(self, x=0, y=0):
+        self.position = (
+            clamp(x + self.position[0], 0, self.maxDims[0]),
+            clamp(y + self.position[1], 0, self.maxDims[1])
+        )
+
+    def endPosition(self):
+        return (
+            clamp(self.position[0] + self.size[0], 0, self.maxDims[0]),
+            clamp(self.position[1] + self.size[1], 0, self.maxDims[1]),
+        )
+
+    def toRoi(self):
+        roi = np.array([*self.position, *self.size])
+        # Convert to absolute camera coordinates
+        roi = roi * self.resolution[1] // 300
+        roi[0] += (self.resolution[0] - self.resolution[1]) // 2  # x offset for device crop
+        return roi
+
+    @staticmethod
+    def bboxToRoi(bbox):
+        startX, startY = bbox[:2]
+        width, height = bbox[2] - startX, bbox[3] - startY
+        roi = frameNorm(np.empty(camRgb.getResolutionSize()), (startX, startY, width, height))
+        return roi
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qControl = device.getInputQueue(name="camControl")
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    frame = None
+    detections = []
+
+    nnRegion = True
+    region = AutoExposureRegion()
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+        if not nnRegion:
+            cv2.rectangle(frame, region.position, region.endPosition(), (0, 255, 0), 2)
+        cv2.imshow(name, frame)
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        inRgb = qRgb.tryGet()
+        inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+            if nnRegion and len(detections) > 0:
+                bbox = (detections[0].xmin, detections[0].ymin, detections[0].xmax, detections[0].ymax)
+                qControl.send(asControl(AutoExposureRegion.bboxToRoi(bbox)))
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        key = cv2.waitKey(1)
+        if key == ord('n'):
+            print("AE ROI controlled by NN")
+            nnRegion = True
+        elif key in [ord('w'), ord('a'), ord('s'), ord('d'), ord('+'), ord('-')]:
+            nnRegion = False
+            if key == ord('a'):
+                region.move(x=-region.step)
+            if key == ord('d'):
+                region.move(x=region.step)
+            if key == ord('w'):
+                region.move(y=-region.step)
+            if key == ord('s'):
+                region.move(y=region.step)
+            if key == ord('+'):
+                region.grow(x=10, y=10)
+                region.step = region.step + 1
+            if key == ord('-'):
+                region.grow(x=-10, y=-10)
+                region.step = max(region.step - 1, 1)
+            print(f"Setting static AE ROI: {region.toRoi()} (on frame: {[*region.position, *region.endPosition()]})")
+            qControl.send(asControl(region.toRoi()))
+        elif key == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_camera_control.py b/bindings/python/examples/ColorCamera/rgb_camera_control.py
new file mode 100755
index 000000000..0f8f96688
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_camera_control.py
@@ -0,0 +1,303 @@
+#!/usr/bin/env python3
+
+"""
+This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y
+Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.NM'
+for manual exposure/focus/white-balance:
+  Control:      key[dec/inc]  min..max
+  exposure time:     I   O      1..33000 [us]
+  sensitivity iso:   K   L    100..1600
+  focus:             ,   .      0..255 [far..near]
+  white balance:     N   M   1000..12000 (light color temperature K)
+
+To go back to auto controls:
+  'E' - autoexposure
+  'F' - autofocus (continuous)
+  'B' - auto white-balance
+
+Other controls:
+    '1' - AWB lock (true / false)
+    '2' - AE lock (true / false)
+    '3' - Select control: AWB mode
+    '4' - Select control: AE compensation
+    '5' - Select control: anti-banding/flicker mode
+    '6' - Select control: effect mode
+    '7' - Select control: brightness
+    '8' - Select control: contrast
+    '9' - Select control: saturation
+    '0' - Select control: sharpness
+    '[' - Select control: luma denoise
+    ']' - Select control: chroma denoise
+
+For the 'Select control: ...' options, use these keys to modify the value:
+  '-' or '_' to decrease
+  '+' or '=' to increase
+
+'/' to toggle showing camera settings: exposure, ISO, lens position, color temperature
+"""
+
+import depthai as dai
+import cv2
+from itertools import cycle
+
+# Step size ('W','A','S','D' controls)
+STEP_SIZE = 8
+# Manual exposure/focus/white-balance set step
+EXP_STEP = 500  # us
+ISO_STEP = 50
+LENS_STEP = 3
+WB_STEP = 200
+
+def clamp(num, v0, v1):
+    return max(v0, min(num, v1))
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setIspScale(2,3) # 1080P -> 720P
+stillEncoder = pipeline.create(dai.node.VideoEncoder)
+
+controlIn = pipeline.create(dai.node.XLinkIn)
+configIn = pipeline.create(dai.node.XLinkIn)
+ispOut = pipeline.create(dai.node.XLinkOut)
+videoOut = pipeline.create(dai.node.XLinkOut)
+stillMjpegOut = pipeline.create(dai.node.XLinkOut)
+
+controlIn.setStreamName('control')
+configIn.setStreamName('config')
+ispOut.setStreamName('isp')
+videoOut.setStreamName('video')
+stillMjpegOut.setStreamName('still')
+
+# Properties
+camRgb.setVideoSize(640,360)
+stillEncoder.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG)
+
+# Linking
+camRgb.isp.link(ispOut.input)
+camRgb.still.link(stillEncoder.input)
+camRgb.video.link(videoOut.input)
+controlIn.out.link(camRgb.inputControl)
+configIn.out.link(camRgb.inputConfig)
+stillEncoder.bitstream.link(stillMjpegOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Get data queues
+    controlQueue = device.getInputQueue('control')
+    configQueue = device.getInputQueue('config')
+    ispQueue = device.getOutputQueue('isp')
+    videoQueue = device.getOutputQueue('video')
+    stillQueue = device.getOutputQueue('still')
+
+    # Max cropX & cropY
+    maxCropX = (camRgb.getIspWidth() - camRgb.getVideoWidth()) / camRgb.getIspWidth()
+    maxCropY = (camRgb.getIspHeight() - camRgb.getVideoHeight()) / camRgb.getIspHeight()
+    print(maxCropX, maxCropY, camRgb.getIspWidth(), camRgb.getVideoHeight())
+
+    # Default crop
+    cropX = 0
+    cropY = 0
+    sendCamConfig = True
+
+    # Defaults and limits for manual focus/exposure controls
+    lensPos = 150
+    expTime = 20000
+    sensIso = 800    
+    wbManual = 4000
+    ae_comp = 0
+    ae_lock = False
+    awb_lock = False
+    saturation = 0
+    contrast = 0
+    brightness = 0
+    sharpness = 0
+    luma_denoise = 0
+    chroma_denoise = 0
+    control = 'none'
+    show = False
+
+    awb_mode = cycle([item for name, item in vars(dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()])
+    anti_banding_mode = cycle([item for name, item in vars(dai.CameraControl.AntiBandingMode).items() if name.isupper()])
+    effect_mode = cycle([item for name, item in vars(dai.CameraControl.EffectMode).items() if name.isupper()])
+
+    while True:
+        vidFrames = videoQueue.tryGetAll()
+        for vidFrame in vidFrames:
+            cv2.imshow('video', vidFrame.getCvFrame())
+
+        ispFrames = ispQueue.tryGetAll()
+        for ispFrame in ispFrames:
+            if show:
+                txt = f"[{ispFrame.getSequenceNum()}] "
+                txt += f"Exposure: {ispFrame.getExposureTime().total_seconds()*1000:.3f} ms, "
+                txt += f"ISO: {ispFrame.getSensitivity()}, "
+                txt += f"Lens position: {ispFrame.getLensPosition()}, "
+                txt += f"Color temp: {ispFrame.getColorTemperature()} K"
+                print(txt)
+            cv2.imshow('isp', ispFrame.getCvFrame())
+
+            # Send new cfg to camera
+            if sendCamConfig:
+                cfg = dai.ImageManipConfig()
+                cfg.setCropRect(cropX, cropY, 0, 0)
+                configQueue.send(cfg)
+                print('Sending new crop - x: ', cropX, ' y: ', cropY)
+                sendCamConfig = False
+
+        stillFrames = stillQueue.tryGetAll()
+        for stillFrame in stillFrames:
+            # Decode JPEG
+            frame = cv2.imdecode(stillFrame.getData(), cv2.IMREAD_UNCHANGED)
+            # Display
+            cv2.imshow('still', frame)
+
+        # Update screen (1ms pooling rate)
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('/'):
+            show = not show
+            if not show: print("Printing camera settings: OFF")
+        elif key == ord('c'):
+            ctrl = dai.CameraControl()
+            ctrl.setCaptureStill(True)
+            controlQueue.send(ctrl)
+        elif key == ord('t'):
+            print("Autofocus trigger (and disable continuous)")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO)
+            ctrl.setAutoFocusTrigger()
+            controlQueue.send(ctrl)
+        elif key == ord('f'):
+            print("Autofocus enable, continuous")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
+            controlQueue.send(ctrl)
+        elif key == ord('e'):
+            print("Autoexposure enable")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureEnable()
+            controlQueue.send(ctrl)
+        elif key == ord('b'):
+            print("Auto white-balance enable")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoWhiteBalanceMode(dai.CameraControl.AutoWhiteBalanceMode.AUTO)
+            controlQueue.send(ctrl)
+        elif key in [ord(','), ord('.')]:
+            if key == ord(','): lensPos -= LENS_STEP
+            if key == ord('.'): lensPos += LENS_STEP
+            lensPos = clamp(lensPos, 0, 255)
+            print("Setting manual focus, lens position: ", lensPos)
+            ctrl = dai.CameraControl()
+            ctrl.setManualFocus(lensPos)
+            controlQueue.send(ctrl)
+        elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
+            if key == ord('i'): expTime -= EXP_STEP
+            if key == ord('o'): expTime += EXP_STEP
+            if key == ord('k'): sensIso -= ISO_STEP
+            if key == ord('l'): sensIso += ISO_STEP
+            expTime = clamp(expTime, 1, 33000)
+            sensIso = clamp(sensIso, 100, 1600)
+            print("Setting manual exposure, time: ", expTime, "iso: ", sensIso)
+            ctrl = dai.CameraControl()
+            ctrl.setManualExposure(expTime, sensIso)
+            controlQueue.send(ctrl)
+        elif key in [ord('n'), ord('m')]:
+            if key == ord('n'): wbManual -= WB_STEP
+            if key == ord('m'): wbManual += WB_STEP
+            wbManual = clamp(wbManual, 1000, 12000)
+            print("Setting manual white balance, temperature: ", wbManual, "K")
+            ctrl = dai.CameraControl()
+            ctrl.setManualWhiteBalance(wbManual)
+            controlQueue.send(ctrl)
+        elif key in [ord('w'), ord('a'), ord('s'), ord('d')]:
+            if key == ord('a'):
+                cropX = cropX - (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
+                if cropX < 0: cropX = 0
+            elif key == ord('d'):
+                cropX = cropX + (maxCropX / camRgb.getResolutionWidth()) * STEP_SIZE
+                if cropX > maxCropX: cropX = maxCropX
+            elif key == ord('w'):
+                cropY = cropY - (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
+                if cropY < 0: cropY = 0
+            elif key == ord('s'):
+                cropY = cropY + (maxCropY / camRgb.getResolutionHeight()) * STEP_SIZE
+                if cropY > maxCropY: cropY = maxCropY
+            sendCamConfig = True
+        elif key == ord('1'):
+            awb_lock = not awb_lock
+            print("Auto white balance lock:", awb_lock)
+            ctrl = dai.CameraControl()
+            ctrl.setAutoWhiteBalanceLock(awb_lock)
+            controlQueue.send(ctrl)
+        elif key == ord('2'):
+            ae_lock = not ae_lock
+            print("Auto exposure lock:", ae_lock)
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureLock(ae_lock)
+            controlQueue.send(ctrl)
+        elif key >= 0 and chr(key) in '34567890[]':
+            if   key == ord('3'): control = 'awb_mode'
+            elif key == ord('4'): control = 'ae_comp'
+            elif key == ord('5'): control = 'anti_banding_mode'
+            elif key == ord('6'): control = 'effect_mode'
+            elif key == ord('7'): control = 'brightness'
+            elif key == ord('8'): control = 'contrast'
+            elif key == ord('9'): control = 'saturation'
+            elif key == ord('0'): control = 'sharpness'
+            elif key == ord('['): control = 'luma_denoise'
+            elif key == ord(']'): control = 'chroma_denoise'
+            print("Selected control:", control)
+        elif key in [ord('-'), ord('_'), ord('+'), ord('=')]:
+            change = 0
+            if key in [ord('-'), ord('_')]: change = -1
+            if key in [ord('+'), ord('=')]: change = 1
+            ctrl = dai.CameraControl()
+            if control == 'none':
+                print("Please select a control first using keys 3..9 0 [ ]")
+            elif control == 'ae_comp':
+                ae_comp = clamp(ae_comp + change, -9, 9)
+                print("Auto exposure compensation:", ae_comp)
+                ctrl.setAutoExposureCompensation(ae_comp)
+            elif control == 'anti_banding_mode':
+                abm = next(anti_banding_mode)
+                print("Anti-banding mode:", abm)
+                ctrl.setAntiBandingMode(abm)
+            elif control == 'awb_mode':
+                awb = next(awb_mode)
+                print("Auto white balance mode:", awb)
+                ctrl.setAutoWhiteBalanceMode(awb)
+            elif control == 'effect_mode':
+                eff = next(effect_mode)
+                print("Effect mode:", eff)
+                ctrl.setEffectMode(eff)
+            elif control == 'brightness':
+                brightness = clamp(brightness + change, -10, 10)
+                print("Brightness:", brightness)
+                ctrl.setBrightness(brightness)
+            elif control == 'contrast':
+                contrast = clamp(contrast + change, -10, 10)
+                print("Contrast:", contrast)
+                ctrl.setContrast(contrast)
+            elif control == 'saturation':
+                saturation = clamp(saturation + change, -10, 10)
+                print("Saturation:", saturation)
+                ctrl.setSaturation(saturation)
+            elif control == 'sharpness':
+                sharpness = clamp(sharpness + change, 0, 4)
+                print("Sharpness:", sharpness)
+                ctrl.setSharpness(sharpness)
+            elif control == 'luma_denoise':
+                luma_denoise = clamp(luma_denoise + change, 0, 4)
+                print("Luma denoise:", luma_denoise)
+                ctrl.setLumaDenoise(luma_denoise)
+            elif control == 'chroma_denoise':
+                chroma_denoise = clamp(chroma_denoise + change, 0, 4)
+                print("Chroma denoise:", chroma_denoise)
+                ctrl.setChromaDenoise(chroma_denoise)
+            controlQueue.send(ctrl)
diff --git a/bindings/python/examples/ColorCamera/rgb_isp_scale.py b/bindings/python/examples/ColorCamera/rgb_isp_scale.py
new file mode 100755
index 000000000..fd8d725ea
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_isp_scale.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+camRgb.setIspScale(1, 2)
+camRgb.setVideoSize(1920, 1080)
+
+xoutVideo.input.setBlocking(False)
+xoutVideo.input.setQueueSize(1)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
+
+    while True:
+        videoIn = video.get()
+
+        # Get BGR frame from NV12 encoded video frame to show with opencv
+        # Visualizing the frame on slower hosts might have overhead
+        cv2.imshow("video", videoIn.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_preview.py b/bindings/python/examples/ColorCamera/rgb_preview.py
new file mode 100755
index 000000000..332f3e1de
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_preview.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
+
+# Linking
+camRgb.preview.link(xoutRgb.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    print('Connected cameras:', device.getConnectedCameraFeatures())
+    # Print out usb speed
+    print('Usb speed:', device.getUsbSpeed().name)
+    # Bootloader version
+    if device.getBootloaderVersion() is not None:
+        print('Bootloader version:', device.getBootloaderVersion())
+    # Device name
+    print('Device name:', device.getDeviceName(), ' Product name:', device.getProductName())
+
+    # Output queue will be used to get the rgb frames from the output defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+
+    while True:
+        inRgb = qRgb.get()  # blocking call, will wait until a new data has arrived
+
+        # Retrieve 'bgr' (opencv format) frame
+        cv2.imshow("rgb", inRgb.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_scene.py b/bindings/python/examples/ColorCamera/rgb_scene.py
new file mode 100755
index 000000000..d9c7c58bc
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_scene.py
@@ -0,0 +1,58 @@
+import cv2
+import depthai as dai
+from itertools import cycle
+
+scenes = cycle([item for name, item in vars(dai.CameraControl.SceneMode).items() if name != "UNSUPPORTED" and name.isupper()])
+effects = cycle([item for name, item in vars(dai.CameraControl.EffectMode).items() if name.isupper()])
+curr_scene = "OFF"
+curr_effect = "OFF"
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setIspScale(1,3)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName("video")
+camRgb.video.link(xoutRgb.input)
+
+camControlIn = pipeline.create(dai.node.XLinkIn)
+camControlIn.setStreamName("camControl")
+camControlIn.out.link(camRgb.inputControl)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    videoQ = device.getOutputQueue(name="video", maxSize=4, blocking=False)
+    ctrlQ = device.getInputQueue(name="camControl")
+
+    def putText(frame, text, coords):
+        cv2.putText(frame, text, coords, cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 4)
+        cv2.putText(frame, text, coords, cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
+
+    while True:
+        videoIn = videoQ.tryGet()
+        if videoIn is not None:
+            frame = videoIn.getCvFrame()
+            putText(frame, f"[E] Effect: {curr_effect}", (10, 20))
+            putText(frame, f"[S] Scene: {curr_scene}", (10, 40))
+            cv2.imshow("video", frame)
+
+        key = cv2.waitKey(1)
+        if key == ord('e') or key == ord('E'):
+            effect = next(effects)
+            print("Switching colorCamera effect:", str(effect))
+            curr_effect = str(effect).lstrip("EffectMode.")
+            cfg = dai.CameraControl()
+            cfg.setEffectMode(effect)
+            ctrlQ.send(cfg)
+        # Scene currently doesn't work
+        elif key == ord('s') or key == ord('S'):
+            scene = next(scenes)
+            print("Currently doesn't work! Switching colorCamera Scene:", str(scene))
+            curr_scene = str(scene).lstrip("SceneMode.")
+            cfg = dai.CameraControl()
+            cfg.setSceneMode(scene)
+            ctrlQ.send(cfg)
+        elif key == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_undistort.py b/bindings/python/examples/ColorCamera/rgb_undistort.py
new file mode 100755
index 000000000..97e71b184
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_undistort.py
@@ -0,0 +1,88 @@
+import cv2
+import depthai as dai
+import numpy as np
+
+camRes = dai.ColorCameraProperties.SensorResolution.THE_1080_P
+camSocket = dai.CameraBoardSocket.CAM_A
+ispScale = (1,2)
+
+def getMesh(calibData, ispSize):
+    M1 = np.array(calibData.getCameraIntrinsics(camSocket, ispSize[0], ispSize[1]))
+    d1 = np.array(calibData.getDistortionCoefficients(camSocket))
+    R1 = np.identity(3)
+    mapX, mapY = cv2.initUndistortRectifyMap(M1, d1, R1, M1, ispSize, cv2.CV_32FC1)
+
+    meshCellSize = 16
+    mesh0 = []
+    # Creates subsampled mesh which will be loaded on to device to undistort the image
+    for y in range(mapX.shape[0] + 1): # iterating over height of the image
+        if y % meshCellSize == 0:
+            rowLeft = []
+            for x in range(mapX.shape[1]): # iterating over width of the image
+                if x % meshCellSize == 0:
+                    if y == mapX.shape[0] and x == mapX.shape[1]:
+                        rowLeft.append(mapX[y - 1, x - 1])
+                        rowLeft.append(mapY[y - 1, x - 1])
+                    elif y == mapX.shape[0]:
+                        rowLeft.append(mapX[y - 1, x])
+                        rowLeft.append(mapY[y - 1, x])
+                    elif x == mapX.shape[1]:
+                        rowLeft.append(mapX[y, x - 1])
+                        rowLeft.append(mapY[y, x - 1])
+                    else:
+                        rowLeft.append(mapX[y, x])
+                        rowLeft.append(mapY[y, x])
+            if (mapX.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+
+            mesh0.append(rowLeft)
+
+    mesh0 = np.array(mesh0)
+    meshWidth = mesh0.shape[1] // 2
+    meshHeight = mesh0.shape[0]
+    mesh0.resize(meshWidth * meshHeight, 2)
+
+    mesh = list(map(tuple, mesh0))
+
+    return mesh, meshWidth, meshHeight
+
+def create_pipeline(calibData):
+    pipeline = dai.Pipeline()
+
+    cam = pipeline.create(dai.node.ColorCamera)
+    cam.setIspScale(ispScale)
+    cam.setBoardSocket(camSocket)
+    cam.setResolution(camRes)
+
+    manip = pipeline.create(dai.node.ImageManip)
+    mesh, meshWidth, meshHeight = getMesh(calibData, cam.getIspSize())
+    manip.setWarpMesh(mesh, meshWidth, meshHeight)
+    manip.setMaxOutputFrameSize(cam.getIspWidth() * cam.getIspHeight() * 3 // 2)
+    cam.isp.link(manip.inputImage)
+
+    cam_xout = pipeline.create(dai.node.XLinkOut)
+    cam_xout.setStreamName("Undistorted")
+    manip.out.link(cam_xout.input)
+
+    dist_xout = pipeline.create(dai.node.XLinkOut)
+    dist_xout.setStreamName("Distorted")
+    cam.isp.link(dist_xout.input)
+
+    return pipeline
+
+with dai.Device() as device:
+
+    calibData = device.readCalibration()
+    pipeline = create_pipeline(calibData)
+    device.startPipeline(pipeline)
+
+    queues = [device.getOutputQueue(name, 4, False) for name in ['Undistorted', 'Distorted']]
+
+    while True:
+        for q in queues:
+            frame = q.get().getCvFrame()
+            cv2.imshow(q.getName(), frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/ColorCamera/rgb_video.py b/bindings/python/examples/ColorCamera/rgb_video.py
new file mode 100755
index 000000000..66a32d2ae
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_video.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setVideoSize(1920, 1080)
+
+xoutVideo.input.setBlocking(False)
+xoutVideo.input.setQueueSize(1)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
+
+    while True:
+        videoIn = video.get()
+
+        # Get BGR frame from NV12 encoded video frame to show with opencv
+        # Visualizing the frame on slower hosts might have overhead
+        cv2.imshow("video", videoIn.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_video_preview.py b/bindings/python/examples/ColorCamera/rgb_video_preview.py
new file mode 100755
index 000000000..beddc57d5
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_video_preview.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+xoutPreview = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+xoutPreview.setStreamName("preview")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4000X3000)
+camRgb.setVideoSize(1920, 1080)
+camRgb.setPreviewSize(300, 300)
+
+xoutVideo.input.setBlocking(False)
+xoutVideo.input.setQueueSize(1)
+
+xoutPreview.input.setBlocking(False)
+xoutPreview.input.setQueueSize(1)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+camRgb.preview.link(xoutPreview.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
+    preview = device.getOutputQueue(name="preview", maxSize=1, blocking=False)
+
+    while True:
+        videoIn = video.get()
+        previewIn = preview.get()
+
+        # Get BGR frame from NV12 encoded video frame to show with opencv
+        # Visualizing the frame on slower hosts might have overhead
+        cv2.imshow("video", videoIn.getCvFrame())
+        cv2.imshow("preview", previewIn.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ColorCamera/rgb_video_undistort.py b/bindings/python/examples/ColorCamera/rgb_video_undistort.py
new file mode 100755
index 000000000..2db97e736
--- /dev/null
+++ b/bindings/python/examples/ColorCamera/rgb_video_undistort.py
@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+meshCellSize = 12
+
+def downSampleMesh(mapXL, mapYL):
+    meshLeft = []
+
+    w = 0
+    h = 0
+
+    for y in range(mapXL.shape[0] + 1):
+        if y % meshCellSize == 0:
+            h += 1
+            w = 0
+
+            rowLeft = []
+            for x in range(mapXL.shape[1] + 1):
+                if x % meshCellSize == 0:
+                    w += 1
+                    if y == mapXL.shape[0] and x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y - 1, x - 1])
+                        rowLeft.append(mapXL[y - 1, x - 1])
+                    elif y == mapXL.shape[0]:
+                        rowLeft.append(mapYL[y - 1, x])
+                        rowLeft.append(mapXL[y - 1, x])
+                    elif x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y, x - 1])
+                        rowLeft.append(mapXL[y, x - 1])
+                    else:
+                        rowLeft.append(mapYL[y, x])
+                        rowLeft.append(mapXL[y, x])
+            if (mapXL.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+                w += 1
+
+            meshLeft.append(rowLeft)
+
+    meshLeft = np.array(meshLeft)
+
+    return meshLeft, w, h
+
+
+device = dai.Device()
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_B)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1200_P)
+camRgb.setVideoSize(1920, 1200)
+
+xoutVideo.input.setBlocking(False)
+xoutVideo.input.setQueueSize(1)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+
+camRgb.setMeshSource(dai.ColorCameraProperties.WarpMeshSource.CALIBRATION)
+camRgb.setCalibrationAlpha(1)
+
+# Connect to device and start pipeline
+with device:
+    device.startPipeline(pipeline)
+    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
+
+    while True:
+        videoIn = video.get()
+
+        # Get BGR frame from NV12 encoded video frame to show with opencv
+        # Visualizing the frame on slower hosts might have overhead
+        cv2.imshow("video", videoIn.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/CrashReport/capture_diagnostic.py b/bindings/python/examples/CrashReport/capture_diagnostic.py
new file mode 100644
index 000000000..5962406f0
--- /dev/null
+++ b/bindings/python/examples/CrashReport/capture_diagnostic.py
@@ -0,0 +1,73 @@
+import depthai as dai
+import zipfile
+from json import dump, JSONEncoder
+import io
+
+class CustomEncoder(JSONEncoder):
+    def default(self, obj):
+        if hasattr(obj, '__str__'):
+            return str(obj)
+        return super().default(obj)
+
+data = {}
+
+with dai.Device() as device:
+    data['BootloaderVersion'] = device.getBootloaderVersion()
+    data['ConnectedIMU'] = device.getConnectedIMU()
+    data['imuFirmwareVersion'] = device.getIMUFirmwareVersion()
+
+    filenames = [
+        "metadata.json",
+        "userCalib.json",
+        "factoryCalib.json"   
+    ]
+
+    # Create in-memory file-like objects
+    metadata_io = io.StringIO()
+    usercalib_io = io.StringIO()
+    factcalib_io = io.StringIO()
+    crashDump_io = io.StringIO()
+    # Dump data into these in-memory files
+    dump(data, metadata_io, indent=2, cls=CustomEncoder)
+    
+    try:
+        dump(device.readCalibration2().eepromToJson(), usercalib_io, indent=2)
+        dump(device.readCalibrationRaw(), usercalib_io, indent=4)
+    except Exception as ex:
+        dump(str(ex), usercalib_io, indent=2)
+
+    try:
+        dump(device.readFactoryCalibration().eepromToJson(), factcalib_io, indent=2)
+        dump(device.readFactoryCalibrationRaw(), factcalib_io, indent=4)
+    except Exception as ex:
+        dump(str(ex), factcalib_io, indent=2)
+
+    in_memory_files = [metadata_io, usercalib_io, factcalib_io]
+
+    zip_name = 'device_info.zip'
+    
+    with zipfile.ZipFile(zip_name, 'w') as z:
+        # Zip in-memory file-like objects without writing to disk
+        for file_io, filename in zip(in_memory_files, filenames):
+            file_io.seek(0)  # Reset cursor to the beginning of the file
+            z.writestr(filename, file_io.getvalue())
+
+    if device.hasCrashDump():
+        crashDump = device.getCrashDump()
+        commitHash = crashDump.depthaiCommitHash
+        deviceId = crashDump.deviceId
+        filenames.append("crashreport_" + commitHash + "_" + deviceId + ".json")
+        dump(crashDump.serializeToJson(), crashDump_io, indent=2)
+        in_memory_files.append(crashDump_io)
+
+        with zipfile.ZipFile(zip_name, 'w') as z:
+        # Zip in-memory file-like objects without writing to disk
+            for file_io, filename in zip(in_memory_files, filenames):
+                file_io.seek(0)  # Reset cursor to the beginning of the file
+                z.writestr(filename, file_io.getvalue())
+
+        print("Crash dump found on your device!")
+    else:
+        print("There was no crash dump found on your device!")
+
+print("Please report to developers with the zip attached!")
diff --git a/bindings/python/examples/CrashReport/crash_report.py b/bindings/python/examples/CrashReport/crash_report.py
new file mode 100755
index 000000000..a68b48ade
--- /dev/null
+++ b/bindings/python/examples/CrashReport/crash_report.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+from json import dump
+from os.path import exists
+
+# Connect to device and start pipeline
+with dai.Device() as device:
+
+    if device.hasCrashDump():
+        crashDump = device.getCrashDump()
+        commitHash = crashDump.depthaiCommitHash
+        deviceId = crashDump.deviceId
+
+        json = crashDump.serializeToJson()
+        
+        i = -1
+        while True:
+            i += 1
+            destPath = "crashDump_" + str(i) + "_" + deviceId + "_" + commitHash + ".json"
+            if exists(destPath):
+                continue
+
+            with open(destPath, 'w', encoding='utf-8') as f:
+                dump(json, f, ensure_ascii=False, indent=4)
+
+            print("Crash dump found on your device!")
+            print(f"Saved to {destPath}")
+            print("Please report to developers!")
+            break
+    else:
+        print("There was no crash dump found on your device!")
+
diff --git a/bindings/python/examples/EdgeDetector/edge_detector.py b/bindings/python/examples/EdgeDetector/edge_detector.py
new file mode 100755
index 000000000..b23dfd1a3
--- /dev/null
+++ b/bindings/python/examples/EdgeDetector/edge_detector.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+
+edgeDetectorLeft = pipeline.create(dai.node.EdgeDetector)
+edgeDetectorRight = pipeline.create(dai.node.EdgeDetector)
+edgeDetectorRgb = pipeline.create(dai.node.EdgeDetector)
+
+xoutEdgeLeft = pipeline.create(dai.node.XLinkOut)
+xoutEdgeRight = pipeline.create(dai.node.XLinkOut)
+xoutEdgeRgb = pipeline.create(dai.node.XLinkOut)
+xinEdgeCfg = pipeline.create(dai.node.XLinkIn)
+
+edgeLeftStr = "edge left"
+edgeRightStr = "edge right"
+edgeRgbStr = "edge rgb"
+edgeCfgStr = "edge cfg"
+
+xoutEdgeLeft.setStreamName(edgeLeftStr)
+xoutEdgeRight.setStreamName(edgeRightStr)
+xoutEdgeRgb.setStreamName(edgeRgbStr)
+xinEdgeCfg.setStreamName(edgeCfgStr)
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+edgeDetectorRgb.setMaxOutputFrameSize(camRgb.getVideoWidth() * camRgb.getVideoHeight())
+
+# Linking
+monoLeft.out.link(edgeDetectorLeft.inputImage)
+monoRight.out.link(edgeDetectorRight.inputImage)
+camRgb.video.link(edgeDetectorRgb.inputImage)
+
+edgeDetectorLeft.outputImage.link(xoutEdgeLeft.input)
+edgeDetectorRight.outputImage.link(xoutEdgeRight.input)
+edgeDetectorRgb.outputImage.link(xoutEdgeRgb.input)
+
+xinEdgeCfg.out.link(edgeDetectorLeft.inputConfig)
+xinEdgeCfg.out.link(edgeDetectorRight.inputConfig)
+xinEdgeCfg.out.link(edgeDetectorRgb.inputConfig)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output/input queues
+    edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, False)
+    edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, False)
+    edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, False)
+    edgeCfgQueue = device.getInputQueue(edgeCfgStr)
+
+    print("Switch between sobel filter kernels using keys '1' and '2'")
+
+    while(True):
+        edgeLeft = edgeLeftQueue.get()
+        edgeRight = edgeRightQueue.get()
+        edgeRgb = edgeRgbQueue.get()
+
+        edgeLeftFrame = edgeLeft.getFrame()
+        edgeRightFrame = edgeRight.getFrame()
+        edgeRgbFrame = edgeRgb.getFrame()
+
+        # Show the frame
+        cv2.imshow(edgeLeftStr, edgeLeftFrame)
+        cv2.imshow(edgeRightStr, edgeRightFrame)
+        cv2.imshow(edgeRgbStr, edgeRgbFrame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+
+        if key == ord('1'):
+            print("Switching sobel filter kernel.")
+            cfg = dai.EdgeDetectorConfig()
+            sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
+            sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
+            cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
+            edgeCfgQueue.send(cfg)
+
+        if key == ord('2'):
+            print("Switching sobel filter kernel.")
+            cfg = dai.EdgeDetectorConfig()
+            sobelHorizontalKernel = [[3, 0, -3], [10, 0, -10], [3, 0, -3]]
+            sobelVerticalKernel = [[3, 10, 3], [0, 0, 0], [-3, -10, -3]]
+            cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
+            edgeCfgQueue.send(cfg)
+
diff --git a/bindings/python/examples/FeatureTracker/feature_detector.py b/bindings/python/examples/FeatureTracker/feature_detector.py
new file mode 100755
index 000000000..ebad14411
--- /dev/null
+++ b/bindings/python/examples/FeatureTracker/feature_detector.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+featureTrackerLeft = pipeline.create(dai.node.FeatureTracker)
+featureTrackerRight = pipeline.create(dai.node.FeatureTracker)
+
+xoutPassthroughFrameLeft = pipeline.create(dai.node.XLinkOut)
+xoutTrackedFeaturesLeft = pipeline.create(dai.node.XLinkOut)
+xoutPassthroughFrameRight = pipeline.create(dai.node.XLinkOut)
+xoutTrackedFeaturesRight = pipeline.create(dai.node.XLinkOut)
+xinTrackedFeaturesConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutPassthroughFrameLeft.setStreamName("passthroughFrameLeft")
+xoutTrackedFeaturesLeft.setStreamName("trackedFeaturesLeft")
+xoutPassthroughFrameRight.setStreamName("passthroughFrameRight")
+xoutTrackedFeaturesRight.setStreamName("trackedFeaturesRight")
+xinTrackedFeaturesConfig.setStreamName("trackedFeaturesConfig")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Disable optical flow
+featureTrackerLeft.initialConfig.setMotionEstimator(False)
+featureTrackerRight.initialConfig.setMotionEstimator(False)
+
+# Linking
+monoLeft.out.link(featureTrackerLeft.inputImage)
+featureTrackerLeft.passthroughInputImage.link(xoutPassthroughFrameLeft.input)
+featureTrackerLeft.outputFeatures.link(xoutTrackedFeaturesLeft.input)
+xinTrackedFeaturesConfig.out.link(featureTrackerLeft.inputConfig)
+
+monoRight.out.link(featureTrackerRight.inputImage)
+featureTrackerRight.passthroughInputImage.link(xoutPassthroughFrameRight.input)
+featureTrackerRight.outputFeatures.link(xoutTrackedFeaturesRight.input)
+xinTrackedFeaturesConfig.out.link(featureTrackerRight.inputConfig)
+
+featureTrackerConfig = featureTrackerRight.initialConfig.get()
+
+print("Press 's' to switch between Harris and Shi-Thomasi corner detector!")
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues used to receive the results
+    passthroughImageLeftQueue = device.getOutputQueue("passthroughFrameLeft", 8, False)
+    outputFeaturesLeftQueue = device.getOutputQueue("trackedFeaturesLeft", 8, False)
+    passthroughImageRightQueue = device.getOutputQueue("passthroughFrameRight", 8, False)
+    outputFeaturesRightQueue = device.getOutputQueue("trackedFeaturesRight", 8, False)
+
+    inputFeatureTrackerConfigQueue = device.getInputQueue("trackedFeaturesConfig")
+
+    leftWindowName = "left"
+    rightWindowName = "right"
+
+    def drawFeatures(frame, features):
+        pointColor = (0, 0, 255)
+        circleRadius = 2
+        for feature in features:
+            cv2.circle(frame, (int(feature.position.x), int(feature.position.y)), circleRadius, pointColor, -1, cv2.LINE_AA, 0)
+
+    while True:
+        inPassthroughFrameLeft = passthroughImageLeftQueue.get()
+        passthroughFrameLeft = inPassthroughFrameLeft.getFrame()
+        leftFrame = cv2.cvtColor(passthroughFrameLeft, cv2.COLOR_GRAY2BGR)
+
+        inPassthroughFrameRight = passthroughImageRightQueue.get()
+        passthroughFrameRight = inPassthroughFrameRight.getFrame()
+        rightFrame = cv2.cvtColor(passthroughFrameRight, cv2.COLOR_GRAY2BGR)
+
+        trackedFeaturesLeft = outputFeaturesLeftQueue.get().trackedFeatures
+        drawFeatures(leftFrame, trackedFeaturesLeft)
+
+        trackedFeaturesRight = outputFeaturesRightQueue.get().trackedFeatures
+        drawFeatures(rightFrame, trackedFeaturesRight)
+
+        # Show the frame
+        cv2.imshow(leftWindowName, leftFrame)
+        cv2.imshow(rightWindowName, rightFrame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('s'):
+            if featureTrackerConfig.cornerDetector.type == dai.FeatureTrackerConfig.CornerDetector.Type.HARRIS:
+                featureTrackerConfig.cornerDetector.type = dai.FeatureTrackerConfig.CornerDetector.Type.SHI_THOMASI
+                print("Switching to Shi-Thomasi")
+            else:
+                featureTrackerConfig.cornerDetector.type = dai.FeatureTrackerConfig.CornerDetector.Type.HARRIS
+                print("Switching to Harris")
+
+            cfg = dai.FeatureTrackerConfig()
+            cfg.set(featureTrackerConfig)
+            inputFeatureTrackerConfigQueue.send(cfg)
diff --git a/bindings/python/examples/FeatureTracker/feature_motion_estimation.py b/bindings/python/examples/FeatureTracker/feature_motion_estimation.py
new file mode 100644
index 000000000..ae0162f9c
--- /dev/null
+++ b/bindings/python/examples/FeatureTracker/feature_motion_estimation.py
@@ -0,0 +1,222 @@
+import numpy as np
+import cv2
+from collections import deque
+import depthai as dai
+
+
+class CameraMotionEstimator:
+    def __init__(self, filter_weight=0.5, motion_threshold=0.01, rotation_threshold=0.05):
+        self.last_avg_flow = np.array([0.0, 0.0])
+        self.filter_weight = filter_weight
+        self.motion_threshold = motion_threshold
+        self.rotation_threshold = rotation_threshold
+
+    def estimate_motion(self, feature_paths):
+        most_prominent_motion = "Camera Staying Still"
+        max_magnitude = 0.0
+        avg_flow = np.array([0.0, 0.0])
+        total_rotation = 0.0
+        vanishing_point = np.array([0.0, 0.0])
+        num_features = len(feature_paths)
+
+        print(f"Number of features: {num_features}")
+
+        if num_features == 0:
+            return most_prominent_motion, vanishing_point
+
+        for path in feature_paths.values():
+            if len(path) >= 2:
+                src = np.array([path[-2].x, path[-2].y])
+                dst = np.array([path[-1].x, path[-1].y])
+                avg_flow += dst - src
+                motion_vector = dst + (dst - src)
+                vanishing_point += motion_vector
+                rotation = np.arctan2(dst[1] - src[1], dst[0] - src[0])
+                total_rotation += rotation
+
+        avg_flow /= num_features
+        avg_rotation = total_rotation / num_features
+        vanishing_point /= num_features
+
+        print(f"Average Flow: {avg_flow}")
+        print(f"Average Rotation: {avg_rotation}")
+
+        avg_flow = (self.filter_weight * self.last_avg_flow +
+                    (1 - self.filter_weight) * avg_flow)
+        self.last_avg_flow = avg_flow
+
+        flow_magnitude = np.linalg.norm(avg_flow)
+        rotation_magnitude = abs(avg_rotation)
+
+        if flow_magnitude > max_magnitude and flow_magnitude > self.motion_threshold:
+            if abs(avg_flow[0]) > abs(avg_flow[1]):
+                most_prominent_motion = 'Right' if avg_flow[0] < 0 else 'Left'
+            else:
+                most_prominent_motion = 'Down' if avg_flow[1] < 0 else 'Up'
+            max_magnitude = flow_magnitude
+
+        if rotation_magnitude > max_magnitude and rotation_magnitude > self.rotation_threshold:
+            most_prominent_motion = 'Rotating'
+
+        return most_prominent_motion, vanishing_point
+
+
+class FeatureTrackerDrawer:
+
+    lineColor = (200, 0, 200)
+    pointColor = (0, 0, 255)
+    vanishingPointColor = (255, 0, 255)  # Violet color for vanishing point
+    circleRadius = 2
+    maxTrackedFeaturesPathLength = 30
+    trackedFeaturesPathLength = 10
+
+    trackedIDs = None
+    trackedFeaturesPath = None
+
+    def trackFeaturePath(self, features):
+
+        newTrackedIDs = set()
+        for currentFeature in features:
+            currentID = currentFeature.id
+            newTrackedIDs.add(currentID)
+
+            if currentID not in self.trackedFeaturesPath:
+                self.trackedFeaturesPath[currentID] = deque()
+
+            path = self.trackedFeaturesPath[currentID]
+            path.append(currentFeature.position)
+
+            while(len(path) > max(1, FeatureTrackerDrawer.trackedFeaturesPathLength)):
+                path.popleft()
+
+            self.trackedFeaturesPath[currentID] = path
+
+        featuresToRemove = set()
+        for oldId in self.trackedIDs:
+            if oldId not in newTrackedIDs:
+                featuresToRemove.add(oldId)
+
+        for id in featuresToRemove:
+            self.trackedFeaturesPath.pop(id)
+
+        self.trackedIDs = newTrackedIDs
+
+    def drawVanishingPoint(self, img, vanishing_point):
+        cv2.circle(img, (int(vanishing_point[0]), int(vanishing_point[1])), self.circleRadius, self.vanishingPointColor, -1, cv2.LINE_AA, 0)
+
+    # Define color mapping for directions
+    direction_colors = {
+        "Up": (0, 255, 255),  # Yellow
+        "Down": (0, 255, 0),  # Green
+        "Left": (255, 0, 0),  # Blue
+        "Right": (0, 0, 255), # Red
+    }
+
+    def drawFeatures(self, img, vanishing_point=None, prominent_motion=None):
+
+        # Get the appropriate point color based on the prominent motion
+        if prominent_motion in self.direction_colors:
+            point_color = self.direction_colors[prominent_motion]
+        else:
+            point_color = self.pointColor
+
+        for featurePath in self.trackedFeaturesPath.values():
+            path = featurePath
+
+            for j in range(len(path) - 1):
+                src = (int(path[j].x), int(path[j].y))
+                dst = (int(path[j + 1].x), int(path[j + 1].y))
+                cv2.line(img, src, dst, point_color, 1, cv2.LINE_AA, 0)
+
+            j = len(path) - 1
+            cv2.circle(img, (int(path[j].x), int(path[j].y)), self.circleRadius, point_color, -1, cv2.LINE_AA, 0)
+
+        # Draw the direction text on the image
+        if prominent_motion:
+            font = cv2.FONT_HERSHEY_SIMPLEX
+            font_scale = 1
+            font_thickness = 2
+            text_size = cv2.getTextSize(prominent_motion, font, font_scale, font_thickness)[0]
+            text_x = (img.shape[1] - text_size[0]) // 2
+            text_y = text_size[1] + 20  # 20 pixels from the top
+
+            # Get the appropriate color based on the prominent motion
+            text_color = self.direction_colors.get(prominent_motion, (255, 255, 255))  # Default to white
+
+            # Draw the text
+            cv2.putText(img, prominent_motion, (text_x, text_y), font, font_scale, text_color, font_thickness, cv2.LINE_AA)
+
+
+        # Draw vanishing point if provided
+        if vanishing_point is not None:
+            self.drawVanishingPoint(img, vanishing_point)
+
+    def __init__(self, windowName):
+        self.windowName = windowName
+        cv2.namedWindow(windowName)
+        self.trackedIDs = set()
+        self.trackedFeaturesPath = dict()
+
+def create_pipeline():
+    pipeline = dai.Pipeline()
+
+    # Create a MonoCamera node and set its properties
+    mono_left = pipeline.create(dai.node.MonoCamera)
+    mono_left.setCamera("left")
+    mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+    mono_left.setFps(15)
+
+    # Create a FeatureTracker node
+    feature_tracker_left = pipeline.create(dai.node.FeatureTracker)
+
+    # Create XLinkOut nodes for output streams
+    xout_tracked_features_left = pipeline.create(dai.node.XLinkOut)
+    xout_passthrough_left = pipeline.create(dai.node.XLinkOut)
+
+    # Set stream names
+    xout_tracked_features_left.setStreamName("trackedFeaturesLeft")
+    xout_passthrough_left.setStreamName("passthroughLeft")
+
+    # Allocate resources for improved performance
+    num_shaves = 2
+    num_memory_slices = 2
+    feature_tracker_left.setHardwareResources(num_shaves, num_memory_slices)
+
+    # Link the nodes
+    mono_left.out.link(feature_tracker_left.inputImage)
+    feature_tracker_left.passthroughInputImage.link(xout_passthrough_left.input)
+    feature_tracker_left.outputFeatures.link(xout_tracked_features_left.input)
+
+    return pipeline
+
+
+if __name__ == '__main__':
+    pipeline = create_pipeline()
+    with dai.Device(pipeline) as device:
+        output_features_left_queue = device.getOutputQueue(
+            "trackedFeaturesLeft", maxSize=4, blocking=False)
+        passthrough_image_left_queue = device.getOutputQueue(
+            "passthroughLeft", maxSize=4, blocking=False)
+
+        left_window_name = "Left"
+        left_feature_drawer = FeatureTrackerDrawer(left_window_name)
+        camera_estimator_left = CameraMotionEstimator(
+            filter_weight=0.5, motion_threshold=0.3, rotation_threshold=0.5)
+
+        while True:
+            in_passthrough_frame_left = passthrough_image_left_queue.get()
+            passthrough_frame_left = in_passthrough_frame_left.getFrame()
+            left_frame = cv2.cvtColor(passthrough_frame_left, cv2.COLOR_GRAY2BGR)
+
+            tracked_features_left = output_features_left_queue.get().trackedFeatures
+            motions_left, vanishing_pt_left = camera_estimator_left.estimate_motion(
+                left_feature_drawer.trackedFeaturesPath)
+
+            left_feature_drawer.trackFeaturePath(tracked_features_left)
+            left_feature_drawer.drawFeatures(left_frame, vanishing_pt_left, motions_left)
+
+            print("Motions:", motions_left)
+            cv2.imshow(left_window_name, left_frame)
+
+            if cv2.waitKey(1) == ord('q'):
+                break
diff --git a/bindings/python/examples/FeatureTracker/feature_tracker.py b/bindings/python/examples/FeatureTracker/feature_tracker.py
new file mode 100755
index 000000000..4be337e91
--- /dev/null
+++ b/bindings/python/examples/FeatureTracker/feature_tracker.py
@@ -0,0 +1,173 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+from collections import deque
+
+class FeatureTrackerDrawer:
+
+    lineColor = (200, 0, 200)
+    pointColor = (0, 0, 255)
+    circleRadius = 2
+    maxTrackedFeaturesPathLength = 30
+    # for how many frames the feature is tracked
+    trackedFeaturesPathLength = 10
+
+    trackedIDs = None
+    trackedFeaturesPath = None
+
+    def onTrackBar(self, val):
+        FeatureTrackerDrawer.trackedFeaturesPathLength = val
+        pass
+
+    def trackFeaturePath(self, features):
+
+        newTrackedIDs = set()
+        for currentFeature in features:
+            currentID = currentFeature.id
+            newTrackedIDs.add(currentID)
+
+            if currentID not in self.trackedFeaturesPath:
+                self.trackedFeaturesPath[currentID] = deque()
+
+            path = self.trackedFeaturesPath[currentID]
+
+            path.append(currentFeature.position)
+            while(len(path) > max(1, FeatureTrackerDrawer.trackedFeaturesPathLength)):
+                path.popleft()
+
+            self.trackedFeaturesPath[currentID] = path
+
+        featuresToRemove = set()
+        for oldId in self.trackedIDs:
+            if oldId not in newTrackedIDs:
+                featuresToRemove.add(oldId)
+
+        for id in featuresToRemove:
+            self.trackedFeaturesPath.pop(id)
+
+        self.trackedIDs = newTrackedIDs
+
+    def drawFeatures(self, img):
+
+        cv2.setTrackbarPos(self.trackbarName, self.windowName, FeatureTrackerDrawer.trackedFeaturesPathLength)
+
+        for featurePath in self.trackedFeaturesPath.values():
+            path = featurePath
+
+            for j in range(len(path) - 1):
+                src = (int(path[j].x), int(path[j].y))
+                dst = (int(path[j + 1].x), int(path[j + 1].y))
+                cv2.line(img, src, dst, self.lineColor, 1, cv2.LINE_AA, 0)
+            j = len(path) - 1
+            cv2.circle(img, (int(path[j].x), int(path[j].y)), self.circleRadius, self.pointColor, -1, cv2.LINE_AA, 0)
+
+    def __init__(self, trackbarName, windowName):
+        self.trackbarName = trackbarName
+        self.windowName = windowName
+        cv2.namedWindow(windowName)
+        cv2.createTrackbar(trackbarName, windowName, FeatureTrackerDrawer.trackedFeaturesPathLength, FeatureTrackerDrawer.maxTrackedFeaturesPathLength, self.onTrackBar)
+        self.trackedIDs = set()
+        self.trackedFeaturesPath = dict()
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+featureTrackerLeft = pipeline.create(dai.node.FeatureTracker)
+featureTrackerRight = pipeline.create(dai.node.FeatureTracker)
+
+xoutPassthroughFrameLeft = pipeline.create(dai.node.XLinkOut)
+xoutTrackedFeaturesLeft = pipeline.create(dai.node.XLinkOut)
+xoutPassthroughFrameRight = pipeline.create(dai.node.XLinkOut)
+xoutTrackedFeaturesRight = pipeline.create(dai.node.XLinkOut)
+xinTrackedFeaturesConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutPassthroughFrameLeft.setStreamName("passthroughFrameLeft")
+xoutTrackedFeaturesLeft.setStreamName("trackedFeaturesLeft")
+xoutPassthroughFrameRight.setStreamName("passthroughFrameRight")
+xoutTrackedFeaturesRight.setStreamName("trackedFeaturesRight")
+xinTrackedFeaturesConfig.setStreamName("trackedFeaturesConfig")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setCamera("right")
+
+# Linking
+monoLeft.out.link(featureTrackerLeft.inputImage)
+featureTrackerLeft.passthroughInputImage.link(xoutPassthroughFrameLeft.input)
+featureTrackerLeft.outputFeatures.link(xoutTrackedFeaturesLeft.input)
+xinTrackedFeaturesConfig.out.link(featureTrackerLeft.inputConfig)
+
+monoRight.out.link(featureTrackerRight.inputImage)
+featureTrackerRight.passthroughInputImage.link(xoutPassthroughFrameRight.input)
+featureTrackerRight.outputFeatures.link(xoutTrackedFeaturesRight.input)
+xinTrackedFeaturesConfig.out.link(featureTrackerRight.inputConfig)
+
+# By default the least mount of resources are allocated
+# increasing it improves performance
+numShaves = 2
+numMemorySlices = 2
+featureTrackerLeft.setHardwareResources(numShaves, numMemorySlices)
+featureTrackerRight.setHardwareResources(numShaves, numMemorySlices)
+
+featureTrackerConfig = featureTrackerRight.initialConfig.get()
+print("Press 's' to switch between Lucas-Kanade optical flow and hardware accelerated motion estimation!")
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues used to receive the results
+    passthroughImageLeftQueue = device.getOutputQueue("passthroughFrameLeft", 8, False)
+    outputFeaturesLeftQueue = device.getOutputQueue("trackedFeaturesLeft", 8, False)
+    passthroughImageRightQueue = device.getOutputQueue("passthroughFrameRight", 8, False)
+    outputFeaturesRightQueue = device.getOutputQueue("trackedFeaturesRight", 8, False)
+
+    inputFeatureTrackerConfigQueue = device.getInputQueue("trackedFeaturesConfig")
+
+    leftWindowName = "left"
+    leftFeatureDrawer = FeatureTrackerDrawer("Feature tracking duration (frames)", leftWindowName)
+
+    rightWindowName = "right"
+    rightFeatureDrawer = FeatureTrackerDrawer("Feature tracking duration (frames)", rightWindowName)
+
+    while True:
+        inPassthroughFrameLeft = passthroughImageLeftQueue.get()
+        passthroughFrameLeft = inPassthroughFrameLeft.getFrame()
+        leftFrame = cv2.cvtColor(passthroughFrameLeft, cv2.COLOR_GRAY2BGR)
+
+        inPassthroughFrameRight = passthroughImageRightQueue.get()
+        passthroughFrameRight = inPassthroughFrameRight.getFrame()
+        rightFrame = cv2.cvtColor(passthroughFrameRight, cv2.COLOR_GRAY2BGR)
+
+        trackedFeaturesLeft = outputFeaturesLeftQueue.get().trackedFeatures
+        leftFeatureDrawer.trackFeaturePath(trackedFeaturesLeft)
+        leftFeatureDrawer.drawFeatures(leftFrame)
+
+        trackedFeaturesRight = outputFeaturesRightQueue.get().trackedFeatures
+        rightFeatureDrawer.trackFeaturePath(trackedFeaturesRight)
+        rightFeatureDrawer.drawFeatures(rightFrame)
+
+        # Show the frame
+        cv2.imshow(leftWindowName, leftFrame)
+        cv2.imshow(rightWindowName, rightFrame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('s'):
+            if featureTrackerConfig.motionEstimator.type == dai.FeatureTrackerConfig.MotionEstimator.Type.LUCAS_KANADE_OPTICAL_FLOW:
+                featureTrackerConfig.motionEstimator.type = dai.FeatureTrackerConfig.MotionEstimator.Type.HW_MOTION_ESTIMATION
+                print("Switching to hardware accelerated motion estimation")
+            else:
+                featureTrackerConfig.motionEstimator.type = dai.FeatureTrackerConfig.MotionEstimator.Type.LUCAS_KANADE_OPTICAL_FLOW
+                print("Switching to Lucas-Kanade optical flow")
+
+            cfg = dai.FeatureTrackerConfig()
+            cfg.set(featureTrackerConfig)
+            inputFeatureTrackerConfigQueue.send(cfg)
diff --git a/bindings/python/examples/FeatureTracker/feature_tracker_color.py b/bindings/python/examples/FeatureTracker/feature_tracker_color.py
new file mode 100755
index 000000000..6c03e7e4e
--- /dev/null
+++ b/bindings/python/examples/FeatureTracker/feature_tracker_color.py
@@ -0,0 +1,149 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+from collections import deque
+
+class FeatureTrackerDrawer:
+
+    lineColor = (200, 0, 200)
+    pointColor = (0, 0, 255)
+    circleRadius = 2
+    maxTrackedFeaturesPathLength = 30
+    # for how many frames the feature is tracked
+    trackedFeaturesPathLength = 10
+
+    trackedIDs = None
+    trackedFeaturesPath = None
+
+    def onTrackBar(self, val):
+        FeatureTrackerDrawer.trackedFeaturesPathLength = val
+        pass
+
+    def trackFeaturePath(self, features):
+
+        newTrackedIDs = set()
+        for currentFeature in features:
+            currentID = currentFeature.id
+            newTrackedIDs.add(currentID)
+
+            if currentID not in self.trackedFeaturesPath:
+                self.trackedFeaturesPath[currentID] = deque()
+
+            path = self.trackedFeaturesPath[currentID]
+
+            path.append(currentFeature.position)
+            while(len(path) > max(1, FeatureTrackerDrawer.trackedFeaturesPathLength)):
+                path.popleft()
+
+            self.trackedFeaturesPath[currentID] = path
+
+        featuresToRemove = set()
+        for oldId in self.trackedIDs:
+            if oldId not in newTrackedIDs:
+                featuresToRemove.add(oldId)
+
+        for id in featuresToRemove:
+            self.trackedFeaturesPath.pop(id)
+
+        self.trackedIDs = newTrackedIDs
+
+    def drawFeatures(self, img):
+
+        cv2.setTrackbarPos(self.trackbarName, self.windowName, FeatureTrackerDrawer.trackedFeaturesPathLength)
+
+        for featurePath in self.trackedFeaturesPath.values():
+            path = featurePath
+
+            for j in range(len(path) - 1):
+                src = (int(path[j].x), int(path[j].y))
+                dst = (int(path[j + 1].x), int(path[j + 1].y))
+                cv2.line(img, src, dst, self.lineColor, 1, cv2.LINE_AA, 0)
+            j = len(path) - 1
+            cv2.circle(img, (int(path[j].x), int(path[j].y)), self.circleRadius, self.pointColor, -1, cv2.LINE_AA, 0)
+
+    def __init__(self, trackbarName, windowName):
+        self.trackbarName = trackbarName
+        self.windowName = windowName
+        cv2.namedWindow(windowName)
+        cv2.createTrackbar(trackbarName, windowName, FeatureTrackerDrawer.trackedFeaturesPathLength, FeatureTrackerDrawer.maxTrackedFeaturesPathLength, self.onTrackBar)
+        self.trackedIDs = set()
+        self.trackedFeaturesPath = dict()
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+colorCam = pipeline.create(dai.node.ColorCamera)
+featureTrackerColor = pipeline.create(dai.node.FeatureTracker)
+
+xoutPassthroughFrameColor = pipeline.create(dai.node.XLinkOut)
+xoutTrackedFeaturesColor = pipeline.create(dai.node.XLinkOut)
+xinTrackedFeaturesConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutPassthroughFrameColor.setStreamName("passthroughFrameColor")
+xoutTrackedFeaturesColor.setStreamName("trackedFeaturesColor")
+xinTrackedFeaturesConfig.setStreamName("trackedFeaturesConfig")
+
+# Properties
+colorCam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+
+if 1:
+    colorCam.setIspScale(2,3)
+    colorCam.video.link(featureTrackerColor.inputImage)
+else:
+    colorCam.isp.link(featureTrackerColor.inputImage)
+
+# Linking
+featureTrackerColor.passthroughInputImage.link(xoutPassthroughFrameColor.input)
+featureTrackerColor.outputFeatures.link(xoutTrackedFeaturesColor.input)
+xinTrackedFeaturesConfig.out.link(featureTrackerColor.inputConfig)
+
+# By default the least mount of resources are allocated
+# increasing it improves performance
+numShaves = 2
+numMemorySlices = 2
+featureTrackerColor.setHardwareResources(numShaves, numMemorySlices)
+featureTrackerConfig = featureTrackerColor.initialConfig.get()
+
+print("Press 's' to switch between Lucas-Kanade optical flow and hardware accelerated motion estimation!")
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues used to receive the results
+    passthroughImageColorQueue = device.getOutputQueue("passthroughFrameColor", 8, False)
+    outputFeaturesColorQueue = device.getOutputQueue("trackedFeaturesColor", 8, False)
+
+    inputFeatureTrackerConfigQueue = device.getInputQueue("trackedFeaturesConfig")
+
+    colorWindowName = "color"
+    colorFeatureDrawer = FeatureTrackerDrawer("Feature tracking duration (frames)", colorWindowName)
+
+    while True:
+        inPassthroughFrameColor = passthroughImageColorQueue.get()
+        passthroughFrameColor = inPassthroughFrameColor.getCvFrame()
+        colorFrame = passthroughFrameColor
+
+        trackedFeaturesColor = outputFeaturesColorQueue.get().trackedFeatures
+        colorFeatureDrawer.trackFeaturePath(trackedFeaturesColor)
+        colorFeatureDrawer.drawFeatures(colorFrame)
+
+        # Show the frame
+        cv2.imshow(colorWindowName, colorFrame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('s'):
+            if featureTrackerConfig.motionEstimator.type == dai.FeatureTrackerConfig.MotionEstimator.Type.LUCAS_KANADE_OPTICAL_FLOW:
+                featureTrackerConfig.motionEstimator.type = dai.FeatureTrackerConfig.MotionEstimator.Type.HW_MOTION_ESTIMATION
+                print("Switching to hardware accelerated motion estimation")
+            else:
+                featureTrackerConfig.motionEstimator.type = dai.FeatureTrackerConfig.MotionEstimator.Type.LUCAS_KANADE_OPTICAL_FLOW
+                print("Switching to Lucas-Kanade optical flow")
+
+            cfg = dai.FeatureTrackerConfig()
+            cfg.set(featureTrackerConfig)
+            inputFeatureTrackerConfigQueue.send(cfg)
diff --git a/bindings/python/examples/IMU/imu_firmware_update.py b/bindings/python/examples/IMU/imu_firmware_update.py
new file mode 100755
index 000000000..0461a6123
--- /dev/null
+++ b/bindings/python/examples/IMU/imu_firmware_update.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+import math
+
+device = dai.Device()
+
+imuVersion = device.getConnectedIMU()
+imuFirmwareVersion = device.getIMUFirmwareVersion()
+embeddedIMUFirmwareVersion = device.getEmbeddedIMUFirmwareVersion()
+print(f"IMU type: {imuVersion}, firmware version: {imuFirmwareVersion}, embedded firmware version: {embeddedIMUFirmwareVersion}")
+
+print("Warning! Flashing IMU firmware can potentially soft brick your device and should be done with caution.")
+print("Do not unplug your device while the IMU firmware is flashing.")
+print("Type 'y' and press enter to proceed, otherwise exits: ")
+if input() != 'y':
+    print("Prompt declined, exiting...")
+    exit(-1)
+
+# Pipeline is defined, now we can connect to the device
+with device:
+
+    started = device.startIMUFirmwareUpdate()
+    if not started:
+        print("Couldn't start IMU firmware update")
+        exit(1)
+
+    while True:
+        fwUpdateFinished, percentage = device.getIMUFirmwareUpdateStatus()
+        print(f"IMU FW update status: {percentage:.1f}%")
+        if fwUpdateFinished:
+            if percentage == 100:
+                print("Firmware update successful!")
+            else: 
+                print("Firmware update failed!")
+            break
+        time.sleep(1)
diff --git a/bindings/python/examples/IMU/imu_gyroscope_accelerometer.py b/bindings/python/examples/IMU/imu_gyroscope_accelerometer.py
new file mode 100755
index 000000000..f17778079
--- /dev/null
+++ b/bindings/python/examples/IMU/imu_gyroscope_accelerometer.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+import math
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+imu = pipeline.create(dai.node.IMU)
+xlinkOut = pipeline.create(dai.node.XLinkOut)
+
+xlinkOut.setStreamName("imu")
+
+# enable ACCELEROMETER_RAW at 500 hz rate
+imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 500)
+# enable GYROSCOPE_RAW at 400 hz rate
+imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_RAW, 400)
+# it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
+# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
+imu.setBatchReportThreshold(1)
+# maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
+# if lower or equal to batchReportThreshold then the sending is always blocking on device
+# useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+imu.setMaxBatchReports(10)
+
+# Link plugins IMU -> XLINK
+imu.out.link(xlinkOut.input)
+
+# Pipeline is defined, now we can connect to the device
+with dai.Device(pipeline) as device:
+
+    def timeDeltaToMilliS(delta) -> float:
+        return delta.total_seconds()*1000
+
+    # Output queue for imu bulk packets
+    imuQueue = device.getOutputQueue(name="imu", maxSize=50, blocking=False)
+    baseTs = None
+    while True:
+        imuData = imuQueue.get()  # blocking call, will wait until a new data has arrived
+
+        imuPackets = imuData.packets
+        for imuPacket in imuPackets:
+            acceleroValues = imuPacket.acceleroMeter
+            gyroValues = imuPacket.gyroscope
+
+            acceleroTs = acceleroValues.getTimestampDevice()
+            gyroTs = gyroValues.getTimestampDevice()
+            if baseTs is None:
+                baseTs = acceleroTs if acceleroTs < gyroTs else gyroTs
+            acceleroTs = timeDeltaToMilliS(acceleroTs - baseTs)
+            gyroTs = timeDeltaToMilliS(gyroTs - baseTs)
+
+            imuF = "{:.06f}"
+            tsF  = "{:.03f}"
+
+            print(f"Accelerometer timestamp: {tsF.format(acceleroTs)} ms")
+            print(f"Accelerometer [m/s^2]: x: {imuF.format(acceleroValues.x)} y: {imuF.format(acceleroValues.y)} z: {imuF.format(acceleroValues.z)}")
+            print(f"Gyroscope timestamp: {tsF.format(gyroTs)} ms")
+            print(f"Gyroscope [rad/s]: x: {imuF.format(gyroValues.x)} y: {imuF.format(gyroValues.y)} z: {imuF.format(gyroValues.z)} ")
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/IMU/imu_rotation_vector.py b/bindings/python/examples/IMU/imu_rotation_vector.py
new file mode 100755
index 000000000..444079248
--- /dev/null
+++ b/bindings/python/examples/IMU/imu_rotation_vector.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+import math
+
+device = dai.Device()
+
+imuType = device.getConnectedIMU()
+imuFirmwareVersion = device.getIMUFirmwareVersion()
+print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}")
+
+if imuType != "BNO086":
+    print("Rotation vector output is supported only by BNO086!")
+    exit(1)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+imu = pipeline.create(dai.node.IMU)
+xlinkOut = pipeline.create(dai.node.XLinkOut)
+
+xlinkOut.setStreamName("imu")
+
+# enable ROTATION_VECTOR at 400 hz rate
+imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 400)
+# it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
+# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
+imu.setBatchReportThreshold(1)
+# maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
+# if lower or equal to batchReportThreshold then the sending is always blocking on device
+# useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+imu.setMaxBatchReports(10)
+
+# Link plugins IMU -> XLINK
+imu.out.link(xlinkOut.input)
+
+# Pipeline is defined, now we can connect to the device
+with device:
+    device.startPipeline(pipeline)
+
+    def timeDeltaToMilliS(delta) -> float:
+        return delta.total_seconds()*1000
+
+    # Output queue for imu bulk packets
+    imuQueue = device.getOutputQueue(name="imu", maxSize=50, blocking=False)
+    baseTs = None
+    while True:
+        imuData = imuQueue.get()  # blocking call, will wait until a new data has arrived
+
+        imuPackets = imuData.packets
+        for imuPacket in imuPackets:
+            rVvalues = imuPacket.rotationVector
+
+            rvTs = rVvalues.getTimestampDevice()
+            if baseTs is None:
+                baseTs = rvTs
+            rvTs = rvTs - baseTs
+
+            imuF = "{:.06f}"
+            tsF  = "{:.03f}"
+
+            print(f"Rotation vector timestamp: {tsF.format(timeDeltaToMilliS(rvTs))} ms")
+            print(f"Quaternion: i: {imuF.format(rVvalues.i)} j: {imuF.format(rVvalues.j)} "
+                f"k: {imuF.format(rVvalues.k)} real: {imuF.format(rVvalues.real)}")
+            print(f"Accuracy (rad): {imuF.format(rVvalues.rotationVectorAccuracy)}")
+
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/IMU/imu_version.py b/bindings/python/examples/IMU/imu_version.py
new file mode 100755
index 000000000..a98e921bf
--- /dev/null
+++ b/bindings/python/examples/IMU/imu_version.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+device = dai.Device()
+
+imuType = device.getConnectedIMU()
+imuFirmwareVersion = device.getIMUFirmwareVersion()
+print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}")
diff --git a/bindings/python/examples/ImageManip/image_manip_rotate.py b/bindings/python/examples/ImageManip/image_manip_rotate.py
new file mode 100755
index 000000000..37b09733d
--- /dev/null
+++ b/bindings/python/examples/ImageManip/image_manip_rotate.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Rotate color frames
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(640, 400)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+
+manipRgb = pipeline.create(dai.node.ImageManip)
+rgbRr = dai.RotatedRect()
+rgbRr.center.x, rgbRr.center.y = camRgb.getPreviewWidth() // 2, camRgb.getPreviewHeight() // 2
+rgbRr.size.width, rgbRr.size.height = camRgb.getPreviewHeight(), camRgb.getPreviewWidth()
+rgbRr.angle = 90
+manipRgb.initialConfig.setCropRotatedRect(rgbRr, False)
+camRgb.preview.link(manipRgb.inputImage)
+
+manipRgbOut = pipeline.create(dai.node.XLinkOut)
+manipRgbOut.setStreamName("manip_rgb")
+manipRgb.out.link(manipRgbOut.input)
+
+# Rotate mono frames
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+
+manipLeft = pipeline.create(dai.node.ImageManip)
+rr = dai.RotatedRect()
+rr.center.x, rr.center.y = monoLeft.getResolutionWidth() // 2, monoLeft.getResolutionHeight() // 2
+rr.size.width, rr.size.height = monoLeft.getResolutionHeight(), monoLeft.getResolutionWidth()
+rr.angle = 90
+manipLeft.initialConfig.setCropRotatedRect(rr, False)
+monoLeft.out.link(manipLeft.inputImage)
+
+manipLeftOut = pipeline.create(dai.node.XLinkOut)
+manipLeftOut.setStreamName("manip_left")
+manipLeft.out.link(manipLeftOut.input)
+
+with dai.Device(pipeline) as device:
+    qLeft = device.getOutputQueue(name="manip_left", maxSize=8, blocking=False)
+    qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False)
+
+    while True:
+        inLeft = qLeft.tryGet()
+        if inLeft is not None:
+            cv2.imshow('Left rotated', inLeft.getCvFrame())
+
+        inRgb = qRgb.tryGet()
+        if inRgb is not None:
+            cv2.imshow('Color rotated', inRgb.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/ImageManip/image_manip_thumbnail_video.py b/bindings/python/examples/ImageManip/image_manip_thumbnail_video.py
new file mode 100644
index 000000000..741d08b07
--- /dev/null
+++ b/bindings/python/examples/ImageManip/image_manip_thumbnail_video.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+labelMap = ["person", ""]
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/person-detection-retail-0013_openvino_2021.4_7shave.blob')).resolve().absolute())
+videoPathDefault = str((Path(__file__).parent / Path('../models/construction_vest.mp4')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('-nnPath', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-v', '--videoPath', help="Path to video frame", default=videoPathDefault)
+
+args = parser.parse_args()
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+manip = pipeline.create(dai.node.ImageManip)
+
+manipOut = pipeline.create(dai.node.XLinkOut)
+xinFrame = pipeline.create(dai.node.XLinkIn)
+
+manipOut.setStreamName("manip")
+xinFrame.setStreamName("inFrame")
+
+# Properties
+xinFrame.setMaxDataSize(1920*1080*3)
+
+manip.initialConfig.setResizeThumbnail(544, 320, 255, 0, 0)
+# manip.initialConfig.setResize(384, 384)
+# manip.initialConfig.setKeepAspectRatio(False) #squash the image to not lose FOV
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+manip.inputImage.setBlocking(True)
+
+# Linking
+manip.out.link(manipOut.input)
+xinFrame.out.link(manip.inputImage)
+
+# Connect and start the pipeline
+with dai.Device(pipeline) as device:
+
+    qIn = device.getInputQueue(name="inFrame")
+    qManip = device.getOutputQueue(name="manip", maxSize=4)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    detections = []
+    frame = None
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(args.videoPath)
+    baseTs = time.monotonic()
+    simulatedFps = 30
+    inputFrameShape = (1920, 1080)
+
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setType(dai.ImgFrame.Type.BGR888p)
+        img.setData(to_planar(frame, inputFrameShape))
+        img.setTimestamp(baseTs)
+        baseTs += 1/simulatedFps
+
+        img.setWidth(inputFrameShape[0])
+        img.setHeight(inputFrameShape[1])
+        qIn.send(img)
+
+        manip = qManip.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        manipFrame = manip.getCvFrame()
+        displayFrame("nn", manipFrame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ImageManip/image_manip_tiling.py b/bindings/python/examples/ImageManip/image_manip_tiling.py
new file mode 100755
index 000000000..1444099e6
--- /dev/null
+++ b/bindings/python/examples/ImageManip/image_manip_tiling.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(1000, 500)
+camRgb.setInterleaved(False)
+maxFrameSize = camRgb.getPreviewHeight() * camRgb.getPreviewWidth() * 3
+
+# In this example we use 2 imageManips for splitting the original 1000x500
+# preview frame into 2 500x500 frames
+manip1 = pipeline.create(dai.node.ImageManip)
+manip1.initialConfig.setCropRect(0, 0, 0.5, 1)
+manip1.setMaxOutputFrameSize(maxFrameSize)
+camRgb.preview.link(manip1.inputImage)
+
+manip2 = pipeline.create(dai.node.ImageManip)
+manip2.initialConfig.setCropRect(0.5, 0, 1, 1)
+manip2.setMaxOutputFrameSize(maxFrameSize)
+camRgb.preview.link(manip2.inputImage)
+
+xout1 = pipeline.create(dai.node.XLinkOut)
+xout1.setStreamName('out1')
+manip1.out.link(xout1.input)
+
+xout2 = pipeline.create(dai.node.XLinkOut)
+xout2.setStreamName('out2')
+manip2.out.link(xout2.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    # Output queue will be used to get the rgb frames from the output defined above
+    q1 = device.getOutputQueue(name="out1", maxSize=4, blocking=False)
+    q2 = device.getOutputQueue(name="out2", maxSize=4, blocking=False)
+
+    while True:
+        if q1.has():
+            cv2.imshow("Tile 1", q1.get().getCvFrame())
+
+        if q2.has():
+            cv2.imshow("Tile 2", q2.get().getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ImageManip/image_manip_warp_mesh.py b/bindings/python/examples/ImageManip/image_manip_warp_mesh.py
new file mode 100755
index 000000000..eadff4c77
--- /dev/null
+++ b/bindings/python/examples/ImageManip/image_manip_warp_mesh.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(500, 500)
+camRgb.setInterleaved(False)
+maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
+
+# Warp preview frame 1
+manip1 = pipeline.create(dai.node.ImageManip)
+# Create a custom warp mesh
+tl = dai.Point2f(20, 20)
+tr = dai.Point2f(460, 20)
+ml = dai.Point2f(100, 250)
+mr = dai.Point2f(400, 250)
+bl = dai.Point2f(20, 460)
+br = dai.Point2f(460, 460)
+manip1.setWarpMesh([tl,tr,ml,mr,bl,br], 2, 3)
+manip1.setMaxOutputFrameSize(maxFrameSize)
+
+camRgb.preview.link(manip1.inputImage)
+xout1 = pipeline.create(dai.node.XLinkOut)
+xout1.setStreamName('out1')
+manip1.out.link(xout1.input)
+
+# Warp preview frame 2
+manip2 = pipeline.create(dai.node.ImageManip);
+# Create a custom warp mesh
+mesh2 = [
+    (20, 20), (250, 100), (460, 20),
+    (100, 250), (250, 250), (400, 250),
+    (20, 480), (250, 400), (460,480)
+]
+manip2.setWarpMesh(mesh2, 3, 3);
+manip2.setMaxOutputFrameSize(maxFrameSize);
+
+camRgb.preview.link(manip2.inputImage);
+xout2 = pipeline.create(dai.node.XLinkOut)
+xout2.setStreamName('out2')
+manip2.out.link(xout2.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    # Output queue will be used to get the rgb frames from the output defined above
+    q1 = device.getOutputQueue(name="out1", maxSize=8, blocking=False)
+    q2 = device.getOutputQueue(name="out2", maxSize=8, blocking=False)
+
+    while True:
+        in1 = q1.get()
+        if in1 is not None:
+            cv2.imshow("Warped preview 1", in1.getCvFrame())
+        in2 = q2.get()
+        if in2 is not None:
+            cv2.imshow("Warped preview 2", in2.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ImageManip/rgb_rotate_warp.py b/bindings/python/examples/ImageManip/rgb_rotate_warp.py
new file mode 100755
index 000000000..822f89162
--- /dev/null
+++ b/bindings/python/examples/ImageManip/rgb_rotate_warp.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+
+"""
+This example shows usage of ImageManip to crop a rotated rectangle area on a frame,
+or perform various image transforms: rotate, mirror, flip, perspective transform.
+"""
+
+import depthai as dai
+import cv2
+import numpy as np
+
+keyRotateDecr = 'z'
+keyRotateIncr = 'x'
+keyResizeInc = 'v'
+keyWarpTestCycle = 'c'
+
+def printControls():
+    print("=== Controls:")
+    print(keyRotateDecr, "-rotated rectangle crop, decrease rate")
+    print(keyRotateIncr, "-rotated rectangle crop, increase rate")
+    print(keyWarpTestCycle, "-warp 4-point transform, cycle through modes")
+    print(keyResizeInc, "-resize cropped region, or disable resize")
+    print("h -print controls (help)")
+
+rotateRateMax = 5.0
+rotateRateInc = 0.1
+
+resizeMaxW = 800
+resizeMaxH = 600
+resizeFactorMax = 5
+
+'''
+The crop points are specified in clockwise order,
+with first point mapped to output top-left, as:
+    P0  ->  P1
+     ^       v
+    P3  <-  P2
+'''
+P0 = [0, 0]  # top-left
+P1 = [1, 0]  # top-right
+P2 = [1, 1]  # bottom-right
+P3 = [0, 1]  # bottom-left
+
+warpList = [
+    # points order, normalized cordinates, description
+    # [[[0, 0], [1, 0], [1, 1], [0, 1]], True, "passthrough"],
+    # [[[0, 0], [639, 0], [639, 479], [0, 479]], False, "passthrough (pixels)"],
+    [[P0, P1, P2, P3], True, "1. passthrough"],
+    [[P3, P0, P1, P2], True, "2. rotate 90"],
+    [[P2, P3, P0, P1], True, "3. rotate 180"],
+    [[P1, P2, P3, P0], True, "4. rotate 270"],
+    [[P1, P0, P3, P2], True, "5. horizontal mirror"],
+    [[P3, P2, P1, P0], True, "6. vertical flip"],
+    [[[-0.1, -0.1], [1.1, -0.1], [1.1, 1.1], [-0.1, 1.1]], True, "7. add black borders"],
+    [[[-0.3, 0], [1, 0], [1.3, 1], [0, 1]], True, "8. parallelogram transform"],
+    [[[-0.2, 0], [1.8, 0], [1, 1], [0, 1]], True, "9. trapezoid transform"],
+]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+manip = pipeline.create(dai.node.ImageManip)
+
+camOut = pipeline.create(dai.node.XLinkOut)
+manipOut = pipeline.create(dai.node.XLinkOut)
+manipCfg = pipeline.create(dai.node.XLinkIn)
+
+camOut.setStreamName("preview")
+manipOut.setStreamName("manip")
+manipCfg.setStreamName("manipCfg")
+
+# Properties
+camRgb.setPreviewSize(640, 480)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+manip.setMaxOutputFrameSize(2000 * 1500 * 3)
+
+# Linking
+camRgb.preview.link(camOut.input)
+camRgb.preview.link(manip.inputImage)
+manip.out.link(manipOut.input)
+manipCfg.out.link(manip.inputConfig)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Create input & output queues
+    qPreview = device.getOutputQueue(name="preview", maxSize=4)
+    qManip = device.getOutputQueue(name="manip", maxSize=4)
+    qManipCfg = device.getInputQueue(name="manipCfg")
+
+    key = -1
+    angleDeg = 0
+    rotateRate = 1.0
+    resizeFactor = 0
+    resizeX = 0
+    resizeY = 0
+    testFourPt = False
+    warpIdx = -1
+
+    printControls()
+
+    while key != ord('q'):
+        if key > 0:
+            print("Pressed: ", key)
+            if key == ord(keyRotateDecr) or key == ord(keyRotateIncr):
+                if key == ord(keyRotateDecr):
+                    if rotateRate > -rotateRateMax:
+                        rotateRate -= rotateRateInc
+                if key == ord(keyRotateIncr):
+                    if rotateRate < rotateRateMax:
+                        rotateRate += rotateRateInc
+                testFourPt = False
+                print("Crop rotated rectangle, rate per frame: {:.1f} degrees".format(rotateRate))
+            elif key == ord(keyResizeInc):
+                resizeFactor += 1
+                if resizeFactor > resizeFactorMax:
+                    resizeFactor = 0
+                    print("Crop region not resized")
+                else:
+                    resizeX = resizeMaxW // resizeFactor
+                    resizeY = resizeMaxH // resizeFactor
+                    print("Crop region resized to: ", resizeX, 'x', resizeY)
+            elif key == ord(keyWarpTestCycle):
+                # Disable resizing initially
+                resizeFactor = 0
+                warpIdx = (warpIdx + 1) % len(warpList)
+                testFourPt = True
+                testDescription = warpList[warpIdx][2]
+                print("Warp 4-point transform: ", testDescription)
+            elif key == ord('h'):
+                printControls()
+
+        # Send an updated config with continuous rotate, or after a key press
+        if key >= 0 or (not testFourPt and abs(rotateRate) > 0.0001):
+            cfg = dai.ImageManipConfig()
+            if testFourPt:
+                test = warpList[warpIdx]
+                points, normalized = test[0], test[1]
+                point2fList = []
+                for p in points:
+                    pt = dai.Point2f()
+                    pt.x, pt.y = p[0], p[1]
+                    point2fList.append(pt)
+                cfg.setWarpTransformFourPoints(point2fList, normalized)
+            else:
+                angleDeg += rotateRate
+                rotatedRect = ((320, 240), (400, 400), angleDeg)
+                rr = dai.RotatedRect()
+                rr.center.x, rr.center.y = rotatedRect[0]
+                rr.size.width, rr.size.height = rotatedRect[1]
+                rr.angle = rotatedRect[2]
+                cfg.setCropRotatedRect(rr, False)
+            if resizeFactor > 0:
+                cfg.setResize(resizeX, resizeY)
+            # cfg.setWarpBorderFillColor(255, 0, 0)
+            # cfg.setWarpBorderReplicatePixels()
+            qManipCfg.send(cfg)
+
+        for q in [qPreview, qManip]:
+            pkt = q.get()
+            name = q.getName()
+            shape = (3, pkt.getHeight(), pkt.getWidth())
+            frame = pkt.getCvFrame()
+            if name == "preview" and not testFourPt:
+                # Draw RotatedRect cropped area on input frame
+                points = np.int0(cv2.boxPoints(rotatedRect))
+                cv2.drawContours(frame, [points], 0, (255, 0, 0), 1)
+                # Mark top-left corner
+                cv2.circle(frame, tuple(points[1]), 10, (255, 0, 0), 2)
+            cv2.imshow(name, frame)
+        key = cv2.waitKey(1)
diff --git a/bindings/python/examples/MobileNet/mono_mobilenet.py b/bindings/python/examples/MobileNet/mono_mobilenet.py
new file mode 100755
index 000000000..49ccae728
--- /dev/null
+++ b/bindings/python/examples/MobileNet/mono_mobilenet.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoRight = pipeline.create(dai.node.MonoCamera)
+manip = pipeline.create(dai.node.ImageManip)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+manipOut = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+manipOut.setStreamName("right")
+nnOut.setStreamName("nn")
+
+# Properties
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Convert the grayscale frame into the nn-acceptable form
+manip.initialConfig.setResize(300, 300)
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+monoRight.out.link(manip.inputImage)
+manip.out.link(nn.input)
+manip.out.link(manipOut.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale frames and nn data from the outputs defined above
+    qRight = device.getOutputQueue("right", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue("nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        inRight = qRight.tryGet()
+        inDet = qDet.tryGet()
+
+        if inRight is not None:
+            frame = inRight.getCvFrame()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("right", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MobileNet/rgb_mobilenet.py b/bindings/python/examples/MobileNet/rgb_mobilenet.py
new file mode 100755
index 000000000..94d734128
--- /dev/null
+++ b/bindings/python/examples/MobileNet/rgb_mobilenet.py
@@ -0,0 +1,123 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+nnNetworkOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+nnNetworkOut.setStreamName("nnNetwork");
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+camRgb.setFps(40)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(args.nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+nn.outNetwork.link(nnNetworkOut.input);
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    qNN = device.getOutputQueue(name="nnNetwork", maxSize=4, blocking=False);
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    printOutputLayersOnce = True
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+            inNN = qNN.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+            inNN = qNN.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        if printOutputLayersOnce and inNN is not None:
+            toPrint = 'Output layer names:'
+            for ten in inNN.getAllLayerNames():
+                toPrint = f'{toPrint} {ten},'
+            print(toPrint)
+            printOutputLayersOnce = False;
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MobileNet/rgb_mobilenet_4k.py b/bindings/python/examples/MobileNet/rgb_mobilenet_4k.py
new file mode 100755
index 000000000..5742814f2
--- /dev/null
+++ b/bindings/python/examples/MobileNet/rgb_mobilenet_4k.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_5shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+xoutPreview = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+xoutPreview.setStreamName("preview")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(300, 300)    # NN input
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+camRgb.setInterleaved(False)
+camRgb.setPreviewKeepAspectRatio(False)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+camRgb.preview.link(xoutPreview.input)
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the frames and nn data from the outputs defined above
+    qVideo = device.getOutputQueue(name="video", maxSize=4, blocking=False)
+    qPreview = device.getOutputQueue(name="preview", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    previewFrame = None
+    videoFrame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cv2.namedWindow("video", cv2.WINDOW_NORMAL)
+    cv2.resizeWindow("video", 1280, 720)
+    print("Resize video window with mouse drag!")
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        inVideo = qVideo.tryGet()
+        inPreview = qPreview.tryGet()
+        inDet = qDet.tryGet()
+
+        if inVideo is not None:
+            videoFrame = inVideo.getCvFrame()
+
+        if inPreview is not None:
+            previewFrame = inPreview.getCvFrame()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if videoFrame is not None:
+            displayFrame("video", videoFrame)
+
+        if previewFrame is not None:
+            displayFrame("preview", previewFrame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MobileNet/video_mobilenet.py b/bindings/python/examples/MobileNet/video_mobilenet.py
new file mode 100755
index 000000000..417bfcd3a
--- /dev/null
+++ b/bindings/python/examples/MobileNet/video_mobilenet.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+from time import monotonic
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/mobilenet-ssd_openvino_2021.4_8shave.blob')).resolve().absolute())
+videoPath = str((parentDir / Path('../models/construction_vest.mp4')).resolve().absolute())
+if len(sys.argv) > 2:
+    nnPath = sys.argv[1]
+    videoPath = sys.argv[2]
+
+if not Path(nnPath).exists() or not Path(videoPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xinFrame.setStreamName("inFrame")
+nnOut.setStreamName("nn")
+
+# Properties
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+xinFrame.out.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue will be used to get nn data from the video frames.
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(videoPath)
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setData(to_planar(frame, (300, 300)))
+        img.setTimestamp(monotonic())
+        img.setWidth(300)
+        img.setHeight(300)
+        qIn.send(img)
+
+        inDet = qDet.tryGet()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MonoCamera/mono_camera_control.py b/bindings/python/examples/MonoCamera/mono_camera_control.py
new file mode 100755
index 000000000..b70c59441
--- /dev/null
+++ b/bindings/python/examples/MonoCamera/mono_camera_control.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+
+"""
+This example shows usage of mono camera in crop mode with the possibility to move the crop.
+Uses 'WASD' controls to move the crop window, 'T' to trigger autofocus, 'IOKL,.' for manual exposure/focus:
+  Control:      key[dec/inc]  min..max
+  exposure time:     I   O      1..33000 [us]
+  sensitivity iso:   K   L    100..1600
+To go back to auto controls:
+  'E' - autoexposure
+"""
+
+import cv2
+import depthai as dai
+
+# Step size ('W','A','S','D' controls)
+stepSize = 0.02
+# Manual exposure/focus set step
+expStep = 500  # us
+isoStep = 50
+
+def clamp(num, v0, v1):
+    return max(v0, min(num, v1))
+
+sendCamConfig = False
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+manipRight = pipeline.create(dai.node.ImageManip)
+manipLeft = pipeline.create(dai.node.ImageManip)
+
+controlIn = pipeline.create(dai.node.XLinkIn)
+configIn = pipeline.create(dai.node.XLinkIn)
+manipOutRight = pipeline.create(dai.node.XLinkOut)
+manipOutLeft = pipeline.create(dai.node.XLinkOut)
+
+controlIn.setStreamName('control')
+configIn.setStreamName('config')
+manipOutRight.setStreamName("right")
+manipOutLeft.setStreamName("left")
+
+# Crop range
+topLeft = dai.Point2f(0.2, 0.2)
+bottomRight = dai.Point2f(0.8, 0.8)
+
+# Properties
+monoRight.setCamera("right")
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+manipRight.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
+manipLeft.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
+manipRight.setMaxOutputFrameSize(monoRight.getResolutionHeight()*monoRight.getResolutionWidth()*3)
+
+# Linking
+monoRight.out.link(manipRight.inputImage)
+monoLeft.out.link(manipLeft.inputImage)
+controlIn.out.link(monoRight.inputControl)
+controlIn.out.link(monoLeft.inputControl)
+configIn.out.link(manipRight.inputConfig)
+configIn.out.link(manipLeft.inputConfig)
+manipRight.out.link(manipOutRight.input)
+manipLeft.out.link(manipOutLeft.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale frames
+    qRight = device.getOutputQueue(manipOutRight.getStreamName(), maxSize=4, blocking=False)
+    qLeft = device.getOutputQueue(manipOutLeft.getStreamName(), maxSize=4, blocking=False)
+    configQueue = device.getInputQueue(configIn.getStreamName())
+    controlQueue = device.getInputQueue(controlIn.getStreamName())
+
+    # Defaults and limits for manual focus/exposure controls
+    expTime = 20000
+    expMin = 1
+    expMax = 33000
+
+    sensIso = 800
+    sensMin = 100
+    sensMax = 1600
+
+    while True:
+        inRight = qRight.get()
+        inLeft = qLeft.get()
+        cv2.imshow("right", inRight.getCvFrame())
+        cv2.imshow("left", inLeft.getCvFrame())
+
+        # Update screen (1ms pooling rate)
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('e'):
+            print("Autoexposure enable")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureEnable()
+            controlQueue.send(ctrl)
+        elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
+            if key == ord('i'): expTime -= expStep
+            if key == ord('o'): expTime += expStep
+            if key == ord('k'): sensIso -= isoStep
+            if key == ord('l'): sensIso += isoStep
+            expTime = clamp(expTime, expMin, expMax)
+            sensIso = clamp(sensIso, sensMin, sensMax)
+            print("Setting manual exposure, time:", expTime, "iso:", sensIso)
+            ctrl = dai.CameraControl()
+            ctrl.setManualExposure(expTime, sensIso)
+            controlQueue.send(ctrl)
+        elif key == ord('w'):
+            if topLeft.y - stepSize >= 0:
+                topLeft.y -= stepSize
+                bottomRight.y -= stepSize
+                sendCamConfig = True
+        elif key == ord('a'):
+            if topLeft.x - stepSize >= 0:
+                topLeft.x -= stepSize
+                bottomRight.x -= stepSize
+                sendCamConfig = True
+        elif key == ord('s'):
+            if bottomRight.y + stepSize <= 1:
+                topLeft.y += stepSize
+                bottomRight.y += stepSize
+                sendCamConfig = True
+        elif key == ord('d'):
+            if bottomRight.x + stepSize <= 1:
+                topLeft.x += stepSize
+                bottomRight.x += stepSize
+                sendCamConfig = True
+
+        # Send new config to camera
+        if sendCamConfig:
+            cfg = dai.ImageManipConfig()
+            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
+            configQueue.send(cfg)
+            sendCamConfig = False
diff --git a/bindings/python/examples/MonoCamera/mono_full_resolution_saver.py b/bindings/python/examples/MonoCamera/mono_full_resolution_saver.py
new file mode 100755
index 000000000..06e263418
--- /dev/null
+++ b/bindings/python/examples/MonoCamera/mono_full_resolution_saver.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import time
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+monoRight = pipeline.create(dai.node.MonoCamera)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+
+xoutRight.setStreamName("right")
+
+# Properties
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(xoutRight.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the grayscale frames from the output defined above
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+
+    dirName = "mono_data"
+    Path(dirName).mkdir(parents=True, exist_ok=True)
+
+    while True:
+        inRight = qRight.get()  # Blocking call, will wait until a new data has arrived
+        # Data is originally represented as a flat 1D array, it needs to be converted into HxW form
+        # Frame is transformed and ready to be shown
+        cv2.imshow("right", inRight.getCvFrame())
+
+        # After showing the frame, it's being stored inside a target directory as a PNG image
+        cv2.imwrite(f"{dirName}/{int(time.time() * 1000)}.png", inRight.getFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MonoCamera/mono_left_preview.py b/bindings/python/examples/MonoCamera/mono_left_preview.py
new file mode 100755
index 000000000..bc865fab0
--- /dev/null
+++ b/bindings/python/examples/MonoCamera/mono_left_preview.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+manipLeft = pipeline.create(dai.node.ImageManip)
+# monoRight = pipeline.create(dai.node.MonoCamera)
+# monoVertical = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+# xoutRight = pipeline.create(dai.node.XLinkOut)
+# xoutVertical = pipeline.create(dai.node.XLinkOut)
+
+xoutLeft.setStreamName('left')
+manipLeft.setResize(640, 480)
+manipLeft.setKeepAspectRatio(False)
+# xoutRight.setStreamName('right')
+# xoutVertical.setStreamName('vertical')
+
+# Properties
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+# monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+# monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+# monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+# monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoLeft.out.link(manipLeft.inputImage)
+manipLeft.out.link(xoutLeft.input)
+# monoRight.out.link(xoutRight.input)
+# monoVertical.out.link(xoutVertical.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale frames from the outputs defined above
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    # qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    # qVertical = device.getOutputQueue(name="vertical", maxSize=4, blocking=False)
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        inLeft = qLeft.get()
+        # inRight = qRight.get()
+        # inVertical = qVertical.get()
+
+        cv2.imshow("left", inLeft.getCvFrame())
+        # cv2.imshow("right", inRight.getCvFrame())
+        # cv2.imshow("vertical", inVertical.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MonoCamera/mono_preview.py b/bindings/python/examples/MonoCamera/mono_preview.py
new file mode 100755
index 000000000..eff46654e
--- /dev/null
+++ b/bindings/python/examples/MonoCamera/mono_preview.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoVertical = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutVertical = pipeline.create(dai.node.XLinkOut)
+
+xoutLeft.setStreamName('left')
+xoutRight.setStreamName('right')
+xoutVertical.setStreamName('vertical')
+
+# Properties
+monoLeft.setCamera("left")
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(xoutRight.input)
+monoLeft.out.link(xoutLeft.input)
+monoVertical.out.link(xoutVertical.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale frames from the outputs defined above
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    qVertical = device.getOutputQueue(name="vertical", maxSize=4, blocking=False)
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        inLeft = qLeft.get()
+        inRight = qRight.get()
+        inVertical = qVertical.get()
+
+        cv2.imshow("left", inLeft.getCvFrame())
+        cv2.imshow("right", inRight.getCvFrame())
+        cv2.imshow("vertical", inVertical.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/MonoCamera/mono_preview_alternate_pro.py b/bindings/python/examples/MonoCamera/mono_preview_alternate_pro.py
new file mode 100755
index 000000000..9d6e53800
--- /dev/null
+++ b/bindings/python/examples/MonoCamera/mono_preview_alternate_pro.py
@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+if 1:  # PoE config
+    fps = 30
+    res = dai.MonoCameraProperties.SensorResolution.THE_400_P
+    poolSize = 24  # default 3, increased to prevent desync
+else:  # USB
+    fps = 30
+    res = dai.MonoCameraProperties.SensorResolution.THE_720_P
+    poolSize = 8  # default 3, increased to prevent desync
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoL = pipeline.create(dai.node.MonoCamera)
+monoR = pipeline.create(dai.node.MonoCamera)
+
+monoL.setCamera("left")
+monoL.setResolution(res)
+monoL.setFps(fps)
+monoL.setNumFramesPool(poolSize)
+monoR.setCamera("right")
+monoR.setResolution(res)
+monoR.setFps(fps)
+monoR.setNumFramesPool(poolSize)
+
+xoutDotL = pipeline.create(dai.node.XLinkOut)
+xoutDotR = pipeline.create(dai.node.XLinkOut)
+xoutFloodL = pipeline.create(dai.node.XLinkOut)
+xoutFloodR = pipeline.create(dai.node.XLinkOut)
+
+xoutDotL.setStreamName('dot-left')
+xoutDotR.setStreamName('dot-right')
+xoutFloodL.setStreamName('flood-left')
+xoutFloodR.setStreamName('flood-right')
+streams = ['dot-left', 'dot-right', 'flood-left', 'flood-right']
+
+# Script node for frame routing and IR dot/flood alternate
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+    dotBright = 0.8
+    floodBright = 0.1
+    LOGGING = False  # Set `True` for latency/timings debugging
+
+    node.warn(f'IR drivers detected: {str(Device.getIrDrivers())}')
+
+    flagDot = False
+    while True:
+        # Wait first for a frame event, received at MIPI start-of-frame
+        event = node.io['event'].get()
+        if LOGGING: tEvent = Clock.now()
+
+        # Immediately reconfigure the IR driver.
+        # Note the logic is inverted, as it applies for next frame
+        Device.setIrLaserDotProjectorIntensity(0 if flagDot else dotBright)
+        Device.setIrFloodLightIntensity(floodBright if flagDot else 0)
+        if LOGGING: tIrSet = Clock.now()
+
+        # Wait for the actual frames (after MIPI capture and ISP proc is done)
+        frameL = node.io['frameL'].get()
+        if LOGGING: tLeft = Clock.now()
+        frameR = node.io['frameR'].get()
+        if LOGGING: tRight = Clock.now()
+
+        if LOGGING:
+            latIR      = (tIrSet - tEvent               ).total_seconds() * 1000
+            latEv      = (tEvent - event.getTimestamp() ).total_seconds() * 1000
+            latProcL   = (tLeft  - event.getTimestamp() ).total_seconds() * 1000
+            diffRecvRL = (tRight - tLeft                ).total_seconds() * 1000
+            node.warn(f'T[ms] latEv:{latEv:5.3f} latIR:{latIR:5.3f} latProcL:{latProcL:6.3f} '
+                    + f' diffRecvRL:{diffRecvRL:5.3f}')
+
+        # Sync checks
+        diffSeq = frameL.getSequenceNum() - event.getSequenceNum()
+        diffTsEv = (frameL.getTimestamp() - event.getTimestamp()).total_seconds() * 1000
+        diffTsRL = (frameR.getTimestamp() - frameL.getTimestamp()).total_seconds() * 1000
+        if diffSeq or diffTsEv or (abs(diffTsRL) > 0.8):
+            node.error(f'frame/event desync! Fr-Ev: {diffSeq} frames,'
+                    + f' {diffTsEv:.3f} ms; R-L: {diffTsRL:.3f} ms')
+
+        # Route the frames to their respective outputs
+        node.io['dotL' if flagDot else 'floodL'].send(frameL)
+        node.io['dotR' if flagDot else 'floodR'].send(frameR)
+
+        flagDot = not flagDot
+""")
+
+# Linking
+monoL.frameEvent.link(script.inputs['event'])
+monoL.out.link(script.inputs['frameL'])
+monoR.out.link(script.inputs['frameR'])
+
+script.outputs['dotL'].link(xoutDotL.input)
+script.outputs['dotR'].link(xoutDotR.input)
+script.outputs['floodL'].link(xoutFloodL.input)
+script.outputs['floodR'].link(xoutFloodR.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    queues = [device.getOutputQueue(name=s, maxSize=4, blocking=False) for s in streams]
+
+    while True:
+        for q in queues:
+            pkt = q.tryGet()
+            if pkt is not None:
+                name = q.getName()
+                frame = pkt.getCvFrame()
+                cv2.imshow(name, frame)
+
+        if cv2.waitKey(5) == ord('q'):
+            break
diff --git a/bindings/python/examples/NeuralNetwork/concat_multi_input.py b/bindings/python/examples/NeuralNetwork/concat_multi_input.py
new file mode 100755
index 000000000..03da7ba2d
--- /dev/null
+++ b/bindings/python/examples/NeuralNetwork/concat_multi_input.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import numpy as np
+import cv2
+import depthai as dai
+SHAPE = 300
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/concat_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+p = dai.Pipeline()
+p.setOpenVINOVersion(dai.OpenVINO.VERSION_2021_4)
+
+camRgb = p.createColorCamera()
+camRgb.setPreviewSize(SHAPE, SHAPE)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+
+def create_mono(p, socket):
+    mono = p.create(dai.node.MonoCamera)
+    mono.setBoardSocket(socket)
+    mono.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+
+    # ImageManip for cropping (face detection NN requires input image of 300x300) and to change frame type
+    manip = p.create(dai.node.ImageManip)
+    manip.initialConfig.setResize(300, 300)
+    manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+    mono.out.link(manip.inputImage)
+    return manip.out
+
+# NN that detects faces in the image
+nn = p.createNeuralNetwork()
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+
+camRgb.preview.link(nn.inputs['img2'])
+create_mono(p, dai.CameraBoardSocket.CAM_B).link(nn.inputs['img1'])
+create_mono(p, dai.CameraBoardSocket.CAM_C).link(nn.inputs['img3'])
+
+# Send bouding box from the NN to the host via XLink
+nn_xout = p.createXLinkOut()
+nn_xout.setStreamName("nn")
+nn.out.link(nn_xout.input)
+
+# Pipeline is defined, now we can connect to the device
+with dai.Device(p) as device:
+    qNn = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    shape = (3, SHAPE, SHAPE * 3)
+
+    while True:
+        inNn = np.array(qNn.get().getFirstLayerFp16())
+        # Planar INT8 frame
+        frame = inNn.reshape(shape).astype(np.uint8).transpose(1, 2, 0)
+
+        cv2.imshow("Concat", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/NeuralNetwork/detection_parser.py b/bindings/python/examples/NeuralNetwork/detection_parser.py
new file mode 100755
index 000000000..2630e2c3b
--- /dev/null
+++ b/bindings/python/examples/NeuralNetwork/detection_parser.py
@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.NeuralNetwork)
+det = pipeline.create(dai.node.DetectionParser)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+camRgb.setFps(40)
+# Define a neural network that will make predictions based on the source frames
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+blob = dai.OpenVINO.Blob(args.nnPath)
+nn.setBlob(blob)
+det.setBlob(blob)
+det.setNNFamily(dai.DetectionNetworkType.MOBILENET)
+det.setConfidenceThreshold(0.5)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(det.input)
+det.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/NeuralNetwork/normalization_multi_input.py b/bindings/python/examples/NeuralNetwork/normalization_multi_input.py
new file mode 100755
index 000000000..62594c8ef
--- /dev/null
+++ b/bindings/python/examples/NeuralNetwork/normalization_multi_input.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import numpy as np
+import cv2
+import depthai as dai
+SHAPE = 300
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/normalize_openvino_2021.4_4shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+p = dai.Pipeline()
+p.setOpenVINOVersion(dai.OpenVINO.VERSION_2021_4)
+
+camRgb = p.createColorCamera()
+# Model expects values in FP16, as we have compiled it with `-ip FP16`
+camRgb.setFp16(True)
+camRgb.setInterleaved(False)
+camRgb.setPreviewSize(SHAPE, SHAPE)
+
+nn = p.createNeuralNetwork()
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+
+script = p.create(dai.node.Script)
+script.setScript("""
+# Run script only once. We could also send these values from host.
+# Model formula:
+# output = (input - mean) / scale
+
+# This configuration will subtract all frame values (pixels) by 127.5
+# 0.0 .. 255.0 -> -127.5 .. 127.5
+data = NNData(2)
+data.setLayer("mean", [127.5])
+node.io['mean'].send(data)
+
+# This configuration will divide all frame values (pixels) by 255.0
+# -127.5 .. 127.5 -> -0.5 .. 0.5
+data = NNData(2)
+data.setLayer("scale", [255.0])
+node.io['scale'].send(data)
+""")
+
+# Re-use the initial values for multiplier/addend
+script.outputs['mean'].link(nn.inputs['mean'])
+nn.inputs['mean'].setWaitForMessage(False)
+
+script.outputs['scale'].link(nn.inputs['scale'])
+nn.inputs['scale'].setWaitForMessage(False)
+# Always wait for the new frame before starting inference
+camRgb.preview.link(nn.inputs['frame'])
+
+# Send normalized frame values to host
+nn_xout = p.createXLinkOut()
+nn_xout.setStreamName("nn")
+nn.out.link(nn_xout.input)
+
+# Pipeline is defined, now we can connect to the device
+with dai.Device(p) as device:
+    qNn = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    shape = (3, SHAPE, SHAPE)
+    while True:
+        inNn = np.array(qNn.get().getData())
+        # Get back the frame. It's currently normalized to -0.5 - 0.5
+        frame = inNn.view(np.float16).reshape(shape).transpose(1, 2, 0)
+        # To get original frame back (0-255), we add multiply all frame values (pixels) by 255 and then add 127.5 to them
+        frame = (frame * 255.0 + 127.5).astype(np.uint8)
+        # Show the initial frame
+        cv2.imshow("Original frame", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ObjectTracker/object_tracker.py b/bindings/python/examples/ObjectTracker/object_tracker.py
new file mode 100755
index 000000000..37e6f16a6
--- /dev/null
+++ b/bindings/python/examples/ObjectTracker/object_tracker.py
@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-ff', '--full_frame', action="store_true", help="Perform tracking on full RGB frame", default=False)
+
+args = parser.parse_args()
+
+fullFrameTracking = args.full_frame
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+detectionNetwork = pipeline.create(dai.node.MobileNetDetectionNetwork)
+objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+xlinkOut = pipeline.create(dai.node.XLinkOut)
+trackerOut = pipeline.create(dai.node.XLinkOut)
+
+xlinkOut.setStreamName("preview")
+trackerOut.setStreamName("tracklets")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setFps(40)
+
+# testing MobileNet DetectionNetwork
+detectionNetwork.setBlobPath(args.nnPath)
+detectionNetwork.setConfidenceThreshold(0.5)
+detectionNetwork.input.setBlocking(False)
+
+objectTracker.setDetectionLabelsToTrack([15])  # track only person
+# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+# Linking
+camRgb.preview.link(detectionNetwork.input)
+objectTracker.passthroughTrackerFrame.link(xlinkOut.input)
+
+if fullFrameTracking:
+    camRgb.video.link(objectTracker.inputTrackerFrame)
+else:
+    detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
+
+detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
+detectionNetwork.out.link(objectTracker.inputDetections)
+objectTracker.out.link(trackerOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    preview = device.getOutputQueue("preview", 4, False)
+    tracklets = device.getOutputQueue("tracklets", 4, False)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    frame = None
+
+    while(True):
+        imgFrame = preview.get()
+        track = tracklets.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        color = (255, 0, 0)
+        frame = imgFrame.getCvFrame()
+        trackletsData = track.tracklets
+        for t in trackletsData:
+            roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
+            x1 = int(roi.topLeft().x)
+            y1 = int(roi.topLeft().y)
+            x2 = int(roi.bottomRight().x)
+            y2 = int(roi.bottomRight().y)
+
+            try:
+                label = labelMap[t.label]
+            except:
+                label = t.label
+
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+
+        cv2.imshow("tracker", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ObjectTracker/object_tracker_video.py b/bindings/python/examples/ObjectTracker/object_tracker_video.py
new file mode 100755
index 000000000..bd67126fb
--- /dev/null
+++ b/bindings/python/examples/ObjectTracker/object_tracker_video.py
@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+labelMap = ["person", ""]
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/person-detection-retail-0013_openvino_2021.4_7shave.blob')).resolve().absolute())
+videoPathDefault = str((Path(__file__).parent / Path('../models/construction_vest.mp4')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('-nnPath', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-v', '--videoPath', help="Path to video frame", default=videoPathDefault)
+
+args = parser.parse_args()
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+manip = pipeline.create(dai.node.ImageManip)
+objectTracker = pipeline.create(dai.node.ObjectTracker)
+detectionNetwork = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+manipOut = pipeline.create(dai.node.XLinkOut)
+xinFrame = pipeline.create(dai.node.XLinkIn)
+trackerOut = pipeline.create(dai.node.XLinkOut)
+xlinkOut = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+manipOut.setStreamName("manip")
+xinFrame.setStreamName("inFrame")
+xlinkOut.setStreamName("trackerFrame")
+trackerOut.setStreamName("tracklets")
+nnOut.setStreamName("nn")
+
+# Properties
+xinFrame.setMaxDataSize(1920*1080*3)
+
+manip.initialConfig.setResizeThumbnail(544, 320)
+# manip.initialConfig.setResize(384, 384)
+# manip.initialConfig.setKeepAspectRatio(False) #squash the image to not lose FOV
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+manip.inputImage.setBlocking(True)
+
+# setting node configs
+detectionNetwork.setBlobPath(args.nnPath)
+detectionNetwork.setConfidenceThreshold(0.5)
+detectionNetwork.input.setBlocking(True)
+
+objectTracker.inputTrackerFrame.setBlocking(True)
+objectTracker.inputDetectionFrame.setBlocking(True)
+objectTracker.inputDetections.setBlocking(True)
+objectTracker.setDetectionLabelsToTrack([1])  # track only person
+# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+# Linking
+manip.out.link(manipOut.input)
+manip.out.link(detectionNetwork.input)
+xinFrame.out.link(manip.inputImage)
+xinFrame.out.link(objectTracker.inputTrackerFrame)
+detectionNetwork.out.link(nnOut.input)
+detectionNetwork.out.link(objectTracker.inputDetections)
+detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
+objectTracker.out.link(trackerOut.input)
+objectTracker.passthroughTrackerFrame.link(xlinkOut.input)
+
+# Connect and start the pipeline
+with dai.Device(pipeline) as device:
+
+    qIn = device.getInputQueue(name="inFrame")
+    trackerFrameQ = device.getOutputQueue(name="trackerFrame", maxSize=4)
+    tracklets = device.getOutputQueue(name="tracklets", maxSize=4)
+    qManip = device.getOutputQueue(name="manip", maxSize=4)
+    qDet = device.getOutputQueue(name="nn", maxSize=4)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    detections = []
+    frame = None
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(args.videoPath)
+    baseTs = time.monotonic()
+    simulatedFps = 30
+    inputFrameShape = (1920, 1080)
+
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setType(dai.ImgFrame.Type.BGR888p)
+        img.setData(to_planar(frame, inputFrameShape))
+        img.setTimestamp(baseTs)
+        baseTs += 1/simulatedFps
+
+        img.setWidth(inputFrameShape[0])
+        img.setHeight(inputFrameShape[1])
+        qIn.send(img)
+
+        trackFrame = trackerFrameQ.tryGet()
+        if trackFrame is None:
+            continue
+
+        track = tracklets.get()
+        manip = qManip.get()
+        inDet = qDet.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        detections = inDet.detections
+        manipFrame = manip.getCvFrame()
+        displayFrame("nn", manipFrame)
+
+        color = (255, 0, 0)
+        trackerFrame = trackFrame.getCvFrame()
+        trackletsData = track.tracklets
+        for t in trackletsData:
+            roi = t.roi.denormalize(trackerFrame.shape[1], trackerFrame.shape[0])
+            x1 = int(roi.topLeft().x)
+            y1 = int(roi.topLeft().y)
+            x2 = int(roi.bottomRight().x)
+            y2 = int(roi.bottomRight().y)
+
+            try:
+                label = labelMap[t.label]
+            except:
+                label = t.label
+
+            cv2.putText(trackerFrame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(trackerFrame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(trackerFrame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(trackerFrame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(trackerFrame, "Fps: {:.2f}".format(fps), (2, trackerFrame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+
+        cv2.imshow("tracker", trackerFrame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ObjectTracker/spatial_object_tracker.py b/bindings/python/examples/ObjectTracker/spatial_object_tracker.py
new file mode 100755
index 000000000..09053b09b
--- /dev/null
+++ b/bindings/python/examples/ObjectTracker/spatial_object_tracker.py
@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_5shave.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-ff', '--full_frame', action="store_true", help="Perform tracking on full RGB frame", default=False)
+
+args = parser.parse_args()
+
+fullFrameTracking = args.full_frame
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+spatialDetectionNetwork = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+trackerOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("preview")
+trackerOut.setStreamName("tracklets")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# setting node configs
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Align depth map to the perspective of RGB camera, on which inference is done
+stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
+
+spatialDetectionNetwork.setBlobPath(args.nnPath)
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setDepthLowerThreshold(100)
+spatialDetectionNetwork.setDepthUpperThreshold(5000)
+
+objectTracker.setDetectionLabelsToTrack([15])  # track only person
+# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+camRgb.preview.link(spatialDetectionNetwork.input)
+objectTracker.passthroughTrackerFrame.link(xoutRgb.input)
+objectTracker.out.link(trackerOut.input)
+
+if fullFrameTracking:
+    camRgb.setPreviewKeepAspectRatio(False)
+    camRgb.video.link(objectTracker.inputTrackerFrame)
+    objectTracker.inputTrackerFrame.setBlocking(False)
+    # do not block the pipeline if it's too slow on full frame
+    objectTracker.inputTrackerFrame.setQueueSize(2)
+else:
+    spatialDetectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
+
+spatialDetectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
+spatialDetectionNetwork.out.link(objectTracker.inputDetections)
+stereo.depth.link(spatialDetectionNetwork.inputDepth)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    preview = device.getOutputQueue("preview", 4, False)
+    tracklets = device.getOutputQueue("tracklets", 4, False)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    color = (255, 255, 255)
+
+    while(True):
+        imgFrame = preview.get()
+        track = tracklets.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        frame = imgFrame.getCvFrame()
+        trackletsData = track.tracklets
+        for t in trackletsData:
+            roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
+            x1 = int(roi.topLeft().x)
+            y1 = int(roi.topLeft().y)
+            x2 = int(roi.bottomRight().x)
+            y2 = int(roi.bottomRight().y)
+
+            try:
+                label = labelMap[t.label]
+            except:
+                label = t.label
+
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+            cv2.putText(frame, f"X: {int(t.spatialCoordinates.x)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Y: {int(t.spatialCoordinates.y)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Z: {int(t.spatialCoordinates.z)} mm", (x1 + 10, y1 + 95), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+
+        cv2.imshow("tracker", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/PointCloud/visualize_pointcloud.py b/bindings/python/examples/PointCloud/visualize_pointcloud.py
new file mode 100644
index 000000000..2ff669491
--- /dev/null
+++ b/bindings/python/examples/PointCloud/visualize_pointcloud.py
@@ -0,0 +1,114 @@
+import depthai as dai
+from time import sleep
+import numpy as np
+import cv2
+import time
+import sys
+try:
+    import open3d as o3d
+except ImportError:
+    sys.exit("Critical dependency missing: Open3D. Please install it using the command: '{} -m pip install open3d' and then rerun the script.".format(sys.executable))
+
+FPS = 30
+class FPSCounter:
+    def __init__(self):
+        self.frameCount = 0
+        self.fps = 0
+        self.startTime = time.time()
+
+    def tick(self):
+        self.frameCount += 1
+        if self.frameCount % 10 == 0:
+            elapsedTime = time.time() - self.startTime
+            self.fps = self.frameCount / elapsedTime
+            self.frameCount = 0
+            self.startTime = time.time()
+        return self.fps
+
+pipeline = dai.Pipeline()
+camRgb = pipeline.create(dai.node.ColorCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+depth = pipeline.create(dai.node.StereoDepth)
+pointcloud = pipeline.create(dai.node.PointCloud)
+sync = pipeline.create(dai.node.Sync)
+xOut = pipeline.create(dai.node.XLinkOut)
+xOut.input.setBlocking(False)
+
+
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setIspScale(1,3)
+camRgb.setFps(FPS)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoLeft.setFps(FPS)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+monoRight.setFps(FPS)
+
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+depth.setLeftRightCheck(True)
+depth.setExtendedDisparity(False)
+depth.setSubpixel(True)
+depth.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+depth.depth.link(pointcloud.inputDepth)
+camRgb.isp.link(sync.inputs["rgb"])
+pointcloud.outputPointCloud.link(sync.inputs["pcl"])
+sync.out.link(xOut.input)
+xOut.setStreamName("out")
+
+
+
+
+with dai.Device(pipeline) as device:
+    isRunning = True
+    def key_callback(vis, action, mods):
+        global isRunning
+        if action == 0:
+            isRunning = False
+
+    q = device.getOutputQueue(name="out", maxSize=4, blocking=False)
+    pc = o3d.geometry.PointCloud()
+    vis = o3d.visualization.VisualizerWithKeyCallback()
+    vis.create_window()
+    vis.register_key_action_callback(81, key_callback)
+    pcd = o3d.geometry.PointCloud()
+    coordinateFrame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1000, origin=[0,0,0])
+    vis.add_geometry(coordinateFrame)
+
+    first = True
+    fpsCounter = FPSCounter()
+    while isRunning:
+        inMessage = q.get()
+        inColor = inMessage["rgb"]
+        inPointCloud = inMessage["pcl"]
+        cvColorFrame = inColor.getCvFrame()
+        # Convert the frame to RGB
+        cvRGBFrame = cv2.cvtColor(cvColorFrame, cv2.COLOR_BGR2RGB)
+        fps = fpsCounter.tick()
+        # Display the FPS on the frame
+        cv2.putText(cvColorFrame, f"FPS: {fps:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
+        cv2.imshow("color", cvColorFrame)
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        if inPointCloud:
+            t_before = time.time()
+            points = inPointCloud.getPoints().astype(np.float64)
+            pcd.points = o3d.utility.Vector3dVector(points)
+            colors = (cvRGBFrame.reshape(-1, 3) / 255.0).astype(np.float64)
+            pcd.colors = o3d.utility.Vector3dVector(colors)
+            if first:
+                vis.add_geometry(pcd)
+                first = False
+            else:
+                vis.update_geometry(pcd)
+        vis.poll_events()
+        vis.update_renderer()
+    vis.destroy_window()
diff --git a/bindings/python/examples/README.md b/bindings/python/examples/README.md
new file mode 100644
index 000000000..452b56583
--- /dev/null
+++ b/bindings/python/examples/README.md
@@ -0,0 +1,13 @@
+# Examples
+
+In this directory there are usage examples of DepthAI Python library.
+
+## Description
+
+More details about examples can be found at [Luxonis DepthAI API - Code Samples](https://docs.luxonis.com/projects/api/en/latest/tutorials/code_samples/)
+
+## Setup
+
+```
+python3 install_requirements.py
+```
diff --git a/bindings/python/examples/Script/script_camera_control.py b/bindings/python/examples/Script/script_camera_control.py
new file mode 100755
index 000000000..f0044bb90
--- /dev/null
+++ b/bindings/python/examples/Script/script_camera_control.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Define a source - color camera
+cam = pipeline.create(dai.node.ColorCamera)
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    import time
+    ctrl = CameraControl()
+    ctrl.setCaptureStill(True)
+    while True:
+        time.sleep(1)
+        node.io['out'].send(ctrl)
+""")
+
+# XLinkOut
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('still')
+
+# Connections
+script.outputs['out'].link(cam.inputControl)
+cam.still.link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    while True:
+        img = device.getOutputQueue("still").get()
+        cv2.imshow('still', img.getCvFrame())
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/Script/script_change_pipeline_flow.py b/bindings/python/examples/Script/script_change_pipeline_flow.py
new file mode 100755
index 000000000..b528b99d7
--- /dev/null
+++ b/bindings/python/examples/Script/script_change_pipeline_flow.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import depthai as dai
+import cv2
+from pathlib import Path
+import numpy as np
+
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/mobilenet-ssd_openvino_2021.4_5shave.blob')).resolve().absolute())
+
+pipeline = dai.Pipeline()
+
+cam = pipeline.createColorCamera()
+cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+cam.setInterleaved(False)
+cam.setIspScale(2,3)
+cam.setVideoSize(720,720)
+cam.setPreviewSize(300,300)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName('rgb')
+cam.video.link(xoutRgb.input)
+
+script = pipeline.createScript()
+
+xin = pipeline.create(dai.node.XLinkIn)
+xin.setStreamName('in')
+xin.out.link(script.inputs['toggle'])
+
+cam.preview.link(script.inputs['rgb'])
+script.setScript("""
+    toggle = False
+    while True:
+        msg = node.io['toggle'].tryGet()
+        if msg is not None:
+            toggle = msg.getData()[0]
+            node.warn('Toggle! Perform NN inferencing: ' + str(toggle))
+
+        frame = node.io['rgb'].get()
+
+        if toggle:
+            node.io['nn'].send(frame)
+""")
+
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+nn.setBlobPath(nnPath)
+script.outputs['nn'].link(nn.input)
+
+xoutNn = pipeline.create(dai.node.XLinkOut)
+xoutNn.setStreamName('nn')
+nn.out.link(xoutNn.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    inQ = device.getInputQueue("in")
+    qRgb = device.getOutputQueue("rgb")
+    qNn = device.getOutputQueue("nn")
+
+    runNn = False
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    color = (255, 127, 0)
+    def drawDetections(frame, detections):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+
+
+    while True:
+        frame = qRgb.get().getCvFrame()
+
+        if qNn.has():
+            detections = qNn.get().detections
+            drawDetections(frame, detections)
+
+        cv2.putText(frame, f"NN inferencing: {runNn}", (20,20), cv2.FONT_HERSHEY_TRIPLEX, 0.7, color)
+        cv2.imshow('Color frame', frame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('t'):
+            runNn = not runNn
+            print(f"{'Enabling' if runNn else 'Disabling'} NN inferencing")
+            buf = dai.Buffer()
+            buf.setData(runNn)
+            inQ.send(buf)
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_emmc_access.py b/bindings/python/examples/Script/script_emmc_access.py
new file mode 100644
index 000000000..a93485976
--- /dev/null
+++ b/bindings/python/examples/Script/script_emmc_access.py
@@ -0,0 +1,98 @@
+import depthai as dai
+import cv2
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+board = dai.BoardConfig()
+board.emmc = True
+pipeline.setBoardConfig(board)
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+jpegEncoder = pipeline.create(dai.node.VideoEncoder)
+
+# Properties
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+jpegEncoder.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG)
+
+#Set a write script
+script_write = pipeline.createScript()
+script_write.setProcessor(dai.ProcessorType.LEON_CSS)
+script_write.setScript("""
+
+    import os
+    index = 1000
+    import time
+    while True:
+        # Find an unused file name first
+        while True:
+            path = '/media/mmcsd-0-0/' + str(index) + '.jpg'
+            if not os.path.exists(path):
+                break
+            index += 1
+        frame = node.io['jpeg'].get()
+        node.warn(f'Saving to EMMC: {path}')
+        with open(path, 'wb') as f:
+            f.write(frame.getData())
+        index += 1
+        time.sleep(3)
+
+""")
+                      
+#Set a read script
+script_read = pipeline.createScript()
+script_read.setProcessor(dai.ProcessorType.LEON_CSS)
+script_read.setScript("""
+
+    import http.server
+    import socketserver
+    import socket
+    import fcntl
+    import struct
+    import os
+
+    def get_ip_address(ifname):
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        return socket.inet_ntoa(fcntl.ioctl(
+            s.fileno(),
+            -1071617759,  # SIOCGIFADDR
+            struct.pack('256s', ifname[:15].encode())
+        )[20:24])
+
+    # Note: `chdir` here will prevent unmount, this should be improved!
+    os.chdir('/media/mmcsd-0-0')
+
+    PORT = 80
+    Handler = http.server.SimpleHTTPRequestHandler
+
+    with socketserver.TCPServer(("", PORT), Handler) as httpd:
+        ip = get_ip_address('re0')
+        node.warn(f'===== HTTP file server accessible at: http://{ip}')
+        httpd.serve_forever()
+
+""")
+                      
+# Linking
+
+camRgb.video.link(jpegEncoder.input)
+jpegEncoder.bitstream.link(script_write.inputs['jpeg'])
+script_write.inputs['jpeg'].setBlocking(False)
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("rgb")
+script_read.outputs['jpeg'].link(xout.input)
+
+
+# Pipeline defined, now the device is connected to
+with dai.Device(pipeline) as device:
+    # Output queue will be used to get the rgb frames from the output defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=100, blocking=False)
+
+    while True:
+        inRgb = qRgb.tryGet() 
+        
+        if inRgb is not None:
+            cv2.imshow("rgb", inRgb.getCvFrame())
+            
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_forward_frames.py b/bindings/python/examples/Script/script_forward_frames.py
new file mode 100755
index 000000000..c035353b8
--- /dev/null
+++ b/bindings/python/examples/Script/script_forward_frames.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+cam = pipeline.create(dai.node.ColorCamera)
+# Not needed, you can display 1080P frames as well
+cam.setIspScale(1,2)
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    ctrl = CameraControl()
+    ctrl.setCaptureStill(True)
+    # Initially send still event
+    node.io['ctrl'].send(ctrl)
+
+    normal = True
+    while True:
+        frame = node.io['frames'].get()
+        if normal:
+            ctrl.setAutoExposureCompensation(3)
+            node.io['stream1'].send(frame)
+            normal = False
+        else:
+            ctrl.setAutoExposureCompensation(-3)
+            node.io['stream2'].send(frame)
+            normal = True
+        node.io['ctrl'].send(ctrl)
+""")
+cam.still.link(script.inputs['frames'])
+
+# XLinkOut
+xout1 = pipeline.create(dai.node.XLinkOut)
+xout1.setStreamName('stream1')
+script.outputs['stream1'].link(xout1.input)
+
+xout2 = pipeline.create(dai.node.XLinkOut)
+xout2.setStreamName('stream2')
+script.outputs['stream2'].link(xout2.input)
+
+script.outputs['ctrl'].link(cam.inputControl)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    qStream1 = device.getOutputQueue("stream1")
+    qStream2 = device.getOutputQueue("stream2")
+    while True:
+        cv2.imshow('stream1', qStream1.get().getCvFrame())
+        cv2.imshow('stream2', qStream2.get().getCvFrame())
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_get_device_info.py b/bindings/python/examples/Script/script_get_device_info.py
new file mode 100755
index 000000000..31b7d1d76
--- /dev/null
+++ b/bindings/python/examples/Script/script_get_device_info.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+import depthai as dai
+import json
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    import json
+    data = json.dumps({
+        'deviceId': __device_id__,
+        'fwVersion': __version__
+    }).encode('utf-8')
+
+    b = Buffer(len(data))
+    b.setData(data)
+    node.io['info'].send(b)
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('info')
+script.outputs['info'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    msg = device.getOutputQueue("info").get() # Wait for the "end" msg
+    data = json.loads(msg.getData().tobytes().decode('utf-8'))
+    print(json.dumps(data, indent=4))
diff --git a/bindings/python/examples/Script/script_get_ip.py b/bindings/python/examples/Script/script_get_ip.py
new file mode 100755
index 000000000..dae0fedcc
--- /dev/null
+++ b/bindings/python/examples/Script/script_get_ip.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+import depthai as dai
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+import socket
+import fcntl
+import struct
+
+def get_ip_address(ifname):
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    return socket.inet_ntoa(fcntl.ioctl(
+        s.fileno(),
+        -1071617759,  # SIOCGIFADDR
+        struct.pack('256s', ifname[:15].encode())
+    )[20:24])
+
+ip = get_ip_address('re0')  # '192.168.0.110'
+node.warn(f'IP of the device: {ip}')
+node.io['end'].send(Buffer(32))
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('end')
+script.outputs['end'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    device.getOutputQueue("end").get() # Wait for the "end" msg
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_http_client.py b/bindings/python/examples/Script/script_http_client.py
new file mode 100755
index 000000000..f58076078
--- /dev/null
+++ b/bindings/python/examples/Script/script_http_client.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import depthai as dai
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+    import http.client
+    import time
+
+    node.warn('Sending http GET request...')
+    h1 = http.client.HTTPConnection('api.ipify.org', 80)
+    h1.request("GET", "/")
+    r1 = h1.getresponse()
+    node.warn(f'{r1.status} {r1.reason}')
+    data1 = r1.read()
+    node.warn(f'Public IP: {data1}')
+
+    node.io['end'].send(Buffer(32))
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('end')
+script.outputs['end'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    device.getOutputQueue("end").get() # Wait for the "end" msg
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_http_server.py b/bindings/python/examples/Script/script_http_server.py
new file mode 100755
index 000000000..daabba634
--- /dev/null
+++ b/bindings/python/examples/Script/script_http_server.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import time
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Define a source - color camera
+cam = pipeline.create(dai.node.ColorCamera)
+# VideoEncoder
+jpeg = pipeline.create(dai.node.VideoEncoder)
+jpeg.setDefaultProfilePreset(cam.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+    from http.server import BaseHTTPRequestHandler
+    import socketserver
+    import socket
+    import fcntl
+    import struct
+
+    PORT = 8080
+    ctrl = CameraControl()
+    ctrl.setCaptureStill(True)
+
+    def get_ip_address(ifname):
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        return socket.inet_ntoa(fcntl.ioctl(
+            s.fileno(),
+            -1071617759,  # SIOCGIFADDR
+            struct.pack('256s', ifname[:15].encode())
+        )[20:24])
+
+    class HTTPHandler(BaseHTTPRequestHandler):
+        def do_GET(self):
+            if self.path == '/':
+                self.send_response(200)
+                self.end_headers()
+                self.wfile.write(b'<h1>[DepthAI] Hello, world!</h1><p>Click <a href="img">here</a> for an image</p>')
+            elif self.path == '/img':
+                node.io['out'].send(ctrl)
+                jpegImage = node.io['jpeg'].get()
+                self.send_response(200)
+                self.send_header('Content-Type', 'image/jpeg')
+                self.send_header('Content-Length', str(len(jpegImage.getData())))
+                self.end_headers()
+                self.wfile.write(jpegImage.getData())
+            else:
+                self.send_response(404)
+                self.end_headers()
+                self.wfile.write(b'Url not found...')
+
+    with socketserver.TCPServer(("", PORT), HTTPHandler) as httpd:
+        node.warn(f"Serving at {get_ip_address('re0')}:{PORT}")
+        httpd.serve_forever()
+""")
+
+# Connections
+cam.still.link(jpeg.input)
+script.outputs['out'].link(cam.inputControl)
+jpeg.bitstream.link(script.inputs['jpeg'])
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    while not device.isClosed():
+        time.sleep(1)
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_json_communication.py b/bindings/python/examples/Script/script_json_communication.py
new file mode 100755
index 000000000..e1fc915b6
--- /dev/null
+++ b/bindings/python/examples/Script/script_json_communication.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import depthai as dai
+import json
+
+pipeline = dai.Pipeline()
+
+xin = pipeline.create(dai.node.XLinkIn)
+xin.setStreamName('in')
+
+script = pipeline.create(dai.node.Script)
+xin.out.link(script.inputs['in'])
+script.setScript("""
+    import json
+
+    # Receive bytes from the host
+    data = node.io['in'].get().getData()
+    jsonStr = str(data, 'utf-8')
+    dict = json.loads(jsonStr)
+
+    # Change initial dictionary a bit
+    dict['one'] += 1
+    dict['foo'] = "baz"
+
+    b = Buffer(30)
+    b.setData(json.dumps(dict).encode('utf-8'))
+    node.io['out'].send(b)
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('out')
+script.outputs['out'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    # This dict will be serialized (JSON), sent to device (Script node),
+    # edited a bit and sent back to the host
+    dict = {'one':1, 'foo': 'bar'}
+    print('dict', dict)
+    data = json.dumps(dict).encode('utf-8')
+    buffer = dai.Buffer()
+    buffer.setData(list(data))
+    device.getInputQueue("in").send(buffer)
+
+    # Wait for the script to send the changed dictionary back
+    jsonData = device.getOutputQueue("out").get()
+    jsonText = str(jsonData.getData(), 'utf-8')
+    changedDict = json.loads(jsonText)
+    print('changedDict', changedDict)
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_mjpeg_server.py b/bindings/python/examples/Script/script_mjpeg_server.py
new file mode 100755
index 000000000..f6a8f58e1
--- /dev/null
+++ b/bindings/python/examples/Script/script_mjpeg_server.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import time
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Define a source - color camera
+cam = pipeline.create(dai.node.ColorCamera)
+# VideoEncoder
+jpeg = pipeline.create(dai.node.VideoEncoder)
+jpeg.setDefaultProfilePreset(cam.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+    import time
+    import socket
+    import fcntl
+    import struct
+    from socketserver import ThreadingMixIn
+    from http.server import BaseHTTPRequestHandler, HTTPServer
+
+    PORT = 8080
+
+    def get_ip_address(ifname):
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        return socket.inet_ntoa(fcntl.ioctl(
+            s.fileno(),
+            -1071617759,  # SIOCGIFADDR
+            struct.pack('256s', ifname[:15].encode())
+        )[20:24])
+
+    class ThreadingSimpleServer(ThreadingMixIn, HTTPServer):
+        pass
+
+    class HTTPHandler(BaseHTTPRequestHandler):
+        def do_GET(self):
+            if self.path == '/':
+                self.send_response(200)
+                self.end_headers()
+                self.wfile.write(b'<h1>[DepthAI] Hello, world!</h1><p>Click <a href="img">here</a> for an image</p>')
+            elif self.path == '/img':
+                try:
+                    self.send_response(200)
+                    self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary')
+                    self.end_headers()
+                    fpsCounter = 0
+                    timeCounter = time.time()
+                    while True:
+                        jpegImage = node.io['jpeg'].get()
+                        self.wfile.write("--jpgboundary".encode())
+                        self.wfile.write(bytes([13, 10]))
+                        self.send_header('Content-type', 'image/jpeg')
+                        self.send_header('Content-length', str(len(jpegImage.getData())))
+                        self.end_headers()
+                        self.wfile.write(jpegImage.getData())
+                        self.end_headers()
+
+                        fpsCounter = fpsCounter + 1
+                        if time.time() - timeCounter > 1:
+                            node.warn(f'FPS: {fpsCounter}')
+                            fpsCounter = 0
+                            timeCounter = time.time()
+                except Exception as ex:
+                    node.warn(str(ex))
+
+    with ThreadingSimpleServer(("", PORT), HTTPHandler) as httpd:
+        node.warn(f"Serving at {get_ip_address('re0')}:{PORT}")
+        httpd.serve_forever()
+""")
+
+# Connections
+cam.video.link(jpeg.input)
+jpeg.bitstream.link(script.inputs['jpeg'])
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    while not device.isClosed():
+        time.sleep(1)
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_nndata_example.py b/bindings/python/examples/Script/script_nndata_example.py
new file mode 100755
index 000000000..a6037551b
--- /dev/null
+++ b/bindings/python/examples/Script/script_nndata_example.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import depthai as dai
+import time
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    buf = NNData(150)
+    buf.setLayer("fp16", [1.0, 1.2, 3.9, 5.5])
+    buf.setLayer("uint8", [6, 9, 4, 2, 0])
+    node.warn("Names of layers: " + str(buf.getAllLayerNames()))
+    node.io['host'].send(buf)
+""")
+
+# XLinkOut
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('host')
+script.outputs['host'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    device.setLogLevel(dai.LogLevel.WARN)
+    device.setLogOutputLevel(dai.LogLevel.WARN)
+
+    nndata = device.getOutputQueue("host").get()
+    time.sleep(0.5)
+
+    print(f"NNData size: {len(nndata.getData())}")
+    print("FP16 values:", nndata.getLayerFp16("fp16"))
+    print("UINT8 values:",nndata.getLayerUInt8("uint8"))
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_read_calibration.py b/bindings/python/examples/Script/script_read_calibration.py
new file mode 100644
index 000000000..1501a12d5
--- /dev/null
+++ b/bindings/python/examples/Script/script_read_calibration.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import depthai as dai
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+# Script node
+script = pipeline.create(dai.node.Script)
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+script.setScript("""
+    import time
+    
+    cal = Device.readCalibration2()
+    left_camera_id = cal.getStereoLeftCameraId()
+    right_camera_id = cal.getStereoRightCameraId()
+
+    extrinsics = cal.getCameraExtrinsics(left_camera_id, right_camera_id)
+    intrinsics_left = cal.getCameraIntrinsics(left_camera_id)
+
+    node.info(extrinsics.__str__())
+    node.info(intrinsics_left.__str__())
+
+    time.sleep(1)
+    node.io['end'].send(Buffer(32))
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('end')
+script.outputs['end'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    device.getOutputQueue('end').get()
\ No newline at end of file
diff --git a/bindings/python/examples/Script/script_uart.py b/bindings/python/examples/Script/script_uart.py
new file mode 100644
index 000000000..329a0ed59
--- /dev/null
+++ b/bindings/python/examples/Script/script_uart.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+'''
+NOTE: This should only be run on OAK-FFC-4P, as other OAK cameras might have different GPIO configuration!
+'''
+import depthai as dai
+import time
+
+# Start defining a pipeline
+pipeline = dai.Pipeline()
+
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    import serial
+    import time
+
+    ser = serial.Serial("/dev/ttyS0", baudrate=115200)
+    i = 0
+    while True:
+        i += 1
+        time.sleep(0.1)
+        serString = f'TEST_{i}'
+        ser.write(serString.encode())
+""")
+# Define script for output
+script.setProcessor(dai.ProcessorType.LEON_CSS)
+
+
+config = dai.Device.Config()
+# Get argument first
+GPIO = dai.BoardConfig.GPIO
+config.board.gpio[15] = GPIO(GPIO.OUTPUT, GPIO.ALT_MODE_2)
+config.board.gpio[16] = GPIO(GPIO.INPUT, GPIO.ALT_MODE_2)
+config.board.uart[0] = dai.BoardConfig.UART()
+
+
+with dai.Device(config) as device:
+    device.startPipeline(pipeline)
+    print("Pipeline started")
+    while True:
+        time.sleep(1)
diff --git a/bindings/python/examples/SpatialDetection/spatial_calculator_multi_roi.py b/bindings/python/examples/SpatialDetection/spatial_calculator_multi_roi.py
new file mode 100755
index 000000000..c813f17cb
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_calculator_multi_roi.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import math
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)
+
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutSpatialData = pipeline.create(dai.node.XLinkOut)
+xinSpatialCalcConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutDepth.setStreamName("depth")
+xoutSpatialData.setStreamName("spatialData")
+xinSpatialCalcConfig.setStreamName("spatialCalcConfig")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setLeftRightCheck(True)
+stereo.setSubpixel(True)
+spatialLocationCalculator.inputConfig.setWaitForMessage(False)
+
+# Create 10 ROIs
+for i in range(10):
+    config = dai.SpatialLocationCalculatorConfigData()
+    config.depthThresholds.lowerThreshold = 200
+    config.depthThresholds.upperThreshold = 10000
+    config.roi = dai.Rect(dai.Point2f(i*0.1, 0.45), dai.Point2f((i+1)*0.1, 0.55))
+    spatialLocationCalculator.initialConfig.addROI(config)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+spatialLocationCalculator.passthroughDepth.link(xoutDepth.input)
+stereo.depth.link(spatialLocationCalculator.inputDepth)
+
+spatialLocationCalculator.out.link(xoutSpatialData.input)
+xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    device.setIrLaserDotProjectorBrightness(1000)
+
+    # Output queue will be used to get the depth frames from the outputs defined above
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+    spatialCalcQueue = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False)
+    color = (0,200,40)
+    fontType = cv2.FONT_HERSHEY_TRIPLEX
+
+    while True:
+        inDepth = depthQueue.get() # Blocking call, will wait until a new data has arrived
+
+        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        spatialData = spatialCalcQueue.get().getSpatialLocations()
+        for depthData in spatialData:
+            roi = depthData.config.roi
+            roi = roi.denormalize(width=depthFrameColor.shape[1], height=depthFrameColor.shape[0])
+
+            xmin = int(roi.topLeft().x)
+            ymin = int(roi.topLeft().y)
+            xmax = int(roi.bottomRight().x)
+            ymax = int(roi.bottomRight().y)
+
+            coords = depthData.spatialCoordinates
+            distance = math.sqrt(coords.x ** 2 + coords.y ** 2 + coords.z ** 2)
+
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, thickness=2)
+            cv2.putText(depthFrameColor, "{:.1f}m".format(distance/1000), (xmin + 10, ymin + 20), fontType, 0.6, color)
+        # Show the frame
+        cv2.imshow("depth", depthFrameColor)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/SpatialDetection/spatial_detection_kb.py b/bindings/python/examples/SpatialDetection/spatial_detection_kb.py
new file mode 100644
index 000000000..095b40e54
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_detection_kb.py
@@ -0,0 +1,199 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+'''
+Spatial Tiny-yolo example
+  Performs inference on RGB camera and retrieves spatial location coordinates: x,y,z relative to the center of depth map.
+  Can be used for tiny-yolo-v3 or tiny-yolo-v4 networks
+'''
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnBlobPath = str((parentDir / Path('../models/yolov6n_416x416_openvino2022.1_vpux.blob')).resolve().absolute())
+if not Path(nnBlobPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# Yolo label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+syncNN = True
+
+
+FPS = 6
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+spatialDetectionNetwork = pipeline.create(dai.node.YoloSpatialDetectionNetwork)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutNN = pipeline.create(dai.node.XLinkOut)
+xoutBoundingBoxDepthMapping = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutMonoL = pipeline.create(dai.node.XLinkOut)
+xoutMonoR = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+xoutNN.setStreamName("detections")
+xoutBoundingBoxDepthMapping.setStreamName("boundingBoxDepthMapping")
+xoutDepth.setStreamName("depth")
+xoutMonoL.setStreamName("monol")
+xoutMonoR.setStreamName("monor")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_720_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setFps(FPS)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setFps(FPS)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setFps(FPS)
+
+# setting node configs
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Align depth map to the perspective of right camera (works on boards that have the RGB close to the right mono)
+stereo.setDepthAlign(dai.CameraBoardSocket.RIGHT)
+stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
+
+spatialDetectionNetwork.setBlobPath(Path(nnBlobPath))
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+# spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setNumClasses(80)
+spatialDetectionNetwork.setCoordinateSize(4)
+spatialDetectionNetwork.setIouThreshold(0.5)
+spatialDetectionNetwork.setNumInferenceThreads(3)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.input.setQueueSize(1)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoLeft.out.link(xoutMonoL.input)
+monoRight.out.link(stereo.right)
+monoRight.out.link(xoutMonoR.input)
+stereo.depth.link(xoutDepth.input)
+camRgb.preview.link(spatialDetectionNetwork.input)
+if syncNN:
+    spatialDetectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+spatialDetectionNetwork.out.link(xoutNN.input)
+spatialDetectionNetwork.boundingBoxMapping.link(xoutBoundingBoxDepthMapping.input)
+
+stereo.depth.link(spatialDetectionNetwork.inputDepth)
+spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    previewQueue = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    detectionNNQueue = device.getOutputQueue(name="detections", maxSize=4, blocking=False)
+    xoutBoundingBoxDepthMappingQueue = device.getOutputQueue(name="boundingBoxDepthMapping", maxSize=4, blocking=False)
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+    xoutMonoLQueue = device.getOutputQueue(name="monol")
+    xoutMonoRQueue = device.getOutputQueue(name="monor")
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    color = (255, 255, 255)
+    printOutputLayersOnce = True
+
+    while True:
+        inPreview = previewQueue.get()
+        inDet = detectionNNQueue.get()
+        depth = depthQueue.get()
+
+        frame = inPreview.getCvFrame()
+        depthFrame = depth.getFrame() # depthFrame values are in millimeters
+
+        monoL = xoutMonoLQueue.get().getCvFrame()
+        monoR = xoutMonoRQueue.get().getCvFrame()
+
+        depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
+        depthFrameColor = cv2.equalizeHist(depthFrameColor)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        detections = inDet.detections
+        if len(detections) != 0:
+            boundingBoxMapping = xoutBoundingBoxDepthMappingQueue.get()
+            roiDatas = boundingBoxMapping.getConfigData()
+
+            for roiData in roiDatas:
+                roi = roiData.roi
+                roi = roi.denormalize(depthFrameColor.shape[1], depthFrameColor.shape[0])
+                topLeft = roi.topLeft()
+                bottomRight = roi.bottomRight()
+                xmin = int(topLeft.x)
+                ymin = int(topLeft.y)
+                xmax = int(bottomRight.x)
+                ymax = int(bottomRight.y)
+
+                cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX)
+
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        height = frame.shape[0]
+        width  = frame.shape[1]
+        for detection in detections:
+            # Denormalize bounding box
+            x1 = int(detection.xmin * width)
+            x2 = int(detection.xmax * width)
+            y1 = int(detection.ymin * height)
+            y2 = int(detection.ymax * height)
+            try:
+                label = labelMap[detection.label]
+            except:
+                label = detection.label
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, "{:.2f}".format(detection.confidence*100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"X: {int(detection.spatialCoordinates.x)} mm", (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Y: {int(detection.spatialCoordinates.y)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Z: {int(detection.spatialCoordinates.z)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+        cv2.imshow("depth", depthFrameColor)
+        cv2.imshow("rgb", frame)
+        cv2.imshow("monol", monoL)
+        cv2.imshow("monor", monoR)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/SpatialDetection/spatial_location_calculator.py b/bindings/python/examples/SpatialDetection/spatial_location_calculator.py
new file mode 100755
index 000000000..89260cd6f
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_location_calculator.py
@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+stepSize = 0.05
+
+newConfig = False
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)
+
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutSpatialData = pipeline.create(dai.node.XLinkOut)
+xinSpatialCalcConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutDepth.setStreamName("depth")
+xoutSpatialData.setStreamName("spatialData")
+xinSpatialCalcConfig.setStreamName("spatialCalcConfig")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setLeftRightCheck(True)
+stereo.setSubpixel(True)
+
+# Config
+topLeft = dai.Point2f(0.4, 0.4)
+bottomRight = dai.Point2f(0.6, 0.6)
+
+config = dai.SpatialLocationCalculatorConfigData()
+config.depthThresholds.lowerThreshold = 100
+config.depthThresholds.upperThreshold = 10000
+calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
+config.roi = dai.Rect(topLeft, bottomRight)
+
+spatialLocationCalculator.inputConfig.setWaitForMessage(False)
+spatialLocationCalculator.initialConfig.addROI(config)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+spatialLocationCalculator.passthroughDepth.link(xoutDepth.input)
+stereo.depth.link(spatialLocationCalculator.inputDepth)
+
+spatialLocationCalculator.out.link(xoutSpatialData.input)
+xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the depth frames from the outputs defined above
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+    spatialCalcQueue = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False)
+    spatialCalcConfigInQueue = device.getInputQueue("spatialCalcConfig")
+
+    color = (255, 255, 255)
+
+    print("Use WASD keys to move ROI!")
+
+    while True:
+        inDepth = depthQueue.get() # Blocking call, will wait until a new data has arrived
+
+        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        spatialData = spatialCalcQueue.get().getSpatialLocations()
+        for depthData in spatialData:
+            roi = depthData.config.roi
+            roi = roi.denormalize(width=depthFrameColor.shape[1], height=depthFrameColor.shape[0])
+            xmin = int(roi.topLeft().x)
+            ymin = int(roi.topLeft().y)
+            xmax = int(roi.bottomRight().x)
+            ymax = int(roi.bottomRight().y)
+
+            depthMin = depthData.depthMin
+            depthMax = depthData.depthMax
+
+            fontType = cv2.FONT_HERSHEY_TRIPLEX
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, 1)
+            cv2.putText(depthFrameColor, f"X: {int(depthData.spatialCoordinates.x)} mm", (xmin + 10, ymin + 20), fontType, 0.5, color)
+            cv2.putText(depthFrameColor, f"Y: {int(depthData.spatialCoordinates.y)} mm", (xmin + 10, ymin + 35), fontType, 0.5, color)
+            cv2.putText(depthFrameColor, f"Z: {int(depthData.spatialCoordinates.z)} mm", (xmin + 10, ymin + 50), fontType, 0.5, color)
+        # Show the frame
+        cv2.imshow("depth", depthFrameColor)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('w'):
+            if topLeft.y - stepSize >= 0:
+                topLeft.y -= stepSize
+                bottomRight.y -= stepSize
+                newConfig = True
+        elif key == ord('a'):
+            if topLeft.x - stepSize >= 0:
+                topLeft.x -= stepSize
+                bottomRight.x -= stepSize
+                newConfig = True
+        elif key == ord('s'):
+            if bottomRight.y + stepSize <= 1:
+                topLeft.y += stepSize
+                bottomRight.y += stepSize
+                newConfig = True
+        elif key == ord('d'):
+            if bottomRight.x + stepSize <= 1:
+                topLeft.x += stepSize
+                bottomRight.x += stepSize
+                newConfig = True
+        elif key == ord('1'):
+            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEAN
+            print('Switching calculation algorithm to MEAN!')
+            newConfig = True
+        elif key == ord('2'):
+            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MIN
+            print('Switching calculation algorithm to MIN!')
+            newConfig = True
+        elif key == ord('3'):
+            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MAX
+            print('Switching calculation algorithm to MAX!')
+            newConfig = True
+        elif key == ord('4'):
+            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MODE
+            print('Switching calculation algorithm to MODE!')
+            newConfig = True
+        elif key == ord('5'):
+            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
+            print('Switching calculation algorithm to MEDIAN!')
+            newConfig = True
+
+        if newConfig:
+            config.roi = dai.Rect(topLeft, bottomRight)
+            config.calculationAlgorithm = calculationAlgorithm
+            cfg = dai.SpatialLocationCalculatorConfig()
+            cfg.addROI(config)
+            spatialCalcConfigInQueue.send(cfg)
+            newConfig = False
\ No newline at end of file
diff --git a/bindings/python/examples/SpatialDetection/spatial_mobilenet.py b/bindings/python/examples/SpatialDetection/spatial_mobilenet.py
new file mode 100755
index 000000000..2c19db7db
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_mobilenet.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+'''
+Spatial detection network demo.
+    Performs inference on RGB camera and retrieves spatial location coordinates: x,y,z relative to the center of depth map.
+'''
+
+# Get argument first
+nnBlobPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnBlobPath = sys.argv[1]
+
+if not Path(nnBlobPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+spatialDetectionNetwork = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutNN = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+xoutNN.setStreamName("detections")
+xoutDepth.setStreamName("depth")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Setting node configs
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Align depth map to the perspective of RGB camera, on which inference is done
+stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+stereo.setSubpixel(True)
+stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
+
+spatialDetectionNetwork.setBlobPath(nnBlobPath)
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setDepthLowerThreshold(100)
+spatialDetectionNetwork.setDepthUpperThreshold(5000)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+camRgb.preview.link(spatialDetectionNetwork.input)
+if syncNN:
+    spatialDetectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+spatialDetectionNetwork.out.link(xoutNN.input)
+
+stereo.depth.link(spatialDetectionNetwork.inputDepth)
+spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    previewQueue = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    detectionNNQueue = device.getOutputQueue(name="detections", maxSize=4, blocking=False)
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    color = (255, 255, 255)
+
+    while True:
+        inPreview = previewQueue.get()
+        inDet = detectionNNQueue.get()
+        depth = depthQueue.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        frame = inPreview.getCvFrame()
+
+        depthFrame = depth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        detections = inDet.detections
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        height = frame.shape[0]
+        width  = frame.shape[1]
+        for detection in detections:
+            roiData = detection.boundingBoxMapping
+            roi = roiData.roi
+            roi = roi.denormalize(depthFrameColor.shape[1], depthFrameColor.shape[0])
+            topLeft = roi.topLeft()
+            bottomRight = roi.bottomRight()
+            xmin = int(topLeft.x)
+            ymin = int(topLeft.y)
+            xmax = int(bottomRight.x)
+            ymax = int(bottomRight.y)
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, 1)
+
+            # Denormalize bounding box
+            x1 = int(detection.xmin * width)
+            x2 = int(detection.xmax * width)
+            y1 = int(detection.ymin * height)
+            y2 = int(detection.ymax * height)
+            try:
+                label = labelMap[detection.label]
+            except:
+                label = detection.label
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, "{:.2f}".format(detection.confidence*100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"X: {int(detection.spatialCoordinates.x)} mm", (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Y: {int(detection.spatialCoordinates.y)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Z: {int(detection.spatialCoordinates.z)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 0), cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
+        cv2.imshow("depth", depthFrameColor)
+        cv2.imshow("preview", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/SpatialDetection/spatial_mobilenet_mono.py b/bindings/python/examples/SpatialDetection/spatial_mobilenet_mono.py
new file mode 100755
index 000000000..be9e80fe0
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_mobilenet_mono.py
@@ -0,0 +1,170 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+'''
+Mobilenet SSD device side decoding demo
+  The "mobilenet-ssd" model is a Single-Shot multibox Detection (SSD) network intended
+  to perform object detection. This model is implemented using the Caffe* framework.
+  For details about this model, check out the repository <https://github.com/chuanqi305/MobileNet-SSD>.
+'''
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+spatialDetectionNetwork = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+imageManip = pipeline.create(dai.node.ImageManip)
+
+xoutManip = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+
+xoutManip.setStreamName("right")
+nnOut.setStreamName("detections")
+xoutDepth.setStreamName("depth")
+
+# Properties
+imageManip.initialConfig.setResize(300, 300)
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+imageManip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# StereoDepth
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setSubpixel(True)
+
+# Define a neural network that will make predictions based on the source frames
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+spatialDetectionNetwork.setBlobPath(nnPath)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setDepthLowerThreshold(100)
+spatialDetectionNetwork.setDepthUpperThreshold(5000)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+imageManip.out.link(spatialDetectionNetwork.input)
+if syncNN:
+    spatialDetectionNetwork.passthrough.link(xoutManip.input)
+else:
+    imageManip.out.link(xoutManip.input)
+
+spatialDetectionNetwork.out.link(nnOut.input)
+
+stereo.rectifiedRight.link(imageManip.inputImage)
+stereo.depth.link(spatialDetectionNetwork.inputDepth)
+spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    previewQueue = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    detectionNNQueue = device.getOutputQueue(name="detections", maxSize=4, blocking=False)
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
+    rectifiedRight = None
+    detections = []
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    color = (255, 255, 255)
+
+    while True:
+        inRectified = previewQueue.get()
+        inDet = detectionNNQueue.get()
+        inDepth = depthQueue.get()
+
+        counter += 1
+        currentTime = time.monotonic()
+        if (currentTime - startTime) > 1:
+            fps = counter / (currentTime - startTime)
+            counter = 0
+            startTime = currentTime
+
+        rectifiedRight = inRectified.getCvFrame()
+
+        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        detections = inDet.detections
+
+        # If the rectifiedRight is available, draw bounding boxes on it and show the rectifiedRight
+        height = rectifiedRight.shape[0]
+        width = rectifiedRight.shape[1]
+        for detection in detections:
+            roiData = detection.boundingBoxMapping
+            roi = roiData.roi
+            roi = roi.denormalize(depthFrameColor.shape[1], depthFrameColor.shape[0])
+            topLeft = roi.topLeft()
+            bottomRight = roi.bottomRight()
+            xmin = int(topLeft.x)
+            ymin = int(topLeft.y)
+            xmax = int(bottomRight.x)
+            ymax = int(bottomRight.y)
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX)
+
+            # Denormalize bounding box
+            x1 = int(detection.xmin * width)
+            x2 = int(detection.xmax * width)
+            y1 = int(detection.ymin * height)
+            y2 = int(detection.ymax * height)
+
+            try:
+                label = labelMap[detection.label]
+            except:
+                label = detection.label
+
+            cv2.putText(rectifiedRight, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(rectifiedRight, "{:.2f}".format(detection.confidence*100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(rectifiedRight, f"X: {int(detection.spatialCoordinates.x)} mm", (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(rectifiedRight, f"Y: {int(detection.spatialCoordinates.y)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(rectifiedRight, f"Z: {int(detection.spatialCoordinates.z)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.rectangle(rectifiedRight, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(rectifiedRight, "NN fps: {:.2f}".format(fps), (2, rectifiedRight.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+        cv2.imshow("depth", depthFrameColor)
+        cv2.imshow("rectified right", rectifiedRight)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/SpatialDetection/spatial_tiny_yolo.py b/bindings/python/examples/SpatialDetection/spatial_tiny_yolo.py
new file mode 100755
index 000000000..ba4faad93
--- /dev/null
+++ b/bindings/python/examples/SpatialDetection/spatial_tiny_yolo.py
@@ -0,0 +1,205 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+'''
+Spatial Tiny-yolo example
+  Performs inference on RGB camera and retrieves spatial location coordinates: x,y,z relative to the center of depth map.
+  Can be used for tiny-yolo-v3 or tiny-yolo-v4 networks
+'''
+
+# Get argument first
+nnBlobPath = str((Path(__file__).parent / Path('../models/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+if 1 < len(sys.argv):
+    arg = sys.argv[1]
+    if arg == "yolo3":
+        nnBlobPath = str((Path(__file__).parent / Path('../models/yolo-v3-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+    elif arg == "yolo4":
+        nnBlobPath = str((Path(__file__).parent / Path('../models/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+    else:
+        nnBlobPath = arg
+else:
+    print("Using Tiny YoloV4 model. If you wish to use Tiny YOLOv3, call 'tiny_yolo.py yolo3'")
+
+if not Path(nnBlobPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# Tiny yolo v3/4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+spatialDetectionNetwork = pipeline.create(dai.node.YoloSpatialDetectionNetwork)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+nnNetworkOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutNN = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+xoutNN.setStreamName("detections")
+xoutDepth.setStreamName("depth")
+nnNetworkOut.setStreamName("nnNetwork")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# setting node configs
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Align depth map to the perspective of RGB camera, on which inference is done
+stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
+stereo.setSubpixel(True)
+
+spatialDetectionNetwork.setBlobPath(nnBlobPath)
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setDepthLowerThreshold(100)
+spatialDetectionNetwork.setDepthUpperThreshold(5000)
+
+# Yolo specific parameters
+spatialDetectionNetwork.setNumClasses(80)
+spatialDetectionNetwork.setCoordinateSize(4)
+spatialDetectionNetwork.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+spatialDetectionNetwork.setAnchorMasks({ "side26": [1,2,3], "side13": [3,4,5] })
+spatialDetectionNetwork.setIouThreshold(0.5)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+camRgb.preview.link(spatialDetectionNetwork.input)
+if syncNN:
+    spatialDetectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+spatialDetectionNetwork.out.link(xoutNN.input)
+
+stereo.depth.link(spatialDetectionNetwork.inputDepth)
+spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
+spatialDetectionNetwork.outNetwork.link(nnNetworkOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    previewQueue = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    detectionNNQueue = device.getOutputQueue(name="detections", maxSize=4, blocking=False)
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+    networkQueue = device.getOutputQueue(name="nnNetwork", maxSize=4, blocking=False)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    color = (255, 255, 255)
+    printOutputLayersOnce = True
+
+    while True:
+        inPreview = previewQueue.get()
+        inDet = detectionNNQueue.get()
+        depth = depthQueue.get()
+        inNN = networkQueue.get()
+
+        if printOutputLayersOnce:
+            toPrint = 'Output layer names:'
+            for ten in inNN.getAllLayerNames():
+                toPrint = f'{toPrint} {ten},'
+            print(toPrint)
+            printOutputLayersOnce = False
+
+        frame = inPreview.getCvFrame()
+        depthFrame = depth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        detections = inDet.detections
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        height = frame.shape[0]
+        width  = frame.shape[1]
+        for detection in detections:
+            roiData = detection.boundingBoxMapping
+            roi = roiData.roi
+            roi = roi.denormalize(depthFrameColor.shape[1], depthFrameColor.shape[0])
+            topLeft = roi.topLeft()
+            bottomRight = roi.bottomRight()
+            xmin = int(topLeft.x)
+            ymin = int(topLeft.y)
+            xmax = int(bottomRight.x)
+            ymax = int(bottomRight.y)
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, 1)
+
+            # Denormalize bounding box
+            x1 = int(detection.xmin * width)
+            x2 = int(detection.xmax * width)
+            y1 = int(detection.ymin * height)
+            y2 = int(detection.ymax * height)
+            try:
+                label = labelMap[detection.label]
+            except:
+                label = detection.label
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, "{:.2f}".format(detection.confidence*100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"X: {int(detection.spatialCoordinates.x)} mm", (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Y: {int(detection.spatialCoordinates.y)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Z: {int(detection.spatialCoordinates.z)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+        cv2.imshow("depth", depthFrameColor)
+        cv2.imshow("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/StereoDepth/calib.yaml b/bindings/python/examples/StereoDepth/calib.yaml
new file mode 100644
index 000000000..d36c34e2f
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/calib.yaml
@@ -0,0 +1,157 @@
+calibration:
+  bottom:
+    K:
+    - [578.0579129494149, 0.0, 642.0499396232121]
+    - [0.0, 577.3265456045835, 302.5599633921827]
+    - [0.0, 0.0, 1.0]
+    R:
+    - [0.9999918696921003, 0.0036686955488383186, -0.0016736853549783718]
+    - [-0.003672083553553139, 0.999991206099276, -0.002025716290851138]
+    - [0.0016662389004160596, 0.0020318457336198164, 0.9999965476194613]
+    T:
+    - [0.03126073506381837]
+    - [4.859073675473737]
+    - [-0.04109617474548933]
+    d:
+    - [-0.30770825532598345]
+    - [0.11520358062515515]
+    - [0.0005011736101304087]
+    - [-0.0004119285171460912]
+    - [-0.021363562707001994]
+  left:
+    K:
+    - [582.4674177512317, 0.0, 666.2853476539666]
+    - [0.0, 581.730471436289, 387.7735823361715]
+    - [0.0, 0.0, 1.0]
+    R:
+    - [0.9999011913086963, 0.004104559778276432, 0.013444709311714414]
+    - [-0.0041180264395869, 0.9999910464519279, 0.000974101750871834]
+    - [-0.013440590674996696, -0.0010293711695708524, 0.9999091413310023]
+    T:
+    - [-12.329784570629041]
+    - [0.07164197055969229]
+    - [-0.4683409551018099]
+    d:
+    - [-0.2933894502941919]
+    - [0.09520549776594738]
+    - [0.0002825412057393383]
+    - [-0.0008225101879163952]
+    - [-0.013987056960073817]
+  right:
+    K:
+    - [573.7135570262706, 0.0, 649.2991121783094]
+    - [0.0, 572.9876862242343, 386.9743751653517]
+    - [0.0, 0.0, 1.0]
+    R:
+    - [1.0, 0.0, 0.0]
+    - [0.0, 1.0, 0.0]
+    - [0.0, 0.0, 1.0]
+    T:
+    - [0.0]
+    - [0.0]
+    - [0.0]
+    d:
+    - [-0.3003363182582502]
+    - [0.10510672075213838]
+    - [-0.0002888612475740583]
+    - [0.00022229574236262887]
+    - [-0.01764543215574635]
+rectification:
+  br:
+    bottom:
+      H:
+      - [0.9934221664721893, 0.009060607402029587, 8.230709291054495]
+      - [0.003284235846495621, 0.9994582968990157, 76.43559987040288]
+      - [1.4503236844888698e-06, 1.8172055917863406e-05, 0.9935152974793856]
+      P:
+      - [575.8857349878427, 0.0, 645.6665573120117, 0.0]
+      - [0.0, 575.8857349878427, 352.559513092041, 0.0]
+      - [0.0, 0.0, 1.0, 0.0]
+      R:
+      - [0.999995875298811, -0.002755738158646141, -0.0008095014304703705]
+      - [0.0027470928804019996, 0.999941168476566, -0.010493477327668145]
+      - [0.0008383710821567418, 0.010491210269593411, 0.9999446142867152]
+    right:
+      H:
+      - [1.0, 0.0, 0.0]
+      - [0.0, 1.0, 5.684341886080802e-14]
+      - [0.0, 0.0, 1.0]
+      P:
+      - [575.8857349878427, 0.0, 645.6665573120117, 0.0]
+      - [0.0, 575.8857349878427, 352.559513092041, 2798.429202109413]
+      - [0.0, 0.0, 1.0, 0.0]
+      R:
+      - [0.9999789899108191, -0.006426142512009474, 0.0008511341570857073]
+      - [0.006433113038887821, 0.9999435443465848, -0.00845713759014173]
+      - [-0.0007967393343527972, 0.008462435347170534, 0.9999638755447259]
+  lbr:
+    Kp:
+    - [578.0796292423057, -0.00030149794211127725, 652.544799818496]
+    - [0.0, 577.3482344217023, 359.10264029790204]
+    - [0.0, 0.0, 1.0]
+    bottom:
+      H:
+      - [0.956510434118605, 0.00401364582872807, 58.651205888322465]
+      - [-0.017423296315303833, 1.0053913287272265, 60.93712371961681]
+      - [-6.55734694930834e-05, 1.5060938423796078e-05, 1.036788112327326]
+      P:
+      - [554.0284543929621, 5.715103154755155, 673.0606085888919, 0.8454697618376428]
+      - [-11.613261938108677, 581.116203418181, 352.7814909129693, 2805.5358683145396]
+      - [-0.03627190539454585, 0.010586248877658912, 0.9992858851268487, 9.526770246006273e-18]
+      R:
+      - [0.9992625238689454, -0.005806195226391572, 0.037956507848567446]
+      - [0.006131837736698054, 0.9999453403504346, -0.008468581783523643]
+      - [-0.03790526292002392, 0.008695079553773532, 0.9992435071765627]
+    left:
+      H:
+      - [0.9492692782638835, 0.003983260969394828, 39.96422643739072]
+      - [-0.01729139518843493, 0.9977801254965918, -21.450109406233537]
+      - [-6.507705283561978e-05, 1.4946921264594294e-05, 1.0368073727457707]
+      P:
+      - [543.7953853082967, 3.8928612587610134, 681.3678874615348, -7132.857605456973]
+      - [-17.21812769579886, 580.0282286747012, 354.33949833164377, 2.2627949754157125e-14]
+      - [-0.05136774708270632, 0.007510824826725814, 0.9986515618923696, 2.395953239440768e-17]
+      R:
+      - [0.9992625238689454, -0.005806195226391572, 0.037956507848567446]
+      - [0.006131837736698054, 0.9999453403504346, -0.008468581783523643]
+      - [-0.03790526292002392, 0.008695079553773532, 0.9992435071765627]
+    right:
+      H:
+      - [0.9637534593515302, 0.004044038532222507, 46.66383609828006]
+      - [-0.017555231493793306, 1.0130044968675673, -26.666525005147435]
+      - [-6.607001430556786e-05, 1.5174985017689856e-05, 1.036270378461412]
+      P:
+      - [552.9184252609397, 2.3171842815798227, 673.9930408981545, 0.0]
+      - [-10.071674304723766, 580.4391027948919, 353.94166098686617, 0.0]
+      - [-0.03790526292002392, 0.008695079553773532, 0.9992435071765627, 0.0]
+      R:
+      - [0.9992625238689454, -0.005806195226391572, 0.037956507848567446]
+      - [0.006131837736698054, 0.9999453403504346, -0.008468581783523643]
+      - [-0.03790526292002392, 0.008695079553773532, 0.9992435071765627]
+  lr:
+    left:
+      H:
+      - [0.9263896725786201, -0.002294161818940281, 61.569723737076174]
+      - [-0.03245045742707012, 0.984627043483919, 26.6179218934667]
+      - [-8.82163767032655e-05, -8.848155426785813e-07, 1.057799267333727]
+      P:
+      - [577.3590788302616, 0.0, 600.2686157226562, 0.0]
+      - [0.0, 577.3590788302616, 387.34423828125, 0.0]
+      - [0.0, 0.0, 1.0, 0.0]
+      R:
+      - [0.9986775402267042, -0.001743681811810328, 0.05138219750534922]
+      - [0.0017149305403383417, 0.999998347315022, 0.0006036393512678198]
+      - [-0.05138316514172097, -0.000514724162776567, 0.9986788800205273]
+    right:
+      H:
+      - [1.0, 0.0, 0.0]
+      - [0.0, 1.0, 5.684341886080802e-14]
+      - [0.0, 0.0, 1.0]
+      P:
+      - [577.3590788302616, 0.0, 600.2686157226562, -7123.966817360185]
+      - [0.0, 577.3590788302616, 387.34423828125, 0.0]
+      - [0.0, 0.0, 1.0, 0.0]
+      R:
+      - [0.9992625238689455, -0.0058061952263913875, 0.037956507848565246]
+      - [0.005827429840633428, 0.9999829196585892, -0.0004488346423730825]
+      - [-0.03795325351689444, 0.0006696925240205108, 0.9992792913192015]
diff --git a/bindings/python/examples/StereoDepth/depth_colormap.py b/bindings/python/examples/StereoDepth/depth_colormap.py
new file mode 100755
index 000000000..05d86f85c
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_colormap.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = False
+# Better handling for occlusions:
+lr_check = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+depth = pipeline.create(dai.node.StereoDepth)
+xout = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName("disparity")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
+depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+depth.setLeftRightCheck(lr_check)
+depth.setExtendedDisparity(extended_disparity)
+depth.setSubpixel(subpixel)
+
+# Create a colormap
+colormap = pipeline.create(dai.node.ImageManip)
+colormap.initialConfig.setColormap(dai.Colormap.STEREO_TURBO, depth.initialConfig.getMaxDisparity())
+colormap.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
+
+# Linking
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+depth.disparity.link(colormap.inputImage)
+colormap.out.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the disparity frames from the outputs defined above
+    q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
+
+    while True:
+        inDisparity = q.get()  # blocking call, will wait until a new data has arrived
+        frame = inDisparity.getCvFrame()
+        cv2.imshow("disparity", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/depth_crop_control.py b/bindings/python/examples/StereoDepth/depth_crop_control.py
new file mode 100755
index 000000000..9236142cd
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_crop_control.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+"""
+This example shows usage of depth camera in crop mode with the possibility to move the crop.
+Use 'WASD' in order to do it.
+"""
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Step size ('W','A','S','D' controls)
+stepSize = 0.02
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+manip = pipeline.create(dai.node.ImageManip)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+configIn = pipeline.create(dai.node.XLinkIn)
+xout = pipeline.create(dai.node.XLinkOut)
+
+configIn.setStreamName('config')
+xout.setStreamName("depth")
+
+# Crop range
+topLeft = dai.Point2f(0.2, 0.2)
+bottomRight = dai.Point2f(0.8, 0.8)
+
+# Properties
+monoRight.setCamera("right")
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+
+manip.initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
+manip.setMaxOutputFrameSize(monoRight.getResolutionHeight()*monoRight.getResolutionWidth()*3)
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setSubpixel(True)
+
+# Linking
+configIn.out.link(manip.inputConfig)
+stereo.depth.link(manip.inputImage)
+manip.out.link(xout.input)
+monoRight.out.link(stereo.right)
+monoLeft.out.link(stereo.left)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Queues
+    q = device.getOutputQueue(xout.getStreamName(), maxSize=4, blocking=False)
+    configQueue = device.getInputQueue(configIn.getStreamName())
+
+    sendCamConfig = False
+
+    while True:
+        inDepth = q.get()
+        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
+
+        # Frame is transformed, the color map will be applied to highlight the depth info
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        # Frame is ready to be shown
+        cv2.imshow("depth", depthFrameColor)
+
+        # Update screen
+        key = cv2.waitKey(10)
+        if key == ord('q'):
+            break
+        elif key == ord('w'):
+            if topLeft.y - stepSize >= 0:
+                topLeft.y -= stepSize
+                bottomRight.y -= stepSize
+                sendCamConfig = True
+        elif key == ord('a'):
+            if topLeft.x - stepSize >= 0:
+                topLeft.x -= stepSize
+                bottomRight.x -= stepSize
+                sendCamConfig = True
+        elif key == ord('s'):
+            if bottomRight.y + stepSize <= 1:
+                topLeft.y += stepSize
+                bottomRight.y += stepSize
+                sendCamConfig = True
+        elif key == ord('d'):
+            if bottomRight.x + stepSize <= 1:
+                topLeft.x += stepSize
+                bottomRight.x += stepSize
+                sendCamConfig = True
+
+        # Send new config to camera
+        if sendCamConfig:
+            cfg = dai.ImageManipConfig()
+            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y)
+            configQueue.send(cfg)
+            sendCamConfig = False
diff --git a/bindings/python/examples/StereoDepth/depth_post_processing.py b/bindings/python/examples/StereoDepth/depth_post_processing.py
new file mode 100755
index 000000000..732e91232
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_post_processing.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = False
+# Better handling for occlusions:
+lr_check = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+depth = pipeline.create(dai.node.StereoDepth)
+xout = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName("disparity")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
+depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+depth.setLeftRightCheck(lr_check)
+depth.setExtendedDisparity(extended_disparity)
+depth.setSubpixel(subpixel)
+
+config = depth.initialConfig.get()
+config.postProcessing.speckleFilter.enable = False
+config.postProcessing.speckleFilter.speckleRange = 50
+config.postProcessing.temporalFilter.enable = True
+config.postProcessing.spatialFilter.enable = True
+config.postProcessing.spatialFilter.holeFillingRadius = 2
+config.postProcessing.spatialFilter.numIterations = 1
+config.postProcessing.thresholdFilter.minRange = 400
+config.postProcessing.thresholdFilter.maxRange = 15000
+config.postProcessing.decimationFilter.decimationFactor = 1
+depth.initialConfig.set(config)
+
+# Linking
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+depth.disparity.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the disparity frames from the outputs defined above
+    q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
+
+    while True:
+        inDisparity = q.get()  # blocking call, will wait until a new data has arrived
+        frame = inDisparity.getFrame()
+        # Normalization for better visualization
+        frame = (frame * (255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
+
+        cv2.imshow("disparity", frame)
+
+        # Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
+        frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET)
+        cv2.imshow("disparity_color", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/depth_preview.py b/bindings/python/examples/StereoDepth/depth_preview.py
new file mode 100755
index 000000000..fd7433b06
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_preview.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = False
+# Better handling for occlusions:
+lr_check = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+depth = pipeline.create(dai.node.StereoDepth)
+xout = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName("disparity")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+depth.setLeftRightCheck(lr_check)
+depth.setExtendedDisparity(extended_disparity)
+depth.setSubpixel(subpixel)
+
+config = depth.initialConfig.get()
+config.algorithmControl.enableLeftRightCheck = True
+config.algorithmControl.leftRightCheckThreshold = 10
+config.algorithmControl.replaceInvalidDisparity = False
+config.algorithmControl.outlierRemoveThreshold = 15
+config.algorithmControl.outlierCensusThreshold = 32
+config.algorithmControl.outlierDiffThreshold = 4
+config.costMatching.confidenceThreshold = 245
+config.costAggregation.localAggregationMode = dai.StereoDepthConfig.CostAggregation.LocalAggregationMode.AVG3x3 #CLAMP3x3, PASS3x3
+depth.initialConfig.set(config)
+
+# Linking
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+depth.disparity.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the disparity frames from the outputs defined above
+    q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
+
+    while True:
+        inDisparity = q.get()  # blocking call, will wait until a new data has arrived
+        frame = inDisparity.getFrame()
+        # Normalization for better visualization
+        frame = (frame * (255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
+
+        cv2.imshow("disparity", frame)
+
+        # Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
+        frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET)
+        cv2.imshow("disparity_color", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/depth_preview_lr.py b/bindings/python/examples/StereoDepth/depth_preview_lr.py
new file mode 100755
index 000000000..8bf6fff6d
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_preview_lr.py
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = True
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = True
+# Better handling for occlusions:
+lr_check = True
+
+enableRectified = False
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+left = pipeline.create(dai.node.ColorCamera)
+center = pipeline.create(dai.node.ColorCamera)
+right = pipeline.create(dai.node.ColorCamera)
+LC_depth = pipeline.create(dai.node.StereoDepth)
+LR_depth = pipeline.create(dai.node.StereoDepth)
+CR_depth = pipeline.create(dai.node.StereoDepth)
+
+xout_LC = pipeline.create(dai.node.XLinkOut)
+xout_LR = pipeline.create(dai.node.XLinkOut)
+xout_CR = pipeline.create(dai.node.XLinkOut)
+
+xout_LC.setStreamName("disparity_LC")
+if enableRectified:
+    xoutl_LC = pipeline.create(dai.node.XLinkOut)
+    xoutr_LC = pipeline.create(dai.node.XLinkOut)
+    xoutl_LC.setStreamName("rectifiedLeft_LC")
+    xoutr_LC.setStreamName("rectifiedRight_LC")
+
+xout_LR.setStreamName("disparity_LR")
+if enableRectified:
+    xoutl_LR = pipeline.create(dai.node.XLinkOut)
+    xoutr_LR = pipeline.create(dai.node.XLinkOut)
+    xoutl_LR.setStreamName("rectifiedLeft_LR")
+    xoutr_LR.setStreamName("rectifiedRight_LR")
+
+xout_CR.setStreamName("disparity_CR")
+if enableRectified:
+    xoutl_CR = pipeline.create(dai.node.XLinkOut)
+    xoutr_CR = pipeline.create(dai.node.XLinkOut)
+    xoutl_CR.setStreamName("rectifiedLeft_CR")
+    xoutr_CR.setStreamName("rectifiedRight_CR")
+
+# Properties
+left.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1200_P)
+left.setCamera("left")
+left.setIspScale(2, 3)
+
+center.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1200_P)
+center.setBoardSocket(dai.CameraBoardSocket.CENTER)
+center.setIspScale(2, 3)
+
+right.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1200_P)
+right.setCamera("right")
+right.setIspScale(2, 3)
+
+LC_depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+LC_depth.initialConfig.setMedianFilter(dai.MedianFilter.MEDIAN_OFF)
+LC_depth.setLeftRightCheck(lr_check)
+LC_depth.setExtendedDisparity(extended_disparity)
+LC_depth.setSubpixel(subpixel)
+
+LR_depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+LR_depth.initialConfig.setMedianFilter(dai.MedianFilter.MEDIAN_OFF)
+LR_depth.setLeftRightCheck(lr_check)
+LR_depth.setExtendedDisparity(extended_disparity)
+LR_depth.setSubpixel(subpixel)
+
+CR_depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+CR_depth.initialConfig.setMedianFilter(dai.MedianFilter.MEDIAN_OFF)
+CR_depth.setLeftRightCheck(lr_check)
+CR_depth.setExtendedDisparity(extended_disparity)
+CR_depth.setSubpixel(subpixel)
+
+# Linking
+# LC
+left.isp.link(LC_depth.left)
+center.isp.link(LC_depth.right)
+LC_depth.disparity.link(xout_LC.input)
+if enableRectified:
+    LC_depth.rectifiedLeft.link(xoutl_LC.input)
+    LC_depth.rectifiedRight.link(xoutr_LC.input)
+# LR
+left.isp.link(LR_depth.left)
+right.isp.link(LR_depth.right)
+LR_depth.disparity.link(xout_LR.input)
+if enableRectified:
+    LR_depth.rectifiedLeft.link(xoutl_LR.input)
+    LR_depth.rectifiedRight.link(xoutr_LR.input)
+# CR
+center.isp.link(CR_depth.left)
+right.isp.link(CR_depth.right)
+CR_depth.disparity.link(xout_CR.input)
+if enableRectified:
+    CR_depth.rectifiedLeft.link(xoutl_CR.input)
+    CR_depth.rectifiedRight.link(xoutr_CR.input)
+
+maxDisp = LC_depth.initialConfig.getMaxDisparity()
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    while not device.isClosed():
+        queueNames = device.getQueueEvents()
+        for q in queueNames:
+            message = device.getOutputQueue(q).get()
+            # Display arrived frames
+            if type(message) == dai.ImgFrame:
+                frame = message.getCvFrame()
+                if 'disparity' in q:
+                    disp = (frame * (255.0 / maxDisp)).astype(np.uint8)
+                    disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+                    cv2.imshow(q, disp)
+                else:
+                    cv2.imshow(q, frame)
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/depth_preview_sr.py b/bindings/python/examples/StereoDepth/depth_preview_sr.py
new file mode 100755
index 000000000..6d82d6317
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/depth_preview_sr.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extendedDisparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = True
+# Better handling for occlusions:
+lrCheck = True
+
+enableRectified = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+left = pipeline.create(dai.node.ColorCamera)
+right = pipeline.create(dai.node.ColorCamera)
+
+# Create stereo
+stereo = pipeline.create(dai.node.StereoDepth)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutDepth.setStreamName("disparity")
+
+# Properties
+left.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+left.setCamera("left")
+
+right.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+right.setCamera("right")
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+stereo.setLeftRightCheck(lrCheck)
+stereo.setExtendedDisparity(extendedDisparity)
+stereo.setSubpixel(subpixel)
+
+
+# Linking
+left.isp.link(stereo.left)
+right.isp.link(stereo.right)
+if enableRectified:
+    xoutRectR = pipeline.create(dai.node.XLinkOut)
+    xoutRectL= pipeline.create(dai.node.XLinkOut)
+    xoutRectR.setStreamName("rectifiedRight")
+    xoutRectL.setStreamName("rectifiedLeft")
+    stereo.rectifiedLeft.link(xoutRectL.input)
+    stereo.rectifiedRight.link(xoutRectR.input)
+stereo.disparity.link(xoutDepth.input)
+
+maxDisp = stereo.initialConfig.getMaxDisparity()
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    while not device.isClosed():
+        queueNames = device.getQueueEvents()
+        for q in queueNames:
+            message = device.getOutputQueue(q).get()
+            # Display arrived frames
+            if type(message) == dai.ImgFrame:
+                frame = message.getCvFrame()
+                if 'disparity' in q:
+                    disp = (frame * (255.0 / maxDisp)).astype(np.uint8)
+                    disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+                    cv2.imshow(q, disp)
+                else:
+                    cv2.imshow(q, frame)
+        if cv2.waitKey(1) == ord('q'):
+            break
+            
diff --git a/bindings/python/examples/StereoDepth/disp_left_aligned.png b/bindings/python/examples/StereoDepth/disp_left_aligned.png
new file mode 100644
index 000000000..93e8241c1
Binary files /dev/null and b/bindings/python/examples/StereoDepth/disp_left_aligned.png differ
diff --git a/bindings/python/examples/StereoDepth/disp_right_aligned.png b/bindings/python/examples/StereoDepth/disp_right_aligned.png
new file mode 100644
index 000000000..1ff1253ad
Binary files /dev/null and b/bindings/python/examples/StereoDepth/disp_right_aligned.png differ
diff --git a/bindings/python/examples/StereoDepth/in_bottom.png b/bindings/python/examples/StereoDepth/in_bottom.png
new file mode 100644
index 000000000..05290e626
Binary files /dev/null and b/bindings/python/examples/StereoDepth/in_bottom.png differ
diff --git a/bindings/python/examples/StereoDepth/in_right.png b/bindings/python/examples/StereoDepth/in_right.png
new file mode 100644
index 000000000..ea5e7cef2
Binary files /dev/null and b/bindings/python/examples/StereoDepth/in_right.png differ
diff --git a/bindings/python/examples/StereoDepth/rgb_depth_aligned.py b/bindings/python/examples/StereoDepth/rgb_depth_aligned.py
new file mode 100755
index 000000000..09e2389f0
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/rgb_depth_aligned.py
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+import argparse
+
+# Weights to use when blending depth/rgb image (should equal 1.0)
+rgbWeight = 0.4
+depthWeight = 0.6
+
+parser = argparse.ArgumentParser()
+parser.add_argument('-alpha', type=float, default=None, help="Alpha scaling parameter to increase float. [0,1] valid interval.")
+args = parser.parse_args()
+alpha = args.alpha
+
+def updateBlendWeights(percent_rgb):
+    """
+    Update the rgb and depth weights used to blend depth/rgb image
+
+    @param[in] percent_rgb The rgb weight expressed as a percentage (0..100)
+    """
+    global depthWeight
+    global rgbWeight
+    rgbWeight = float(percent_rgb)/100.0
+    depthWeight = 1.0 - rgbWeight
+
+
+fps = 30
+# The disparity is computed at this resolution, then upscaled to RGB resolution
+monoResolution = dai.MonoCameraProperties.SensorResolution.THE_720_P
+
+# Create pipeline
+pipeline = dai.Pipeline()
+device = dai.Device()
+queueNames = []
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.Camera)
+left = pipeline.create(dai.node.MonoCamera)
+right = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+rgbOut = pipeline.create(dai.node.XLinkOut)
+disparityOut = pipeline.create(dai.node.XLinkOut)
+
+rgbOut.setStreamName("rgb")
+queueNames.append("rgb")
+disparityOut.setStreamName("disp")
+queueNames.append("disp")
+
+#Properties
+rgbCamSocket = dai.CameraBoardSocket.CAM_A
+
+camRgb.setBoardSocket(rgbCamSocket)
+camRgb.setSize(1280, 720)
+camRgb.setFps(fps)
+
+# For now, RGB needs fixed focus to properly align with depth.
+# This value was used during calibration
+try:
+    calibData = device.readCalibration2()
+    lensPosition = calibData.getLensPosition(rgbCamSocket)
+    if lensPosition:
+        camRgb.initialControl.setManualFocus(lensPosition)
+except:
+    raise
+left.setResolution(monoResolution)
+left.setCamera("left")
+left.setFps(fps)
+right.setResolution(monoResolution)
+right.setCamera("right")
+right.setFps(fps)
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# LR-check is required for depth alignment
+stereo.setLeftRightCheck(True)
+stereo.setDepthAlign(rgbCamSocket)
+
+# Linking
+camRgb.video.link(rgbOut.input)
+left.out.link(stereo.left)
+right.out.link(stereo.right)
+stereo.disparity.link(disparityOut.input)
+
+camRgb.setMeshSource(dai.CameraProperties.WarpMeshSource.CALIBRATION)
+if alpha is not None:
+    camRgb.setCalibrationAlpha(alpha)
+    stereo.setAlphaScaling(alpha)
+
+# Connect to device and start pipeline
+with device:
+    device.startPipeline(pipeline)
+
+    frameRgb = None
+    frameDisp = None
+
+    # Configure windows; trackbar adjusts blending ratio of rgb/depth
+    rgbWindowName = "rgb"
+    depthWindowName = "depth"
+    blendedWindowName = "rgb-depth"
+    cv2.namedWindow(rgbWindowName)
+    cv2.namedWindow(depthWindowName)
+    cv2.namedWindow(blendedWindowName)
+    cv2.createTrackbar('RGB Weight %', blendedWindowName, int(rgbWeight*100), 100, updateBlendWeights)
+
+    while True:
+        latestPacket = {}
+        latestPacket["rgb"] = None
+        latestPacket["disp"] = None
+
+        queueEvents = device.getQueueEvents(("rgb", "disp"))
+        for queueName in queueEvents:
+            packets = device.getOutputQueue(queueName).tryGetAll()
+            if len(packets) > 0:
+                latestPacket[queueName] = packets[-1]
+
+        if latestPacket["rgb"] is not None:
+            frameRgb = latestPacket["rgb"].getCvFrame()
+            cv2.imshow(rgbWindowName, frameRgb)
+
+        if latestPacket["disp"] is not None:
+            frameDisp = latestPacket["disp"].getFrame()
+            maxDisparity = stereo.initialConfig.getMaxDisparity()
+            # Optional, extend range 0..95 -> 0..255, for a better visualisation
+            if 1: frameDisp = (frameDisp * 255. / maxDisparity).astype(np.uint8)
+            # Optional, apply false colorization
+            if 1: frameDisp = cv2.applyColorMap(frameDisp, cv2.COLORMAP_HOT)
+            frameDisp = np.ascontiguousarray(frameDisp)
+            cv2.imshow(depthWindowName, frameDisp)
+
+        # Blend when both received
+        if frameRgb is not None and frameDisp is not None:
+            # Need to have both frames in BGR format before blending
+            if len(frameDisp.shape) < 3:
+                frameDisp = cv2.cvtColor(frameDisp, cv2.COLOR_GRAY2BGR)
+            blended = cv2.addWeighted(frameRgb, rgbWeight, frameDisp, depthWeight, 0)
+            cv2.imshow(blendedWindowName, blended)
+            frameRgb = None
+            frameDisp = None
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/StereoDepth/rgb_depth_confidence_aligned.py b/bindings/python/examples/StereoDepth/rgb_depth_confidence_aligned.py
new file mode 100755
index 000000000..226707a81
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/rgb_depth_confidence_aligned.py
@@ -0,0 +1,183 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+
+# Weights to use when blending rgb/depth/confidence image
+rgbWeight = 0.3
+depthWeight = 0.3
+confWeight = 0.3
+# Normalized weights to use when blending rgb/depth/confidence image (should equal 1.0)
+rgbWeightNorm = 0.3
+depthWeightNorm = 0.3
+confWeightNorm = 0.3
+
+
+def updateRgbBlendWeights(percent):
+    """
+    Update the rgb weight used to blend rgb/depth/confidence image
+
+    @param[in] percent The rgb weight expressed as a percentage (0..100)
+    """
+    global rgbWeight
+    rgbWeight = float(percent)/100.0
+
+def updateDepthBlendWeights(percent):
+    """
+    Update the depth weight used to blend rgb/depth/confidence image
+
+    @param[in] percent The depth weight expressed as a percentage (0..100)
+    """
+    global depthWeight
+    depthWeight = float(percent)/100.0
+
+def updateConfBlendWeights(percent):
+    """
+    Update the confidence weight used to blend rgb/depth/confidence image
+
+    @param[in] percent The confidence weight expressed as a percentage (0..100)
+    """
+    global confWeight
+    confWeight = float(percent)/100.0
+
+# Optional. If set (True), the ColorCamera is downscaled from 1080p to 720p.
+# Otherwise (False), the aligned depth is automatically upscaled to 1080p
+downscaleColor = True
+fps = 30
+# The disparity is computed at this resolution, then upscaled to RGB resolution
+monoResolution = dai.MonoCameraProperties.SensorResolution.THE_720_P
+
+# Create pipeline
+pipeline = dai.Pipeline()
+device = dai.Device()
+queueNames = []
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+left = pipeline.create(dai.node.MonoCamera)
+right = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+rgbOut = pipeline.create(dai.node.XLinkOut)
+disparityOut = pipeline.create(dai.node.XLinkOut)
+
+rgbOut.setStreamName("rgb")
+queueNames.append("rgb")
+disparityOut.setStreamName("disp")
+queueNames.append("disp")
+
+#Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setFps(fps)
+if downscaleColor: camRgb.setIspScale(2, 3)
+# For now, RGB needs fixed focus to properly align with depth.
+# This value was used during calibration
+try:
+    calibData = device.readCalibration2()
+    lensPosition = calibData.getLensPosition(dai.CameraBoardSocket.CAM_A)
+    if lensPosition:
+        camRgb.initialControl.setManualFocus(lensPosition)
+except:
+    raise
+
+left.setResolution(monoResolution)
+left.setCamera("left")
+left.setFps(fps)
+right.setResolution(monoResolution)
+right.setCamera("right")
+right.setFps(fps)
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# LR-check is required for depth alignment
+stereo.setLeftRightCheck(True)
+if 0: stereo.setSubpixel(True)  # TODO enable for test
+stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+
+xoutConfMap = pipeline.create(dai.node.XLinkOut)
+xoutConfMap.setStreamName('confidence_map')
+
+# Linking
+camRgb.isp.link(rgbOut.input)
+left.out.link(stereo.left)
+right.out.link(stereo.right)
+stereo.disparity.link(disparityOut.input)
+stereo.confidenceMap.link(xoutConfMap.input)
+
+# Connect to device and start pipeline
+with device:
+    device.startPipeline(pipeline)
+
+    frameRgb = None
+    frameDisp = None
+    frameC = None
+
+    # Configure windows; trackbar adjusts blending ratio of rgb/depth
+    rgbWindowName = "rgb"
+    depthWindowName = "depth"
+    confWindowName = "conf"
+    blendedWindowName = "rgb-depth-conf"
+    cv2.namedWindow(rgbWindowName)
+    cv2.namedWindow(depthWindowName)
+    cv2.namedWindow(confWindowName)
+    cv2.namedWindow(blendedWindowName)
+    cv2.createTrackbar('RGB Weight %', blendedWindowName, int(rgbWeight*100), 100, updateRgbBlendWeights)
+    cv2.createTrackbar('Depth Weight %', blendedWindowName, int(depthWeight*100), 100, updateDepthBlendWeights)
+    cv2.createTrackbar('Confidence Weight %', blendedWindowName, int(confWeight*100), 100, updateConfBlendWeights)
+    while True:
+        latestPacket = {}
+        latestPacket["rgb"] = None
+        latestPacket["disp"] = None
+        latestPacket["confidence_map"] = None
+
+        queueEvents = device.getQueueEvents(("rgb", "disp", "confidence_map"))
+        for queueName in queueEvents:
+            packets = device.getOutputQueue(queueName).tryGetAll()
+            if len(packets) > 0:
+                latestPacket[queueName] = packets[-1]
+
+        if latestPacket["rgb"] is not None:
+            frameRgb = latestPacket["rgb"].getCvFrame()
+            cv2.imshow(rgbWindowName, frameRgb)
+
+        if latestPacket["confidence_map"] is not None:
+            frameC = latestPacket["confidence_map"].getCvFrame()
+            cv2.imshow(confWindowName, frameC)
+
+        if latestPacket["disp"] is not None:
+            frameDisp = latestPacket["disp"].getFrame()
+            maxDisparity = stereo.initialConfig.getMaxDisparity()
+            # Optional, extend range 0..95 -> 0..255, for a better visualisation
+            if 1: frameDisp = (frameDisp * 255. / maxDisparity).astype(np.uint8)
+            # Optional, apply false colorization
+            if 1: frameDisp = cv2.applyColorMap(frameDisp, cv2.COLORMAP_HOT)
+            frameDisp = np.ascontiguousarray(frameDisp)
+            cv2.imshow(depthWindowName, frameDisp)
+
+        # Blend when all three frames received
+        if frameRgb is not None and frameDisp is not None and frameC is not None:
+            # Need to have all three frames in BGR format before blending
+            if len(frameDisp.shape) < 3:
+                frameDisp = cv2.cvtColor(frameDisp, cv2.COLOR_GRAY2BGR)
+            if len(frameC.shape) < 3:
+                frameC = cv2.cvtColor(frameC, cv2.COLOR_GRAY2BGR)
+            sumWeight = rgbWeight + depthWeight + confWeight
+            # Normalize the weights so their sum to be <= 1.0
+            if sumWeight <= 1.0:
+                rgbWeightNorm = rgbWeight
+                depthWeightNorm = depthWeight
+                confWeightNorm = confWeight
+            else :
+                rgbWeightNorm = rgbWeight / sumWeight
+                depthWeightNorm = depthWeight / sumWeight
+                confWeightNorm = confWeight / sumWeight
+            blended1 = cv2.addWeighted(frameRgb, rgbWeightNorm, frameDisp, depthWeightNorm, 0)
+            blended2 = cv2.addWeighted(blended1, rgbWeightNorm + depthWeightNorm, frameC, confWeightNorm, 0)
+            cv2.imshow(blendedWindowName, blended2)
+            frameRgb = None
+            frameDisp = None
+            frameC = None
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_custom_mesh.py b/bindings/python/examples/StereoDepth/stereo_depth_custom_mesh.py
new file mode 100644
index 000000000..6cd398698
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_custom_mesh.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("-res", "--resolution", type=str, default="720",
+    help="Sets the resolution on mono cameras. Options: 800 | 720 | 400")
+parser.add_argument("-md", "--mesh_dir", type=str, default=None,
+    help="Output directory for mesh files. If not specified mesh files won't be saved")
+parser.add_argument("-lm", "--load_mesh", default=False, action="store_true",
+    help="Read camera intrinsics, generate mesh files and load them into the stereo node.")
+args = parser.parse_args()
+
+meshDirectory = args.mesh_dir  # Output dir for mesh files
+generateMesh = args.load_mesh  # Load mesh files
+RES_MAP = {
+    '800': {'w': 1280, 'h': 800, 'res': dai.MonoCameraProperties.SensorResolution.THE_800_P },
+    '720': {'w': 1280, 'h': 720, 'res': dai.MonoCameraProperties.SensorResolution.THE_720_P },
+    '400': {'w': 640, 'h': 400, 'res': dai.MonoCameraProperties.SensorResolution.THE_400_P }
+}
+if args.resolution not in RES_MAP:
+    exit("Unsupported resolution!")
+
+resolution = RES_MAP[args.resolution]
+
+def getMesh(calibData):
+    M1 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_B, resolution['w'], resolution['h']))
+    d1 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_B))
+    R1 = np.array(calibData.getStereoLeftRectificationRotation())
+    M2 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C, resolution['w'], resolution['h']))
+    d2 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_C))
+    R2 = np.array(calibData.getStereoRightRectificationRotation())
+    mapXL, mapYL = cv2.initUndistortRectifyMap(M1, d1, R1, M2, (resolution['w'], resolution['h']), cv2.CV_32FC1)
+    mapXR, mapYR = cv2.initUndistortRectifyMap(M2, d2, R2, M2, (resolution['w'], resolution['h']), cv2.CV_32FC1)
+
+    meshCellSize = 16
+    meshLeft = []
+    meshRight = []
+
+    for y in range(mapXL.shape[0] + 1):
+        if y % meshCellSize == 0:
+            rowLeft = []
+            rowRight = []
+            for x in range(mapXL.shape[1] + 1):
+                if x % meshCellSize == 0:
+                    if y == mapXL.shape[0] and x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y - 1, x - 1])
+                        rowLeft.append(mapXL[y - 1, x - 1])
+                        rowRight.append(mapYR[y - 1, x - 1])
+                        rowRight.append(mapXR[y - 1, x - 1])
+                    elif y == mapXL.shape[0]:
+                        rowLeft.append(mapYL[y - 1, x])
+                        rowLeft.append(mapXL[y - 1, x])
+                        rowRight.append(mapYR[y - 1, x])
+                        rowRight.append(mapXR[y - 1, x])
+                    elif x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y, x - 1])
+                        rowLeft.append(mapXL[y, x - 1])
+                        rowRight.append(mapYR[y, x - 1])
+                        rowRight.append(mapXR[y, x - 1])
+                    else:
+                        rowLeft.append(mapYL[y, x])
+                        rowLeft.append(mapXL[y, x])
+                        rowRight.append(mapYR[y, x])
+                        rowRight.append(mapXR[y, x])
+            if (mapXL.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+                rowRight.append(0)
+                rowRight.append(0)
+
+            meshLeft.append(rowLeft)
+            meshRight.append(rowRight)
+
+    meshLeft = np.array(meshLeft)
+    meshRight = np.array(meshRight)
+
+    return meshLeft, meshRight
+
+def saveMeshFiles(meshLeft, meshRight, outputPath):
+    print("Saving mesh to:", outputPath)
+    meshLeft.tofile(outputPath + "/left_mesh.calib")
+    meshRight.tofile(outputPath + "/right_mesh.calib")
+
+
+def create_pipeline(device: dai.Device) -> dai.Pipeline:
+    calibData = device.readCalibration()
+    print("Creating Stereo Depth pipeline")
+    pipeline = dai.Pipeline()
+
+    camLeft = pipeline.create(dai.node.MonoCamera)
+    camLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+
+    camRight = pipeline.create(dai.node.MonoCamera)
+    camRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+    xoutRight = pipeline.create(dai.node.XLinkOut)
+    xoutRight.setStreamName("right")
+    camRight.out.link(xoutRight.input)
+
+    for monoCam in (camLeft, camRight):  # Common config
+        monoCam.setResolution(resolution['res'])
+        # monoCam.setFps(20.0)
+
+    stereo = pipeline.create(dai.node.StereoDepth)
+    camLeft.out.link(stereo.left)
+    camRight.out.link(stereo.right)
+    stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+    stereo.setRectifyEdgeFillColor(0)  # Black, to better see the cutout
+    stereo.setLeftRightCheck(True)
+    stereo.setExtendedDisparity(True)
+
+    
+
+
+    xoutDisparity = pipeline.create(dai.node.XLinkOut)
+    xoutDisparity.setStreamName("disparity")
+    stereo.disparity.link(xoutDisparity.input)
+
+    xoutRectifRight = pipeline.create(dai.node.XLinkOut)
+    xoutRectifRight.setStreamName("rectifiedRight")
+    stereo.rectifiedRight.link(xoutRectifRight.input)
+
+    # Create custom meshes from calibration data. Here you could also
+    # load your own mesh files, or generate them in any other way.
+    leftMesh, rightMesh = getMesh(calibData)
+    if generateMesh:
+        meshLeft = list(leftMesh.tobytes())
+        meshRight = list(rightMesh.tobytes())
+        # Load mesh data to the StereoDepth node
+        stereo.loadMeshData(meshLeft, meshRight)
+
+    if meshDirectory is not None:
+        saveMeshFiles(leftMesh, rightMesh, meshDirectory)
+    return pipeline
+
+with dai.Device() as device:
+    device.startPipeline(create_pipeline(device))
+
+    # Create a receive queue for each stream
+    qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in ['right', 'rectifiedRight', 'disparity']]
+
+    while True:
+        for q in qList:
+            name = q.getName()
+            frame = q.get().getCvFrame()
+            cv2.imshow(name, frame)
+        if cv2.waitKey(1) == ord("q"):
+            break
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_from_host.py b/bindings/python/examples/StereoDepth/stereo_depth_from_host.py
new file mode 100755
index 000000000..14081c7bd
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_from_host.py
@@ -0,0 +1,1007 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+from time import sleep
+import datetime
+import argparse
+from pathlib import Path
+import math
+import os, re
+
+datasetDefault = str((Path(__file__).parent / Path("../models/dataset")).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument("-p", "--dataset", nargs="?", help="Path to recorded frames", default=None)
+parser.add_argument("-d", "--debug", action="store_true", help="Enable debug outputs.")
+parser.add_argument("-e", "--evaluate", help="Evaluate the disparity calculation.", default=None)
+parser.add_argument("-dumpdispcost", "--dumpdisparitycostvalues", action="store_true", help="Dumps the disparity cost values for each disparity range. 96 byte for each pixel.")
+parser.add_argument("--download", action="store_true", help="Downloads the 2014 Middlebury dataset.")
+parser.add_argument("--calibration", help="Path to calibration file", default=None)
+parser.add_argument("--rectify", action="store_true", help="Enable rectified streams")
+parser.add_argument("--swapLR", action="store_true", help="Swap left and right cameras.")
+args = parser.parse_args()
+
+if args.evaluate is not None and args.dataset is not None:
+    import sys
+    raise ValueError("Cannot use both --dataset and --evaluate arguments at the same time.")
+
+evaluation_mode = args.evaluate is not None
+args.dataset = args.dataset or datasetDefault
+
+if args.download and args.evaluate is None:
+    import sys
+    raise ValueError("Cannot use --download without --evaluate argument.")
+
+if args.evaluate is None and not Path(args.dataset).exists():
+    import sys
+    raise FileNotFoundError(f"Required file/s not found, please run '{sys.executable} install_requirements.py'")
+
+if args.evaluate is not None and not args.download and not Path(args.evaluate).exists():
+    import sys
+    raise FileNotFoundError(f"Evaluation dataset path does not exist, use the --evaluate argument to specify the path.")
+
+if args.evaluate is not None and args.download and not Path(args.evaluate).exists():
+    os.makedirs(args.evaluate)
+
+def download_2014_middlebury(data_path):
+    import requests, zipfile, io
+    url = "https://vision.middlebury.edu/stereo/data/scenes2014/zip/"
+    r = requests.get(url)
+    c = r.content
+    reg = re.compile(r"href=('|\")(.+\.zip)('|\")")
+    matches = reg.findall(c.decode("utf-8"))
+    files = [m[1] for m in matches]
+
+    for f in files:
+        if os.path.isdir(os.path.join(data_path, f[:-4])):
+            print(f"Skipping {f}")
+        else:
+            print(f"Downloading {f} from {url + f}")
+            r = requests.get(url + f)
+            print(f"Extracting {f} to {data_path}")
+            z = zipfile.ZipFile(io.BytesIO(r.content))
+            z.extractall(data_path)
+
+if args.download:
+    download_2014_middlebury(args.evaluate)
+    if not evaluation_mode:
+        sys.exit(0)
+
+class StereoConfigHandler:
+
+    class Trackbar:
+        def __init__(self, trackbarName, windowName, minValue, maxValue, defaultValue, handler):
+            self.min = minValue
+            self.max = maxValue
+            self.windowName = windowName
+            self.trackbarName = trackbarName
+            cv2.createTrackbar(trackbarName, windowName, minValue, maxValue, handler)
+            cv2.setTrackbarPos(trackbarName, windowName, defaultValue)
+
+        def set(self, value):
+            if value < self.min:
+                value = self.min
+                print(f"{self.trackbarName} min value is {self.min}")
+            if value > self.max:
+                value = self.max
+                print(f"{self.trackbarName} max value is {self.max}")
+            cv2.setTrackbarPos(self.trackbarName, self.windowName, value)
+
+    class CensusMaskHandler:
+
+        stateColor = [(0, 0, 0), (255, 255, 255)]
+        gridHeight = 50
+        gridWidth = 50
+
+        def fillRectangle(self, row, col):
+            src = self.gridList[row][col]["topLeft"]
+            dst = self.gridList[row][col]["bottomRight"]
+
+            stateColor = self.stateColor[1] if self.gridList[row][col]["state"] else self.stateColor[0]
+            self.changed = True
+
+            cv2.rectangle(self.gridImage, src, dst, stateColor, -1)
+            cv2.imshow(self.windowName, self.gridImage)
+
+
+        def clickCallback(self, event, x, y, flags, param):
+            if event == cv2.EVENT_LBUTTONDOWN:
+                col = x * (self.gridSize[1]) // self.width
+                row = y * (self.gridSize[0]) // self.height
+                self.gridList[row][col]["state"] = not self.gridList[row][col]["state"]
+                self.fillRectangle(row, col)
+
+
+        def __init__(self, windowName, gridSize):
+            self.gridSize = gridSize
+            self.windowName = windowName
+            self.changed = False
+
+            cv2.namedWindow(self.windowName)
+
+            self.width = StereoConfigHandler.CensusMaskHandler.gridWidth * self.gridSize[1]
+            self.height = StereoConfigHandler.CensusMaskHandler.gridHeight * self.gridSize[0]
+
+            self.gridImage = np.zeros((self.height + 50, self.width, 3), np.uint8)
+
+            cv2.putText(self.gridImage, "Click on grid to change mask!", (0, self.height+20), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255))
+            cv2.putText(self.gridImage, "White: ON   |   Black: OFF", (0, self.height+40), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255))
+
+            self.gridList = [[dict() for _ in range(self.gridSize[1])] for _ in range(self.gridSize[0])]
+
+            for row in range(self.gridSize[0]):
+                rowFactor = self.height // self.gridSize[0]
+                srcY = row*rowFactor + 1
+                dstY = (row+1)*rowFactor - 1
+                for col in range(self.gridSize[1]):
+                    colFactor = self.width // self.gridSize[1]
+                    srcX = col*colFactor + 1
+                    dstX = (col+1)*colFactor - 1
+                    src = (srcX, srcY)
+                    dst = (dstX, dstY)
+                    self.gridList[row][col]["topLeft"] = src
+                    self.gridList[row][col]["bottomRight"] = dst
+                    self.gridList[row][col]["state"] = False
+                    self.fillRectangle(row, col)
+
+            cv2.setMouseCallback(self.windowName, self.clickCallback)
+            cv2.imshow(self.windowName, self.gridImage)
+
+        def getMask(self) -> np.uint64:
+            mask = np.uint64(0)
+            for row in range(self.gridSize[0]):
+                for col in range(self.gridSize[1]):
+                    if self.gridList[row][col]["state"]:
+                        pos = row*self.gridSize[1] + col
+                        mask = np.bitwise_or(mask, np.uint64(1) << np.uint64(pos))
+
+            return mask
+
+        def setMask(self, _mask: np.uint64):
+            mask = np.uint64(_mask)
+            for row in range(self.gridSize[0]):
+                for col in range(self.gridSize[1]):
+                    pos = row*self.gridSize[1] + col
+                    if np.bitwise_and(mask, np.uint64(1) << np.uint64(pos)):
+                        self.gridList[row][col]["state"] = True
+                    else:
+                        self.gridList[row][col]["state"] = False
+
+                    self.fillRectangle(row, col)
+
+        def isChanged(self):
+            changed = self.changed
+            self.changed = False
+            return changed
+
+        def destroyWindow(self):
+            cv2.destroyWindow(self.windowName)
+
+
+    censusMaskHandler = None
+    newConfig = False
+    config = None
+    trSigma = list()
+    trConfidence = list()
+    trLrCheck = list()
+    trFractionalBits = list()
+    trLineqAlpha = list()
+    trLineqBeta = list()
+    trLineqThreshold = list()
+    trCostAggregationP1 = list()
+    trCostAggregationP2 = list()
+    trTemporalAlpha = list()
+    trTemporalDelta = list()
+    trThresholdMinRange = list()
+    trThresholdMaxRange = list()
+    trSpeckleRange = list()
+    trSpatialAlpha = list()
+    trSpatialDelta = list()
+    trSpatialHoleFilling = list()
+    trSpatialNumIterations = list()
+    trDecimationFactor = list()
+    trDisparityShift = list()
+    trCenterAlignmentShift = list()
+    trInvalidateEdgePixels = list()
+
+    def trackbarSigma(value):
+        StereoConfigHandler.config.postProcessing.bilateralSigmaValue = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSigma:
+            tr.set(value)
+
+    def trackbarConfidence(value):
+        StereoConfigHandler.config.costMatching.confidenceThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trConfidence:
+            tr.set(value)
+
+    def trackbarLrCheckThreshold(value):
+        StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trLrCheck:
+            tr.set(value)
+
+    def trackbarFractionalBits(value):
+        StereoConfigHandler.config.algorithmControl.subpixelFractionalBits = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trFractionalBits:
+            tr.set(value)
+
+    def trackbarLineqAlpha(value):
+        StereoConfigHandler.config.costMatching.linearEquationParameters.alpha = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trLineqAlpha:
+            tr.set(value)
+
+    def trackbarLineqBeta(value):
+        StereoConfigHandler.config.costMatching.linearEquationParameters.beta = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trLineqBeta:
+            tr.set(value)
+
+    def trackbarLineqThreshold(value):
+        StereoConfigHandler.config.costMatching.linearEquationParameters.threshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trLineqThreshold:
+            tr.set(value)
+
+    def trackbarCostAggregationP1(value):
+        StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1 = value
+        StereoConfigHandler.config.costAggregation.verticalPenaltyCostP1 = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trCostAggregationP1:
+            tr.set(value)
+
+    def trackbarCostAggregationP2(value):
+        StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2 = value
+        StereoConfigHandler.config.costAggregation.verticalPenaltyCostP2 = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trCostAggregationP2:
+            tr.set(value)
+
+    def trackbarTemporalFilterAlpha(value):
+        StereoConfigHandler.config.postProcessing.temporalFilter.alpha = value / 100.
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trTemporalAlpha:
+            tr.set(value)
+
+    def trackbarTemporalFilterDelta(value):
+        StereoConfigHandler.config.postProcessing.temporalFilter.delta = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trTemporalDelta:
+            tr.set(value)
+
+    def trackbarSpatialFilterAlpha(value):
+        StereoConfigHandler.config.postProcessing.spatialFilter.alpha = value / 100.
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSpatialAlpha:
+            tr.set(value)
+
+    def trackbarSpatialFilterDelta(value):
+        StereoConfigHandler.config.postProcessing.spatialFilter.delta = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSpatialDelta:
+            tr.set(value)
+
+    def trackbarSpatialFilterHoleFillingRadius(value):
+        StereoConfigHandler.config.postProcessing.spatialFilter.holeFillingRadius = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSpatialHoleFilling:
+            tr.set(value)
+
+    def trackbarSpatialFilterNumIterations(value):
+        StereoConfigHandler.config.postProcessing.spatialFilter.numIterations = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSpatialNumIterations:
+            tr.set(value)
+
+    def trackbarThresholdMinRange(value):
+        StereoConfigHandler.config.postProcessing.thresholdFilter.minRange = value * 1000
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trThresholdMinRange:
+            tr.set(value)
+
+    def trackbarThresholdMaxRange(value):
+        StereoConfigHandler.config.postProcessing.thresholdFilter.maxRange = value * 1000
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trThresholdMaxRange:
+            tr.set(value)
+
+    def trackbarSpeckleRange(value):
+        StereoConfigHandler.config.postProcessing.speckleFilter.speckleRange = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trSpeckleRange:
+            tr.set(value)
+
+    def trackbarDecimationFactor(value):
+        StereoConfigHandler.config.postProcessing.decimationFilter.decimationFactor = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trDecimationFactor:
+            tr.set(value)
+
+    def trackbarDisparityShift(value):
+        StereoConfigHandler.config.algorithmControl.disparityShift = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trDisparityShift:
+            tr.set(value)
+
+    def trackbarCenterAlignmentShift(value):
+        if StereoConfigHandler.config.algorithmControl.depthAlign != dai.StereoDepthConfig.AlgorithmControl.DepthAlign.CENTER:
+            print("Center alignment shift factor requires CENTER alignment enabled!")
+            return
+        StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor = value / 100.
+        print(f"centerAlignmentShiftFactor: {StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor:.2f}")
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trCenterAlignmentShift:
+            tr.set(value)
+
+    def trackbarInvalidateEdgePixels(value):
+        StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels = value
+        print(f"numInvalidateEdgePixels: {StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels:.2f}")
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trInvalidateEdgePixels:
+            tr.set(value)
+
+    def handleKeypress(key, stereoDepthConfigInQueue):
+        if key == ord("m"):
+            StereoConfigHandler.newConfig = True
+            medianSettings = [dai.MedianFilter.MEDIAN_OFF, dai.MedianFilter.KERNEL_3x3, dai.MedianFilter.KERNEL_5x5, dai.MedianFilter.KERNEL_7x7]
+            currentMedian = StereoConfigHandler.config.postProcessing.median
+            nextMedian = medianSettings[(medianSettings.index(currentMedian)+1) % len(medianSettings)]
+            print(f"Changing median to {nextMedian.name} from {currentMedian.name}")
+            StereoConfigHandler.config.postProcessing.median = nextMedian
+        if key == ord("w"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.postProcessing.spatialFilter.enable = not StereoConfigHandler.config.postProcessing.spatialFilter.enable
+            state = "on" if StereoConfigHandler.config.postProcessing.spatialFilter.enable else "off"
+            print(f"Spatial filter {state}")
+        if key == ord("t"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.postProcessing.temporalFilter.enable = not StereoConfigHandler.config.postProcessing.temporalFilter.enable
+            state = "on" if StereoConfigHandler.config.postProcessing.temporalFilter.enable else "off"
+            print(f"Temporal filter {state}")
+        if key == ord("s"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.postProcessing.speckleFilter.enable = not StereoConfigHandler.config.postProcessing.speckleFilter.enable
+            state = "on" if StereoConfigHandler.config.postProcessing.speckleFilter.enable else "off"
+            print(f"Speckle filter {state}")
+        if key == ord("r"):
+            StereoConfigHandler.newConfig = True
+            temporalSettings = [dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_OFF,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_8_OUT_OF_8,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_3,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_OUT_OF_8,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_2,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_5,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_8,
+            dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_INDEFINITELY,
+            ]
+            currentTemporal = StereoConfigHandler.config.postProcessing.temporalFilter.persistencyMode
+            nextTemporal = temporalSettings[(temporalSettings.index(currentTemporal)+1) % len(temporalSettings)]
+            print(f"Changing temporal persistency to {nextTemporal.name} from {currentTemporal.name}")
+            StereoConfigHandler.config.postProcessing.temporalFilter.persistencyMode = nextTemporal
+        if key == ord("n"):
+            StereoConfigHandler.newConfig = True
+            decimationSettings = [dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING,
+            dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEDIAN,
+            dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEAN,
+            ]
+            currentDecimation = StereoConfigHandler.config.postProcessing.decimationFilter.decimationMode
+            nextDecimation = decimationSettings[(decimationSettings.index(currentDecimation)+1) % len(decimationSettings)]
+            print(f"Changing decimation mode to {nextDecimation.name} from {currentDecimation.name}")
+            StereoConfigHandler.config.postProcessing.decimationFilter.decimationMode = nextDecimation
+        if key == ord("a"):
+            StereoConfigHandler.newConfig = True
+            alignmentSettings = [dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT,
+            dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_LEFT,
+            dai.StereoDepthConfig.AlgorithmControl.DepthAlign.CENTER,
+            ]
+            currentAlignment = StereoConfigHandler.config.algorithmControl.depthAlign
+            nextAlignment = alignmentSettings[(alignmentSettings.index(currentAlignment)+1) % len(alignmentSettings)]
+            print(f"Changing alignment mode to {nextAlignment.name} from {currentAlignment.name}")
+            StereoConfigHandler.config.algorithmControl.depthAlign = nextAlignment
+        elif key == ord("c"):
+            StereoConfigHandler.newConfig = True
+            censusSettings = [dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_5x5, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_7x7, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_7x9]
+            currentCensus = StereoConfigHandler.config.censusTransform.kernelSize
+            nextCensus = censusSettings[(censusSettings.index(currentCensus)+1) % len(censusSettings)]
+            if nextCensus != dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO:
+                censusGridSize = [(5,5), (7,7), (7,9)]
+                censusDefaultMask = [np.uint64(0XA82415), np.uint64(0XAA02A8154055), np.uint64(0X2AA00AA805540155)]
+                censusGrid = censusGridSize[nextCensus]
+                censusMask = censusDefaultMask[nextCensus]
+                StereoConfigHandler.censusMaskHandler = StereoConfigHandler.CensusMaskHandler("Census mask", censusGrid)
+                StereoConfigHandler.censusMaskHandler.setMask(censusMask)
+            else:
+                print("Census mask config is not available in AUTO census kernel mode. Change using the 'c' key")
+                StereoConfigHandler.config.censusTransform.kernelMask = 0
+                StereoConfigHandler.censusMaskHandler.destroyWindow()
+            print(f"Changing census transform to {nextCensus.name} from {currentCensus.name}")
+            StereoConfigHandler.config.censusTransform.kernelSize = nextCensus
+        elif key == ord("d"):
+            StereoConfigHandler.newConfig = True
+            dispRangeSettings = [dai.StereoDepthConfig.CostMatching.DisparityWidth.DISPARITY_64, dai.StereoDepthConfig.CostMatching.DisparityWidth.DISPARITY_96]
+            currentDispRange = StereoConfigHandler.config.costMatching.disparityWidth
+            nextDispRange = dispRangeSettings[(dispRangeSettings.index(currentDispRange)+1) % len(dispRangeSettings)]
+            print(f"Changing disparity range to {nextDispRange.name} from {currentDispRange.name}")
+            StereoConfigHandler.config.costMatching.disparityWidth = nextDispRange
+        elif key == ord("f"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.costMatching.enableCompanding = not StereoConfigHandler.config.costMatching.enableCompanding
+            state = "on" if StereoConfigHandler.config.costMatching.enableCompanding else "off"
+            print(f"Companding {state}")
+        elif key == ord("v"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.censusTransform.enableMeanMode = not StereoConfigHandler.config.censusTransform.enableMeanMode
+            state = "on" if StereoConfigHandler.config.censusTransform.enableMeanMode else "off"
+            print(f"Census transform mean mode {state}")
+        elif key == ord("1"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.algorithmControl.enableLeftRightCheck = not StereoConfigHandler.config.algorithmControl.enableLeftRightCheck
+            state = "on" if StereoConfigHandler.config.algorithmControl.enableLeftRightCheck else "off"
+            print(f"LR-check {state}")
+        elif key == ord("2"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.algorithmControl.enableSubpixel = not StereoConfigHandler.config.algorithmControl.enableSubpixel
+            state = "on" if StereoConfigHandler.config.algorithmControl.enableSubpixel else "off"
+            print(f"Subpixel {state}")
+        elif key == ord("3"):
+            StereoConfigHandler.newConfig = True
+            StereoConfigHandler.config.algorithmControl.enableExtended = not StereoConfigHandler.config.algorithmControl.enableExtended
+            state = "on" if StereoConfigHandler.config.algorithmControl.enableExtended else "off"
+            print(f"Extended {state}")
+
+        censusMaskChanged = False
+        if StereoConfigHandler.censusMaskHandler is not None:
+            censusMaskChanged = StereoConfigHandler.censusMaskHandler.isChanged()
+        if censusMaskChanged:
+            StereoConfigHandler.config.censusTransform.kernelMask = StereoConfigHandler.censusMaskHandler.getMask()
+            StereoConfigHandler.newConfig = True
+
+        StereoConfigHandler.sendConfig(stereoDepthConfigInQueue)
+
+    def sendConfig(stereoDepthConfigInQueue):
+        if StereoConfigHandler.newConfig:
+            StereoConfigHandler.newConfig = False
+            configMessage = dai.StereoDepthConfig()
+            configMessage.set(StereoConfigHandler.config)
+            stereoDepthConfigInQueue.send(configMessage)
+
+    def updateDefaultConfig(config):
+        StereoConfigHandler.config = config
+
+    def registerWindow(stream):
+        cv2.namedWindow(stream, cv2.WINDOW_NORMAL)
+
+        StereoConfigHandler.trConfidence.append(StereoConfigHandler.Trackbar("Disparity confidence", stream, 0, 255, StereoConfigHandler.config.costMatching.confidenceThreshold, StereoConfigHandler.trackbarConfidence))
+        StereoConfigHandler.trSigma.append(StereoConfigHandler.Trackbar("Bilateral sigma", stream, 0, 100, StereoConfigHandler.config.postProcessing.bilateralSigmaValue, StereoConfigHandler.trackbarSigma))
+        StereoConfigHandler.trLrCheck.append(StereoConfigHandler.Trackbar("LR-check threshold", stream, 0, 16, StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold, StereoConfigHandler.trackbarLrCheckThreshold))
+        StereoConfigHandler.trFractionalBits.append(StereoConfigHandler.Trackbar("Subpixel fractional bits", stream, 3, 5, StereoConfigHandler.config.algorithmControl.subpixelFractionalBits, StereoConfigHandler.trackbarFractionalBits))
+        StereoConfigHandler.trDisparityShift.append(StereoConfigHandler.Trackbar("Disparity shift", stream, 0, 100, StereoConfigHandler.config.algorithmControl.disparityShift, StereoConfigHandler.trackbarDisparityShift))
+        StereoConfigHandler.trCenterAlignmentShift.append(StereoConfigHandler.Trackbar("Center alignment shift factor", stream, 0, 100, StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor, StereoConfigHandler.trackbarCenterAlignmentShift))
+        StereoConfigHandler.trInvalidateEdgePixels.append(StereoConfigHandler.Trackbar("Invalidate edge pixels", stream, 0, 100, StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels, StereoConfigHandler.trackbarInvalidateEdgePixels))
+        StereoConfigHandler.trLineqAlpha.append(StereoConfigHandler.Trackbar("Linear equation alpha", stream, 0, 15, StereoConfigHandler.config.costMatching.linearEquationParameters.alpha, StereoConfigHandler.trackbarLineqAlpha))
+        StereoConfigHandler.trLineqBeta.append(StereoConfigHandler.Trackbar("Linear equation beta", stream, 0, 15, StereoConfigHandler.config.costMatching.linearEquationParameters.beta, StereoConfigHandler.trackbarLineqBeta))
+        StereoConfigHandler.trLineqThreshold.append(StereoConfigHandler.Trackbar("Linear equation threshold", stream, 0, 255, StereoConfigHandler.config.costMatching.linearEquationParameters.threshold, StereoConfigHandler.trackbarLineqThreshold))
+        StereoConfigHandler.trCostAggregationP1.append(StereoConfigHandler.Trackbar("Cost aggregation P1", stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1, StereoConfigHandler.trackbarCostAggregationP1))
+        StereoConfigHandler.trCostAggregationP2.append(StereoConfigHandler.Trackbar("Cost aggregation P2", stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2, StereoConfigHandler.trackbarCostAggregationP2))
+        StereoConfigHandler.trTemporalAlpha.append(StereoConfigHandler.Trackbar("Temporal filter alpha", stream, 0, 100, int(StereoConfigHandler.config.postProcessing.temporalFilter.alpha*100), StereoConfigHandler.trackbarTemporalFilterAlpha))
+        StereoConfigHandler.trTemporalDelta.append(StereoConfigHandler.Trackbar("Temporal filter delta", stream, 0, 100, StereoConfigHandler.config.postProcessing.temporalFilter.delta, StereoConfigHandler.trackbarTemporalFilterDelta))
+        StereoConfigHandler.trSpatialAlpha.append(StereoConfigHandler.Trackbar("Spatial filter alpha", stream, 0, 100, int(StereoConfigHandler.config.postProcessing.spatialFilter.alpha*100), StereoConfigHandler.trackbarSpatialFilterAlpha))
+        StereoConfigHandler.trSpatialDelta.append(StereoConfigHandler.Trackbar("Spatial filter delta", stream, 0, 100, StereoConfigHandler.config.postProcessing.spatialFilter.delta, StereoConfigHandler.trackbarSpatialFilterDelta))
+        StereoConfigHandler.trSpatialHoleFilling.append(StereoConfigHandler.Trackbar("Spatial filter hole filling radius", stream, 0, 16, StereoConfigHandler.config.postProcessing.spatialFilter.holeFillingRadius, StereoConfigHandler.trackbarSpatialFilterHoleFillingRadius))
+        StereoConfigHandler.trSpatialNumIterations.append(StereoConfigHandler.Trackbar("Spatial filter number of iterations", stream, 0, 4, StereoConfigHandler.config.postProcessing.spatialFilter.numIterations, StereoConfigHandler.trackbarSpatialFilterNumIterations))
+        StereoConfigHandler.trThresholdMinRange.append(StereoConfigHandler.Trackbar("Threshold filter min range", stream, 0, 65, StereoConfigHandler.config.postProcessing.thresholdFilter.minRange, StereoConfigHandler.trackbarThresholdMinRange))
+        StereoConfigHandler.trThresholdMaxRange.append(StereoConfigHandler.Trackbar("Threshold filter max range", stream, 0, 65, StereoConfigHandler.config.postProcessing.thresholdFilter.maxRange, StereoConfigHandler.trackbarThresholdMaxRange))
+        StereoConfigHandler.trSpeckleRange.append(StereoConfigHandler.Trackbar("Speckle filter range", stream, 0, 240, StereoConfigHandler.config.postProcessing.speckleFilter.speckleRange, StereoConfigHandler.trackbarSpeckleRange))
+        StereoConfigHandler.trDecimationFactor.append(StereoConfigHandler.Trackbar("Decimation factor", stream, 1, 4, StereoConfigHandler.config.postProcessing.decimationFilter.decimationFactor, StereoConfigHandler.trackbarDecimationFactor))
+
+    def __init__(self, config):
+        print("Control median filter using the 'm' key.")
+        print("Control census transform kernel size using the 'c' key.")
+        print("Control disparity search range using the 'd' key.")
+        print("Control disparity companding using the 'f' key.")
+        print("Control census transform mean mode using the 'v' key.")
+        print("Control depth alignment using the 'a' key.")
+        print("Control decimation algorithm using the 'a' key.")
+        print("Control temporal persistency mode using the 'r' key.")
+        print("Control spatial filter using the 'w' key.")
+        print("Control temporal filter using the 't' key.")
+        print("Control speckle filter using the 's' key.")
+        print("Control left-right check mode using the '1' key.")
+        print("Control subpixel mode using the '2' key.")
+        print("Control extended mode using the '3' key.")
+        if evaluation_mode:
+            print("Switch between images using '[' and ']' keys.")
+
+        StereoConfigHandler.config = config
+
+        if StereoConfigHandler.config.censusTransform.kernelSize != dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO:
+            censusMask = StereoConfigHandler.config.censusTransform.kernelMask
+            censusGridSize = [(5,5), (7,7), (7,9)]
+            censusGrid = censusGridSize[StereoConfigHandler.config.censusTransform.kernelSize]
+            if StereoConfigHandler.config.censusTransform.kernelMask == 0:
+                censusDefaultMask = [np.uint64(0xA82415), np.uint64(0xAA02A8154055), np.uint64(0x2AA00AA805540155)]
+                censusMask = censusDefaultMask[StereoConfigHandler.config.censusTransform.kernelSize]
+            StereoConfigHandler.censusMaskHandler = StereoConfigHandler.CensusMaskHandler("Census mask", censusGrid)
+            StereoConfigHandler.censusMaskHandler.setMask(censusMask)
+        else:
+            print("Census mask config is not available in AUTO Census kernel mode. Change using the 'c' key")
+
+
+# StereoDepth initial config options.
+outDepth = False  # Disparity by default
+outConfidenceMap = False  # Output disparity confidence map
+outRectified = False   # Output and display rectified streams
+lrcheck = False   # Better handling for occlusions
+extended = False  # Closer-in minimum depth, disparity range is doubled. Unsupported for now.
+subpixel = True   # Better accuracy for longer distance, fractional disparity 32-levels
+
+enableDebugLrCheckIt1 = True
+enableDebugLrCheckIt2 = args.debug
+enableDebugExtLrCheckIt1 = args.debug
+enableDebugExtLrCheckIt2 = args.debug
+
+width = 1280
+height = 800
+
+xoutStereoCfg = None
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+stereo = pipeline.create(dai.node.StereoDepth)
+
+monoLeft = pipeline.create(dai.node.XLinkIn)
+monoRight = pipeline.create(dai.node.XLinkIn)
+xinStereoDepthConfig = pipeline.create(dai.node.XLinkIn)
+
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutConfMap = pipeline.create(dai.node.XLinkOut)
+xoutDisparity = pipeline.create(dai.node.XLinkOut)
+xoutRectifLeft = pipeline.create(dai.node.XLinkOut)
+xoutRectifRight = pipeline.create(dai.node.XLinkOut)
+xoutStereoCfg = pipeline.create(dai.node.XLinkOut)
+if enableDebugLrCheckIt1:
+    xoutDebugLrCheckIt1 = pipeline.create(dai.node.XLinkOut)
+    xoutDebugLrCheckIt1.setStreamName('disparity_lr_check_iteration1')
+if enableDebugLrCheckIt2:
+    xoutDebugLrCheckIt2 = pipeline.create(dai.node.XLinkOut)
+    xoutDebugLrCheckIt2.setStreamName('disparity_lr_check_iteration2')
+if enableDebugExtLrCheckIt1:
+    xoutDebugExtLrCheckIt1 = pipeline.create(dai.node.XLinkOut)
+    xoutDebugExtLrCheckIt1.setStreamName('disparity_ext_lr_check_iteration1')
+if enableDebugExtLrCheckIt2:
+    xoutDebugExtLrCheckIt2 = pipeline.create(dai.node.XLinkOut)
+    xoutDebugExtLrCheckIt2.setStreamName('disparity_ext_lr_check_iteration2')
+
+if args.dumpdisparitycostvalues:
+    xoutDebugCostDump = pipeline.create(dai.node.XLinkOut)
+
+xinStereoDepthConfig.setStreamName("stereoDepthConfig")
+monoLeft.setStreamName("in_left")
+monoRight.setStreamName("in_right")
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDepth.setStreamName("depth")
+xoutConfMap.setStreamName("confidence_map")
+xoutDisparity.setStreamName("disparity")
+xoutRectifLeft.setStreamName("rectified_left")
+xoutRectifRight.setStreamName("rectified_right")
+xoutStereoCfg.setStreamName("stereo_cfg")
+if args.debug:
+    xoutDebugLrCheckIt1.setStreamName("disparity_lr_check_iteration1")
+    xoutDebugLrCheckIt2.setStreamName("disparity_lr_check_iteration2")
+    xoutDebugExtLrCheckIt1.setStreamName("disparity_ext_lr_check_iteration1")
+    xoutDebugExtLrCheckIt2.setStreamName("disparity_ext_lr_check_iteration2")
+if args.dumpdisparitycostvalues:
+    xoutDebugCostDump.setStreamName("disparity_cost_dump")
+
+# Properties
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setRectifyEdgeFillColor(0) # Black, to better see the cutout
+stereo.setLeftRightCheck(lrcheck)
+stereo.setExtendedDisparity(extended)
+stereo.setSubpixel(subpixel)
+
+# Switching depthAlign mode at runtime is not supported while aligning to a specific camera is enabled
+# stereo.setDepthAlign(dai.CameraBoardSocket.LEFT)
+
+# allocates resources for worst case scenario
+# allowing runtime switch of stereo modes
+stereo.setRuntimeModeSwitch(True)
+
+# Linking
+if(args.swapLR):
+    monoLeft.out.link(stereo.right)
+    monoRight.out.link(stereo.left)
+else:
+    monoLeft.out.link(stereo.left)
+    monoRight.out.link(stereo.right)
+xinStereoDepthConfig.out.link(stereo.inputConfig)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+if outDepth:
+    stereo.depth.link(xoutDepth.input)
+if outConfidenceMap:
+    stereo.confidenceMap.link(xoutConfMap.input)
+stereo.disparity.link(xoutDisparity.input)
+if outRectified:
+    stereo.rectifiedLeft.link(xoutRectifLeft.input)
+    stereo.rectifiedRight.link(xoutRectifRight.input)
+stereo.outConfig.link(xoutStereoCfg.input)
+debugStreams = []
+if enableDebugLrCheckIt1:
+    stereo.debugDispLrCheckIt1.link(xoutDebugLrCheckIt1.input)
+    debugStreams.append('disparity_lr_check_iteration1') 
+if enableDebugLrCheckIt2:
+    stereo.debugDispLrCheckIt2.link(xoutDebugLrCheckIt2.input)
+    debugStreams.append('disparity_lr_check_iteration2')
+if enableDebugExtLrCheckIt1:
+    stereo.debugExtDispLrCheckIt1.link(xoutDebugExtLrCheckIt1.input)
+if enableDebugExtLrCheckIt2:
+    stereo.debugExtDispLrCheckIt2.link(xoutDebugExtLrCheckIt2.input)
+if args.dumpdisparitycostvalues:
+    stereo.debugDispCostDump.link(xoutDebugCostDump.input)
+
+
+StereoConfigHandler(stereo.initialConfig.get())
+StereoConfigHandler.registerWindow("Stereo control panel")
+
+# stereo.setPostProcessingHardwareResources(3, 3)
+if(args.calibration):
+    calibrationHandler = dai.CalibrationHandler(args.calibration)
+    pipeline.setCalibrationData(calibrationHandler)
+stereo.setInputResolution(width, height)
+stereo.setRectification(args.rectify)
+baseline = 75
+fov = 71.86
+focal = width / (2 * math.tan(fov / 2 / 180 * math.pi))
+
+stereo.setBaseline(baseline/10)
+stereo.setFocalLength(focal)
+
+streams = ['left', 'right']
+if outRectified:
+    streams.extend(["rectified_left", "rectified_right"])
+streams.append("disparity")
+if outDepth:
+    streams.append("depth")
+if outConfidenceMap:
+    streams.append("confidence_map")
+debugStreams = []
+if args.debug:
+    debugStreams.extend(["disparity_lr_check_iteration1", "disparity_lr_check_iteration2"])
+    debugStreams.extend(["disparity_ext_lr_check_iteration1", "disparity_ext_lr_check_iteration2"])
+if args.dumpdisparitycostvalues:
+    debugStreams.append("disparity_cost_dump")
+
+def convertToCv2Frame(name, image, config):
+
+    maxDisp = config.getMaxDisparity()
+    subpixelLevels = pow(2, config.get().algorithmControl.subpixelFractionalBits)
+    subpixel = config.get().algorithmControl.enableSubpixel
+    dispIntegerLevels = maxDisp if not subpixel else maxDisp / subpixelLevels
+
+    frame = image.getFrame()
+
+    # frame.tofile(name+".raw")
+
+    if name == "depth":
+        dispScaleFactor = baseline * focal
+        with np.errstate(divide="ignore"):
+            frame = dispScaleFactor / frame
+
+        frame = (frame * 255. / dispIntegerLevels).astype(np.uint8)
+        frame = cv2.applyColorMap(frame, cv2.COLORMAP_HOT)
+    elif "confidence_map" in name:
+        pass
+    elif name == "disparity_cost_dump":
+        # frame.tofile(name+".raw")
+        pass
+    elif "disparity" in name:
+        if 1: # Optionally, extend disparity range to better visualize it
+            frame = (frame * 255. / maxDisp).astype(np.uint8)
+        return frame
+        # if 1: # Optionally, apply a color map
+        #     frame = cv2.applyColorMap(frame, cv2.COLORMAP_HOT)
+
+    return frame
+
+class DatasetManager:
+    def __init__(self, path):
+        self.path = path
+        self.index = 0
+        self.names = [d for d in os.listdir(path) if os.path.isdir(os.path.join(path, d))]
+        if len(self.names) == 0:
+            raise RuntimeError("No dataset found at {}".format(path))
+
+    def get(self):
+        return os.path.join(self.path, self.names[self.index])
+
+    def get_name(self):
+        return self.names[self.index]
+
+    def next(self):
+        self.index = (self.index + 1) % len(self.names)
+        return self.get()
+
+    def prev(self):
+        self.index = (self.index - 1) % len(self.names)
+        return self.get()
+
+
+def read_pfm(file):
+    file = open(file, "rb")
+
+    color = None
+    width = None
+    height = None
+    scale = None
+    endian = None
+
+    header = file.readline().rstrip()
+    if header.decode("ascii") == "PF":
+        color = True
+    elif header.decode("ascii") == "Pf":
+        color = False
+    else:
+        raise Exception("Not a PFM file.")
+
+    dim_match = re.search(r"(\d+)\s(\d+)", file.readline().decode("ascii"))
+    if dim_match:
+        width, height = map(int, dim_match.groups())
+    else:
+        raise Exception("Malformed PFM header.")
+
+    scale = float(file.readline().rstrip())
+    if scale < 0: # little-endian
+        endian = "<"
+        scale = -scale
+    else:
+        endian = ">" # big-endian
+
+    data = np.fromfile(file, endian + "f")
+    shape = (height, width, 3) if color else (height, width)
+    return np.flip(np.reshape(data, shape), axis=0), scale
+
+def calculate_err_measures(gt_img, oak_img):
+    assert gt_img.shape == oak_img.shape
+
+    gt_mask = gt_img != np.inf
+    oak_mask = oak_img != np.inf
+    mask = gt_mask & oak_mask
+
+    gt_img[~gt_mask] = 0.
+    oak_img[~mask] = 0.
+    err = np.abs(gt_img - oak_img)
+
+    n = np.sum(gt_mask)
+    invalid = np.sum(gt_mask & ~oak_mask)
+
+    bad05 = np.sum(mask & (err > 0.5))
+    bad1 = np.sum(mask & (err > 1.))
+    bad2 = np.sum(mask & (err > 2.))
+    bad4 = np.sum(mask & (err > 4.))
+    sum_err = np.sum(err[mask])
+    sum_sq_err = np.sum(err[mask] ** 2)
+    errs = err[mask]
+
+    bad05_p = 100. * bad05 / n
+    total_bad05_p = 100. * (bad05 + invalid) / n
+    bad1_p = 100. * bad1 / n
+    total_bad1_p = 100. * (bad1 + invalid) / n
+    bad2_p = 100. * bad2 / n
+    total_bad2_p = 100. * (bad2 + invalid) / n
+    bad4_p = 100. * bad4 / n
+    total_bad4_p = 100. * (bad4 + invalid) / n
+    invalid_p = 100. * invalid / n
+    avg_err = sum_err / (n - invalid)
+    mse = sum_sq_err / (n - invalid)
+    a50 = np.percentile(errs, 50)
+    a90 = np.percentile(errs, 90)
+    a95 = np.percentile(errs, 95)
+    a99 = np.percentile(errs, 99)
+
+    return {
+        "bad0.5": bad05_p,
+        "total_bad0.5": total_bad05_p,
+        "bad1": bad1_p,
+        "total_bad1": total_bad1_p,
+        "bad2": bad2_p,
+        "total_bad2": total_bad2_p,
+        "bad4": bad4_p,
+        "total_bad4": total_bad4_p,
+        "invalid": invalid_p,
+        "avg_err": avg_err,
+        "mse": mse,
+        "a50": a50,
+        "a90": a90,
+        "a95": a95,
+        "a99": a99
+    }
+
+def show_evaluation(img_name, evals):
+    cv2.namedWindow("Evaluation", cv2.WINDOW_NORMAL)
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    font_scale = 2
+    thickness = 3
+    color = (0, 0, 0)
+    lines = [
+        f"Name: {img_name}",
+        f"Bad0.5: {evals['bad0.5']:.2f}%",
+        f"Total Bad0.5: {evals['total_bad0.5']:.2f}%",
+        f"Bad1: {evals['bad1']:.2f}%",
+        f"Total Bad1: {evals['total_bad1']:.2f}%",
+        f"Bad2: {evals['bad2']:.2f}%",
+        f"Total Bad2: {evals['total_bad2']:.2f}%",
+        f"Bad4: {evals['bad4']:.2f}%",
+        f"Total Bad4: {evals['total_bad4']:.2f}%",
+        f"Invalid: {evals['invalid']:.2f}%",
+        f"Avg Err: {evals['avg_err']:.2f}",
+        f"MSE: {evals['mse']:.2f}",
+        f"A50: {evals['a50']:.2f}",
+        f"A90: {evals['a90']:.2f}",
+        f"A95: {evals['a95']:.2f}",
+        f"A99: {evals['a99']:.2f}"
+    ]
+    sizes = [cv2.getTextSize(line, font, font_scale, thickness) for line in lines]
+    sizes = [(size[0][0], size[0][1] + size[1], size[1]) for size in sizes]
+    max_width = max([size[0] for size in sizes])
+    total_height = sum([size[1] for size in sizes]) + (len(lines) - 1) * thickness
+    img = np.ones((total_height + thickness, max_width, 3), dtype=np.uint8) * 255
+    y = 0
+    for line, size in zip(lines, sizes):
+        cv2.putText(img, line, (0, y + size[1] - size[2]), font, font_scale, color, thickness)
+        y += size[1] + thickness
+    cv2.imshow("Evaluation", img)
+
+def show_debug_disparity(gt_img, oak_img):
+    def rescale_img(img):
+        img[img == np.inf] = 0.
+        img = cv2.resize(img, (1280, 800), interpolation=cv2.INTER_AREA)
+        return img.astype(np.uint16)
+
+    gt_img = rescale_img(gt_img)
+    oak_img = rescale_img(oak_img)
+    maxv = max(gt_img.max(), oak_img.max())
+    gt_img = (gt_img * 255. / maxv).astype(np.uint8)
+    oak_img = (oak_img * 255. / maxv).astype(np.uint8)
+    cv2.imshow("GT", gt_img)
+    cv2.imshow("OAK", oak_img)
+
+if evaluation_mode:
+    dataset = DatasetManager(args.evaluate)
+
+print("Connecting and starting the pipeline")
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    stereoDepthConfigInQueue = device.getInputQueue("stereoDepthConfig")
+    inStreams = ["in_left", "in_right"]
+    inStreamsCameraID = [dai.CameraBoardSocket.CAM_B, dai.CameraBoardSocket.CAM_C]
+    in_q_list = []
+    for s in inStreams:
+        q = device.getInputQueue(s)
+        in_q_list.append(q)
+
+    # Create a receive queue for each stream
+    q_list = []
+    for s in streams:
+        q = device.getOutputQueue(s, 8, blocking=False)
+        q_list.append(q)
+
+    inCfg = device.getOutputQueue("stereo_cfg", 8, blocking=False)
+
+    # Need to set a timestamp for input frames, for the sync stage in Stereo node
+    timestamp_ms = 0
+    index = 0
+    prevQueues = q_list.copy()
+    while True:
+        # Handle input streams, if any
+        if in_q_list:
+            dataset_size = 1  # Number of image pairs
+            frame_interval_ms = 50
+            for i, q in enumerate(in_q_list):
+                path = os.path.join(dataset.get(), f"im{i}.png") if evaluation_mode else args.dataset + "/" + str(index) + "/" + q.getName() + ".png"
+                data = cv2.imread(path, cv2.IMREAD_GRAYSCALE)
+                data = cv2.resize(data, (width, height), interpolation = cv2.INTER_AREA)
+                data = data.reshape(height*width)
+                tstamp = datetime.timedelta(seconds = timestamp_ms // 1000,
+                                            milliseconds = timestamp_ms % 1000)
+                img = dai.ImgFrame()
+                img.setData(data)
+                img.setTimestamp(tstamp)
+                img.setInstanceNum(inStreamsCameraID[i])
+                img.setType(dai.ImgFrame.Type.RAW8)
+                img.setWidth(width)
+                img.setHeight(height)
+                q.send(img)
+                # print("Sent frame: {:25s}".format(path), "timestamp_ms:", timestamp_ms)
+            timestamp_ms += frame_interval_ms
+            index = (index + 1) % dataset_size
+            sleep(frame_interval_ms / 1000)
+
+        gt_disparity = None
+        if evaluation_mode:
+            # Load GT disparity
+            gt_disparity = read_pfm(os.path.join(dataset.get(), f"disp1.pfm"))[0]
+
+        # Handle output streams
+        currentConfig = inCfg.get()
+
+        lrCheckEnabled = currentConfig.get().algorithmControl.enableLeftRightCheck
+        extendedEnabled = currentConfig.get().algorithmControl.enableExtended
+        queues = q_list.copy()
+
+        if args.dumpdisparitycostvalues:
+            q = device.getOutputQueue("disparity_cost_dump", 8, blocking=False)
+            queues.append(q)
+
+        if enableDebugLrCheckIt1:
+            q_list_debug = []
+
+            activeDebugStreams = []
+            if lrCheckEnabled:
+                activeDebugStreams.extend(["disparity_lr_check_iteration1", "disparity_lr_check_iteration2"])
+            if extendedEnabled:
+                activeDebugStreams.extend(["disparity_ext_lr_check_iteration1"])
+                if lrCheckEnabled:
+                    activeDebugStreams.extend(["disparity_ext_lr_check_iteration2"])
+
+            for s in activeDebugStreams:
+                q = device.getOutputQueue(s, 8, blocking=False)
+                q_list_debug.append(q)
+
+            queues.extend(q_list_debug)
+
+        def ListDiff(li1, li2):
+            return list(set(li1) - set(li2)) + list(set(li2) - set(li1))
+
+        diff = ListDiff(prevQueues, queues)
+        for s in diff:
+            name = s.getName()
+            cv2.destroyWindow(name)
+        prevQueues = queues.copy()
+
+        disparity = None
+        for q in queues:
+            if q.getName() in ["left", "right"]: continue
+            data = q.get()
+            if q.getName() == "disparity":
+                disparity = data.getFrame()
+            frame = convertToCv2Frame(q.getName(), data, currentConfig)
+            cv2.imshow(q.getName(), frame)
+
+        if disparity is not None and gt_disparity is not None:
+            subpixel_bits = 1 << currentConfig.get().algorithmControl.subpixelFractionalBits
+            subpixel_enabled = currentConfig.get().algorithmControl.enableSubpixel
+            width_scale = float(gt_disparity.shape[1]) / float(disparity.shape[1])
+
+            disparity = disparity.astype(np.float32)
+            if subpixel_enabled:
+                disparity = disparity / subpixel_bits
+            disparity = disparity * width_scale
+            disparity = cv2.resize(disparity, (gt_disparity.shape[1], gt_disparity.shape[0]), interpolation = cv2.INTER_LINEAR)
+            disparity[disparity == 0.] = np.inf
+
+            # show_debug_disparity(gt_disparity, disparity)
+            err_vals = calculate_err_measures(gt_disparity, disparity)
+            show_evaluation(dataset.get_name(), err_vals)
+
+        key = cv2.waitKey(1)
+        if key == ord("q"):
+            break
+        elif evaluation_mode and key == ord("["):
+            dataset.next()
+        elif evaluation_mode and key == ord("]"):
+            dataset.prev()
+
+        StereoConfigHandler.handleKeypress(key, stereoDepthConfigInQueue)
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_live_vertical_horizontal.py b/bindings/python/examples/StereoDepth/stereo_depth_live_vertical_horizontal.py
new file mode 100755
index 000000000..ac3859843
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_live_vertical_horizontal.py
@@ -0,0 +1,404 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+import argparse
+import yaml
+import time
+
+calibJsonFile = str((Path(__file__).parent / Path('./depthai_calib.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('-si', action="store_true", help="Static input.")
+parser.add_argument('calibJsonFile', nargs='?', help="Path to calibration file in json", default=calibJsonFile)
+parser.add_argument('-left', type=str, default="left.png", help="left static input image")
+parser.add_argument('-right', type=str, default="right.png", help="right static input image")
+parser.add_argument('-bottom', type=str, default="bottom.png", help="bottom static input image")
+parser.add_argument('-debug', action="store_true", default=False, help="Debug code.")
+parser.add_argument('-rect', '--rectified', action="store_true", default=False, help="Generate and display rectified streams.")
+parser.add_argument('-fps', type=int, default=15, help="Set camera FPS.")
+
+args = parser.parse_args()
+
+staticInput = args.si
+
+enableRectified = args.rectified
+cameraFPS = args.fps
+blockingOutputs = False
+
+if staticInput:
+    left = args.left
+    right = args.right
+    bottom = args.bottom
+
+    leftImg = cv2.imread(left, cv2.IMREAD_GRAYSCALE)
+    rightImg = cv2.imread(right, cv2.IMREAD_GRAYSCALE)
+    bottomImg = cv2.imread(bottom, cv2.IMREAD_GRAYSCALE)
+
+    width = leftImg.shape[1]
+    height = leftImg.shape[0]
+
+    if args.debug:
+        cv2.imshow("leftImg", leftImg)
+        cv2.imshow("rightImg", rightImg)
+        cv2.imshow("bottomImg", bottomImg)
+        cv2.waitKey(1) 
+
+class Undistorter:
+    def __init__(self, K_in, P_rectified, d, R_in):
+        P_rectified = np.array(P_rectified)
+        assert len(d) == 5, "Currently using only k1, k2, k3, p1, p2"
+        self.K_in = K_in
+        self.P_rectified = P_rectified
+        self.R_in = R_in
+        self.p_inv = np.linalg.inv(P_rectified[:3, :3])
+        self.k1 = d[0]
+        self.k2 = d[1]
+        self.p1 = d[2]
+        self.p2 = d[3]
+        self.k3 = d[4]
+        self.k4 = 0.
+        self.k5 = 0.
+        self.k6 = 0.
+        self.s1 = 0.
+        self.s2 = 0.
+        self.s3 = 0.
+        self.s4 = 0.
+        self.tx = 0.
+        self.ty = 0.
+
+    def undistort(self, img_shape):
+        x_in = np.tile(np.arange(img_shape[0]), img_shape[1])
+        y_in = np.repeat(range(img_shape[1]), img_shape[0])
+        p_in = np.vstack((x_in, y_in, np.ones_like(x_in)))  # (x, y, 1)
+
+        p = self.R_in @ self.p_inv @ p_in
+        p /= p[2]
+        x = p[0]
+        y = p[1]
+
+        # distort
+        x2 = x**2
+        y2 = y**2
+        _2xy = 2 * x * y
+        r2 = x2 + y2
+        kr = 1 + ((self.k3 * r2 + self.k2) * r2 + self.k1) * r2
+        p[0] = x * kr + self.p1 * _2xy + self.p2 * (r2 + 2 * x2)
+        p[1] = y * kr + self.p2 * _2xy + self.p1 * (r2 + 2 * y2)
+
+        pd = (self.K_in @ p).astype(np.float32)
+        map_x = (pd[0] / pd[2]).reshape(img_shape[::-1])
+        map_y = (pd[1] / pd[2]).reshape(img_shape[::-1])
+
+        return map_x, map_y
+
+meshCellSize = 16
+
+def downSampleMesh(mapXL, mapYL, mapXR, mapYR):
+    meshLeft = []
+    meshRight = []
+
+    for y in range(mapXL.shape[0] + 1):
+        if y % meshCellSize == 0:
+            rowLeft = []
+            rowRight = []
+            for x in range(mapXL.shape[1] + 1):
+                if x % meshCellSize == 0:
+                    if y == mapXL.shape[0] and x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y - 1, x - 1])
+                        rowLeft.append(mapXL[y - 1, x - 1])
+                        rowRight.append(mapYR[y - 1, x - 1])
+                        rowRight.append(mapXR[y - 1, x - 1])
+                    elif y == mapXL.shape[0]:
+                        rowLeft.append(mapYL[y - 1, x])
+                        rowLeft.append(mapXL[y - 1, x])
+                        rowRight.append(mapYR[y - 1, x])
+                        rowRight.append(mapXR[y - 1, x])
+                    elif x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y, x - 1])
+                        rowLeft.append(mapXL[y, x - 1])
+                        rowRight.append(mapYR[y, x - 1])
+                        rowRight.append(mapXR[y, x - 1])
+                    else:
+                        rowLeft.append(mapYL[y, x])
+                        rowLeft.append(mapXL[y, x])
+                        rowRight.append(mapYR[y, x])
+                        rowRight.append(mapXR[y, x])
+            if (mapXL.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+                rowRight.append(0)
+                rowRight.append(0)
+
+            meshLeft.append(rowLeft)
+            meshRight.append(rowRight)
+
+    meshLeft = np.array(meshLeft)
+    meshRight = np.array(meshRight)
+
+    return meshLeft, meshRight
+
+
+
+calibData = dai.CalibrationHandler(args.calibJsonFile)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+pipeline.setCalibrationData(calibData)
+
+if staticInput:
+    monoLeft = pipeline.create(dai.node.XLinkIn)
+    monoRight = pipeline.create(dai.node.XLinkIn)
+    monoVertical = pipeline.create(dai.node.XLinkIn)
+    monoLeft.setStreamName("inLeft")
+    monoRight.setStreamName("inRight")
+    monoVertical.setStreamName("inVertical")
+else:
+    monoLeft = pipeline.create(dai.node.MonoCamera)
+    monoVertical = pipeline.create(dai.node.MonoCamera)
+    monoRight = pipeline.create(dai.node.MonoCamera)
+    monoLeft.setFps(cameraFPS)
+    monoVertical.setFps(cameraFPS)
+    monoRight.setFps(cameraFPS)
+
+if enableRectified:
+    xoutRectifiedVertical = pipeline.create(dai.node.XLinkOut)
+    xoutRectifiedRight = pipeline.create(dai.node.XLinkOut)
+    xoutRectifiedLeft = pipeline.create(dai.node.XLinkOut)
+xoutDisparityVertical = pipeline.create(dai.node.XLinkOut)
+xoutDisparityHorizontal = pipeline.create(dai.node.XLinkOut)
+stereoVertical = pipeline.create(dai.node.StereoDepth)
+stereoHorizontal = pipeline.create(dai.node.StereoDepth)
+syncNode = pipeline.create(dai.node.Sync)
+
+if enableRectified:
+    xoutRectifiedVertical.setStreamName("rectified_vertical")
+    xoutRectifiedRight.setStreamName("rectified_right")
+    xoutRectifiedLeft.setStreamName("rectified_left")
+xoutDisparityVertical.setStreamName("disparity_vertical")
+xoutDisparityHorizontal.setStreamName("disparity_horizontal")
+
+# Define sources and outputs
+if not staticInput:
+    monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+    monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+    monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+    monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+    monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+    monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(syncNode.inputs["right"])
+monoLeft.out.link(syncNode.inputs["left"])
+monoVertical.out.link(syncNode.inputs["vertical"])
+
+monoRight.setFps(20)
+monoLeft.setFps(20)
+monoVertical.setFps(20)
+
+syncNode.outputs["left"].link(stereoVertical.left) # left input is bottom camera
+syncNode.outputs["vertical"].link(stereoVertical.right) # right input is right camera
+stereoVertical.disparity.link(xoutDisparityVertical.input)
+if enableRectified:
+    stereoVertical.rectifiedLeft.link(xoutRectifiedVertical.input)
+    stereoVertical.rectifiedRight.link(xoutRectifiedRight.input)
+stereoVertical.setVerticalStereo(True)
+
+syncNode.outputs["left"].link(stereoHorizontal.left)
+syncNode.outputs["right"].link(stereoHorizontal.right)
+stereoHorizontal.disparity.link(xoutDisparityHorizontal.input)
+if enableRectified:
+    stereoHorizontal.rectifiedLeft.link(xoutRectifiedLeft.input)
+# stereoHorizontal.rectifiedRight.link(xoutRectifiedRight.input)
+stereoHorizontal.setVerticalStereo(False)
+
+# stereoHorizontal.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT)
+# stereoVertical.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT)
+
+if 1:
+    # leftMesh, rightMesh = getMesh(calibData, resolution)
+    with open('calib.yaml', 'r') as file:
+        calibData = yaml.safe_load(file)
+
+    calib = calibData["calibration"]
+    rectif = calibData["rectification"]
+    name = "left"
+    r_code = "lbr"
+    img_shape = (1280, 720)
+    K = np.array(calib[name]["K"])
+    P = np.array(rectif[r_code][name]["P"])
+    d = np.array(calib[name]["d"])
+    R = np.array(calib["right"]["R"])
+
+    undis = Undistorter(K, P, d, R)
+    mapXL, mapYL = undis.undistort(img_shape)
+
+    name = "right"
+    r_code = "lbr"
+    img_shape = (1280, 720)
+    K = np.array(calib[name]["K"])
+    P = np.array(rectif[r_code][name]["P"])
+    d = np.array(calib[name]["d"])
+    R = np.array(calib["right"]["R"])
+
+    undis = Undistorter(K, P, d, R)
+    mapXR, mapYR = undis.undistort(img_shape)
+
+    leftMesh, rightMesh = downSampleMesh(mapXL, mapYL, mapXR, mapYR)
+
+    name = "bottom"
+    r_code = "lbr"
+    img_shape = (1280, 720)
+    K = np.array(calib[name]["K"])
+    P = np.array(rectif[r_code][name]["P"])
+    d = np.array(calib[name]["d"])
+    R = np.array(calib["right"]["R"])
+
+    undis = Undistorter(K, P, d, R)
+    mapXV, mapYV = undis.undistort(img_shape)
+
+    def rotate_mesh_90_cw(map_x, map_y):
+        direction = -1
+        map_x_rot = np.rot90(map_x, direction)
+        map_y_rot = np.rot90(map_y, direction)
+        return map_x_rot, map_y_rot
+
+    mapXV_rot, mapYV_rot = rotate_mesh_90_cw(mapXV, mapYV)
+    mapXR_rot, mapYR_rot = rotate_mesh_90_cw(mapXR, mapYR)
+
+    rightMeshRot, verticalMeshRot = downSampleMesh(mapXR_rot, mapYR_rot, mapXV_rot, mapYV_rot)
+
+    meshLeft = list(leftMesh.tobytes())
+    meshRight = list(rightMesh.tobytes())
+    stereoHorizontal.loadMeshData(meshLeft, meshRight)
+    stereoHorizontal.setMeshStep(meshCellSize,meshCellSize)
+
+    # for vertical stereo left input is right camera
+    meshLeftVertical = list(verticalMeshRot.tobytes())
+    meshRightVertical = list(rightMeshRot.tobytes())
+    stereoVertical.loadMeshData(meshLeftVertical, meshRightVertical)
+
+    stereoVertical.setMeshStep(meshCellSize,meshCellSize)
+
+    if args.debug and staticInput:
+        img_l_rectified = cv2.remap(leftImg, mapXL, mapYL, cv2.INTER_LINEAR)
+        cv2.imshow("img_l_rectified", img_l_rectified)
+
+        img_r_rectified = cv2.remap(rightImg, mapXR, mapYR, cv2.INTER_LINEAR)
+        cv2.imshow("img_r_rectified", img_r_rectified)
+
+        img_r_vertical = cv2.remap(rightImg, mapXR_rot, mapYR_rot, cv2.INTER_LINEAR)
+        cv2.imshow("img_r_vertical", img_r_vertical)
+
+        img_b_vertical = cv2.remap(bottomImg, mapXV_rot, mapYV_rot, cv2.INTER_LINEAR)
+        cv2.imshow("img_b_vertical", img_b_vertical)
+
+
+    # stereoVertical.setOutputSize(720,1024)
+
+stereoHorizontal.left.setQueueSize(1)
+stereoHorizontal.left.setBlocking(False)
+stereoHorizontal.right.setQueueSize(1)
+stereoHorizontal.right.setBlocking(False)
+stereoVertical.left.setQueueSize(1)
+stereoVertical.left.setBlocking(False)
+stereoVertical.right.setQueueSize(1)
+stereoVertical.right.setBlocking(False)
+
+stereoHorizontal.setNumFramesPool(10)
+stereoVertical.setNumFramesPool(10)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qDisparityHorizontal = device.getOutputQueue("disparity_horizontal", 4, blockingOutputs)
+    qDisparityVertical = device.getOutputQueue("disparity_vertical", 4, blockingOutputs)
+    if enableRectified:
+        qRectifiedVertical = device.getOutputQueue("rectified_vertical", 4, blockingOutputs)
+        qRectifiedRight = device.getOutputQueue("rectified_right", 4, blockingOutputs)
+        qRectifiedLeft = device.getOutputQueue("rectified_left", 4, blockingOutputs)
+
+    if staticInput:
+        qInLeft = device.getInputQueue("inLeft")
+        qInRight = device.getInputQueue("inRight")
+        qInVertical = device.getInputQueue("inVertical")
+
+    while True:
+        if staticInput:
+            ts = dai.Clock.now()
+
+            data = cv2.resize(leftImg, (width, height), interpolation = cv2.INTER_AREA)
+            data = data.reshape(height*width)
+            img = dai.ImgFrame()
+            img.setData(data)
+            img.setInstanceNum(1)
+            img.setType(dai.ImgFrame.Type.RAW8)
+            img.setWidth(width)
+            img.setHeight(height)
+            img.setTimestamp(ts)
+            # print("left send")
+            qInLeft.send(img)
+
+            data = cv2.resize(rightImg, (width, height), interpolation = cv2.INTER_AREA)
+            data = data.reshape(height*width)
+            img = dai.ImgFrame()
+            img.setData(data)
+            img.setInstanceNum(2)
+            img.setType(dai.ImgFrame.Type.RAW8)
+            img.setWidth(width)
+            img.setHeight(height)
+            img.setTimestamp(ts)
+            qInRight.send(img)
+            # print("right send")
+
+            data = cv2.resize(bottomImg, (width, height), interpolation = cv2.INTER_AREA)
+            data = data.reshape(height*width)
+            img = dai.ImgFrame()
+            img.setData(data)
+            img.setInstanceNum(3)
+            img.setType(dai.ImgFrame.Type.RAW8)
+            img.setWidth(width)
+            img.setHeight(height)
+            img.setTimestamp(ts)
+            qInVertical.send(img)
+            # print("vertical send")
+
+        if enableRectified:
+            inRectifiedVertical = qRectifiedVertical.get()
+            frameRVertical = inRectifiedVertical.getCvFrame()
+            cv2.imshow("rectified_vertical", frameRVertical)
+
+            inRectifiedRight = qRectifiedRight.get()
+            frameRRight = inRectifiedRight.getCvFrame()
+            cv2.imshow("rectified_right", frameRRight)
+
+            inRectifiedLeft = qRectifiedLeft.get()
+            frameRLeft = inRectifiedLeft.getCvFrame()
+            cv2.imshow("rectified_left", frameRLeft)
+
+        inDisparityVertical = qDisparityVertical.get()
+        frameDepth = inDisparityVertical.getCvFrame()
+        # cv2.imshow("disparity", frameDepth)
+        tsV = inDisparityVertical.getTimestampDevice()
+        # print(tsV)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disparity_vertical", disp)
+
+        inDisparityHorizontal = qDisparityHorizontal.get()
+        frameDepth = inDisparityHorizontal.getCvFrame()
+        # cv2.imshow("disparity", frameDepth)
+        tsH = inDisparityHorizontal.getTimestampDevice()
+        # print(tsH)
+        disparityTsDiff = tsV-tsH
+        if disparityTsDiff:
+            print(disparityTsDiff)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disparity_horizontal", disp)
+
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live.py b/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live.py
new file mode 100755
index 000000000..ed48488f9
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+import argparse
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutRectifiedLeft = pipeline.create(dai.node.XLinkOut)
+xoutRectifiedRight = pipeline.create(dai.node.XLinkOut)
+xoutDescriptors = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutRectifiedLeft.setStreamName("rectified_left")
+xoutRectifiedRight.setStreamName("rectified_right")
+xoutDescriptors.setStreamName("descriptors")
+xoutDepth.setStreamName("depth")
+
+
+# Define sources and outputs
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.depth.link(xoutDepth.input)
+stereo.rectifiedLeft.link(xoutRectifiedLeft.input)
+stereo.rectifiedRight.link(xoutRectifiedRight.input)
+stereo.pixelDescriptors.link(xoutDescriptors.input)
+
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qLeft = device.getOutputQueue("left", 4, False)
+    qRight = device.getOutputQueue("right", 4, False)
+    qDepth = device.getOutputQueue("depth", 4, False)
+    qRectifiedLeft = device.getOutputQueue("rectified_left", 4, False)
+    qRectifiedRight = device.getOutputQueue("rectified_right", 4, False)
+    qDescriptors = device.getOutputQueue("descriptors", 4, False)
+
+
+    while True:
+
+        inLeft = qLeft.get()
+        frameLeft = inLeft.getCvFrame()
+        cv2.imshow("left", frameLeft)
+
+        inRight = qRight.get()
+        frameRight = inRight.getCvFrame()
+        cv2.imshow("right", frameRight)
+
+        inRLeft = qRectifiedLeft.get()
+        frameRLeft = inRLeft.getCvFrame()
+        cv2.imshow("rectified_left", frameRLeft)
+
+        inRRight = qRectifiedRight.get()
+        frameRRight = inRRight.getCvFrame()
+        cv2.imshow("rectified_right", frameRRight)
+
+        inDescriptors = qDescriptors.get()
+
+        inDepth = qDepth.get()
+        frameDepth = inDepth.getCvFrame()
+        # cv2.imshow("depth", frameDepth)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disp", disp)
+
+
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live_vertical.py b/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live_vertical.py
new file mode 100755
index 000000000..c11c13a20
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_rvc3_live_vertical.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+import argparse
+
+#run examples/install_requirements.py -sdai
+
+calibJsonFile = str((Path(__file__).parent / Path('./depthai_calib.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('calibJsonFile', nargs='?', help="Path to calibration file in json", default=calibJsonFile)
+args = parser.parse_args()
+
+calibData = dai.CalibrationHandler(args.calibJsonFile)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+pipeline.setCalibrationData(calibData)
+
+monoVertical = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+xoutVertical = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutRectifiedLeft = pipeline.create(dai.node.XLinkOut)
+xoutRectifiedRight = pipeline.create(dai.node.XLinkOut)
+xoutDisparity = pipeline.create(dai.node.XLinkOut)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+xoutVertical.setStreamName("vertical")
+xoutRight.setStreamName("right")
+xoutRectifiedLeft.setStreamName("rectified_left")
+xoutRectifiedRight.setStreamName("rectified_right")
+xoutDisparity.setStreamName("disparity")
+
+
+# Define sources and outputs
+monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(stereo.left)
+monoVertical.out.link(stereo.right)
+stereo.syncedLeft.link(xoutVertical.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.disparity.link(xoutDisparity.input)
+stereo.rectifiedLeft.link(xoutRectifiedLeft.input)
+stereo.rectifiedRight.link(xoutRectifiedRight.input)
+stereo.setVerticalStereo(True)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qLeft = device.getOutputQueue("vertical", 4, False)
+    qRight = device.getOutputQueue("right", 4, False)
+    qDepth = device.getOutputQueue("disparity", 4, False)
+    qRectifiedLeft = device.getOutputQueue("rectified_left", 4, False)
+    qRectifiedRight = device.getOutputQueue("rectified_right", 4, False)
+
+    while True:
+
+        inLeft = qLeft.get()
+        frameLeft = inLeft.getCvFrame()
+        cv2.imshow("vertical", frameLeft)
+
+        inRight = qRight.get()
+        frameRight = inRight.getCvFrame()
+        cv2.imshow("right", frameRight)
+
+        inRLeft = qRectifiedLeft.get()
+        frameRLeft = inRLeft.getCvFrame()
+        cv2.imshow("rectified_left", frameRLeft)
+
+        inRRight = qRectifiedRight.get()
+        frameRRight = inRRight.getCvFrame()
+        cv2.imshow("rectified_right", frameRRight)
+
+        inDepth = qDepth.get()
+        frameDepth = inDepth.getCvFrame()
+        # cv2.imshow("disparity", frameDepth)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disp", disp)
+
+
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/StereoDepth/stereo_depth_video.py b/bindings/python/examples/StereoDepth/stereo_depth_video.py
new file mode 100755
index 000000000..2c59d65dd
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_depth_video.py
@@ -0,0 +1,279 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "-res",
+    "--resolution",
+    type=str,
+    default="720",
+    help="Sets the resolution on mono cameras. Options: 800 | 720 | 400",
+)
+parser.add_argument(
+    "-md",
+    "--mesh_dir",
+    type=str,
+    default=None,
+    help="Output directory for mesh files. If not specified mesh files won't be saved",
+)
+parser.add_argument(
+    "-lm",
+    "--load_mesh",
+    default=False,
+    action="store_true",
+    help="Read camera intrinsics, generate mesh files and load them into the stereo node.",
+)
+parser.add_argument(
+    "-rect",
+    "--out_rectified",
+    default=False,
+    action="store_true",
+    help="Generate and display rectified streams",
+)
+parser.add_argument(
+    "-lr",
+    "--lrcheck",
+    default=False,
+    action="store_true",
+    help="Better handling for occlusions",
+)
+parser.add_argument(
+    "-e",
+    "--extended",
+    default=False,
+    action="store_true",
+    help="Closer-in minimum depth, disparity range is doubled",
+)
+parser.add_argument(
+    "-s",
+    "--subpixel",
+    default=False,
+    action="store_true",
+    help="Better accuracy for longer distance, fractional disparity 32-levels",
+)
+parser.add_argument(
+    "-m",
+    "--median",
+    type=str,
+    default="7x7",
+    help="Choose the size of median filtering. Options: OFF | 3x3 | 5x5 | 7x7 (default)",
+)
+parser.add_argument(
+    "-d",
+    "--depth",
+    default=False,
+    action="store_true",
+    help="Display depth frames",
+)
+parser.add_argument(
+    "-swlr",
+    "--swap_left_right",
+    default=False,
+    action="store_true",
+    help="Swap left right frames",
+)
+parser.add_argument(
+    "-a",
+    "--alpha",
+    type=float,
+    default=None,
+    help="Alpha scaling parameter to increase FOV",
+)
+args = parser.parse_args()
+
+RES_MAP = {
+    '800': {'w': 1280, 'h': 800, 'res': dai.MonoCameraProperties.SensorResolution.THE_800_P },
+    '720': {'w': 1280, 'h': 720, 'res': dai.MonoCameraProperties.SensorResolution.THE_720_P },
+    '400': {'w': 640, 'h': 400, 'res': dai.MonoCameraProperties.SensorResolution.THE_400_P }
+}
+if args.resolution not in RES_MAP:
+    exit("Unsupported resolution!")
+
+resolution = RES_MAP[args.resolution]
+
+meshDirectory = args.mesh_dir  # Output dir for mesh files
+generateMesh = args.load_mesh  # Load mesh files
+
+outRectified = args.out_rectified  # Output and display rectified streams
+lrcheck = args.lrcheck  # Better handling for occlusions
+extended = args.extended  # Closer-in minimum depth, disparity range is doubled
+subpixel = args.subpixel  # Better accuracy for longer distance, fractional disparity 32-levels
+depth = args.depth  # Display depth frames
+
+medianMap = {
+    "OFF": dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF,
+    "3x3": dai.StereoDepthProperties.MedianFilter.KERNEL_3x3,
+    "5x5": dai.StereoDepthProperties.MedianFilter.KERNEL_5x5,
+    "7x7": dai.StereoDepthProperties.MedianFilter.KERNEL_7x7,
+}
+if args.median not in medianMap:
+    exit("Unsupported median size!")
+
+median = medianMap[args.median]
+
+print("StereoDepth config options:")
+print(f"    Resolution:  {resolution['w']}x{resolution['h']}")
+print("    Left-Right check:  ", lrcheck)
+print("    Extended disparity:", extended)
+print("    Subpixel:          ", subpixel)
+print("    Median filtering:  ", median)
+print("    Generating mesh files:  ", generateMesh)
+print("    Outputting mesh files to:  ", meshDirectory)
+
+
+def getMesh(calibData):
+    M1 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_B, resolution[0], resolution[1]))
+    d1 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_B))
+    R1 = np.array(calibData.getStereoLeftRectificationRotation())
+    M2 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C, resolution[0], resolution[1]))
+    d2 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_C))
+    R2 = np.array(calibData.getStereoRightRectificationRotation())
+    mapXL, mapYL = cv2.initUndistortRectifyMap(M1, d1, R1, M2, resolution, cv2.CV_32FC1)
+    mapXR, mapYR = cv2.initUndistortRectifyMap(M2, d2, R2, M2, resolution, cv2.CV_32FC1)
+
+    meshCellSize = 16
+    meshLeft = []
+    meshRight = []
+
+    for y in range(mapXL.shape[0] + 1):
+        if y % meshCellSize == 0:
+            rowLeft = []
+            rowRight = []
+            for x in range(mapXL.shape[1] + 1):
+                if x % meshCellSize == 0:
+                    if y == mapXL.shape[0] and x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y - 1, x - 1])
+                        rowLeft.append(mapXL[y - 1, x - 1])
+                        rowRight.append(mapYR[y - 1, x - 1])
+                        rowRight.append(mapXR[y - 1, x - 1])
+                    elif y == mapXL.shape[0]:
+                        rowLeft.append(mapYL[y - 1, x])
+                        rowLeft.append(mapXL[y - 1, x])
+                        rowRight.append(mapYR[y - 1, x])
+                        rowRight.append(mapXR[y - 1, x])
+                    elif x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y, x - 1])
+                        rowLeft.append(mapXL[y, x - 1])
+                        rowRight.append(mapYR[y, x - 1])
+                        rowRight.append(mapXR[y, x - 1])
+                    else:
+                        rowLeft.append(mapYL[y, x])
+                        rowLeft.append(mapXL[y, x])
+                        rowRight.append(mapYR[y, x])
+                        rowRight.append(mapXR[y, x])
+            if (mapXL.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+                rowRight.append(0)
+                rowRight.append(0)
+
+            meshLeft.append(rowLeft)
+            meshRight.append(rowRight)
+
+    meshLeft = np.array(meshLeft)
+    meshRight = np.array(meshRight)
+
+    return meshLeft, meshRight
+
+
+def saveMeshFiles(meshLeft, meshRight, outputPath):
+    print("Saving mesh to:", outputPath)
+    meshLeft.tofile(outputPath + "/left_mesh.calib")
+    meshRight.tofile(outputPath + "/right_mesh.calib")
+
+
+def getDisparityFrame(frame, cvColorMap):
+    maxDisp = stereo.initialConfig.getMaxDisparity()
+    disp = (frame * (255.0 / maxDisp)).astype(np.uint8)
+    disp = cv2.applyColorMap(disp, cvColorMap)
+
+    return disp
+
+device = dai.Device()
+calibData = device.readCalibration()
+print("Creating Stereo Depth pipeline")
+pipeline = dai.Pipeline()
+
+camLeft = pipeline.create(dai.node.MonoCamera)
+camRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDisparity = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutRectifLeft = pipeline.create(dai.node.XLinkOut)
+xoutRectifRight = pipeline.create(dai.node.XLinkOut)
+
+if args.swap_left_right:
+    camLeft.setCamera("right")
+    camRight.setCamera("left")
+else:
+    camLeft.setCamera("left")
+    camRight.setCamera("right")
+
+for monoCam in (camLeft, camRight):  # Common config
+    monoCam.setResolution(resolution['res'])
+    # monoCam.setFps(20.0)
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.initialConfig.setMedianFilter(median)  # KERNEL_7x7 default
+stereo.setRectifyEdgeFillColor(0)  # Black, to better see the cutout
+stereo.setLeftRightCheck(lrcheck)
+stereo.setExtendedDisparity(extended)
+stereo.setSubpixel(subpixel)
+if args.alpha is not None:
+    stereo.setAlphaScaling(args.alpha)
+    config = stereo.initialConfig.get()
+    config.postProcessing.brightnessFilter.minBrightness = 0
+    stereo.initialConfig.set(config)
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDisparity.setStreamName("disparity")
+xoutDepth.setStreamName("depth")
+xoutRectifLeft.setStreamName("rectifiedLeft")
+xoutRectifRight.setStreamName("rectifiedRight")
+
+camLeft.out.link(stereo.left)
+camRight.out.link(stereo.right)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.disparity.link(xoutDisparity.input)
+if depth:
+    stereo.depth.link(xoutDepth.input)
+if outRectified:
+    stereo.rectifiedLeft.link(xoutRectifLeft.input)
+    stereo.rectifiedRight.link(xoutRectifRight.input)
+
+streams = ["left", "right"]
+if outRectified:
+    streams.extend(["rectifiedLeft", "rectifiedRight"])
+streams.append("disparity")
+if depth:
+    streams.append("depth")
+
+cvColorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
+cvColorMap[0] = [0, 0, 0]
+print("Creating DepthAI device")
+with device:
+    device.startPipeline(pipeline)
+
+    # Create a receive queue for each stream
+    qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams]
+
+    while True:
+        for q in qList:
+            name = q.getName()
+            frame = q.get().getCvFrame()
+            if name == "depth":
+                frame = frame.astype(np.uint16)
+            elif name == "disparity":
+                frame = getDisparityFrame(frame, cvColorMap)
+
+            cv2.imshow(name, frame)
+        if cv2.waitKey(1) == ord("q"):
+            break
diff --git a/bindings/python/examples/StereoDepth/stereo_mesh_warp_from_host.py b/bindings/python/examples/StereoDepth/stereo_mesh_warp_from_host.py
new file mode 100755
index 000000000..52b604566
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_mesh_warp_from_host.py
@@ -0,0 +1,141 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import depthai as dai
+import argparse
+
+meshCellSize = 14
+def getMesh(calibData, resolution):
+    M1 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.LEFT, resolution[0], resolution[1]))
+    d1 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.LEFT))
+    R1 = np.array(calibData.getStereoLeftRectificationRotation())
+    M2 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT, resolution[0], resolution[1]))
+    d2 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.RIGHT))
+    R2 = np.array(calibData.getStereoRightRectificationRotation())
+    mapXL, mapYL = cv2.initUndistortRectifyMap(M1, d1, R1, M2, (resolution), cv2.CV_32FC1)
+    mapXR, mapYR = cv2.initUndistortRectifyMap(M2, d2, R2, M2, (resolution), cv2.CV_32FC1)
+
+    meshLeft = []
+    meshRight = []
+
+    for y in range(mapXL.shape[0] + 1):
+        if y % meshCellSize == 0:
+            rowLeft = []
+            rowRight = []
+            for x in range(mapXL.shape[1] + 1):
+                if x % meshCellSize == 0:
+                    if y == mapXL.shape[0] and x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y - 1, x - 1])
+                        rowLeft.append(mapXL[y - 1, x - 1])
+                        rowRight.append(mapYR[y - 1, x - 1])
+                        rowRight.append(mapXR[y - 1, x - 1])
+                    elif y == mapXL.shape[0]:
+                        rowLeft.append(mapYL[y - 1, x])
+                        rowLeft.append(mapXL[y - 1, x])
+                        rowRight.append(mapYR[y - 1, x])
+                        rowRight.append(mapXR[y - 1, x])
+                    elif x == mapXL.shape[1]:
+                        rowLeft.append(mapYL[y, x - 1])
+                        rowLeft.append(mapXL[y, x - 1])
+                        rowRight.append(mapYR[y, x - 1])
+                        rowRight.append(mapXR[y, x - 1])
+                    else:
+                        rowLeft.append(mapYL[y, x])
+                        rowLeft.append(mapXL[y, x])
+                        rowRight.append(mapYR[y, x])
+                        rowRight.append(mapXR[y, x])
+            if (mapXL.shape[1] % meshCellSize) % 2 != 0:
+                rowLeft.append(0)
+                rowLeft.append(0)
+                rowRight.append(0)
+                rowRight.append(0)
+
+            meshLeft.append(rowLeft)
+            meshRight.append(rowRight)
+
+    meshLeft = np.array(meshLeft)
+    meshRight = np.array(meshRight)
+
+    return meshLeft, meshRight
+
+def getDisparityFrame(frame):
+    maxDisp = stereo.initialConfig.getMaxDisparity()
+    disp = (frame * (255.0 / maxDisp)).astype(np.uint8)
+    disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+
+    return disp
+
+from pathlib import Path
+import argparse
+calibJsonFile = str((Path(__file__).parent / Path('./depthai_calib.json')).resolve().absolute())
+calibData = dai.CalibrationHandler(calibJsonFile)
+
+print("Creating Stereo Depth pipeline")
+pipeline = dai.Pipeline()
+pipeline.setCalibrationData(calibData)
+
+camLeft = pipeline.create(dai.node.MonoCamera)
+camRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDisparity = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutRectifLeft = pipeline.create(dai.node.XLinkOut)
+xoutRectifRight = pipeline.create(dai.node.XLinkOut)
+
+camLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+camRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setRectifyEdgeFillColor(0)  # Black, to better see the cutout
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDisparity.setStreamName("disparity")
+xoutDepth.setStreamName("depth")
+xoutRectifLeft.setStreamName("rectifiedLeft")
+xoutRectifRight.setStreamName("rectifiedRight")
+
+camLeft.out.link(stereo.left)
+camRight.out.link(stereo.right)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.disparity.link(xoutDisparity.input)
+stereo.rectifiedLeft.link(xoutRectifLeft.input)
+stereo.rectifiedRight.link(xoutRectifRight.input)
+
+streams = ["left", "right"]
+streams.extend(["rectifiedLeft", "rectifiedRight"])
+streams.append("disparity")
+
+resolution = (1280, 720)
+
+device = dai.Device()
+leftMesh, rightMesh = getMesh(calibData, resolution)
+meshLeft = list(leftMesh.tobytes())
+meshRight = list(rightMesh.tobytes())
+stereo.loadMeshData(meshLeft, meshRight)
+stereo.setMeshStep(meshCellSize,meshCellSize)
+
+
+print("Creating DepthAI device")
+with device:
+    device.startPipeline(pipeline)
+
+    # Create a receive queue for each stream
+    qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams]
+
+    while True:
+        for q in qList:
+            name = q.getName()
+            frame = q.get().getCvFrame()
+            if name == "depth":
+                frame = frame.astype(np.uint16)
+            elif name == "disparity":
+                frame = getDisparityFrame(frame)
+
+            cv2.imshow(name, frame)
+        if cv2.waitKey(1) == ord("q"):
+            break
diff --git a/bindings/python/examples/StereoDepth/stereo_pre_rectified.py b/bindings/python/examples/StereoDepth/stereo_pre_rectified.py
new file mode 100755
index 000000000..634f16196
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_pre_rectified.py
@@ -0,0 +1,353 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+import argparse
+
+class StereoConfigHandler:
+
+    class Trackbar:
+        def __init__(self, trackbarName, windowName, minValue, maxValue, defaultValue, handler):
+            self.min = minValue
+            self.max = maxValue
+            self.windowName = windowName
+            self.trackbarName = trackbarName
+            cv2.createTrackbar(trackbarName, windowName, minValue, maxValue, handler)
+            cv2.setTrackbarPos(trackbarName, windowName, defaultValue)
+
+        def set(self, value):
+            if value < self.min:
+                value = self.min
+                print(f'{self.trackbarName} min value is {self.min}')
+            if value > self.max:
+                value = self.max
+                print(f'{self.trackbarName} max value is {self.max}')
+            cv2.setTrackbarPos(self.trackbarName, self.windowName, value)
+
+    newConfig = False
+    config = None
+    trConfidence = list()
+    trLrCheck = list()
+    trCostAggregationP1 = list()
+    trCostAggregationP2 = list()
+    trOutlierRemovalThreshold = list()
+    trOutlierCensusThreshold = list()
+    trOutlierDiffThreshold = list()
+
+    def trackbarConfidence(value):
+        StereoConfigHandler.config.costMatching.confidenceThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trConfidence:
+            tr.set(value)
+
+    def trackbarLrCheckThreshold(value):
+        StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trLrCheck:
+            tr.set(value)
+
+    def trackbarCostAggregationP1(value):
+        StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1 = value
+        StereoConfigHandler.config.costAggregation.verticalPenaltyCostP1 = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trCostAggregationP1:
+            tr.set(value)
+
+    def trackbarCostAggregationP2(value):
+        StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2 = value
+        StereoConfigHandler.config.costAggregation.verticalPenaltyCostP2 = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trCostAggregationP2:
+            tr.set(value)
+
+    def trackbarOutlierRemovalThreshold(value):
+        StereoConfigHandler.config.algorithmControl.outlierRemoveThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trOutlierRemovalThreshold:
+            tr.set(value)
+
+    def trackbarOutlierCensusThreshold(value):
+        StereoConfigHandler.config.algorithmControl.outlierCensusThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trOutlierCensusThreshold:
+            tr.set(value)
+
+    def trackbarOutlierDiffThreshold(value):
+        StereoConfigHandler.config.algorithmControl.outlierDiffThreshold = value
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trOutlierDiffThreshold:
+            tr.set(value)
+
+
+    def handleKeypress(key, stereoDepthConfigInQueue):
+        if key == ord('l'):
+            StereoConfigHandler.newConfig = True
+            currentCfg = StereoConfigHandler.config.costAggregation.localAggregationMode
+            nextCfg = cfgSettings[(cfgSettings.index(currentCfg)+1) % len(cfgSettings)]
+            print(f"Changing local aggregation to {nextCfg.name} from {currentCfg.name}")
+            StereoConfigHandler.config.costAggregation.localAggregationMode = nextCfg
+        elif key == ord('r'):
+            StereoConfigHandler.newConfig = True
+            currentCfg = StereoConfigHandler.config.algorithmControl.replaceInvalidDisparity
+            nextCfg = not currentCfg
+            print(f"Changing replace invalid disparity to {nextCfg} from {currentCfg}")
+            StereoConfigHandler.config.algorithmControl.replaceInvalidDisparity = nextCfg
+
+        StereoConfigHandler.sendConfig(stereoDepthConfigInQueue)
+
+    def sendConfig(stereoDepthConfigInQueue):
+        if StereoConfigHandler.newConfig:
+            StereoConfigHandler.newConfig = False
+            configMessage = dai.StereoDepthConfig()
+            configMessage.set(StereoConfigHandler.config)
+            configMessage.setData([1]) # NOTE workaround
+            stereoDepthConfigInQueue.send(configMessage)
+
+    def updateDefaultConfig(config):
+        StereoConfigHandler.config = config
+
+    def registerWindow(stream):
+        cv2.namedWindow(stream, cv2.WINDOW_NORMAL)
+
+        StereoConfigHandler.trConfidence.append(StereoConfigHandler.Trackbar('Disparity confidence', stream, 0, 255, StereoConfigHandler.config.costMatching.confidenceThreshold, StereoConfigHandler.trackbarConfidence))
+        StereoConfigHandler.trCostAggregationP1.append(StereoConfigHandler.Trackbar('Cost aggregation P1', stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1, StereoConfigHandler.trackbarCostAggregationP1))
+        StereoConfigHandler.trCostAggregationP2.append(StereoConfigHandler.Trackbar('Cost aggregation P2', stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2, StereoConfigHandler.trackbarCostAggregationP2))
+        StereoConfigHandler.trLrCheck.append(StereoConfigHandler.Trackbar('Left-right check threshold', stream, 0, 255, StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold, StereoConfigHandler.trackbarLrCheckThreshold))
+        StereoConfigHandler.trOutlierRemovalThreshold.append(StereoConfigHandler.Trackbar('Outlier removal threshold', stream, 0, 49, StereoConfigHandler.config.algorithmControl.outlierRemoveThreshold, StereoConfigHandler.trackbarOutlierRemovalThreshold))
+        StereoConfigHandler.trOutlierCensusThreshold.append(StereoConfigHandler.Trackbar('Outlier census threshold', stream, 32, 255, StereoConfigHandler.config.algorithmControl.outlierCensusThreshold, StereoConfigHandler.trackbarOutlierCensusThreshold))
+        StereoConfigHandler.trOutlierDiffThreshold.append(StereoConfigHandler.Trackbar('Outlier difference threshold', stream, 1, 96, StereoConfigHandler.config.algorithmControl.outlierDiffThreshold, StereoConfigHandler.trackbarOutlierDiffThreshold))
+
+    def __init__(self, config):
+
+        StereoConfigHandler.config = config
+
+customPixelDescriptors = False
+
+datasetDefault = str((Path(__file__).parent / Path('../models/dataset')).resolve().absolute())
+if not Path(datasetDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+left = datasetDefault + '/' + '0' + '/' + 'in_left' + '.png'
+right = datasetDefault + '/' + '0' + '/' + 'in_right' + '.png'
+
+
+inW = 1920
+inH = 1200
+inW = 1280
+inH = 800
+
+left = "horizontal-rectified_left_screenshot_13.04.2023.png"
+right = "horizontal-rectified_right_screenshot_13.04.2023.png"
+
+leftImg = cv2.imread(left, cv2.IMREAD_GRAYSCALE)
+rightImg = cv2.imread(right, cv2.IMREAD_GRAYSCALE)
+leftImg = cv2.resize(leftImg, (inW,inH))
+rightImg = cv2.resize(rightImg, (inW,inH))
+
+width = leftImg.shape[1]
+height = leftImg.shape[0]
+
+cv2.imshow("leftImg", leftImg)
+cv2.imshow("rightImg", rightImg)
+cv2.waitKey(1)
+
+#https://stackoverflow.com/questions/38265364/census-transform-in-python-opencv
+def censusTransform(image, window_size=5):
+    """
+    Take a gray scale image and for each pixel around the center of the window generate a bit value of length
+    window_size * 2 - 1. window_size of 3 produces bit length of 8, and 5 produces 24.
+
+    The image gets border of zero padded pixels half the window size.
+
+    Bits are set to one if pixel under consideration is greater than the center, otherwise zero.
+
+    :param image: numpy.ndarray(shape=(MxN), dtype=numpy.uint8)
+    :param window_size: int odd-valued
+    :return: numpy.ndarray(shape=(MxN), , dtype=numpy.uint8)
+    >>> image = np.array([ [50, 70, 80], [90, 100, 110], [60, 120, 150] ])
+    >>> np.binary_repr(transform(image)[0, 0])
+    '1011'
+    >>> image = np.array([ [60, 75, 85], [115, 110, 105], [70, 130, 170] ])
+    >>> np.binary_repr(transform(image)[0, 0])
+    '10011'
+    """
+    half_window_size = window_size // 2
+
+    image = cv2.copyMakeBorder(image, top=half_window_size, left=half_window_size, right=half_window_size, bottom=half_window_size, borderType=cv2.BORDER_CONSTANT, value=0)
+    rows, cols = image.shape
+    census = np.zeros((rows - half_window_size * 2, cols - half_window_size * 2), dtype=np.uint32)
+    center_pixels = image[half_window_size:rows - half_window_size, half_window_size:cols - half_window_size]
+
+    offsets = [(row, col) for row in range(half_window_size) for col in range(half_window_size) if not row == half_window_size + 1 == col]
+    for (row, col) in offsets:
+        census = (census << 1) | (image[row:row + rows - half_window_size * 2, col:col + cols - half_window_size * 2] >= center_pixels)
+    return census
+
+
+if customPixelDescriptors:
+    leftCensus = censusTransform(leftImg, 5)
+    print(leftCensus.shape)
+    print(leftCensus.dtype)
+    rightCensus = censusTransform(rightImg, 5)
+    # cv2.imshow("census", census)
+    # cv2.waitKey(0)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+
+monoLeft = pipeline.create(dai.node.XLinkIn)
+monoRight = pipeline.create(dai.node.XLinkIn)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+monoLeft.setStreamName("inLeft")
+monoRight.setStreamName("inRight")
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDepth.setStreamName("depth")
+
+leftDescriptors = pipeline.create(dai.node.XLinkIn)
+rightDescriptors = pipeline.create(dai.node.XLinkIn)
+leftDescriptors.setStreamName("inLeftDescriptor")
+rightDescriptors.setStreamName("inRightDescriptor")
+leftDescriptors.setMaxDataSize(1920*1200*4)
+rightDescriptors.setMaxDataSize(1920*1200*4)
+
+monoLeft.setMaxDataSize(width * height)
+monoRight.setMaxDataSize(width * height)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+leftDescriptors.out.link(stereo.inputLeftPixelDescriptor)
+rightDescriptors.out.link(stereo.inputRightPixelDescriptor)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.rectifiedRight.link(xoutRight.input)
+stereo.disparity.link(xoutDepth.input)
+stereo.setInputResolution(width,height) # set input resolution specifically
+
+stereo.setRectification(False) #disable rectification, frames are pre-rectified
+
+stereo.setLeftRightCheck(False)
+stereo.setSubpixel(True)
+stereo.setSubpixelFractionalBits(5)
+stereo.setCustomPixelDescriptors(customPixelDescriptors)
+
+stereo.setConfidenceThreshold(230)
+
+# config = stereo.initialConfig.get()
+# config.algorithmControl.enableLeftRightCheck = False
+# config.algorithmControl.leftRightCheckThreshold = 10
+# config.algorithmControl.replaceInvalidDisparity = False
+# config.algorithmControl.outlierRemoveThreshold = 49
+# config.algorithmControl.outlierCensusThreshold = 255
+# config.algorithmControl.outlierDiffThreshold = 96
+# config.costMatching.confidenceThreshold = 230
+# config.costAggregation.localAggregationMode = dai.StereoDepthConfig.CostAggregation.LocalAggregationMode.PASS3x3 #CLAMP3x3, PASS3x3
+# stereo.initialConfig.set(config)
+
+
+StereoConfigHandler(stereo.initialConfig.get())
+StereoConfigHandler.registerWindow('Stereo control panel')
+
+xinStereoDepthConfig = pipeline.create(dai.node.XLinkIn)
+xinStereoDepthConfigName = "stereoDepthConfig"
+xinStereoDepthConfig.setStreamName(xinStereoDepthConfigName)
+xinStereoDepthConfig.out.link(stereo.inputConfig)
+
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qInLeft = device.getInputQueue("inLeft")
+    qInRight = device.getInputQueue("inRight")
+    qInLeftDescriptor = device.getInputQueue("inLeftDescriptor")
+    qInRightDescriptor = device.getInputQueue("inRightDescriptor")
+    qLeft = device.getOutputQueue("left", 4, False)
+    qRight = device.getOutputQueue("right", 4, False)
+    qDepth = device.getOutputQueue("depth", 4, False)
+
+    cnt = 0
+
+    while True:
+
+        data = cv2.resize(leftImg, (width, height), interpolation = cv2.INTER_AREA)
+
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(1)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        # print("left send")
+        qInLeft.send(img)
+
+        data = cv2.resize(rightImg, (width, height), interpolation = cv2.INTER_AREA)
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(2)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        qInRight.send(img)
+
+        if customPixelDescriptors:
+
+            data = list(np.array(leftCensus.flatten()).view(dtype=np.int8))
+            leftDescImg = dai.ImgFrame()
+            leftDescImg.setData(data)
+            leftDescImg.setInstanceNum(1)
+            leftDescImg.setType(dai.ImgFrame.Type.RAW32)
+            leftDescImg.setWidth(width)
+            leftDescImg.setHeight(height)
+            # print("left descriptor send")
+            qInLeftDescriptor.send(leftDescImg)
+
+            data = list(np.array(rightCensus.flatten()).view(dtype=np.int8))
+            rightDescImg = dai.ImgFrame()
+            rightDescImg.setData(data)
+            rightDescImg.setInstanceNum(2)
+            rightDescImg.setType(dai.ImgFrame.Type.RAW32)
+            rightDescImg.setWidth(width)
+            rightDescImg.setHeight(height)
+            # print("right descriptor send")
+            qInRightDescriptor.send(rightDescImg)
+
+        inLeft = qLeft.get()
+        frameLeft = inLeft.getCvFrame()
+        cv2.imshow("left", frameLeft)
+
+        inRight = qRight.get()
+        frameRight = inRight.getCvFrame()
+        cv2.imshow("right", frameRight)
+
+        inDepth = qDepth.get()
+
+        data = np.array(inDepth.getData())
+
+        count = np.count_nonzero(data % 32 == 0)
+        # print("Non multiples of 32 in disparity: ", count, " out of ", len(data), " (", count/len(data)*100, "%)")
+
+        frameDepth = inDepth.getCvFrame()
+        # cv2.imshow("depth", frameDepth)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disp", disp)
+
+        cnt+=1
+
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+
+        StereoConfigHandler.handleKeypress(key, device.getInputQueue(xinStereoDepthConfigName))
diff --git a/bindings/python/examples/StereoDepth/stereo_rvc3.py b/bindings/python/examples/StereoDepth/stereo_rvc3.py
new file mode 100755
index 000000000..7d26742d9
--- /dev/null
+++ b/bindings/python/examples/StereoDepth/stereo_rvc3.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+
+#run examples/install_requirements.py -sdai
+
+datasetDefault = str((Path(__file__).parent / Path('../models/dataset')).resolve().absolute())
+if not Path(datasetDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+left = datasetDefault + '/' + '0' + '/' + 'in_left' + '.png'
+right = datasetDefault + '/' + '0' + '/' + 'in_right' + '.png'
+
+leftImg = cv2.imread(left, cv2.IMREAD_GRAYSCALE)
+rightImg = cv2.imread(right, cv2.IMREAD_GRAYSCALE)
+
+cv2.imshow("leftImg", leftImg)
+cv2.imshow("rightImg", rightImg)
+cv2.waitKey(1) 
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.XLinkIn)
+monoRight = pipeline.create(dai.node.XLinkIn)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+monoLeft.setStreamName("inLeft")
+monoRight.setStreamName("inRight")
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDepth.setStreamName("depth")
+
+monoLeft.setMaxDataSize(1280 * 720)
+monoRight.setMaxDataSize(1280 * 720)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.depth.link(xoutDepth.input)
+stereo.setInputResolution(1280,720)
+
+stereo.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_LEFT)
+# stereo.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qInLeft = device.getInputQueue("inLeft")
+    qInRight = device.getInputQueue("inRight")
+    qLeft = device.getOutputQueue("left", 4, False)
+    qRight = device.getOutputQueue("right", 4, False)
+    qDepth = device.getOutputQueue("depth", 4, False)
+
+    cnt = 0
+
+    width = 1280
+    height = 720
+
+    while True:
+
+        data = cv2.resize(leftImg, (width, height), interpolation = cv2.INTER_AREA)
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(1)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        qInLeft.send(img)
+
+        data = cv2.resize(rightImg, (width, height), interpolation = cv2.INTER_AREA)
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(2)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        qInRight.send(img)
+
+        inLeft = qLeft.get()
+        frameLeft = inLeft.getCvFrame()
+        cv2.imshow("left", frameLeft)
+
+        inRight = qRight.get()
+        frameRight = inRight.getCvFrame()
+        cv2.imshow("right", frameRight)
+
+        inDepth = qDepth.get()
+        frameDepth = inDepth.getCvFrame()
+        # cv2.imshow("depth", frameDepth)
+
+        disp = (frameDepth / 32).astype(np.uint8)
+        cv2.imshow("disp", disp)
+
+        cnt+=1
+
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/Sync/demux_message_group.py b/bindings/python/examples/Sync/demux_message_group.py
new file mode 100644
index 000000000..2893e1fd2
--- /dev/null
+++ b/bindings/python/examples/Sync/demux_message_group.py
@@ -0,0 +1,57 @@
+import depthai as dai
+import time
+from datetime import timedelta
+
+pipeline = dai.Pipeline()
+
+script1 = pipeline.create(dai.node.Script)
+script1.setScript("""
+from time import sleep
+
+while True:
+    sleep(1)
+    b = Buffer(512)
+    b.setData(bytes(4 * [i for i in range(0, 128)]))
+    b.setTimestamp(Clock.now())
+    node.io['out'].send(b)
+""")
+
+script2 = pipeline.create(dai.node.Script)
+script2.setScript("""
+from time import sleep
+
+while True:
+    sleep(0.3)
+    b = Buffer(512)
+    b.setData(bytes(4 * [i for i in range(128, 256)]))
+    b.setTimestamp(Clock.now())
+    node.io['out'].send(b)
+""")
+
+sync = pipeline.create(dai.node.Sync)
+sync.setSyncThreshold(timedelta(milliseconds=100))
+
+demux = pipeline.create(dai.node.MessageDemux)
+
+xout1 = pipeline.create(dai.node.XLinkOut)
+xout1.setStreamName("xout1")
+xout2 = pipeline.create(dai.node.XLinkOut)
+xout2.setStreamName("xout2")
+
+script1.outputs["out"].link(sync.inputs["s1"])
+script2.outputs["out"].link(sync.inputs["s2"])
+sync.out.link(demux.input)
+demux.outputs["s1"].link(xout1.input)
+demux.outputs["s2"].link(xout2.input)
+
+with dai.Device(pipeline) as device:
+    print("Start")
+    q1 = device.getOutputQueue("xout1", maxSize=10, blocking=True)
+    q2 = device.getOutputQueue("xout2", maxSize=10, blocking=True)
+    while True:
+        bufS1 = q1.get()
+        bufS2 = q2.get()
+        print(f"Buffer 1 timestamp: {bufS1.getTimestamp()}")
+        print(f"Buffer 2 timestamp: {bufS2.getTimestamp()}")
+        print("----------")
+        time.sleep(0.2)
diff --git a/bindings/python/examples/Sync/depth_video_synced.py b/bindings/python/examples/Sync/depth_video_synced.py
new file mode 100644
index 000000000..bd1c85cef
--- /dev/null
+++ b/bindings/python/examples/Sync/depth_video_synced.py
@@ -0,0 +1,49 @@
+import depthai as dai
+import numpy as np
+import cv2
+from datetime import timedelta
+
+pipeline = dai.Pipeline()
+
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+color = pipeline.create(dai.node.ColorCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+sync = pipeline.create(dai.node.Sync)
+
+xoutGrp = pipeline.create(dai.node.XLinkOut)
+
+xoutGrp.setStreamName("xout")
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_ACCURACY)
+
+color.setCamera("color")
+
+sync.setSyncThreshold(timedelta(milliseconds=50))
+
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+stereo.disparity.link(sync.inputs["disparity"])
+color.video.link(sync.inputs["video"])
+
+sync.out.link(xoutGrp.input)
+
+disparityMultiplier = 255.0 / stereo.initialConfig.getMaxDisparity()
+with dai.Device(pipeline) as device:
+    queue = device.getOutputQueue("xout", 10, False)
+    while True:
+        msgGrp = queue.get()
+        for name, msg in msgGrp:
+            frame = msg.getCvFrame()
+            if name == "disparity":
+                frame = (frame * disparityMultiplier).astype(np.uint8)
+                frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET)
+            cv2.imshow(name, frame)
+        if cv2.waitKey(1) == ord("q"):
+            break
diff --git a/bindings/python/examples/Sync/imu_video_synced.py b/bindings/python/examples/Sync/imu_video_synced.py
new file mode 100644
index 000000000..7fbede660
--- /dev/null
+++ b/bindings/python/examples/Sync/imu_video_synced.py
@@ -0,0 +1,59 @@
+import depthai as dai
+import numpy as np
+import cv2
+from datetime import timedelta
+
+device = dai.Device()
+
+imuType = device.getConnectedIMU()
+imuFirmwareVersion = device.getIMUFirmwareVersion()
+print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}")
+
+if imuType != "BNO086":
+    print("Rotation vector output is supported only by BNO086!")
+    exit(0)
+
+pipeline = dai.Pipeline()
+
+color = pipeline.create(dai.node.ColorCamera)
+imu = pipeline.create(dai.node.IMU)
+sync = pipeline.create(dai.node.Sync)
+xoutImu = pipeline.create(dai.node.XLinkOut)
+xoutImu.setStreamName("imu")
+
+xoutGrp = pipeline.create(dai.node.XLinkOut)
+xoutGrp.setStreamName("xout")
+
+color.setCamera("color")
+
+imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 120)
+imu.setBatchReportThreshold(1)
+imu.setMaxBatchReports(10)
+
+sync.setSyncThreshold(timedelta(milliseconds=10))
+sync.setSyncAttempts(-1)
+
+color.video.link(sync.inputs["video"])
+imu.out.link(sync.inputs["imu"])
+
+sync.out.link(xoutGrp.input)
+
+
+with device:
+    device.startPipeline(pipeline)
+    groupQueue = device.getOutputQueue("xout", 3, True)
+    while True:
+        groupMessage = groupQueue.get()
+        imuMessage = groupMessage["imu"]
+        colorMessage = groupMessage["video"]
+        print()
+        print("Device timestamp imu: " + str(imuMessage.getTimestampDevice()))
+        print("Device timestamp video:" + str(colorMessage.getTimestampDevice()))
+        latestRotationVector = imuMessage.packets[-1].rotationVector
+        imuF = "{:.4f}"
+        print(f"Quaternion: i: {imuF.format(latestRotationVector.i)} j: {imuF.format(latestRotationVector.j)} "
+        f"k: {imuF.format(latestRotationVector.k)} real: {imuF.format(latestRotationVector.real)}")
+        print()
+        cv2.imshow("video", colorMessage.getCvFrame())
+        if cv2.waitKey(1) == ord("q"):
+            break
diff --git a/bindings/python/examples/Sync/sync_left_right.py b/bindings/python/examples/Sync/sync_left_right.py
new file mode 100644
index 000000000..2bbd2a1ac
--- /dev/null
+++ b/bindings/python/examples/Sync/sync_left_right.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+syncNode = pipeline.create(dai.node.Sync)
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+monoLeft.out.link(syncNode.inputs["left"])
+monoRight.out.link(syncNode.inputs["right"])
+syncNode.outputs["left"].link(xoutLeft.input)
+syncNode.outputs["right"].link(xoutRight.input)
+
+with dai.Device(pipeline) as device:
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    while True:
+        inLeft = qLeft.get()
+        inRight = qRight.get()
+
+        cv2.imshow("left", inLeft.getCvFrame())
+        cv2.imshow("right", inRight.getCvFrame())
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/Sync/sync_scripts.py b/bindings/python/examples/Sync/sync_scripts.py
new file mode 100644
index 000000000..3309dec8d
--- /dev/null
+++ b/bindings/python/examples/Sync/sync_scripts.py
@@ -0,0 +1,53 @@
+import depthai as dai
+import time
+from datetime import timedelta
+
+pipeline = dai.Pipeline()
+
+script1 = pipeline.create(dai.node.Script)
+script1.setScript("""
+from time import sleep
+
+while True:
+    sleep(1)
+    b = Buffer(512)
+    b.setData(bytes(4 * [i for i in range(0, 128)]))
+    b.setTimestamp(Clock.now())
+    node.io['out'].send(b)
+""")
+
+script2 = pipeline.create(dai.node.Script)
+script2.setScript("""
+from time import sleep
+
+while True:
+    sleep(0.3)
+    b = Buffer(512)
+    b.setData(bytes(4 * [i for i in range(128, 256)]))
+    b.setTimestamp(Clock.now())
+    node.io['out'].send(b)
+""")
+
+sync = pipeline.create(dai.node.Sync)
+sync.setSyncThreshold(timedelta(milliseconds=100))
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("xout")
+
+sync.out.link(xout.input)
+
+script1.outputs["out"].link(sync.inputs["s1"])
+script2.outputs["out"].link(sync.inputs["s2"])
+
+# script1.outputs["out"].link(xout.input)
+
+with dai.Device(pipeline) as device:
+    print("Start")
+    q = device.getOutputQueue("xout", maxSize=10, blocking=True)
+    while True:
+        grp = q.get()
+        for name, msg in grp:
+            print(f"Received {name} with timestamp {msg.getTimestamp()}")
+        print(f"Time interval between messages: {grp.getIntervalNs() / 1e6}ms")
+        print("----------")
+        time.sleep(0.2)
diff --git a/bindings/python/examples/SystemLogger/system_information.py b/bindings/python/examples/SystemLogger/system_information.py
new file mode 100755
index 000000000..fb0283d8e
--- /dev/null
+++ b/bindings/python/examples/SystemLogger/system_information.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+def printSystemInformation(info):
+    m = 1024 * 1024 # MiB
+    print(f"Ddr used / total - {info.ddrMemoryUsage.used / m:.2f} / {info.ddrMemoryUsage.total / m:.2f} MiB")
+    print(f"Cmx used / total - {info.cmxMemoryUsage.used / m:.2f} / {info.cmxMemoryUsage.total / m:.2f} MiB")
+    print(f"LeonCss heap used / total - {info.leonCssMemoryUsage.used / m:.2f} / {info.leonCssMemoryUsage.total / m:.2f} MiB")
+    print(f"LeonMss heap used / total - {info.leonMssMemoryUsage.used / m:.2f} / {info.leonMssMemoryUsage.total / m:.2f} MiB")
+    t = info.chipTemperature
+    print(f"Chip temperature - average: {t.average:.2f}, css: {t.css:.2f}, mss: {t.mss:.2f}, upa: {t.upa:.2f}, dss: {t.dss:.2f}")
+    print(f"Cpu usage - Leon CSS: {info.leonCssCpuUsage.average * 100:.2f}%, Leon MSS: {info.leonMssCpuUsage.average * 100:.2f} %")
+    print("----------------------------------------")
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+sysLog = pipeline.create(dai.node.SystemLogger)
+linkOut = pipeline.create(dai.node.XLinkOut)
+
+linkOut.setStreamName("sysinfo")
+
+# Properties
+sysLog.setRate(1)  # 1 Hz
+
+# Linking
+sysLog.out.link(linkOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the system info
+    qSysInfo = device.getOutputQueue(name="sysinfo", maxSize=4, blocking=False)
+
+    while True:
+        sysInfo = qSysInfo.get()  # Blocking call, will wait until a new data has arrived
+        printSystemInformation(sysInfo)
diff --git a/bindings/python/examples/SystemLogger/system_information_s3.py b/bindings/python/examples/SystemLogger/system_information_s3.py
new file mode 100755
index 000000000..0302dd85e
--- /dev/null
+++ b/bindings/python/examples/SystemLogger/system_information_s3.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+def printSystemInformation(info: dai.SystemInformationS3):
+    m = 1024 * 1024 # MiB
+    print(f"Ddr used / total - {info.ddrMemoryUsage.used / m:.2f} / {info.ddrMemoryUsage.total / m:.2f} MiB")
+    t = info.chipTemperature
+    print(f"Chip temperature - average: {t.average:.2f}, css: {t.css:.2f}, mss: {t.mss:.2f}, nce: {t.nce:.2f}, soc: {t.soc:.2f}")
+    print(f"Cpu usage average: {info.cpuAvgUsage.average * 100:.2f}%")
+    print("Cpu usage per core: ")
+    for i, cpuUsage in enumerate(info.cpuUsages):
+        print(f"Core {i}: {cpuUsage.average * 100:.2f}%")
+    print("----------------------------------------")
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+sysLog = pipeline.create(dai.node.SystemLogger)
+linkOut = pipeline.create(dai.node.XLinkOut)
+
+linkOut.setStreamName("sysinfo")
+
+# Properties
+sysLog.setRate(1)  # 1 Hz
+
+# Linking
+sysLog.out.link(linkOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the system info
+    qSysInfo = device.getOutputQueue(name="sysinfo", maxSize=4, blocking=False)
+
+    while True:
+        sysInfo : dai.SystemInformationS3 = qSysInfo.get()  # Blocking call, will wait until a new data has arrived
+        printSystemInformation(sysInfo)
diff --git a/bindings/python/examples/ToF/tof.py b/bindings/python/examples/ToF/tof.py
new file mode 100755
index 000000000..b0b7effea
--- /dev/null
+++ b/bindings/python/examples/ToF/tof.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+tofCam = pipeline.create(dai.node.ColorCamera)
+tofProcess = pipeline.create(dai.node.ToF)
+
+xoutPasstrough = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+
+xoutPasstrough.setStreamName("passtroughTof")
+xoutDepth.setStreamName("depth")
+xoutVideo.setStreamName("video")
+
+# Properties
+tofCam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_240X180)
+tofCam.setBoardSocket(dai.CameraBoardSocket.CAM_F)
+
+# Linking
+tofCam.raw.link(tofProcess.inputRaw)
+tofProcess.passthroughInputRaw.link(xoutPasstrough.input)
+tofCam.isp.link(xoutVideo.input)
+
+xoutPasstrough.input.setBlocking(False)
+xoutPasstrough.input.setQueueSize(1)
+
+tofProcess.depth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    print('Connected cameras:', device.getConnectedCameraFeatures())
+    # Print out usb speed
+    print('Usb speed:', device.getUsbSpeed().name)
+    # Bootloader version
+    if device.getBootloaderVersion() is not None:
+        print('Bootloader version:', device.getBootloaderVersion())
+    # Device name
+    print('Device name:', device.getDeviceName())
+
+    # Output queue will be used to get the rgb frames from the output defined above
+    qPassthrough = device.getOutputQueue(name="passtroughTof", maxSize=4, blocking=False)
+    video = device.getOutputQueue(name="video", maxSize=4, blocking=False)
+    qDepth = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
+    while True:
+        videoIn = video.get()
+        inPassthrough = qPassthrough.get()  # blocking call, will wait until a new data has arrived
+        inDepth = qDepth.get()  # blocking call, will wait until a new data has arrived
+
+        # Preview
+        cv2.imshow("ToF raw", (inPassthrough.getFrame()).clip(0, 255).astype(np.uint8))
+        name = "ToF Depth"
+        if inDepth.getSequenceNum() % 2 :
+            name = "ToF Amplitude / Confidence"
+        cv2.imshow(name, (inDepth.getFrame()).clip(0, 255).astype(np.uint8))
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/ToF/tof_depth.py b/bindings/python/examples/ToF/tof_depth.py
new file mode 100644
index 000000000..89d7a8fce
--- /dev/null
+++ b/bindings/python/examples/ToF/tof_depth.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+pipeline = dai.Pipeline()
+
+cam_a = pipeline.create(dai.node.Camera)
+# We assume the ToF camera sensor is on port CAM_A
+cam_a.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+
+tof = pipeline.create(dai.node.ToF)
+
+# Configure the ToF node
+tofConfig = tof.initialConfig.get()
+# tofConfig.depthParams.freqModUsed = dai.ToFConfig.DepthParams.TypeFMod.MIN
+tofConfig.depthParams.freqModUsed = dai.ToFConfig.DepthParams.TypeFMod.MAX
+tofConfig.depthParams.avgPhaseShuffle = False
+tofConfig.depthParams.minimumAmplitude = 3.0
+tof.initialConfig.set(tofConfig)
+# Link the ToF sensor to the ToF node
+cam_a.raw.link(tof.input)
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("depth")
+tof.depth.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    print('Connected cameras:', device.getConnectedCameraFeatures())
+    q = device.getOutputQueue(name="depth")
+
+    while True:
+        imgFrame = q.get()  # blocking call, will wait until a new data has arrived
+        depth_map = imgFrame.getFrame()
+
+        # Colorize the depth frame to jet colormap
+        depth_downscaled = depth_map[::4]
+        non_zero_depth = depth_downscaled[depth_downscaled != 0] # Remove invalid depth values
+        if len(non_zero_depth) == 0:
+            min_depth, max_depth = 0, 0
+        else:
+            min_depth = np.percentile(non_zero_depth, 3)
+            max_depth = np.percentile(non_zero_depth, 97)
+        depth_colorized = np.interp(depth_map, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depth_colorized = cv2.applyColorMap(depth_colorized, cv2.COLORMAP_JET)
+
+        cv2.imshow("Colorized depth", depth_colorized)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/UVC/uvc_disparity.py b/bindings/python/examples/UVC/uvc_disparity.py
new file mode 100644
index 000000000..ee8722a41
--- /dev/null
+++ b/bindings/python/examples/UVC/uvc_disparity.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+
+import time
+
+import depthai as dai
+
+pipeline = dai.Pipeline()
+
+# Define a source - two mono (grayscale) cameras
+mono_left = pipeline.createMonoCamera()
+mono_right = pipeline.createMonoCamera()
+
+mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B)
+
+mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+mono_right.setBoardSocket(dai.CameraBoardSocket.CAM_C)
+
+# Create stereo depth
+stereo = pipeline.createStereoDepth()
+stereo.initialConfig.setConfidenceThreshold(255)
+stereo.setLeftRightCheck(True)
+# 0.190 values, better for visualization
+stereo.setExtendedDisparity(True)
+
+# Create an UVC (USB Video Class) output node
+uvc = pipeline.createUVC()
+
+# Manip for frame type conversion
+manip = pipeline.createImageManip()
+manip.initialConfig.setResize(1280, 720)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
+manip.initialConfig.setColormap(dai.Colormap.STEREO_TURBO, stereo.initialConfig.getMaxDisparity())
+manip.setMaxOutputFrameSize(int(1280*720*1.5))
+
+# Linking
+mono_left.out.link(stereo.left)
+mono_right.out.link(stereo.right)
+stereo.disparity.link(manip.inputImage)
+manip.out.link(uvc.input)
+
+# Note: if the pipeline is sent later to device (using startPipeline()),
+# it is important to pass the device config separately when creating the device
+config = dai.Device.Config()
+config.board.uvc = dai.BoardConfig.UVC(1280, 720)
+config.board.uvc.frameType = dai.ImgFrame.Type.NV12
+# config.board.uvc.cameraName = "My Custom Cam"
+pipeline.setBoardConfig(config.board)
+
+
+# Standard UVC load with depthai
+with dai.Device(pipeline) as device:
+    # Dot projector
+    device.setIrLaserDotProjectorBrightness(765)
+    print("\nDevice started, please keep this process running")
+    print("and open an UVC viewer to check the camera stream.")
+    print("\nTo close: Ctrl+C")
+
+    # Doing nothing here, just keeping the host feeding the watchdog
+    while True:
+        try:
+            time.sleep(0.1)
+        except KeyboardInterrupt:
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/UVC/uvc_mono.py b/bindings/python/examples/UVC/uvc_mono.py
new file mode 100644
index 000000000..6690282a0
--- /dev/null
+++ b/bindings/python/examples/UVC/uvc_mono.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import time
+
+import depthai as dai
+
+pipeline = dai.Pipeline()
+
+# Define a source - left mono (grayscale) camera
+mono_left = pipeline.createMonoCamera()
+
+mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B)
+
+# Create an UVC (USB Video Class) output node
+uvc = pipeline.createUVC()
+
+# Manip for frame type conversion
+manip = pipeline.createImageManip()
+manip.initialConfig.setResize(1280, 720)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
+manip.setMaxOutputFrameSize(int(1280*720*1.5))
+
+# Linking
+manip.out.link(uvc.input)
+mono_left.out.link(manip.inputImage)
+
+# Note: if the pipeline is sent later to device (using startPipeline()),
+# it is important to pass the device config separately when creating the device
+config = dai.Device.Config()
+config.board.uvc = dai.BoardConfig.UVC(1280, 720)
+config.board.uvc.frameType = dai.ImgFrame.Type.NV12
+# config.board.uvc.cameraName = "My Custom Cam"
+pipeline.setBoardConfig(config.board)
+
+
+# Standard UVC load with depthai
+with dai.Device(pipeline) as device:
+    # Dot projector
+    device.setIrLaserDotProjectorBrightness(765)
+    print("\nDevice started, please keep this process running")
+    print("and open an UVC viewer to check the camera stream.")
+    print("\nTo close: Ctrl+C")
+
+    # Doing nothing here, just keeping the host feeding the watchdog
+    while True:
+        try:
+            time.sleep(0.1)
+        except KeyboardInterrupt:
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/UVC/uvc_rgb.py b/bindings/python/examples/UVC/uvc_rgb.py
new file mode 100755
index 000000000..ba8d8da9a
--- /dev/null
+++ b/bindings/python/examples/UVC/uvc_rgb.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+
+import time
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument('-fb', '--flash-bootloader', default=False, action="store_true")
+parser.add_argument('-f',  '--flash-app',        default=False, action="store_true")
+parser.add_argument('-l',  '--load-and-exit',    default=False, action="store_true")
+args = parser.parse_args()
+
+if args.load_and_exit:
+    import os
+    # Disabling device watchdog, so it doesn't need the host to ping periodically.
+    # Note: this is done before importing `depthai`
+    os.environ["DEPTHAI_WATCHDOG"] = "0"
+
+import depthai as dai
+
+def getPipeline():
+    enable_4k = False  # Will downscale 4K -> 1080p
+
+    pipeline = dai.Pipeline()
+
+    # Define a source - color camera
+    cam_rgb = pipeline.createColorCamera()
+    cam_rgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+    cam_rgb.setInterleaved(False)
+    #cam_rgb.initialControl.setManualFocus(130)
+
+    if enable_4k:
+        cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+        cam_rgb.setIspScale(1, 2)
+    else:
+        cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+
+    # Create an UVC (USB Video Class) output node
+    uvc = pipeline.createUVC()
+    cam_rgb.video.link(uvc.input)
+
+    # Note: if the pipeline is sent later to device (using startPipeline()),
+    # it is important to pass the device config separately when creating the device
+    config = dai.Device.Config()
+    # config.board.uvc = dai.BoardConfig.UVC()  # enable default 1920x1080 NV12
+    config.board.uvc = dai.BoardConfig.UVC(1920, 1080)
+    config.board.uvc.frameType = dai.ImgFrame.Type.NV12
+    # config.board.uvc.cameraName = "My Custom Cam"
+    pipeline.setBoardConfig(config.board)
+
+    return pipeline
+
+# Will flash the bootloader if no pipeline is provided as argument
+def flash(pipeline=None):
+    (f, bl) = dai.DeviceBootloader.getFirstAvailableDevice()
+    bootloader = dai.DeviceBootloader(bl, True)
+
+    # Create a progress callback lambda
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+
+    startTime = time.monotonic()
+    if pipeline is None:
+        print("Flashing bootloader...")
+        bootloader.flashBootloader(progress)
+    else:
+        print("Flashing application pipeline...")
+        bootloader.flash(progress, pipeline)
+
+    elapsedTime = round(time.monotonic() - startTime, 2)
+    print("Done in", elapsedTime, "seconds")
+
+if args.flash_bootloader or args.flash_app:
+    if args.flash_bootloader: flash()
+    if args.flash_app: flash(getPipeline())
+    print("Flashing successful. Please power-cycle the device")
+    quit()
+
+if args.load_and_exit:
+    device = dai.Device(getPipeline())
+    print("\nDevice started. Attempting to force-terminate this process...")
+    print("Open an UVC viewer to check the camera stream.")
+    print("To reconnect with depthai, a device power-cycle may be required in some cases")
+    # We do not want the device to be closed, so terminate the process uncleanly.
+    # (TODO add depthai API to be able to cleanly exit without closing device)
+    import signal
+    os.kill(os.getpid(), signal.SIGTERM)
+
+# Standard UVC load with depthai
+with dai.Device(getPipeline()) as device:
+    print("\nDevice started, please keep this process running")
+    print("and open an UVC viewer to check the camera stream.")
+    print("\nTo close: Ctrl+C")
+
+    # Doing nothing here, just keeping the host feeding the watchdog
+    while True:
+        try:
+            time.sleep(0.1)
+        except KeyboardInterrupt:
+            break
diff --git a/bindings/python/examples/VideoEncoder/disparity_colormap_encoding.py b/bindings/python/examples/VideoEncoder/disparity_colormap_encoding.py
new file mode 100755
index 000000000..fbaf27fb2
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/disparity_colormap_encoding.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Create left/right mono cameras for Stereo depth
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Create a node that will produce the depth map
+depth = pipeline.create(dai.node.StereoDepth)
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+depth.setLeftRightCheck(False)
+depth.setExtendedDisparity(False)
+# Subpixel disparity is of UINT16 format, which is unsupported by VideoEncoder
+depth.setSubpixel(False)
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+
+# Colormap
+colormap = pipeline.create(dai.node.ImageManip)
+colormap.initialConfig.setColormap(dai.Colormap.TURBO, depth.initialConfig.getMaxDisparity())
+colormap.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
+
+videoEnc = pipeline.create(dai.node.VideoEncoder)
+# Depth resolution/FPS will be the same as mono resolution/FPS
+videoEnc.setDefaultProfilePreset(monoLeft.getFps(), dai.VideoEncoderProperties.Profile.H264_HIGH)
+
+# Link
+depth.disparity.link(colormap.inputImage)
+colormap.out.link(videoEnc.input)
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("enc")
+videoEnc.bitstream.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the encoded data from the output defined above
+    q = device.getOutputQueue(name="enc")
+
+    # The .h265 file is a raw stream file (not playable yet)
+    with open('disparity.h264', 'wb') as videoFile:
+        print("Press Ctrl+C to stop encoding...")
+        try:
+            while True:
+                videoFile.write(q.get().getData())
+        except KeyboardInterrupt:
+            # Keyboard interrupt (Ctrl + C) detected
+            pass
+
+    print("To view the encoded data, convert the stream file (.mjpeg) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i disparity.h264 -c copy video.mp4")
diff --git a/bindings/python/examples/VideoEncoder/disparity_encoding.py b/bindings/python/examples/VideoEncoder/disparity_encoding.py
new file mode 100755
index 000000000..1e9483d4f
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/disparity_encoding.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# NOTE Because we are encoding disparity values, output video will be a gray, and won't have many pixel levels - either 0..95 or 0..190
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Create left/right mono cameras for Stereo depth
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Create a node that will produce the depth map
+depth = pipeline.create(dai.node.StereoDepth)
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+depth.setLeftRightCheck(False)
+depth.setExtendedDisparity(False)
+# Subpixel disparity is of UINT16 format, which is unsupported by VideoEncoder
+depth.setSubpixel(False)
+monoLeft.out.link(depth.left)
+monoRight.out.link(depth.right)
+
+videoEnc = pipeline.create(dai.node.VideoEncoder)
+# Depth resolution/FPS will be the same as mono resolution/FPS
+videoEnc.setDefaultProfilePreset(monoLeft.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
+depth.disparity.link(videoEnc.input)
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("enc")
+videoEnc.bitstream.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the encoded data from the output defined above
+    q = device.getOutputQueue(name="enc")
+
+    # The .h265 file is a raw stream file (not playable yet)
+    with open('disparity.mjpeg', 'wb') as videoFile:
+        print("Press Ctrl+C to stop encoding...")
+        try:
+            while True:
+                videoFile.write(q.get().getData())
+        except KeyboardInterrupt:
+            # Keyboard interrupt (Ctrl + C) detected
+            pass
+
+    print("To view the encoded data, convert the stream file (.mjpeg) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i disparity.mjpeg -c copy video.mp4")
diff --git a/bindings/python/examples/VideoEncoder/encoding_max_limit.py b/bindings/python/examples/VideoEncoder/encoding_max_limit.py
new file mode 100755
index 000000000..94c0b555d
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/encoding_max_limit.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+ve1 = pipeline.create(dai.node.VideoEncoder)
+ve2 = pipeline.create(dai.node.VideoEncoder)
+ve3 = pipeline.create(dai.node.VideoEncoder)
+
+ve1Out = pipeline.create(dai.node.XLinkOut)
+ve2Out = pipeline.create(dai.node.XLinkOut)
+ve3Out = pipeline.create(dai.node.XLinkOut)
+
+ve1Out.setStreamName('ve1Out')
+ve2Out.setStreamName('ve2Out')
+ve3Out.setStreamName('ve3Out')
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+monoLeft.setCamera("left")
+monoRight.setCamera("right")
+
+# Setting to 26fps will trigger error
+ve1.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN)
+ve2.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H265_MAIN)
+ve3.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN)
+
+# Linking
+monoLeft.out.link(ve1.input)
+camRgb.video.link(ve2.input)
+monoRight.out.link(ve3.input)
+
+ve1.bitstream.link(ve1Out.input)
+ve2.bitstream.link(ve2Out.input)
+ve3.bitstream.link(ve3Out.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as dev:
+
+    # Output queues will be used to get the encoded data from the output defined above
+    outQ1 = dev.getOutputQueue('ve1Out', maxSize=30, blocking=True)
+    outQ2 = dev.getOutputQueue('ve2Out', maxSize=30, blocking=True)
+    outQ3 = dev.getOutputQueue('ve3Out', maxSize=30, blocking=True)
+
+    # Processing loop
+    with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264:
+        print("Press Ctrl+C to stop encoding...")
+        while True:
+            try:
+                # Empty each queue
+                while outQ1.has():
+                    outQ1.get().getData().tofile(fileMono1H264)
+
+                while outQ2.has():
+                    outQ2.get().getData().tofile(fileColorH265)
+
+                while outQ3.has():
+                    outQ3.get().getData().tofile(fileMono2H264)
+            except KeyboardInterrupt:
+                break
+
+    print("To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using commands below:")
+    cmd = "ffmpeg -framerate 25 -i {} -c copy {}"
+    print(cmd.format("mono1.h264", "mono1.mp4"))
+    print(cmd.format("mono2.h264", "mono2.mp4"))
+    print(cmd.format("color.h265", "color.mp4"))
diff --git a/bindings/python/examples/VideoEncoder/rgb_encoding.py b/bindings/python/examples/VideoEncoder/rgb_encoding.py
new file mode 100755
index 000000000..3d5eadcdd
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/rgb_encoding.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+videoEnc = pipeline.create(dai.node.VideoEncoder)
+xout = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName('h265')
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+videoEnc.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+
+# Linking
+camRgb.video.link(videoEnc.input)
+videoEnc.bitstream.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the encoded data from the output defined above
+    q = device.getOutputQueue(name="h265", maxSize=30, blocking=True)
+
+    # The .h265 file is a raw stream file (not playable yet)
+    with open('video.h265', 'wb') as videoFile:
+        print("Press Ctrl+C to stop encoding...")
+        try:
+            while True:
+                h265Packet = q.get()  # Blocking call, will wait until a new data has arrived
+                h265Packet.getData().tofile(videoFile)  # Appends the packet data to the opened file
+        except KeyboardInterrupt:
+            # Keyboard interrupt (Ctrl + C) detected
+            pass
+
+    print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4")
diff --git a/bindings/python/examples/VideoEncoder/rgb_encoding_encodedframe.py b/bindings/python/examples/VideoEncoder/rgb_encoding_encodedframe.py
new file mode 100755
index 000000000..febea0ef1
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/rgb_encoding_encodedframe.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+def frametype2str(ft):
+    if ft == dai.EncodedFrame.FrameType.I:
+        return "I"
+    elif ft == dai.EncodedFrame.FrameType.P:
+        return "P"
+    elif ft == dai.EncodedFrame.FrameType.B:
+        return "B"
+
+def compress(ls):
+    curr = ls[0]
+    count = 1
+    res = []
+    for i in range(1, len(ls)):
+        if ls[i] == curr:
+            count += 1
+        else:
+            res.append((count, curr))
+            curr = ls[i]
+            count = 1
+    res.append((count, curr))
+    return res
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+videoEnc = pipeline.create(dai.node.VideoEncoder)
+xout = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName('h265')
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+videoEnc.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+
+# Linking
+camRgb.video.link(videoEnc.input)
+videoEnc.out.link(xout.input)
+
+frametypes = []
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the encoded data from the output defined above
+    q = device.getOutputQueue(name="h265", maxSize=30, blocking=True)
+
+    # The .h265 file is a raw stream file (not playable yet)
+    with open('video.h265', 'wb') as videoFile:
+        print("Press Ctrl+C to stop encoding...")
+        try:
+            while True:
+                h265Packet = q.get()  # Blocking call, will wait until a new data has arrived
+                frametypes.append(frametype2str(h265Packet.getFrameType()))
+                h265Packet.getData().tofile(videoFile)  # Appends the packet data to the opened file
+        except KeyboardInterrupt:
+            # Keyboard interrupt (Ctrl + C) detected
+            pass
+
+    print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4")
+
+print(",".join([f"{c}{f}" for c, f in compress(frametypes)]))
diff --git a/bindings/python/examples/VideoEncoder/rgb_full_resolution_saver.py b/bindings/python/examples/VideoEncoder/rgb_full_resolution_saver.py
new file mode 100755
index 000000000..d2c06640a
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/rgb_full_resolution_saver.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+
+import time
+from pathlib import Path
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName("rgb")
+camRgb.video.link(xoutRgb.input)
+
+xin = pipeline.create(dai.node.XLinkIn)
+xin.setStreamName("control")
+xin.out.link(camRgb.inputControl)
+
+# Properties
+videoEnc = pipeline.create(dai.node.VideoEncoder)
+videoEnc.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG)
+camRgb.still.link(videoEnc.input)
+
+# Linking
+xoutStill = pipeline.create(dai.node.XLinkOut)
+xoutStill.setStreamName("still")
+videoEnc.bitstream.link(xoutStill.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queue will be used to get the rgb frames from the output defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=30, blocking=False)
+    qStill = device.getOutputQueue(name="still", maxSize=30, blocking=True)
+    qControl = device.getInputQueue(name="control")
+
+    # Make sure the destination path is present before starting to store the examples
+    dirName = "rgb_data"
+    Path(dirName).mkdir(parents=True, exist_ok=True)
+
+    while True:
+        inRgb = qRgb.tryGet()  # Non-blocking call, will return a new data that has arrived or None otherwise
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            # 4k / 4
+            frame = cv2.pyrDown(frame)
+            frame = cv2.pyrDown(frame)
+            cv2.imshow("rgb", frame)
+
+        if qStill.has():
+            fName = f"{dirName}/{int(time.time() * 1000)}.jpeg"
+            with open(fName, "wb") as f:
+                f.write(qStill.get().getData())
+                print('Image saved to', fName)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('c'):
+            ctrl = dai.CameraControl()
+            ctrl.setCaptureStill(True)
+            qControl.send(ctrl)
+            print("Sent 'still' event to the camera!")
diff --git a/bindings/python/examples/VideoEncoder/rgb_mono_encoding.py b/bindings/python/examples/VideoEncoder/rgb_mono_encoding.py
new file mode 100755
index 000000000..5aeffb92e
--- /dev/null
+++ b/bindings/python/examples/VideoEncoder/rgb_mono_encoding.py
@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+ve1 = pipeline.create(dai.node.VideoEncoder)
+ve2 = pipeline.create(dai.node.VideoEncoder)
+ve3 = pipeline.create(dai.node.VideoEncoder)
+
+ve1Out = pipeline.create(dai.node.XLinkOut)
+ve2Out = pipeline.create(dai.node.XLinkOut)
+ve3Out = pipeline.create(dai.node.XLinkOut)
+
+ve1Out.setStreamName('ve1Out')
+ve2Out.setStreamName('ve2Out')
+ve3Out.setStreamName('ve3Out')
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+monoLeft.setCamera("left")
+monoRight.setCamera("right")
+# Create encoders, one for each camera, consuming the frames and encoding them using H.264 / H.265 encoding
+ve1.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H264_MAIN)
+ve2.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+ve3.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H264_MAIN)
+
+# Linking
+monoLeft.out.link(ve1.input)
+camRgb.video.link(ve2.input)
+monoRight.out.link(ve3.input)
+ve1.bitstream.link(ve1Out.input)
+ve2.bitstream.link(ve2Out.input)
+ve3.bitstream.link(ve3Out.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as dev:
+
+    # Output queues will be used to get the encoded data from the outputs defined above
+    outQ1 = dev.getOutputQueue(name='ve1Out', maxSize=30, blocking=True)
+    outQ2 = dev.getOutputQueue(name='ve2Out', maxSize=30, blocking=True)
+    outQ3 = dev.getOutputQueue(name='ve3Out', maxSize=30, blocking=True)
+
+    # The .h264 / .h265 files are raw stream files (not playable yet)
+    with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264:
+        print("Press Ctrl+C to stop encoding...")
+        while True:
+            try:
+                # Empty each queue
+                while outQ1.has():
+                    outQ1.get().getData().tofile(fileMono1H264)
+
+                while outQ2.has():
+                    outQ2.get().getData().tofile(fileColorH265)
+
+                while outQ3.has():
+                    outQ3.get().getData().tofile(fileMono2H264)
+            except KeyboardInterrupt:
+                # Keyboard interrupt (Ctrl + C) detected
+                break
+
+    print("To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using commands below:")
+    cmd = "ffmpeg -framerate 30 -i {} -c copy {}"
+    print(cmd.format("mono1.h264", "mono1.mp4"))
+    print(cmd.format("mono2.h264", "mono2.mp4"))
+    print(cmd.format("color.h265", "color.mp4"))
diff --git a/bindings/python/examples/Warp/warp_mesh.py b/bindings/python/examples/Warp/warp_mesh.py
new file mode 100755
index 000000000..f608dfafe
--- /dev/null
+++ b/bindings/python/examples/Warp/warp_mesh.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(496, 496)
+camRgb.setInterleaved(False)
+maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
+
+# Warp preview frame 1
+warp1 = pipeline.create(dai.node.Warp)
+# Create a custom warp mesh
+tl = dai.Point2f(20, 20)
+tr = dai.Point2f(460, 20)
+ml = dai.Point2f(100, 250)
+mr = dai.Point2f(400, 250)
+bl = dai.Point2f(20, 460)
+br = dai.Point2f(460, 460)
+warp1.setWarpMesh([tl,tr,ml,mr,bl,br], 2, 3)
+WARP1_OUTPUT_FRAME_SIZE = (992,500)
+warp1.setOutputSize(WARP1_OUTPUT_FRAME_SIZE)
+warp1.setMaxOutputFrameSize(WARP1_OUTPUT_FRAME_SIZE[0] * WARP1_OUTPUT_FRAME_SIZE[1] * 3)
+warp1.setHwIds([1])
+warp1.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR)
+
+camRgb.preview.link(warp1.inputImage)
+xout1 = pipeline.create(dai.node.XLinkOut)
+xout1.setStreamName('out1')
+warp1.out.link(xout1.input)
+
+# Warp preview frame 2
+warp2 = pipeline.create(dai.node.Warp)
+# Create a custom warp mesh
+mesh2 = [
+    (20, 20), (250, 100), (460, 20),
+    (100, 250), (250, 250), (400, 250),
+    (20, 480), (250, 400), (460,480)
+]
+warp2.setWarpMesh(mesh2, 3, 3)
+warp2.setMaxOutputFrameSize(maxFrameSize)
+warp1.setHwIds([2])
+warp2.setInterpolation(dai.Interpolation.BICUBIC)
+
+camRgb.preview.link(warp2.inputImage)
+xout2 = pipeline.create(dai.node.XLinkOut)
+xout2.setStreamName('out2')
+warp2.out.link(xout2.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    # Output queue will be used to get the rgb frames from the output defined above
+    q1 = device.getOutputQueue(name="out1", maxSize=8, blocking=False)
+    q2 = device.getOutputQueue(name="out2", maxSize=8, blocking=False)
+
+    while True:
+        in1 = q1.get()
+        if in1 is not None:
+            cv2.imshow("Warped preview 1", in1.getCvFrame())
+        in2 = q2.get()
+        if in2 is not None:
+            cv2.imshow("Warped preview 2", in2.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/Warp/warp_mesh_interactive.py b/bindings/python/examples/Warp/warp_mesh_interactive.py
new file mode 100755
index 000000000..befe5832b
--- /dev/null
+++ b/bindings/python/examples/Warp/warp_mesh_interactive.py
@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+import numpy as np
+import argparse
+import re
+import sys
+from random import randint
+
+parser = argparse.ArgumentParser()
+parser.add_argument("-m", "--mesh_dims", type=str, default="4x4", help="mesh dimensions widthxheight (default=%(default)s)")
+parser.add_argument("-r", "--resolution", type=str, default="512x512", help="preview resolution (default=%(default)s)")
+parser.add_argument("-rnd", "--random", action="store_true", help="Generate random initial mesh")
+args = parser.parse_args()
+
+# mesh dimensions
+match = re.search(r'.*?(\d+)x(\d+).*', args.mesh_dims)
+if not match:
+    raise Exception(f"Mesh dimensions format incorrect '{args.resolution}'!")
+mesh_w = int(match.group(1))
+mesh_h = int(match.group(2))
+
+# Preview resolution
+match = re.search(r'.*?(\d+)x(\d+).*', args.resolution)
+if not match:
+    raise Exception(f"Resolution format incorrect '{args.resolution}'!")
+preview_w = int(match.group(1))
+preview_h = int(match.group(2))
+if preview_w % 16 != 0:
+    raise Exception(f"Preview width must be a multiple of 16!")
+
+# Create an initial mesh (optionally random) of dimension mesh_w x mesh_h
+first_point_x = int(preview_w / 10)
+between_points_x = int(4 * preview_w / (5 * (mesh_w - 1)))
+first_point_y = int(preview_h / 10)
+between_points_y = int(4 * preview_h / (5 * (mesh_h - 1)))
+if args.random:
+    max_rnd_x = int(between_points_x / 4)
+    max_rnd_y = int(between_points_y / 4)
+mesh = []
+for i in range(mesh_h):
+    for j in range(mesh_w):
+        x = first_point_x + j * between_points_x
+        y = first_point_y + i * between_points_y
+        if args.random:
+            rnd_x = randint(-max_rnd_x, max_rnd_x)
+            if x + rnd_x > 0 and x + rnd_x < preview_w:
+                x += rnd_x
+            rnd_y = randint(-max_rnd_y, max_rnd_y)
+            if y + rnd_y > 0 and y + rnd_y < preview_h:
+                y += rnd_y
+        mesh.append((x, y))
+
+def create_pipeline(mesh):
+    print(mesh)
+    # Create pipeline
+    pipeline = dai.Pipeline()
+
+    camRgb = pipeline.create(dai.node.ColorCamera)
+    camRgb.setPreviewSize(preview_w, preview_h)
+    camRgb.setInterleaved(False)
+    width = camRgb.getPreviewWidth()
+    height = camRgb.getPreviewHeight()
+
+    # Output source
+    xout_source = pipeline.create(dai.node.XLinkOut)
+    xout_source.setStreamName('source')
+    camRgb.preview.link(xout_source.input)
+    # Warp source frame
+    warp = pipeline.create(dai.node.Warp)
+    warp.setWarpMesh(mesh, mesh_w, mesh_h)
+    warp.setOutputSize(width, height)
+    warp.setMaxOutputFrameSize(width * height * 3)
+    camRgb.preview.link(warp.inputImage)
+
+    warp.setHwIds([1])
+    warp.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR)
+    # Output warped
+    xout_warped = pipeline.create(dai.node.XLinkOut)
+    xout_warped.setStreamName('warped')
+    warp.out.link(xout_warped.input)
+    return pipeline
+
+point_selected = None
+
+def mouse_callback(event, x, y, flags, param):
+    global mesh, point_selected, mesh_changed
+    if event == cv2.EVENT_LBUTTONDOWN:
+        if point_selected is None:
+            # Which point is selected ?
+            min_dist = 100
+
+            for i in range(len(mesh)):
+                dist = np.linalg.norm((x - mesh[i][0], y - mesh[i][1]))
+                if dist < 20 and dist < min_dist:
+                    min_dist = dist
+                    point_selected = i
+            if point_selected is not None:
+                mesh[point_selected] = (x, y)
+                mesh_changed = True
+
+    elif event == cv2.EVENT_LBUTTONUP:
+        point_selected = None
+    elif event == cv2.EVENT_MOUSEMOVE:
+        if point_selected is not None:
+            mesh[point_selected] = (x, y)
+            mesh_changed = True
+
+
+cv2.namedWindow("Source")
+cv2.setMouseCallback("Source", mouse_callback)
+
+running = True
+
+print("Use your mouse to modify the mesh by clicking/moving points of the mesh in the Source window")
+print("Then press 'r' key to restart the device/pipeline")
+while running:
+    pipeline = create_pipeline(mesh)
+    # Connect to device and start pipeline
+    with dai.Device(pipeline) as device:
+        print("Starting device")
+        # Output queue will be used to get the rgb frames from the output defined above
+        q_source = device.getOutputQueue(name="source", maxSize=4, blocking=False)
+        q_warped = device.getOutputQueue(name="warped", maxSize=4, blocking=False)
+
+        restart_device = False
+        mesh_changed = False
+        while not restart_device:
+            in0 = q_source.get()
+            if in0 is not None:
+                source = in0.getCvFrame()
+                color = (0, 0,255) if mesh_changed else (0,255,0)
+                for i in range(len(mesh)):
+                    cv2.circle(source, (mesh[i][0], mesh[i][1]), 4, color, -1)
+                    if i % mesh_w != mesh_w -1:
+                        cv2.line(source, (mesh[i][0], mesh[i][1]), (mesh[i+1][0], mesh[i+1][1]), color, 2)
+                    if i + mesh_w < len(mesh):
+                        cv2.line(source, (mesh[i][0], mesh[i][1]), (mesh[i+mesh_w][0], mesh[i+mesh_w][1]), color, 2)
+                cv2.imshow("Source", source)
+
+            in1 = q_warped.get()
+            if in1 is not None:
+                cv2.imshow("Warped", in1.getCvFrame())
+
+            key = cv2.waitKey(1)
+            if key == ord('r'): # Restart the device if mesh has changed
+                if mesh_changed:
+                    print("Restart requested...")
+                    mesh_changed = False
+                    restart_device = True
+            elif key == 27 or key == ord('q'): # Exit
+                running = False
+                break
\ No newline at end of file
diff --git a/bindings/python/examples/Yolo/tiny_yolo.py b/bindings/python/examples/Yolo/tiny_yolo.py
new file mode 100755
index 000000000..4dd888715
--- /dev/null
+++ b/bindings/python/examples/Yolo/tiny_yolo.py
@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+
+"""
+The code is the same as for Tiny Yolo V3 and V4, the only difference is the blob file
+- Tiny YOLOv3: https://github.com/david8862/keras-YOLOv3-model-set
+- Tiny YOLOv4: https://github.com/TNTWEN/OpenVINO-YOLOV4
+"""
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+if 1 < len(sys.argv):
+    arg = sys.argv[1]
+    if arg == "yolo3":
+        nnPath = str((Path(__file__).parent / Path('../models/yolo-v3-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+    elif arg == "yolo4":
+        nnPath = str((Path(__file__).parent / Path('../models/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())
+    else:
+        nnPath = arg
+else:
+    print("Using Tiny YoloV4 model. If you wish to use Tiny YOLOv3, call 'tiny_yolo.py yolo3'")
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+detectionNetwork = pipeline.create(dai.node.YoloDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setFps(40)
+
+# Network specific settings
+detectionNetwork.setConfidenceThreshold(0.5)
+detectionNetwork.setNumClasses(80)
+detectionNetwork.setCoordinateSize(4)
+detectionNetwork.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+detectionNetwork.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+detectionNetwork.setIouThreshold(0.5)
+detectionNetwork.setBlobPath(nnPath)
+detectionNetwork.setNumInferenceThreads(2)
+detectionNetwork.input.setBlocking(False)
+
+# Linking
+camRgb.preview.link(detectionNetwork.input)
+if syncNN:
+    detectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+detectionNetwork.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    while True:
+        if syncNN:
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+        else:
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/bootloader/bootloader_config.py b/bindings/python/examples/bootloader/bootloader_config.py
new file mode 100755
index 000000000..1bb61f407
--- /dev/null
+++ b/bindings/python/examples/bootloader/bootloader_config.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+import json
+
+usage = False
+read = True
+clear = False
+path = ''
+if len(sys.argv) >= 2:
+    op = sys.argv[1]
+    if op == 'read':
+        read = True
+    elif op == 'flash':
+        read = False
+        if len(sys.argv) >= 3:
+            path = sys.argv[2]
+    elif op == 'clear':
+        clear = True
+        read = False
+    else:
+        usage = True
+else:
+    usage = True
+
+if usage:
+    print(f'Usage: {sys.argv[0]} [read/flash/clear] [flash: path/to/config/json]')
+    exit(-1)
+
+(res, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+if res:
+    print(f'Found device with name: {info.name}');
+    with dai.DeviceBootloader(info) as bl:
+        try:
+            if read:
+                print('Current flashed configuration')
+                print(json.dumps(bl.readConfigData()))
+            else:
+                success = None
+                error = None
+                if clear:
+                    (success, error) = bl.flashConfigClear()
+                else:
+                    if path == '':
+                        (success, error) = bl.flashConfig(dai.DeviceBootloader.Config())
+                    else:
+                        (success, error) = bl.flashConfigFile(path)
+                if success:
+                    print('Successfully flashed bootloader configuration')
+                else:
+                    print(f'Error flashing bootloader configuration: {error}')
+        except Exception as ex:
+            print(f'Error accessing config: {ex}')
+else:
+    print('No devices found')
diff --git a/bindings/python/examples/bootloader/bootloader_version.py b/bindings/python/examples/bootloader/bootloader_version.py
new file mode 100755
index 000000000..069f6d4e4
--- /dev/null
+++ b/bindings/python/examples/bootloader/bootloader_version.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+(res, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+if res == True:
+    print(f'Found device with name: {info.name}')
+    bl = dai.DeviceBootloader(info)
+    print(f'Version: {bl.getVersion()}')
+
+    supportedMemTypes = [dai.DeviceBootloader.Memory.FLASH, dai.DeviceBootloader.Memory.EMMC]
+    if bl.getType() == dai.DeviceBootloader.Type.USB:
+        print("USB Bootloader - supports only Flash memory")
+        supportedMemTypes = [dai.DeviceBootloader.Memory.FLASH];
+    else:
+        print(f"NETWORK Bootloader, is User Bootloader: {bl.isUserBootloader()}")
+
+    try:
+        for mem in supportedMemTypes:
+            memInfo = bl.getMemoryInfo(mem)
+            if memInfo.available:
+                print(f"Memory '{mem}' size: {memInfo.size}, info: {memInfo.info}")
+                appInfo = bl.readApplicationInfo(mem)
+                if appInfo.hasApplication:
+                    print(f"Application name: {appInfo.applicationName}, firmware version: {appInfo.firmwareVersion}")
+            else:
+                print(f"Memory '{mem.name}' not available...")
+    except Exception as ex:
+        print(f"Couldn't retrieve memory details: {ex}")
+else:
+    print('No devices found')
diff --git a/bindings/python/examples/bootloader/flash_bootloader.py b/bindings/python/examples/bootloader/flash_bootloader.py
new file mode 100755
index 000000000..aca054781
--- /dev/null
+++ b/bindings/python/examples/bootloader/flash_bootloader.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+import time
+
+blType = dai.DeviceBootloader.Type.AUTO
+if len(sys.argv) > 1:
+    if sys.argv[1] == 'usb':
+        blType = dai.DeviceBootloader.Type.USB
+    elif sys.argv[1] == 'network':
+        blType = dai.DeviceBootloader.Type.NETWORK
+    else:
+        print("Specify either 'usb' or 'network' bootloader type")
+        exit()
+
+deviceInfos = dai.DeviceBootloader.getAllAvailableDevices()
+if len(deviceInfos) == 0:
+    print("No device found to flash. Exiting.")
+    exit(-1)
+else:
+    for i, di in enumerate(deviceInfos):
+        print(f'[{i}] {di.getMxId()} [{di.protocol.name}]', end='')
+        if di.state == dai.XLinkDeviceState.X_LINK_BOOTLOADER:
+            with dai.DeviceBootloader(di) as bl:
+                print(f' current bootloader: {bl.getVersion()}', end='')
+        print()
+    selected = input(f'Which OAK device to flash factory bootloader for [0..{len(deviceInfos)-1}]: ')
+    info = deviceInfos[int(selected)]
+
+hasBootloader = (info.state == dai.XLinkDeviceState.X_LINK_BOOTLOADER)
+if hasBootloader:
+    print("Warning! Flashing factory bootloader can potentially soft brick your device and should be done with caution.")
+    print("Do not unplug your device while the bootloader is flashing.")
+    print("Type 'y' and press enter to proceed, otherwise exits: ")
+    if input() != 'y':
+        print("Prompt declined, exiting...")
+        exit(-1)
+
+# Open DeviceBootloader and allow flashing bootloader
+print(f"Booting latest bootloader first, will take a tad longer...")
+with dai.DeviceBootloader(info, allowFlashingBootloader=True) as bl:
+    print("Bootloader version to flash:", bl.getVersion())
+    currentBlType = bl.getType()
+
+    if blType == dai.DeviceBootloader.Type.AUTO:
+        blType = currentBlType
+
+    # Check if bootloader type is the same, if already booted by bootloader (not in USB recovery mode)
+    if currentBlType != blType and hasBootloader:
+        print(f"Are you sure you want to flash '{blType.name}' bootloader over current '{currentBlType.name}' bootloader?")
+        print(f"Type 'y' and press enter to proceed, otherwise exits: ")
+        if input() != 'y':
+            print("Prompt declined, exiting...")
+            exit(-1)
+
+    try:
+        # Clears out user bootloader
+        configJson = bl.readConfigData()
+        configJson["userBlSize"] = 0
+        bl.flashConfigData(configJson)
+    except:
+        print('No config found, skipping erasing user bootloader')
+
+    # Create a progress callback lambda
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+
+    print(f"Flashing {blType.name} bootloader...")
+    startTime = time.monotonic()
+    (res, message) = bl.flashBootloader(dai.DeviceBootloader.Memory.FLASH, blType, progress)
+    if res:
+        print("Flashing successful. Took", time.monotonic() - startTime, "seconds")
+    else:
+        print("Flashing failed:", message)
diff --git a/bindings/python/examples/bootloader/flash_user_bootloader.py b/bindings/python/examples/bootloader/flash_user_bootloader.py
new file mode 100755
index 000000000..68e08dfc3
--- /dev/null
+++ b/bindings/python/examples/bootloader/flash_user_bootloader.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+import time
+
+deviceInfos = dai.DeviceBootloader.getAllAvailableDevices()
+if len(deviceInfos) == 0:
+    print("No device found to flash. Exiting.")
+    exit(-1)
+else:
+    for i, di in enumerate(deviceInfos):
+        print(f'[{i}] {di.getMxId()} [{di.protocol.name}]', end='')
+        if di.state == dai.XLinkDeviceState.X_LINK_BOOTLOADER:
+            with dai.DeviceBootloader(di) as bl:
+                print(f' current bootloader: {bl.getVersion()}', end='')
+        print()
+    selected = input(f'Which DepthAI device to flash User Bootloader for (Note: Only NETWORK supported) [0..{len(deviceInfos)-1}]: ')
+    info = deviceInfos[int(selected)]
+
+# Open DeviceBootloader and allow flashing bootloader
+with dai.DeviceBootloader(info) as bl:
+    print("User Bootloader version to flash:", bl.getVersion())
+
+    # Create a progress callback lambda
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+
+    print(f"Flashing User Bootloader...")
+    startTime = time.monotonic()
+    (res, message) = bl.flashUserBootloader(progress)
+    if res:
+        print("Flashing successful. Took", time.monotonic() - startTime, "seconds")
+    else:
+        print("Flashing failed:", message)
diff --git a/bindings/python/examples/bootloader/poe_set_ip.py b/bindings/python/examples/bootloader/poe_set_ip.py
new file mode 100755
index 000000000..7314dacd6
--- /dev/null
+++ b/bindings/python/examples/bootloader/poe_set_ip.py
@@ -0,0 +1,45 @@
+import depthai as dai
+
+(found, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+def check_str(s: str):
+    spl = s.split(".")
+    if len(spl) != 4:
+        raise ValueError(f"Entered value {s} doesn't contain 3 dots. Value has to be in the following format: '255.255.255.255'")
+    for num in spl:
+        if 255 < int(num):
+            raise ValueError("Entered values can't be above 255!")
+    return s
+
+if found:
+    print(f'Found device with name: {info.name}')
+    print('-------------------------------------')
+    print('"1" to set a static IPv4 address')
+    print('"2" to set a dynamic IPv4 address')
+    print('"3" to clear the config')
+    key = input('Enter the number: ').strip()
+    print('-------------------------------------')
+    if int(key) < 1 or 3 < int(key):
+        raise ValueError("Entered value should either be '1', '2' or '3'!")
+
+    with dai.DeviceBootloader(info) as bl:
+        if key in ['1', '2']:
+            ipv4 = check_str(input("Enter IPv4: ").strip())
+            mask = check_str(input("Enter IPv4 Mask: ").strip())
+            gateway = check_str(input("Enter IPv4 Gateway: ").strip())
+            mode = 'static' if key == '1' else 'dynamic'
+            val = input(f"Flashing {mode} IPv4 {ipv4}, mask {mask}, gateway {gateway} to the POE device. Enter 'y' to confirm. ").strip()
+            if val != 'y':
+                raise Exception("Flashing aborted.")
+
+            conf = dai.DeviceBootloader.Config()
+            if key == '1': conf.setStaticIPv4(ipv4, mask, gateway)
+            elif key == '2': conf.setDynamicIPv4(ipv4, mask, gateway)
+            (success, error) = bl.flashConfig(conf)
+        elif key == '3':
+            (success, error) = bl.flashConfigClear()
+
+        if not success:
+            print(f"Flashing failed: {error}")
+        else:
+            print(f"Flashing successful.")
\ No newline at end of file
diff --git a/bindings/python/examples/bootloader/read_flash_memory.py b/bindings/python/examples/bootloader/read_flash_memory.py
new file mode 100755
index 000000000..7e4879170
--- /dev/null
+++ b/bindings/python/examples/bootloader/read_flash_memory.py
@@ -0,0 +1,52 @@
+import depthai as dai
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument('-offset', type=str, nargs='?', help="Offset for flash memory reading", default='0')
+parser.add_argument('-size', type=str, nargs='?', help="Size for reading", default='1mb')
+parser.add_argument('-filename', type=str, nargs='?', help="Path to the file dump. If empty, flash will be printed to the console", default='')
+args = parser.parse_args()
+
+def convert(string: str) -> int:
+    string = string.upper()
+    if 'KB' in string: # KiB
+        string = string.replace('KB', '')
+        return int(string) * 1024
+    elif 'MB' in string: # MiB
+        string = string.replace('MB', '')
+        return int(string) * 1024 * 1024
+    elif string.isnumeric(): # Bytes
+        return int(string)
+    else:
+        print(string)
+        raise ValueError("Input can only be number with optional 'KB' or 'MB' suffix")
+
+offset = convert(args.offset)
+size = convert(args.size)
+
+print(offset, size, args.filename)
+
+# Find device and read memory
+(ok, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+if not ok:
+    raise Exception('No device found')
+print(f'Found device with name: {info.name}')
+
+with dai.DeviceBootloader(info) as bl:
+    progress = lambda p : print(f'Reading progress: {p*100:.1f}%')
+
+    if args.filename:
+        ok, err = bl.readCustom(dai.DeviceBootloader.Memory.FLASH, offset, size, args.filename, progress)
+        if not ok: print(err)
+    else:
+        ok, err, bytes = bl.readCustom(dai.DeviceBootloader.Memory.FLASH, offset, size, progress)
+        if not ok: print(err)
+
+        # Print as hex, 32B aligned
+        for i in range(0, len(bytes), 32):
+            for j in range(32):
+                index = i+j
+                if index < len(bytes):
+                    print(f'{bytes[index]:02x}', end='')
+            print('') # New line
diff --git a/bindings/python/examples/calibration/calibration_dump.py b/bindings/python/examples/calibration/calibration_dump.py
new file mode 100755
index 000000000..ebcfcab5f
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_dump.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import json
+
+# Connect device
+with dai.Device(dai.OpenVINO.VERSION_2021_4, dai.UsbSpeed.HIGH) as device:
+
+    print(f'Is EEPROM available: {device.isEepromAvailable()}')
+
+    # User calibration
+    try:
+        print(f'User calibration: {json.dumps(device.readCalibration2().eepromToJson(), indent=2)}')
+    except Exception as ex:
+        print(f'No user calibration: {ex}')
+
+    # Factory calibration
+    try:
+        print(f'Factory calibration: {json.dumps(device.readFactoryCalibration().eepromToJson(), indent=2)}')
+    except Exception as ex:
+        print(f'No factory calibration: {ex}')
+
+    print(f'User calibration raw: {json.dumps(device.readCalibrationRaw())}')
+    print(f'Factory calibration raw: {json.dumps(device.readFactoryCalibrationRaw())}')
diff --git a/bindings/python/examples/calibration/calibration_factory_reset.py b/bindings/python/examples/calibration/calibration_factory_reset.py
new file mode 100755
index 000000000..5068c5a56
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_factory_reset.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+
+# Connect device
+with dai.Device(dai.OpenVINO.VERSION_2021_4, dai.UsbSpeed.HIGH) as device:
+
+    try:
+        device.factoryResetCalibration()
+        print(f'Factory reset calibration OK')
+    except Exception as ex:
+        print(f'Factory reset calibration FAIL: {ex}')
diff --git a/bindings/python/examples/calibration/calibration_flash.py b/bindings/python/examples/calibration/calibration_flash.py
new file mode 100755
index 000000000..325902921
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_flash.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import depthai as dai
+import argparse
+
+calibJsonFile = str((Path(__file__).parent / Path('../models/depthai_calib.json')).resolve().absolute())
+calibBackUpFile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('calibJsonFile', nargs='?', help="Path to calibration file in json", default=calibJsonFile)
+args = parser.parse_args()
+
+# Connect device
+with dai.Device(dai.OpenVINO.VERSION_UNIVERSAL, dai.UsbSpeed.HIGH) as device:
+
+    deviceCalib = device.readCalibration()
+    deviceCalib.eepromToJsonFile(calibBackUpFile)
+    print("Calibration Data on the device is backed up at:")
+    print(calibBackUpFile)
+    calibData = dai.CalibrationHandler(args.calibJsonFile)
+
+    try:
+        device.flashCalibration2(calibData)
+        print('Successfully flashed calibration')
+    except Exception as ex:
+        print(f'Failed flashing calibration: {ex}')
diff --git a/bindings/python/examples/calibration/calibration_flash_v5.py b/bindings/python/examples/calibration/calibration_flash_v5.py
new file mode 100755
index 000000000..aa547020c
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_flash_v5.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import argparse
+
+boardConfigFile = str((Path(__file__).parent / Path('../models/BW1098OBC.json')).resolve().absolute())
+calibBinaryFile = str((Path(__file__).parent / Path('../models/depthai_v5.calib')).resolve().absolute())
+calibBackUpFile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('boardConfigFile', nargs='?', help="Path to board config file", default=boardConfigFile)
+parser.add_argument('calibBinaryFile', nargs='?', help="Path to version 5 .calib file", default=calibBinaryFile)
+args = parser.parse_args()
+
+# Connect device
+with dai.Device() as device:
+
+    deviceCalib = device.readCalibration()
+    deviceCalib.eepromToJsonFile(calibBackUpFile)
+    print("Calibration Data on the device is backed up at:")
+    print(calibBackUpFile)
+    calibData = dai.CalibrationHandler(args.calibBinaryFile, args.boardConfigFile)
+
+    status = device.flashCalibration(calibData)
+    if status:
+        print('Calibration Flash Successful')
+    else:
+        print('Calibration Flash Failed!!!')
diff --git a/bindings/python/examples/calibration/calibration_load.py b/bindings/python/examples/calibration/calibration_load.py
new file mode 100755
index 000000000..44e8996dc
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_load.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import argparse
+import numpy as np
+import cv2
+
+calibJsonFile = str((Path(__file__).parent / Path('../models/depthai_calib.json')).resolve().absolute())
+
+parser = argparse.ArgumentParser()
+parser.add_argument('calibJsonFile', nargs='?', help="Path to calibration file in json", default=calibJsonFile)
+args = parser.parse_args()
+
+calibData = dai.CalibrationHandler(args.calibJsonFile)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+pipeline.setCalibrationData(calibData)
+
+# Define sources and output
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutDepth.setStreamName("depth")
+
+# MonoCamera
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setCamera("left")
+# monoLeft.setFps(5.0)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setCamera("right")
+# monoRight.setFps(5.0)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.depth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
+    while True:
+        # blocking call, will wait until a new data has arrived
+        inDepth = depthQueue.get()
+        frame = inDepth.getFrame()
+
+        # frame is ready to be shown
+        cv2.imshow("depth", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/calibration/calibration_reader.py b/bindings/python/examples/calibration/calibration_reader.py
new file mode 100755
index 000000000..9f3d82564
--- /dev/null
+++ b/bindings/python/examples/calibration/calibration_reader.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import numpy as np
+import sys
+from pathlib import Path
+
+# Connect Device
+with dai.Device() as device:
+    calibFile = str((Path(__file__).parent / Path(f"calib_{device.getMxId()}.json")).resolve().absolute())
+    if len(sys.argv) > 1:
+        calibFile = sys.argv[1]
+
+    calibData = device.readCalibration()
+    calibData.eepromToJsonFile(calibFile)
+
+    M_rgb, width, height = calibData.getDefaultIntrinsics(dai.CameraBoardSocket.CAM_A)
+    print("RGB Camera Default intrinsics...")
+    print(M_rgb)
+    print(width)
+    print(height)
+
+    if "OAK-1" in calibData.getEepromData().boardName or "BW1093OAK" in calibData.getEepromData().boardName:
+        M_rgb = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_A, 1280, 720))
+        print("RGB Camera resized intrinsics...")
+        print(M_rgb)
+
+        D_rgb = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_A))
+        print("RGB Distortion Coefficients...")
+        [print(name + ": " + value) for (name, value) in
+         zip(["k1", "k2", "p1", "p2", "k3", "k4", "k5", "k6", "s1", "s2", "s3", "s4", "Ï„x", "Ï„y"],
+             [str(data) for data in D_rgb])]
+
+        print(f'RGB FOV {calibData.getFov(dai.CameraBoardSocket.CAM_A)}')
+
+    else:
+        M_rgb, width, height = calibData.getDefaultIntrinsics(dai.CameraBoardSocket.CAM_A)
+        print("RGB Camera Default intrinsics...")
+        print(M_rgb)
+        print(width)
+        print(height)
+
+        M_rgb = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_A, 3840, 2160))
+        print("RGB Camera resized intrinsics... 3840 x 2160 ")
+        print(M_rgb)
+
+
+        M_rgb = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_A, 4056, 3040 ))
+        print("RGB Camera resized intrinsics... 4056 x 3040 ")
+        print(M_rgb)
+
+
+        M_left, width, height = calibData.getDefaultIntrinsics(dai.CameraBoardSocket.CAM_B)
+        print("LEFT Camera Default intrinsics...")
+        print(M_left)
+        print(width)
+        print(height)
+
+        M_left = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_B, 1280, 720))
+        print("LEFT Camera resized intrinsics...  1280 x 720")
+        print(M_left)
+
+
+        M_right = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C, 1280, 720))
+        print("RIGHT Camera resized intrinsics... 1280 x 720")
+        print(M_right)
+
+        D_left = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_B))
+        print("LEFT Distortion Coefficients...")
+        [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","Ï„x","Ï„y"],[str(data) for data in D_left])]
+
+        D_right = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_C))
+        print("RIGHT Distortion Coefficients...")
+        [print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","Ï„x","Ï„y"],[str(data) for data in D_right])]
+
+        print(f"RGB FOV {calibData.getFov(dai.CameraBoardSocket.CAM_A)}, Mono FOV {calibData.getFov(dai.CameraBoardSocket.CAM_B)}")
+
+        R1 = np.array(calibData.getStereoLeftRectificationRotation())
+        R2 = np.array(calibData.getStereoRightRectificationRotation())
+        M_right = np.array(calibData.getCameraIntrinsics(calibData.getStereoRightCameraId(), 1280, 720))
+
+        H_left = np.matmul(np.matmul(M_right, R1), np.linalg.inv(M_left))
+        print("LEFT Camera stereo rectification matrix...")
+        print(H_left)
+
+        H_right = np.matmul(np.matmul(M_right, R1), np.linalg.inv(M_right))
+        print("RIGHT Camera stereo rectification matrix...")
+        print(H_right)
+
+        lr_extrinsics = np.array(calibData.getCameraExtrinsics(dai.CameraBoardSocket.CAM_B, dai.CameraBoardSocket.CAM_C))
+        print("Transformation matrix of where left Camera is W.R.T right Camera's optical center")
+        print(lr_extrinsics)
+
+        l_rgb_extrinsics = np.array(calibData.getCameraExtrinsics(dai.CameraBoardSocket.CAM_B, dai.CameraBoardSocket.CAM_A))
+        print("Transformation matrix of where left Camera is W.R.T RGB Camera's optical center")
+        print(l_rgb_extrinsics)
diff --git a/bindings/python/examples/cmake/ExecuteTestTimeout.cmake b/bindings/python/examples/cmake/ExecuteTestTimeout.cmake
new file mode 100644
index 000000000..5a0236a0f
--- /dev/null
+++ b/bindings/python/examples/cmake/ExecuteTestTimeout.cmake
@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.2)
+
+# Parse out arguments
+foreach(_arg RANGE ${CMAKE_ARGC})
+    if(append)
+        list(APPEND arguments "${CMAKE_ARGV${_arg}}")
+    endif()
+
+    if("${CMAKE_ARGV${_arg}}" STREQUAL "-P")
+        set(append true)
+        message(status "found -P")
+    endif()
+endforeach()
+list(REMOVE_AT arguments 0)
+
+message(STATUS "arguments: ${arguments}")
+
+# Check if ENV variable TEST_TIMEOUT is set and use that rather than TIMEOUT_SECONDS
+if(DEFINED ENV{TEST_TIMEOUT} AND NOT DEFINED FORCE_TIMEOUT_SECONDS)
+    message(STATUS "Overriding timeout: ${TIMEOUT_SECONDS} with $ENV{TEST_TIMEOUT}")
+    set(TIMEOUT_SECONDS $ENV{TEST_TIMEOUT})
+endif()
+
+# Check if FORCE_TIMEOUT_SECONDS is set, in that case respect that option
+if(FORCE_TIMEOUT_SECONDS)
+    message(STATUS "Forcing timeout of ${FORCE_TIMEOUT_SECONDS} seconds")
+    set(TIMEOUT_SECONDS ${FORCE_TIMEOUT_SECONDS})
+endif()
+
+# Execute the example (SIGTERM for now, could be improved with SIGINT -> SIGKILL)
+if(TIMEOUT_SECONDS GREATER 0)
+    execute_process(COMMAND ${arguments} TIMEOUT ${TIMEOUT_SECONDS} RESULT_VARIABLE error_variable)
+else()
+    execute_process(COMMAND ${arguments} RESULT_VARIABLE error_variable)
+endif()
+
+message(STATUS "After process executed, ${PATH_TO_TEST_EXECUTABLE} produced the following exit code: ${error_variable}")
+
+if(error_variable MATCHES "timeout" OR error_variable EQUAL 128 OR error_variable EQUAL 124)
+    # Okay
+elseif(NOT error_variable)
+    # return code == 0, also okay
+elseif(error_variable EQUAL 133 OR error_variable MATCHES "Child killed")
+    # sigkill, return fatal error but mark the issue
+    message(FATAL_ERROR "${PATH_TO_TEST_EXECUTABLE} had to be forcefully killed after 5 additional seconds after SIGINT")
+else()
+    # not timeout and error code != 0, not okay
+    message(FATAL_ERROR "${PATH_TO_TEST_EXECUTABLE} produced an error (${error_variable}) while running")
+endif() 
+
diff --git a/bindings/python/examples/device/device_all_boot_bootloader.py b/bindings/python/examples/device/device_all_boot_bootloader.py
new file mode 100755
index 000000000..4c2e9a56b
--- /dev/null
+++ b/bindings/python/examples/device/device_all_boot_bootloader.py
@@ -0,0 +1,6 @@
+import depthai as dai
+
+devices = dai.Device.getAllConnectedDevices()
+
+for device in devices:
+    dai.XLinkConnection.bootBootloader(device)
diff --git a/bindings/python/examples/device/device_boot_non_exclusive.py b/bindings/python/examples/device/device_boot_non_exclusive.py
new file mode 100755
index 000000000..898b292f6
--- /dev/null
+++ b/bindings/python/examples/device/device_boot_non_exclusive.py
@@ -0,0 +1,10 @@
+import depthai as dai
+import time
+
+cfg = dai.Device.Config()
+cfg.nonExclusiveMode = True
+
+with dai.Device(cfg) as device:
+    while not device.isClosed():
+        print('CPU usage:',device.getLeonCssCpuUsage().average)
+        time.sleep(1)
\ No newline at end of file
diff --git a/bindings/python/examples/device/list_devices.py b/bindings/python/examples/device/list_devices.py
new file mode 100644
index 000000000..eb56589d5
--- /dev/null
+++ b/bindings/python/examples/device/list_devices.py
@@ -0,0 +1,2 @@
+import depthai as dai
+print(dai.Device.getAllConnectedDevices())
diff --git a/bindings/python/examples/downloader/.gitignore b/bindings/python/examples/downloader/.gitignore
new file mode 100644
index 000000000..87158aee7
--- /dev/null
+++ b/bindings/python/examples/downloader/.gitignore
@@ -0,0 +1,5 @@
+*
+!common.py
+!converter.py
+!downloader.py
+!.gitignore
\ No newline at end of file
diff --git a/bindings/python/examples/downloader/common.py b/bindings/python/examples/downloader/common.py
new file mode 100644
index 000000000..f49a3574b
--- /dev/null
+++ b/bindings/python/examples/downloader/common.py
@@ -0,0 +1,675 @@
+# Copyright (c) 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import collections
+import concurrent.futures
+import contextlib
+import fnmatch
+import json
+import platform
+import queue
+import re
+import shlex
+import shutil
+import signal
+import subprocess
+import sys
+import threading
+import traceback
+
+from pathlib import Path
+
+import requests
+import yaml
+
+DOWNLOAD_TIMEOUT = 5 * 60
+OMZ_ROOT = Path(__file__).resolve().parents[1]
+MODEL_ROOT = OMZ_ROOT / 'models'
+
+# make sure to update the documentation if you modify these
+KNOWN_FRAMEWORKS = {
+    'caffe': None,
+    'caffe2': 'caffe2_to_onnx.py',
+    'dldt': None,
+    'mxnet': None,
+    'onnx': None,
+    'pytorch': 'pytorch_to_onnx.py',
+    'tf': None,
+}
+KNOWN_PRECISIONS = {
+    'FP16', 'FP16-INT1', 'FP16-INT8',
+    'FP32', 'FP32-INT1', 'FP32-INT8',
+}
+KNOWN_TASK_TYPES = {
+    'action_recognition',
+    'classification',
+    'colorization',
+    'detection',
+    'face_recognition',
+    'feature_extraction',
+    'head_pose_estimation',
+    'human_pose_estimation',
+    'image_inpainting',
+    'image_processing',
+    'image_translation',
+    'instance_segmentation',
+    'machine_translation',
+    'monocular_depth_estimation',
+    'object_attributes',
+    'optical_character_recognition',
+    'place_recognition',
+    'question_answering',
+    'semantic_segmentation',
+    'sound_classification',
+    'speech_recognition',
+    'style_transfer',
+    'token_recognition',
+    'text_to_speech',
+}
+
+KNOWN_QUANTIZED_PRECISIONS = {p + '-INT8': p for p in ['FP16', 'FP32']}
+assert KNOWN_QUANTIZED_PRECISIONS.keys() <= KNOWN_PRECISIONS
+
+RE_MODEL_NAME = re.compile(r'[0-9a-zA-Z._-]+')
+RE_SHA256SUM = re.compile(r'[0-9a-fA-F]{64}')
+
+
+class JobContext:
+    def __init__(self):
+        self._interrupted = False
+
+    def print(self, value, *, end='\n', file=sys.stdout, flush=False):
+        raise NotImplementedError
+
+    def printf(self, format, *args, file=sys.stdout, flush=False):
+        self.print(format.format(*args), file=file, flush=flush)
+
+    def subprocess(self, args, **kwargs):
+        raise NotImplementedError
+
+    def check_interrupted(self):
+        if self._interrupted:
+            raise RuntimeError("job interrupted")
+
+    def interrupt(self):
+        self._interrupted = True
+
+    @staticmethod
+    def _signal_message(signal_num):
+        # once Python 3.8 is the minimum supported version,
+        # signal.strsignal can be used here
+
+        signals = type(signal.SIGINT)
+
+        try:
+            signal_str = f'{signals(signal_num).name} ({signal_num})'
+        except ValueError:
+            signal_str = f'{signal_num}'
+
+        return f'Terminated by signal {signal_str}'
+
+class DirectOutputContext(JobContext):
+    def print(self, value, *, end='\n', file=sys.stdout, flush=False):
+        print(value, end=end, file=file, flush=flush)
+
+    def subprocess(self, args, **kwargs):
+        return_code = subprocess.run(args, **kwargs).returncode
+
+        if return_code < 0:
+            print(self._signal_message(-return_code), file=sys.stderr)
+
+        return return_code == 0
+
+
+class QueuedOutputContext(JobContext):
+    def __init__(self, output_queue):
+        super().__init__()
+        self._output_queue = output_queue
+
+    def print(self, value, *, end='\n', file=sys.stdout, flush=False):
+        self._output_queue.put((file, value + end))
+
+    def subprocess(self, args, **kwargs):
+        with subprocess.Popen(args, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+                universal_newlines=True, **kwargs) as p:
+            for line in p.stdout:
+                self._output_queue.put((sys.stdout, line))
+            return_code = p.wait()
+
+        if return_code < 0:
+            self._output_queue.put((sys.stderr, self._signal_message(-return_code)))
+
+        return return_code == 0
+
+class JobWithQueuedOutput():
+    def __init__(self, context, output_queue, future):
+        self._context = context
+        self._output_queue = output_queue
+        self._future = future
+        self._future.add_done_callback(lambda future: self._output_queue.put(None))
+
+    def complete(self):
+        for file, fragment in iter(self._output_queue.get, None):
+            print(fragment, end='', file=file, flush=True) # for simplicity, flush every fragment
+
+        return self._future.result()
+
+    def cancel(self):
+        self._context.interrupt()
+        self._future.cancel()
+
+
+def run_in_parallel(num_jobs, f, work_items):
+    with concurrent.futures.ThreadPoolExecutor(num_jobs) as executor:
+        def start(work_item):
+            output_queue = queue.Queue()
+            context = QueuedOutputContext(output_queue)
+            return JobWithQueuedOutput(
+                context, output_queue, executor.submit(f, context, work_item))
+
+        jobs = list(map(start, work_items))
+
+        try:
+            return [job.complete() for job in jobs]
+        except BaseException:
+            for job in jobs: job.cancel()
+            raise
+
+EVENT_EMISSION_LOCK = threading.Lock()
+
+class Reporter:
+    GROUP_DECORATION = '#' * 16 + '||'
+    SECTION_DECORATION = '=' * 10
+    ERROR_DECORATION = '#' * 10
+
+    def __init__(self, job_context, *,
+            enable_human_output=True, enable_json_output=False, event_context={}):
+        self.job_context = job_context
+        self.enable_human_output = enable_human_output
+        self.enable_json_output = enable_json_output
+        self.event_context = event_context
+
+    def print_group_heading(self, format, *args):
+        if not self.enable_human_output: return
+        self.job_context.printf('{} {} {}',
+            self.GROUP_DECORATION, format.format(*args), self.GROUP_DECORATION[::-1])
+        self.job_context.print('')
+
+    def print_section_heading(self, format, *args):
+        if not self.enable_human_output: return
+        self.job_context.printf('{} {}', self.SECTION_DECORATION, format.format(*args), flush=True)
+
+    def print_progress(self, format, *args):
+        if not self.enable_human_output: return
+        self.job_context.print(format.format(*args), end='\r' if sys.stdout.isatty() else '\n', flush=True)
+
+    def end_progress(self):
+        if not self.enable_human_output: return
+        if sys.stdout.isatty():
+            self.job_context.print('')
+
+    def print(self, format='', *args, flush=False):
+        if not self.enable_human_output: return
+        self.job_context.printf(format, *args, flush=flush)
+
+    def log_warning(self, format, *args, exc_info=False):
+        if exc_info:
+            self.job_context.print(traceback.format_exc(), file=sys.stderr, end='')
+        self.job_context.printf("{} Warning: {}", self.ERROR_DECORATION, format.format(*args), file=sys.stderr)
+
+    def log_error(self, format, *args, exc_info=False):
+        if exc_info:
+            self.job_context.print(traceback.format_exc(), file=sys.stderr, end='')
+        self.job_context.printf("{} Error: {}", self.ERROR_DECORATION, format.format(*args), file=sys.stderr)
+
+    def log_details(self, format, *args):
+        print(self.ERROR_DECORATION, '    ', format.format(*args), file=sys.stderr)
+
+    def emit_event(self, type, **kwargs):
+        if not self.enable_json_output: return
+
+        # We don't print machine-readable output through the job context, because
+        # we don't want it to be serialized. If we serialize it, then the consumer
+        # will lose information about the order of events, and we don't want that to happen.
+        # Instead, we emit events directly to stdout, but use a lock to ensure that
+        # JSON texts don't get interleaved.
+        with EVENT_EMISSION_LOCK:
+            json.dump({'$type': type, **self.event_context, **kwargs}, sys.stdout, indent=None)
+            print()
+
+    def with_event_context(self, **kwargs):
+        return Reporter(
+            self.job_context,
+            enable_human_output=self.enable_human_output,
+            enable_json_output=self.enable_json_output,
+            event_context={**self.event_context, **kwargs},
+        )
+
+class DeserializationError(Exception):
+    def __init__(self, problem, contexts=()):
+        super().__init__(': '.join(contexts + (problem,)))
+        self.problem = problem
+        self.contexts = contexts
+
+@contextlib.contextmanager
+def deserialization_context(context):
+    try:
+        yield None
+    except DeserializationError as exc:
+        raise DeserializationError(exc.problem, (context,) + exc.contexts) from exc
+
+def validate_string(context, value):
+    if not isinstance(value, str):
+        raise DeserializationError('{}: expected a string, got {!r}'.format(context, value))
+    return value
+
+def validate_string_enum(context, value, known_values):
+    str_value = validate_string(context, value)
+    if str_value not in known_values:
+        raise DeserializationError('{}: expected one of {!r}, got {!r}'.format(context, known_values, value))
+    return str_value
+
+def validate_relative_path(context, value):
+    path = Path(validate_string(context, value))
+
+    if path.anchor or '..' in path.parts:
+        raise DeserializationError('{}: disallowed absolute path or parent traversal'.format(context))
+
+    return path
+
+def validate_nonnegative_int(context, value):
+    if not isinstance(value, int) or value < 0:
+        raise DeserializationError(
+            '{}: expected a non-negative integer, got {!r}'.format(context, value))
+    return value
+
+class TaggedBase:
+    @classmethod
+    def deserialize(cls, value):
+        try:
+            return cls.types[value['$type']].deserialize(value)
+        except KeyError:
+            raise DeserializationError('Unknown "$type": "{}"'.format(value['$type']))
+
+class FileSource(TaggedBase):
+    RE_CONTENT_RANGE_VALUE = re.compile(r'bytes (\d+)-\d+/(?:\d+|\*)')
+
+    types = {}
+
+    @classmethod
+    def deserialize(cls, source):
+        if isinstance(source, str):
+            source = {'$type': 'http', 'url': source}
+        return super().deserialize(source)
+
+    @classmethod
+    def http_range_headers(cls, offset):
+        if offset == 0:
+            return {}
+
+        return {
+            'Accept-Encoding': 'identity',
+            'Range': 'bytes={}-'.format(offset),
+        }
+
+    @classmethod
+    def handle_http_response(cls, response, chunk_size):
+        if response.status_code == requests.codes.partial_content:
+            match = cls.RE_CONTENT_RANGE_VALUE.fullmatch(response.headers.get('Content-Range', ''))
+            if not match:
+                # invalid range reply; return a negative offset to make
+                # the download logic restart the download.
+                return None, -1
+
+            return response.iter_content(chunk_size=chunk_size), int(match.group(1))
+
+        # either we didn't ask for a range, or the server doesn't support ranges
+
+        if 'Content-Range' in response.headers:
+            # non-partial responses aren't supposed to have range information
+            return None, -1
+
+        return response.iter_content(chunk_size=chunk_size), 0
+
+
+class FileSourceHttp(FileSource):
+    def __init__(self, url):
+        self.url = url
+
+    @classmethod
+    def deserialize(cls, source):
+        return cls(validate_string('"url"', source['url']))
+
+    def start_download(self, session, chunk_size, offset):
+        response = session.get(self.url, stream=True, timeout=DOWNLOAD_TIMEOUT,
+            headers=self.http_range_headers(offset))
+        response.raise_for_status()
+
+        return self.handle_http_response(response, chunk_size)
+
+FileSource.types['http'] = FileSourceHttp
+
+class FileSourceGoogleDrive(FileSource):
+    def __init__(self, id):
+        self.id = id
+
+    @classmethod
+    def deserialize(cls, source):
+        return cls(validate_string('"id"', source['id']))
+
+    def start_download(self, session, chunk_size, offset):
+        range_headers = self.http_range_headers(offset)
+        URL = 'https://docs.google.com/uc?export=download'
+        response = session.get(URL, params={'id': self.id}, headers=range_headers,
+            stream=True, timeout=DOWNLOAD_TIMEOUT)
+        response.raise_for_status()
+
+        for key, value in response.cookies.items():
+            if key.startswith('download_warning'):
+                params = {'id': self.id, 'confirm': value}
+                response = session.get(URL, params=params, headers=range_headers,
+                    stream=True, timeout=DOWNLOAD_TIMEOUT)
+                response.raise_for_status()
+
+        return self.handle_http_response(response, chunk_size)
+
+FileSource.types['google_drive'] = FileSourceGoogleDrive
+
+class ModelFile:
+    def __init__(self, name, size, sha256, source):
+        self.name = name
+        self.size = size
+        self.sha256 = sha256
+        self.source = source
+
+    @classmethod
+    def deserialize(cls, file):
+        name = validate_relative_path('"name"', file['name'])
+
+        with deserialization_context('In file "{}"'.format(name)):
+            size = validate_nonnegative_int('"size"', file['size'])
+
+            sha256 = validate_string('"sha256"', file['sha256'])
+
+            if not RE_SHA256SUM.fullmatch(sha256):
+                raise DeserializationError(
+                    '"sha256": got invalid hash {!r}'.format(sha256))
+
+            with deserialization_context('"source"'):
+                source = FileSource.deserialize(file['source'])
+
+            return cls(name, size, sha256, source)
+
+class Postproc(TaggedBase):
+    types = {}
+
+class PostprocRegexReplace(Postproc):
+    def __init__(self, file, pattern, replacement, count):
+        self.file = file
+        self.pattern = pattern
+        self.replacement = replacement
+        self.count = count
+
+    @classmethod
+    def deserialize(cls, postproc):
+        return cls(
+            validate_relative_path('"file"', postproc['file']),
+            re.compile(validate_string('"pattern"', postproc['pattern'])),
+            validate_string('"replacement"', postproc['replacement']),
+            validate_nonnegative_int('"count"', postproc.get('count', 0)),
+        )
+
+    def apply(self, reporter, output_dir):
+        postproc_file = output_dir / self.file
+
+        reporter.print_section_heading('Replacing text in {}', postproc_file)
+
+        postproc_file_text = postproc_file.read_text(encoding='utf-8')
+
+        orig_file = postproc_file.with_name(postproc_file.name + '.orig')
+        if not orig_file.exists():
+            postproc_file.replace(orig_file)
+
+        postproc_file_text, num_replacements = self.pattern.subn(
+            self.replacement, postproc_file_text, count=self.count)
+
+        if num_replacements == 0:
+            raise RuntimeError('Invalid pattern: no occurrences found')
+
+        if self.count != 0 and num_replacements != self.count:
+            raise RuntimeError('Invalid pattern: expected at least {} occurrences, but only {} found'.format(
+                self.count, num_replacements))
+
+        postproc_file.write_text(postproc_file_text, encoding='utf-8')
+
+Postproc.types['regex_replace'] = PostprocRegexReplace
+
+class PostprocUnpackArchive(Postproc):
+    def __init__(self, file, format):
+        self.file = file
+        self.format = format
+
+    @classmethod
+    def deserialize(cls, postproc):
+        return cls(
+            validate_relative_path('"file"', postproc['file']),
+            validate_string('"format"', postproc['format']),
+        )
+
+    def apply(self, reporter, output_dir):
+        postproc_file = output_dir / self.file
+
+        reporter.print_section_heading('Unpacking {}', postproc_file)
+
+        shutil.unpack_archive(str(postproc_file), str(postproc_file.parent), self.format)
+        postproc_file.unlink()  # Remove the archive
+
+Postproc.types['unpack_archive'] = PostprocUnpackArchive
+
+class Model:
+    def __init__(self, name, subdirectory, files, postprocessing, mo_args, quantizable, framework,
+                 description, license_url, precisions, task_type, conversion_to_onnx_args):
+        self.name = name
+        self.subdirectory = subdirectory
+        self.files = files
+        self.postprocessing = postprocessing
+        self.mo_args = mo_args
+        self.quantizable = quantizable
+        self.framework = framework
+        self.description = description
+        self.license_url = license_url
+        self.precisions = precisions
+        self.task_type = task_type
+        self.conversion_to_onnx_args = conversion_to_onnx_args
+        self.converter_to_onnx = KNOWN_FRAMEWORKS[framework]
+
+    @classmethod
+    def deserialize(cls, model, name, subdirectory):
+        with deserialization_context('In model "{}"'.format(name)):
+            if not RE_MODEL_NAME.fullmatch(name):
+                raise DeserializationError('Invalid name, must consist only of letters, digits or ._-')
+
+            files = []
+            file_names = set()
+
+            for file in model['files']:
+                files.append(ModelFile.deserialize(file))
+
+                if files[-1].name in file_names:
+                    raise DeserializationError(
+                        'Duplicate file name "{}"'.format(files[-1].name))
+                file_names.add(files[-1].name)
+
+            postprocessing = []
+
+            for i, postproc in enumerate(model.get('postprocessing', [])):
+                with deserialization_context('"postprocessing" #{}'.format(i)):
+                    postprocessing.append(Postproc.deserialize(postproc))
+
+            framework = validate_string_enum('"framework"', model['framework'], KNOWN_FRAMEWORKS.keys())
+
+            conversion_to_onnx_args = model.get('conversion_to_onnx_args', None)
+            if KNOWN_FRAMEWORKS[framework]:
+                if not conversion_to_onnx_args:
+                    raise DeserializationError('"conversion_to_onnx_args" is absent. '
+                                               'Framework "{}" is supported only by conversion to ONNX.'
+                                               .format(framework))
+                conversion_to_onnx_args = [validate_string('"conversion_to_onnx_args" #{}'.format(i), arg)
+                                           for i, arg in enumerate(model['conversion_to_onnx_args'])]
+            else:
+                if conversion_to_onnx_args:
+                    raise DeserializationError('Conversion to ONNX not supported for "{}" framework'.format(framework))
+
+            quantized = model.get('quantized', None)
+            if quantized is not None and quantized != 'INT8':
+                raise DeserializationError('"quantized": expected "INT8", got {!r}'.format(quantized))
+
+            if 'model_optimizer_args' in model:
+                mo_args = [validate_string('"model_optimizer_args" #{}'.format(i), arg)
+                    for i, arg in enumerate(model['model_optimizer_args'])]
+                precisions = {f'FP16-{quantized}', f'FP32-{quantized}'} if quantized is not None else {'FP16', 'FP32'}
+            else:
+                if framework != 'dldt':
+                    raise DeserializationError('Model not in IR format, but no conversions defined')
+
+                mo_args = None
+
+                files_per_precision = {}
+
+                # for file in files:
+                #     if len(file.name.parts) != 2:
+                #         raise DeserializationError('Can\'t derive precision from file name {!r}'.format(file.name))
+                #     p = file.name.parts[0]
+                #     if p not in KNOWN_PRECISIONS:
+                #         raise DeserializationError(
+                #             'Unknown precision {!r} derived from file name {!r}, expected one of {!r}'.format(
+                #                 p, file.name, KNOWN_PRECISIONS))
+                #     files_per_precision.setdefault(p, set()).add(file.name.parts[1])
+
+                # for precision, precision_files in files_per_precision.items():
+                #     for ext in ['xml', 'bin']:
+                #         if (name + '.' + ext) not in precision_files:
+                #             raise DeserializationError('No {} file for precision "{}"'.format(ext.upper(), precision))
+
+                precisions = set(files_per_precision.keys())
+
+            quantizable = model.get('quantizable', False)
+            if not isinstance(quantizable, bool):
+                raise DeserializationError('"quantizable": expected a boolean, got {!r}'.format(quantizable))
+
+            description = validate_string('"description"', model['description'])
+
+            license_url = validate_string('"license"', model['license'])
+
+            task_type = validate_string_enum('"task_type"', model['task_type'], KNOWN_TASK_TYPES)
+
+            return cls(name, subdirectory, files, postprocessing, mo_args, quantizable, framework,
+                description, license_url, precisions, task_type, conversion_to_onnx_args)
+
+def load_models(args):
+    models = []
+    model_names = set()
+
+    for config_path in sorted(MODEL_ROOT.glob('**/model.yml')):
+        subdirectory = config_path.parent.relative_to(MODEL_ROOT)
+
+        with config_path.open('rb') as config_file, \
+                deserialization_context('In config "{}"'.format(config_path)):
+
+            model = yaml.safe_load(config_file)
+
+            for bad_key in ['name', 'subdirectory']:
+                if bad_key in model:
+                    raise DeserializationError('Unsupported key "{}"'.format(bad_key))
+
+            models.append(Model.deserialize(model, subdirectory.name, subdirectory))
+
+            if models[-1].name in model_names:
+                raise DeserializationError(
+                    'Duplicate model name "{}"'.format(models[-1].name))
+            model_names.add(models[-1].name)
+
+    return models
+
+def load_models_or_die(args):
+    try:
+        return load_models(args)
+    except DeserializationError as e:
+        indent = '    '
+
+        for i, context in enumerate(e.contexts):
+            print(indent * i + context + ':', file=sys.stderr)
+        print(indent * len(e.contexts) + e.problem, file=sys.stderr)
+        sys.exit(1)
+
+# requires the --print_all, --all, --name and --list arguments to be in `args`
+def load_models_from_args(parser, args):
+    if args.print_all:
+        for model in load_models_or_die(args):
+            print(model.name)
+        sys.exit()
+
+    filter_args_count = sum([args.all, args.name is not None, args.list is not None])
+
+    if filter_args_count > 1:
+        parser.error('at most one of "--all", "--name" or "--list" can be specified')
+
+    if filter_args_count == 0:
+        parser.error('one of "--print_all", "--all", "--name" or "--list" must be specified')
+
+    all_models = load_models_or_die(args)
+
+    if args.all:
+        return all_models
+    elif args.name is not None or args.list is not None:
+        if args.name is not None:
+            patterns = args.name.split(',')
+        else:
+            patterns = []
+            with args.list.open() as list_file:
+                for list_line in list_file:
+                    tokens = shlex.split(list_line, comments=True)
+                    if not tokens: continue
+
+                    patterns.append(tokens[0])
+                    # For now, ignore any other tokens in the line.
+                    # We might use them as additional parameters later.
+
+        models = collections.OrderedDict() # deduplicate models while preserving order
+
+        for pattern in patterns:
+            matching_models = [model for model in all_models
+                if fnmatch.fnmatchcase(model.name, pattern)]
+
+            if not matching_models:
+                sys.exit('No matching models: "{}"'.format(pattern))
+
+            for model in matching_models:
+                models[model.name] = model
+
+        return list(models.values())
+
+def quote_arg_windows(arg):
+    if not arg: return '""'
+    if not re.search(r'\s|"', arg): return arg
+    # On Windows, only backslashes that precede a quote or the end of the argument must be escaped.
+    return '"' + re.sub(r'(\\+)$', r'\1\1', re.sub(r'(\\*)"', r'\1\1\\"', arg)) + '"'
+
+if platform.system() == 'Windows':
+    quote_arg = quote_arg_windows
+else:
+    quote_arg = shlex.quote
+
+def command_string(args):
+    return ' '.join(map(quote_arg, args))
diff --git a/bindings/python/examples/downloader/downloader.py b/bindings/python/examples/downloader/downloader.py
new file mode 100755
index 000000000..dd7e84fbe
--- /dev/null
+++ b/bindings/python/examples/downloader/downloader.py
@@ -0,0 +1,385 @@
+#!/usr/bin/env python3
+
+"""
+ Copyright (c) 2018 Intel Corporation
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+"""
+
+import argparse
+import contextlib
+import functools
+import hashlib
+import re
+import requests
+import shutil
+import ssl
+import sys
+import tempfile
+import threading
+import time
+import types
+
+from pathlib import Path
+
+import common
+
+CHUNK_SIZE = 1 << 15 if sys.stdout.isatty() else 1 << 20
+
+def process_download(reporter, chunk_iterable, size, progress, file):
+    start_time = time.monotonic()
+    start_size = progress.size
+
+    try:
+        for chunk in chunk_iterable:
+            reporter.job_context.check_interrupted()
+
+            if chunk:
+                duration = time.monotonic() - start_time
+                progress.size += len(chunk)
+                progress.hasher.update(chunk)
+
+                if duration != 0:
+                    speed = int((progress.size - start_size) / (1024 * duration))
+                else:
+                    speed = '?'
+
+                percent = progress.size * 100 // size
+
+                reporter.print_progress('... {}%, {} KB, {} KB/s, {} seconds passed',
+                    percent, progress.size // 1024, speed, int(duration))
+                reporter.emit_event('model_file_download_progress', size=progress.size)
+
+                file.write(chunk)
+
+                # don't attempt to finish a file if it's bigger than expected
+                if progress.size > size:
+                    break
+    finally:
+        reporter.end_progress()
+
+def try_download(reporter, file, num_attempts, start_download, size):
+    progress = types.SimpleNamespace(size=0)
+
+    for attempt in range(num_attempts):
+        if attempt != 0:
+            retry_delay = 10
+            reporter.print("Will retry in {} seconds...", retry_delay, flush=True)
+            time.sleep(retry_delay)
+
+        try:
+            reporter.job_context.check_interrupted()
+            chunk_iterable, continue_offset = start_download(offset=progress.size)
+
+            if continue_offset not in {0, progress.size}:
+                # Somehow we neither restarted nor continued from where we left off.
+                # Try to restart.
+                chunk_iterable, continue_offset = start_download(offset=0)
+                if continue_offset != 0:
+                    reporter.log_error("Remote server refuses to send whole file, aborting")
+                    return None
+
+            if continue_offset == 0:
+                file.seek(0)
+                file.truncate()
+                progress.size = 0
+                progress.hasher = hashlib.sha256()
+
+            process_download(reporter, chunk_iterable, size, progress, file)
+
+            if progress.size > size:
+                reporter.log_error("Remote file is longer than expected ({} B), download aborted", size)
+                # no sense in retrying - if the file is longer, there's no way it'll fix itself
+                return None
+            elif progress.size < size:
+                reporter.log_error("Downloaded file is shorter ({} B) than expected ({} B)",
+                    progress.size, size)
+                # it's possible that we got disconnected before receiving the full file,
+                # so try again
+            else:
+                return progress.hasher.digest()
+        except (requests.exceptions.RequestException, ssl.SSLError):
+            reporter.log_error("Download failed", exc_info=True)
+
+    return None
+
+def verify_hash(reporter, actual_hash, expected_hash, path):
+    if actual_hash != bytes.fromhex(expected_hash):
+        reporter.log_error('Hash mismatch for "{}"', path)
+        reporter.log_details('Expected: {}', expected_hash)
+        reporter.log_details('Actual:   {}', actual_hash.hex())
+        return False
+    return True
+
+class NullCache:
+    def has(self, hash): return False
+    def get(self, model_file, path, reporter): return False
+    def put(self, hash, path): pass
+
+class DirCache:
+    _FORMAT = 1 # increment if backwards-incompatible changes to the format are made
+    _HASH_LEN = hashlib.sha256().digest_size * 2
+
+    def __init__(self, cache_dir):
+        self._cache_dir = cache_dir / str(self._FORMAT)
+        self._cache_dir.mkdir(parents=True, exist_ok=True)
+
+        self._staging_dir = self._cache_dir / 'staging'
+        self._staging_dir.mkdir(exist_ok=True)
+
+    def _hash_path(self, hash):
+        hash = hash.lower()
+        assert len(hash) == self._HASH_LEN
+        assert re.fullmatch('[0-9a-f]+', hash)
+        return self._cache_dir / hash[:2] / hash[2:]
+
+    def has(self, hash):
+        return self._hash_path(hash).exists()
+
+    def get(self, model_file, path, reporter):
+        cache_path = self._hash_path(model_file.sha256)
+        cache_sha256 = hashlib.sha256()
+        cache_size = 0
+
+        with open(cache_path, 'rb') as cache_file, open(path, 'wb') as destination_file:
+            while True:
+                data = cache_file.read(CHUNK_SIZE)
+                if not data:
+                    break
+                cache_size += len(data)
+                if cache_size > model_file.size:
+                    reporter.log_error("Cached file is longer than expected ({} B), copying aborted", model_file.size)
+                    return False
+                cache_sha256.update(data)
+                destination_file.write(data)
+        if cache_size < model_file.size:
+            reporter.log_error("Cached file is shorter ({} B) than expected ({} B)", cache_size, model_file.size)
+            return False
+        return verify_hash(reporter, cache_sha256.digest(), model_file.sha256, path)
+
+    def put(self, hash, path):
+        staging_path = None
+
+        try:
+            # A file in the cache must have the hash implied by its name. So when we upload a file,
+            # we first copy it to a temporary file and then atomically move it to the desired name.
+            # This prevents interrupted runs from corrupting the cache.
+            with path.open('rb') as src_file:
+                with tempfile.NamedTemporaryFile(dir=str(self._staging_dir), delete=False) as staging_file:
+                    staging_path = Path(staging_file.name)
+                    shutil.copyfileobj(src_file, staging_file)
+
+            hash_path = self._hash_path(hash)
+            hash_path.parent.mkdir(parents=True, exist_ok=True)
+            staging_path.replace(self._hash_path(hash))
+            staging_path = None
+        finally:
+            # If we failed to complete our temporary file or to move it into place,
+            # get rid of it.
+            if staging_path:
+                staging_path.unlink()
+
+def try_retrieve_from_cache(reporter, cache, model_file, destination):
+    try:
+        if cache.has(model_file.sha256):
+            reporter.job_context.check_interrupted()
+
+            reporter.print_section_heading('Retrieving {} from the cache', destination)
+            if not cache.get(model_file, destination, reporter):
+                reporter.print('Will retry from the original source.')
+                reporter.print()
+                return False
+            reporter.print()
+            return True
+    except Exception:
+        reporter.log_warning('Cache retrieval failed; falling back to downloading', exc_info=True)
+        reporter.print()
+
+    return False
+
+def try_update_cache(reporter, cache, hash, source):
+    try:
+        cache.put(hash, source)
+    except Exception:
+        reporter.log_warning('Failed to update the cache', exc_info=True)
+
+def try_retrieve(reporter, destination, model_file, cache, num_attempts, start_download):
+    destination.parent.mkdir(parents=True, exist_ok=True)
+
+    if try_retrieve_from_cache(reporter, cache, model_file, destination):
+        return True
+
+    reporter.print_section_heading('Downloading {}', destination)
+
+    success = False
+
+    with destination.open('w+b') as f:
+        actual_hash = try_download(reporter, f, num_attempts, start_download, model_file.size)
+
+    if actual_hash and verify_hash(reporter, actual_hash, model_file.sha256, destination):
+        try_update_cache(reporter, cache, model_file.sha256, destination)
+        success = True
+
+    reporter.print()
+    return success
+
+def download_model(reporter, args, cache, session_factory, requested_precisions, model):
+    session = session_factory()
+
+    reporter.print_group_heading('Downloading {}', model.name)
+
+    reporter.emit_event('model_download_begin', model=model.name, num_files=len(model.files))
+
+    output = args.output_dir #/ model.subdirectory
+    output.mkdir(parents=True, exist_ok=True)
+
+    for model_file in model.files:
+        # if len(model_file.name.parts) == 2:
+        #     p = model_file.name.parts[0]
+        #     if p in common.KNOWN_PRECISIONS and p not in requested_precisions:
+        #         continue
+
+        model_file_reporter = reporter.with_event_context(model=model.name, model_file=model_file.name.as_posix())
+        model_file_reporter.emit_event('model_file_download_begin', size=model_file.size)
+
+        destination = output / model_file.name
+
+        if not try_retrieve(model_file_reporter, destination, model_file, cache, args.num_attempts,
+                functools.partial(model_file.source.start_download, session, CHUNK_SIZE)):
+            try:
+                destination.unlink()
+            except FileNotFoundError:
+                pass
+
+            model_file_reporter.emit_event('model_file_download_end', successful=False)
+            reporter.emit_event('model_download_end', model=model.name, successful=False)
+            return False
+
+        model_file_reporter.emit_event('model_file_download_end', successful=True)
+
+    reporter.emit_event('model_download_end', model=model.name, successful=True)
+
+    if model.postprocessing:
+        reporter.emit_event('model_postprocessing_begin', model=model.name)
+
+        for postproc in model.postprocessing:
+            postproc.apply(reporter, output)
+
+        reporter.emit_event('model_postprocessing_end', model=model.name)
+
+        reporter.print()
+
+    return True
+
+
+class DownloaderArgumentParser(argparse.ArgumentParser):
+    def error(self, message):
+        sys.stderr.write('error: %s\n' % message)
+        self.print_help()
+        sys.exit(2)
+
+def positive_int_arg(value_str):
+    try:
+        value = int(value_str)
+        if value > 0: return value
+    except ValueError:
+        pass
+
+    raise argparse.ArgumentTypeError('must be a positive integer (got {!r})'.format(value_str))
+
+
+# There is no evidence that the requests.Session class is thread-safe,
+# so for safety, we use one Session per thread. This class ensures that
+# each thread gets its own Session.
+class ThreadSessionFactory:
+    def __init__(self, exit_stack):
+        self._lock = threading.Lock()
+        self._thread_local = threading.local()
+        self._exit_stack = exit_stack
+
+    def __call__(self):
+        try:
+            session = self._thread_local.session
+        except AttributeError:
+            with self._lock: # ExitStack might not be thread-safe either
+                session = self._exit_stack.enter_context(requests.Session())
+            self._thread_local.session = session
+        return session
+
+
+def main():
+    parser = DownloaderArgumentParser()
+    parser.add_argument('--name', metavar='PAT[,PAT...]',
+        help='download only models whose names match at least one of the specified patterns')
+    parser.add_argument('--list', type=Path, metavar='FILE.LST',
+        help='download only models whose names match at least one of the patterns in the specified file')
+    parser.add_argument('--all', action='store_true', help='download all available models')
+    parser.add_argument('--print_all', action='store_true', help='print all available models')
+    parser.add_argument('--precisions', metavar='PREC[,PREC...]',
+                        help='download only models with the specified precisions (actual for DLDT networks)')
+    parser.add_argument('-o', '--output_dir', type=Path, metavar='DIR',
+        default=Path.cwd(), help='path where to save models')
+    parser.add_argument('--cache_dir', type=Path, metavar='DIR',
+        help='directory to use as a cache for downloaded files')
+    parser.add_argument('--num_attempts', type=positive_int_arg, metavar='N', default=1,
+        help='attempt each download up to N times')
+    parser.add_argument('--progress_format', choices=('text', 'json'), default='text',
+        help='which format to use for progress reporting')
+    # unlike Model Converter, -jauto is not supported here, because CPU count has no
+    # relation to the optimal number of concurrent downloads
+    parser.add_argument('-j', '--jobs', type=positive_int_arg, metavar='N', default=1,
+        help='how many downloads to perform concurrently')
+
+    args = parser.parse_args()
+
+    def make_reporter(context):
+        return common.Reporter(context,
+            enable_human_output=args.progress_format == 'text',
+            enable_json_output=args.progress_format == 'json')
+
+    reporter = make_reporter(common.DirectOutputContext())
+
+    cache = NullCache() if args.cache_dir is None else DirCache(args.cache_dir)
+    models = common.load_models_from_args(parser, args)
+
+    failed_models = set()
+
+    if args.precisions is None:
+        requested_precisions = common.KNOWN_PRECISIONS
+    else:
+        requested_precisions = set(args.precisions.split(','))
+        unknown_precisions = requested_precisions - common.KNOWN_PRECISIONS
+        if unknown_precisions:
+            sys.exit('Unknown precisions specified: {}.'.format(', '.join(sorted(unknown_precisions))))
+
+    with contextlib.ExitStack() as exit_stack:
+        session_factory = ThreadSessionFactory(exit_stack)
+        if args.jobs == 1:
+            results = [download_model(reporter, args, cache, session_factory, requested_precisions, model)
+                for model in models]
+        else:
+            results = common.run_in_parallel(args.jobs,
+                lambda context, model: download_model(
+                    make_reporter(context), args, cache, session_factory, requested_precisions, model),
+                models)
+
+    failed_models = {model.name for model, successful in zip(models, results) if not successful}
+
+    if failed_models:
+        reporter.print('FAILED:')
+        for failed_model_name in failed_models:
+            reporter.print(failed_model_name)
+        sys.exit(1)
+
+if __name__ == '__main__':
+    main()
diff --git a/bindings/python/examples/host_side/device_information.py b/bindings/python/examples/host_side/device_information.py
new file mode 100755
index 000000000..0bfe4ec30
--- /dev/null
+++ b/bindings/python/examples/host_side/device_information.py
@@ -0,0 +1,26 @@
+import depthai as dai
+from typing import List
+
+print('Searching for all available devices...\n')
+# Query all available devices (USB and POE OAK cameras)
+infos: List[dai.DeviceInfo] = dai.DeviceBootloader.getAllAvailableDevices()
+
+if len(infos) == 0:
+    print("Couldn't find any available devices.")
+    exit(-1)
+
+
+for info in infos:
+    # Converts enum eg. 'XLinkDeviceState.X_LINK_UNBOOTED' to 'UNBOOTED'
+    state = str(info.state).split('X_LINK_')[1]
+
+    print(f"Found device '{info.name}', MxId: '{info.mxid}', State: '{state}'")
+
+
+# Connect to a specific device. We will just take the first one
+print(f"\nBooting the first available camera ({infos[0].name})...")
+with dai.Device(dai.Pipeline(), infos[0], usb2Mode=False) as device:
+    print("Available camera sensors: ", device.getCameraSensorNames())
+    calib = device.readCalibration()
+    eeprom = calib.getEepromData()
+    print(f"Product name: {eeprom.productName}, board name {eeprom.boardName}")
diff --git a/bindings/python/examples/host_side/device_queue_event.py b/bindings/python/examples/host_side/device_queue_event.py
new file mode 100755
index 000000000..d23d39c6b
--- /dev/null
+++ b/bindings/python/examples/host_side/device_queue_event.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+"""
+ This example demonstrates use of queue events to block a thread until a message
+ arrives to any (of the specified) queue
+"""
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+camMono = pipeline.create(dai.node.MonoCamera)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutMono = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+xoutMono.setStreamName("mono")
+
+# Properties
+camRgb.setInterleaved(True)
+camRgb.setPreviewSize(300, 300)
+
+# Linking
+camRgb.preview.link(xoutRgb.input)
+camMono.out.link(xoutMono.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Clear queue events
+    device.getQueueEvents()
+
+    while True:
+        # Block until a message arrives to any of the specified queues
+        queueName = device.getQueueEvent(("rgb", "mono"))
+
+        # Getting that message from queue with name specified by the event
+        # Note: number of events doesn't necessarily match number of messages in queues
+        # because queues can be set to non-blocking (overwriting) behavior
+        message = device.getOutputQueue(queueName).get()
+
+        # Display arrived frames
+        if type(message) == dai.ImgFrame:
+            cv2.imshow(queueName, message.getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/host_side/latency_measurement.py b/bindings/python/examples/host_side/latency_measurement.py
new file mode 100755
index 000000000..4743cade6
--- /dev/null
+++ b/bindings/python/examples/host_side/latency_measurement.py
@@ -0,0 +1,30 @@
+import depthai as dai
+import numpy as np
+# Create pipeline
+pipeline = dai.Pipeline()
+# This might improve reducing the latency on some systems
+pipeline.setXLinkChunkSize(0)
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setFps(60)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName("out")
+camRgb.isp.link(xout.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    print(device.getUsbSpeed())
+    q = device.getOutputQueue(name="out")
+    diffs = np.array([])
+    while True:
+        imgFrame = q.get()
+        # Latency in miliseconds 
+        latencyMs = (dai.Clock.now() - imgFrame.getTimestamp()).total_seconds() * 1000
+        diffs = np.append(diffs, latencyMs)
+        print('Latency: {:.2f} ms, Average latency: {:.2f} ms, Std: {:.2f}'.format(latencyMs, np.average(diffs), np.std(diffs)))
+        
+        # Not relevant for this example
+        # cv2.imshow('frame', imgFrame.getCvFrame())
\ No newline at end of file
diff --git a/bindings/python/examples/host_side/opencv_support.py b/bindings/python/examples/host_side/opencv_support.py
new file mode 100755
index 000000000..ae98a9b02
--- /dev/null
+++ b/bindings/python/examples/host_side/opencv_support.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+xoutVideo = pipeline.create(dai.node.XLinkOut)
+xoutPreview = pipeline.create(dai.node.XLinkOut)
+
+xoutVideo.setStreamName("video")
+xoutPreview.setStreamName("preview")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(True)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+camRgb.preview.link(xoutPreview.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    video = device.getOutputQueue('video')
+    preview = device.getOutputQueue('preview')
+
+    while True:
+        videoFrame = video.get()
+        previewFrame = preview.get()
+
+        # Get BGR frame from NV12 encoded video frame to show with opencv
+        cv2.imshow("video", videoFrame.getCvFrame())
+        # Show 'preview' frame as is (already in correct format, no copy is made)
+        cv2.imshow("preview", previewFrame.getFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/host_side/queue_add_callback.py b/bindings/python/examples/host_side/queue_add_callback.py
new file mode 100755
index 000000000..6feb194d0
--- /dev/null
+++ b/bindings/python/examples/host_side/queue_add_callback.py
@@ -0,0 +1,54 @@
+#!/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
diff --git a/bindings/python/examples/install_requirements.py b/bindings/python/examples/install_requirements.py
new file mode 100755
index 000000000..1bcd555fa
--- /dev/null
+++ b/bindings/python/examples/install_requirements.py
@@ -0,0 +1,191 @@
+#!/usr/bin/env python3
+import platform
+import sys, os, subprocess
+import argparse
+import re
+import platform
+
+convert_default = "empty"
+parser = argparse.ArgumentParser()
+parser.add_argument('-sdai', "--skip_depthai", action="store_true", help="Skip installation of depthai library.")
+parser.add_argument('-dr', "--dry_run", action="store_true", help="Print commands without executing.")
+parser.add_argument("--convert", nargs="?", default=convert_default, help="Convert the NN blobs using BlobConverter. Can be used as --convert 2021.4 to convert using OpenVINO 2021.4 or just --convert to use latest OpenVINO release")
+
+def prettyPrint(command):
+
+    def hasWhitespace(string):
+        return (len(string) != len(re.sub('[\s+]', '', string)))
+
+    stringBuilder = str()
+    for i, item in enumerate(command):
+        if(hasWhitespace(item)):
+            stringBuilder += ' "' + item + '"'
+        else:
+            if i == 0:
+                prefix = ''
+            else:
+                prefix = ' '
+            stringBuilder += prefix + item
+    print(stringBuilder)
+
+
+args = parser.parse_args()
+
+examples_dir = os.path.dirname(os.path.abspath(__file__))
+
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+os.chdir(parent_dir)
+sys.path.insert(1, parent_dir)
+import find_version
+
+# 3rdparty dependencies to install
+DEPENDENCIES = ['pyyaml', 'requests']
+requireOpenCv = True
+thisPlatform = platform.machine()
+if thisPlatform == "aarch64":
+    # try to import opencv, numpy in a subprocess, since it might fail with illegal instruction
+    # if it was previously installed w/ pip without setting OPENBLAS_CORE_TYPE=ARMV8 env variable
+    try:
+        subprocess.check_call([sys.executable, "-c", "import numpy, cv2;"])
+        requireOpenCv = False
+    except subprocess.CalledProcessError as ex:
+        requireOpenCv = True
+
+if requireOpenCv:
+    DEPENDENCIES.append('numpy')
+    # 4.5.4.58 package is broken for python 3.9
+    if sys.version_info[0] == 3 and sys.version_info[1] == 9:
+        DEPENDENCIES.append('opencv-python!=4.5.4.58')
+    else:
+        DEPENDENCIES.append('opencv-python')
+
+
+
+# Constants
+ARTIFACTORY_URL = 'https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local'
+
+# Check if in virtual environment
+in_venv = getattr(sys, "real_prefix", getattr(sys, "base_prefix", sys.prefix)) != sys.prefix
+pip_call = [sys.executable, "-m", "pip"]
+pip_installed = True
+pip_install = pip_call + ["install", "-U"]
+pip_package_install = pip_install + ["--prefer-binary"]
+
+try:
+    subprocess.check_call(pip_call + ["--version"])
+except subprocess.CalledProcessError as ex:
+    pip_installed = False
+
+if not pip_installed:
+    err_str = "Issues with \"pip\" package detected! Follow the official instructions to install - https://pip.pypa.io/en/stable/installation/"
+    raise RuntimeError(err_str)
+
+if sys.version_info[0] != 3:
+    raise RuntimeError("Examples require Python 3 to run (detected: Python {})".format(sys.version_info[0]))
+
+is_pi = thisPlatform.startswith("arm")
+prebuiltWheelsPythonVersion = [7,9]
+if requireOpenCv and is_pi and sys.version_info[1] not in prebuiltWheelsPythonVersion:
+    print("[WARNING] There are no prebuilt wheels for Python 3.{} for OpenCV, building process on this device may be long and unstable".format(sys.version_info[1]))
+
+if not in_venv:
+    pip_install.append("--user")
+    pip_package_install.append("--user")
+
+# Update pip
+pip_update_cmd = [*pip_install, "pip"]
+if args.dry_run:
+    prettyPrint(pip_update_cmd)
+else:
+    subprocess.check_call(pip_update_cmd)
+# Install python dependencies
+python_dependencies_cmd = [*pip_package_install, *DEPENDENCIES]
+if args.dry_run:
+    prettyPrint(python_dependencies_cmd)
+else:
+    subprocess.check_call(python_dependencies_cmd)
+
+if not args.skip_depthai:
+    # Check if in git context and retrieve some information
+    git_context = True
+    git_commit = ""
+    git_branch = ""
+    try:
+        git_commit = subprocess.check_output(['git', 'rev-parse', 'HEAD']).decode('UTF-8').strip()
+        git_branch = subprocess.check_output(['git', 'rev-parse', '--abbrev-ref', 'HEAD']).decode('UTF-8').strip()
+    except (OSError, subprocess.CalledProcessError) as e:
+        git_context = False
+
+    # Install depthai depending on context
+    if not git_context or git_branch == 'main':
+        # Install latest pypi depthai release
+        depthai_install_cmd = [*pip_package_install, '-U', '--force-reinstall', 'depthai']
+        if args.dry_run:
+            prettyPrint(depthai_install_cmd)
+        else:
+            subprocess.check_call(depthai_install_cmd)
+
+    elif git_context:
+        try:
+            subprocess.check_output(['git', 'submodule', 'update', '--init', '--recursive'])
+        except (OSError, subprocess.CalledProcessError) as e:
+            print("git submodule update failed!")
+            raise
+        # Get package version if in git context
+        final_version = find_version.get_package_dev_version(git_commit)
+        # Install latest built wheels from artifactory (0.0.0.0+[hash] or [version]+[hash])
+        commands = [[*pip_package_install, "--extra-index-url", ARTIFACTORY_URL, "depthai=="+final_version],
+                    [*pip_package_install, "."]]
+        success = False
+        for command in commands:
+            try:
+                if args.dry_run:
+                    prettyPrint(command)
+                    success = True
+                else:
+                    success = subprocess.call(command) == 0
+            except (OSError, subprocess.CalledProcessError) as e:
+                success = False
+            if success:
+                break
+
+        # If all commands failed
+        if not success:
+            print("Couldn't install dependencies as wheels and trying to compile from sources failed")
+            print("Check https://github.com/luxonis/depthai-python#dependencies on retrieving dependencies for compiling from sources")
+
+downloader_cmd = [sys.executable, f"{examples_dir}/downloader/downloader.py", "--all", "--cache_dir", f"{examples_dir}/downloader/", "--num_attempts", "5", "-o", f"{examples_dir}/models"]
+if args.dry_run:
+    prettyPrint(downloader_cmd)
+else:
+    subprocess.check_call(downloader_cmd)
+
+if args.convert != convert_default:
+    nn_models_shaves = {
+        "mobilenet-ssd": [5, 6, 8],
+        "person-detection-retail-0013": [7],
+        "yolo-v4-tiny-tf": [6],
+        "yolo-v3-tiny-tf": [6],
+    }
+    blobconverter_cmds = [
+        [sys.executable, "-m", "blobconverter", "-zn", nn_name, "-sh", str(nn_shave), "-o", f"{examples_dir}/models", *(["-v", args.convert] if args.convert is not None else [])]
+        for nn_name in nn_models_shaves
+        for nn_shave in nn_models_shaves[nn_name]
+    ]
+    install_blobconverter_cmd = [*pip_package_install, "blobconverter"]
+    for cmd in [install_blobconverter_cmd] + blobconverter_cmds:
+        if args.dry_run:
+            prettyPrint(cmd)
+        else:
+            subprocess.check_call(cmd)
+
+if requireOpenCv and thisPlatform == "aarch64":
+    from os import environ
+    OPENBLAS_CORE_TYPE = environ.get('OPENBLAS_CORE_TYPE')
+    if OPENBLAS_CORE_TYPE != 'ARMV8':
+        WARNING='\033[1;5;31m'
+        RED='\033[91m'
+        LINE_CL='\033[0m'
+        SUGGESTION='echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc && source ~/.bashrc'
+        print(f'{WARNING}WARNING:{LINE_CL} Need to set OPENBLAS_CORE_TYPE environment variable, otherwise opencv will fail with illegal instruction.')
+        print(f'Run: {RED}{SUGGESTION}{LINE_CL}')
diff --git a/bindings/python/examples/mixed/frame_sync.py b/bindings/python/examples/mixed/frame_sync.py
new file mode 100755
index 000000000..29226e285
--- /dev/null
+++ b/bindings/python/examples/mixed/frame_sync.py
@@ -0,0 +1,113 @@
+import depthai as dai
+import time
+
+FPS = 30
+
+pipeline = dai.Pipeline()
+
+# Define a source - color camera
+camRgb = pipeline.create(dai.node.ColorCamera)
+# Since we are saving RGB frames in Script node we need to make the
+# video pool size larger, otherwise the pipeline will freeze because
+# the ColorCamera won't be able to produce new video frames.
+camRgb.setVideoNumFramesPool(10)
+camRgb.setFps(FPS)
+
+left = pipeline.create(dai.node.MonoCamera)
+left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+left.setCamera("left")
+left.setFps(FPS)
+
+right = pipeline.create(dai.node.MonoCamera)
+right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+right.setCamera("right")
+right.setFps(FPS)
+
+stereo = pipeline.createStereoDepth()
+stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+stereo.setLeftRightCheck(True)
+stereo.setExtendedDisparity(False)
+stereo.setSubpixel(False)
+left.out.link(stereo.left)
+right.out.link(stereo.right)
+
+# Script node will sync high-res frames
+script = pipeline.create(dai.node.Script)
+
+# Send both streams to the Script node so we can sync them
+stereo.disparity.link(script.inputs["disp_in"])
+camRgb.video.link(script.inputs["rgb_in"])
+
+script.setScript("""
+    FPS=30
+    import time
+    from datetime import timedelta
+    import math
+
+    # Timestamp threshold (in miliseconds) under which frames will be considered synced.
+    # Lower number means frames will have less delay between them, which can potentially
+    # lead to dropped frames.
+    MS_THRESHOL=math.ceil(500 / FPS)
+
+    def check_sync(queues, timestamp):
+        matching_frames = []
+        for name, list in queues.items(): # Go through each available stream
+            # node.warn(f"List {name}, len {str(len(list))}")
+            for i, msg in enumerate(list): # Go through each frame of this stream
+                time_diff = abs(msg.getTimestamp() - timestamp)
+                if time_diff <= timedelta(milliseconds=MS_THRESHOL): # If time diff is below threshold, this frame is considered in-sync
+                    matching_frames.append(i) # Append the position of the synced frame, so we can later remove all older frames
+                    break
+
+        if len(matching_frames) == len(queues):
+            # We have all frames synced. Remove the excess ones
+            i = 0
+            for name, list in queues.items():
+                queues[name] = queues[name][matching_frames[i]:] # Remove older (excess) frames
+                i+=1
+            return True
+        else:
+            return False # We don't have synced frames yet
+
+    names = ['disp', 'rgb']
+    frames = dict() # Dict where we store all received frames
+    for name in names:
+        frames[name] = []
+
+    while True:
+        for name in names:
+            f = node.io[name+"_in"].tryGet()
+            if f is not None:
+                frames[name].append(f) # Save received frame
+
+                if check_sync(frames, f.getTimestamp()): # Check if we have any synced frames
+                    # Frames synced!
+                    node.info(f"Synced frame!")
+                    # node.warn(f"Queue size. Disp: {len(frames['disp'])}, rgb: {len(frames['rgb'])}")
+                    for name, list in frames.items():
+                        syncedF = list.pop(0) # We have removed older (excess) frames, so at positions 0 in dict we have synced frames
+                        node.info(f"{name}, ts: {str(syncedF.getTimestamp())}, seq {str(syncedF.getSequenceNum())}")
+                        node.io[name+'_out'].send(syncedF) # Send synced frames to the host
+
+
+        time.sleep(0.001)  # Avoid lazy looping
+""")
+
+script_out = ['disp', 'rgb']
+
+for name in script_out: # Create XLinkOut for disp/rgb streams
+    xout = pipeline.create(dai.node.XLinkOut)
+    xout.setStreamName(name)
+    script.outputs[name+'_out'].link(xout.input)
+
+with dai.Device(pipeline) as device:
+    device.setLogLevel(dai.LogLevel.INFO)
+    device.setLogOutputLevel(dai.LogLevel.INFO)
+    names = ['rgb', 'disp']
+    queues = [device.getOutputQueue(name) for name in names]
+
+    while True:
+        for q in queues:
+            img: dai.ImgFrame = q.get()
+            # Display timestamp/sequence number of two synced frames
+            print(f"Time: {time.time()}. Stream {q.getName()}, timestamp: {img.getTimestamp()}, sequence number: {img.getSequenceNum()}")
\ No newline at end of file
diff --git a/bindings/python/examples/mixed/mono_depth_mobilenetssd.py b/bindings/python/examples/mixed/mono_depth_mobilenetssd.py
new file mode 100755
index 000000000..d7bc31127
--- /dev/null
+++ b/bindings/python/examples/mixed/mono_depth_mobilenetssd.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label nnLabels
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+manip = pipeline.create(dai.node.ImageManip)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+nnOut = pipeline.create(dai.node.XLinkOut)
+disparityOut = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+
+disparityOut.setStreamName("disparity")
+xoutRight.setStreamName("rectifiedRight")
+nnOut.setStreamName("nn")
+
+# Properties
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+
+# Produce the depth map (using disparity output as it's easier to visualize depth this way)
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.setRectifyEdgeFillColor(0)  # Black, to better see the cutout from rectification (black stripe on the edges)
+# Convert the grayscale frame into the nn-acceptable form
+manip.initialConfig.setResize(300, 300)
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+monoRight.out.link(stereo.right)
+monoLeft.out.link(stereo.left)
+stereo.rectifiedRight.link(manip.inputImage)
+stereo.disparity.link(disparityOut.input)
+manip.out.link(nn.input)
+manip.out.link(xoutRight.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale / depth frames and nn data from the outputs defined above
+    qRight = device.getOutputQueue("rectifiedRight", maxSize=4, blocking=False)
+    qDisparity = device.getOutputQueue("disparity", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue("nn", maxSize=4, blocking=False)
+
+    rightFrame = None
+    disparityFrame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    # Add bounding boxes and text to the frame and show it to the user
+    def show(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    disparityMultiplier = 255 / stereo.initialConfig.getMaxDisparity()
+
+    while True:
+        # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+        if qDet.has():
+            detections = qDet.get().detections
+
+        if qRight.has():
+            rightFrame = qRight.get().getCvFrame()
+
+        if qDisparity.has():
+            # Frame is transformed, normalized, and color map will be applied to highlight the depth info
+            disparityFrame = qDisparity.get().getFrame()
+            disparityFrame = (disparityFrame*disparityMultiplier).astype(np.uint8)
+            # Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
+            disparityFrame = cv2.applyColorMap(disparityFrame, cv2.COLORMAP_JET)
+            show("disparity", disparityFrame)
+
+        if rightFrame is not None:
+            show("rectified right", rightFrame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/mixed/multiple_devices.py b/bindings/python/examples/mixed/multiple_devices.py
new file mode 100755
index 000000000..789694d63
--- /dev/null
+++ b/bindings/python/examples/mixed/multiple_devices.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import contextlib
+
+def createPipeline():
+    # Start defining a pipeline
+    pipeline = dai.Pipeline()
+    # Define a source - color camera
+    camRgb = pipeline.create(dai.node.ColorCamera)
+
+    camRgb.setPreviewSize(300, 300)
+    camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+    camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+    camRgb.setInterleaved(False)
+
+    # Create output
+    xoutRgb = pipeline.create(dai.node.XLinkOut)
+    xoutRgb.setStreamName("rgb")
+    camRgb.preview.link(xoutRgb.input)
+
+    return pipeline
+
+
+with contextlib.ExitStack() as stack:
+    deviceInfos = dai.Device.getAllAvailableDevices()
+    usbSpeed = dai.UsbSpeed.SUPER
+    openVinoVersion = dai.OpenVINO.Version.VERSION_2021_4
+
+    qRgbMap = []
+    devices = []
+
+    for deviceInfo in deviceInfos:
+        deviceInfo: dai.DeviceInfo
+        device: dai.Device = stack.enter_context(dai.Device(openVinoVersion, deviceInfo, usbSpeed))
+        devices.append(device)
+        print("===Connected to ", deviceInfo.getMxId())
+        mxId = device.getMxId()
+        cameras = device.getConnectedCameras()
+        usbSpeed = device.getUsbSpeed()
+        eepromData = device.readCalibration2().getEepromData()
+        print("   >>> MXID:", mxId)
+        print("   >>> Num of cameras:", len(cameras))
+        print("   >>> USB speed:", usbSpeed)
+        if eepromData.boardName != "":
+            print("   >>> Board name:", eepromData.boardName)
+        if eepromData.productName != "":
+            print("   >>> Product name:", eepromData.productName)
+
+        pipeline = createPipeline()
+        device.startPipeline(pipeline)
+
+        # Output queue will be used to get the rgb frames from the output defined above
+        q_rgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+        stream_name = "rgb-" + mxId + "-" + eepromData.productName
+        qRgbMap.append((q_rgb, stream_name))
+
+    while True:
+        for q_rgb, stream_name in qRgbMap:
+            if q_rgb.has():
+                cv2.imshow(stream_name, q_rgb.get().getCvFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file
diff --git a/bindings/python/examples/mixed/report_camera_settings.py b/bindings/python/examples/mixed/report_camera_settings.py
new file mode 100755
index 000000000..78283f09d
--- /dev/null
+++ b/bindings/python/examples/mixed/report_camera_settings.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setPreviewSize(300, 300)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName("rgb")
+camRgb.preview.link(xoutRgb.input)
+
+camLeft = pipeline.create(dai.node.MonoCamera)
+camLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+camLeft.setCamera("left")
+
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutLeft.setStreamName("left")
+camLeft.out.link(xoutLeft.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    qRgb = device.getOutputQueue(name="rgb")
+    qLeft = device.getOutputQueue(name="left")
+
+    while True:
+        txt = ""
+        for q in [qRgb, qLeft]:
+            imgFrame = q.get()
+            name = q.getName()
+            txt += f"[{name}] Exposure: {imgFrame.getExposureTime().total_seconds()*1000:.3f} ms, "
+            txt += f"ISO: {imgFrame.getSensitivity()},"
+            txt += f" Lens position: {imgFrame.getLensPosition()},"
+            txt += f" Color temp: {imgFrame.getColorTemperature()} K   "
+            cv2.imshow(name, imgFrame.getCvFrame())
+        print(txt)
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/mixed/rgb_encoding_mobilenet.py b/bindings/python/examples/mixed/rgb_encoding_mobilenet.py
new file mode 100755
index 000000000..bf00c8bb8
--- /dev/null
+++ b/bindings/python/examples/mixed/rgb_encoding_mobilenet.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+videoEncoder = pipeline.create(dai.node.VideoEncoder)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+videoOut = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+videoOut.setStreamName("h265")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+
+videoEncoder.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+camRgb.video.link(videoEncoder.input)
+camRgb.preview.link(xoutRgb.input)
+camRgb.preview.link(nn.input)
+videoEncoder.bitstream.link(videoOut.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device, open('video.h265', 'wb') as videoFile:
+
+    # Queues
+    queue_size = 8
+    qRgb = device.getOutputQueue("rgb", queue_size)
+    qDet = device.getOutputQueue("nn", queue_size)
+    qRgbEnc = device.getOutputQueue('h265', maxSize=30, blocking=True)
+
+    frame = None
+    detections = []
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    while True:
+        inRgb = qRgb.tryGet()
+        inDet = qDet.tryGet()
+
+        while qRgbEnc.has():
+            qRgbEnc.get().getData().tofile(videoFile)
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
+
+print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4), using a command below:")
+print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4")
diff --git a/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet.py b/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet.py
new file mode 100755
index 000000000..850635b21
--- /dev/null
+++ b/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+videoEncoder = pipeline.create(dai.node.VideoEncoder)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+manip = pipeline.create(dai.node.ImageManip)
+
+videoOut = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+manipOut = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+videoOut.setStreamName('h265')
+xoutRight.setStreamName("right")
+manipOut.setStreamName("manip")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+videoEncoder.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+manip.initialConfig.setResize(300, 300)
+
+# Linking
+camRgb.video.link(videoEncoder.input)
+videoEncoder.bitstream.link(videoOut.input)
+monoRight.out.link(manip.inputImage)
+manip.out.link(nn.input)
+monoRight.out.link(xoutRight.input)
+manip.out.link(manipOut.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Queues
+    queue_size = 8
+    qRight = device.getOutputQueue("right", queue_size)
+    qManip = device.getOutputQueue("manip", queue_size)
+    qDet = device.getOutputQueue("nn", queue_size)
+    qRgbEnc = device.getOutputQueue('h265', maxSize=30, blocking=True)
+
+    frame = None
+    frameManip = None
+    detections = []
+    offsetX = (monoRight.getResolutionWidth() - monoRight.getResolutionHeight()) // 2
+    color = (255, 0, 0)
+    croppedFrame = np.zeros((monoRight.getResolutionHeight(), monoRight.getResolutionHeight()))
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    videoFile = open('video.h265', 'wb')
+    cv2.namedWindow("right", cv2.WINDOW_NORMAL)
+    cv2.namedWindow("manip", cv2.WINDOW_NORMAL)
+
+    while True:
+        inRight = qRight.tryGet()
+        inManip = qManip.tryGet()
+        inDet = qDet.tryGet()
+
+        while qRgbEnc.has():
+            qRgbEnc.get().getData().tofile(videoFile)
+
+        if inRight is not None:
+            frame = inRight.getCvFrame()
+
+        if inManip is not None:
+            frameManip = inManip.getCvFrame()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            for detection in detections:
+                bbox = frameNorm(croppedFrame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+                bbox[::2] += offsetX
+                cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+            # Show the frame
+            cv2.imshow("right", frame)
+
+        if frameManip is not None:
+            for detection in detections:
+                bbox = frameNorm(frameManip, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+                cv2.putText(frameManip, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.putText(frameManip, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.rectangle(frameManip, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+            # Show the frame
+            cv2.imshow("manip", frameManip)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
+
+    print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4")
diff --git a/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet_depth.py b/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet_depth.py
new file mode 100755
index 000000000..f6a0f627d
--- /dev/null
+++ b/bindings/python/examples/mixed/rgb_encoding_mono_mobilenet_depth.py
@@ -0,0 +1,166 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnPath = sys.argv[1]
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+videoEncoder = pipeline.create(dai.node.VideoEncoder)
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+depth = pipeline.create(dai.node.StereoDepth)
+manip = pipeline.create(dai.node.ImageManip)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+videoOut = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+disparityOut = pipeline.create(dai.node.XLinkOut)
+manipOut = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+videoOut.setStreamName('h265')
+xoutRight.setStreamName('right')
+disparityOut.setStreamName('disparity')
+manipOut.setStreamName('manip')
+nnOut.setStreamName('nn')
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+monoRight.setCamera("right")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+videoEncoder.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
+
+depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+depth.setRectifyEdgeFillColor(0) # Black, to better see the cutout
+
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# The NN model expects BGR input. By default ImageManip output type would be same as input (gray in this case)
+manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
+manip.initialConfig.setResize(300, 300)
+
+# Linking
+camRgb.video.link(videoEncoder.input)
+videoEncoder.bitstream.link(videoOut.input)
+monoRight.out.link(xoutRight.input)
+monoRight.out.link(depth.right)
+monoLeft.out.link(depth.left)
+depth.disparity.link(disparityOut.input)
+depth.rectifiedRight.link(manip.inputImage)
+manip.out.link(nn.input)
+manip.out.link(manipOut.input)
+nn.out.link(nnOut.input)
+
+# Disparity range is used for normalization
+disparityMultiplier = 255 / depth.initialConfig.getMaxDisparity()
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    queueSize = 8
+    qRight = device.getOutputQueue("right", queueSize)
+    qDisparity = device.getOutputQueue("disparity", queueSize)
+    qManip = device.getOutputQueue("manip", queueSize)
+    qDet = device.getOutputQueue("nn", queueSize)
+    qRgbEnc = device.getOutputQueue('h265', maxSize=30, blocking=True)
+
+    frame = None
+    frameManip = None
+    frameDisparity = None
+    detections = []
+    offsetX = (monoRight.getResolutionWidth() - monoRight.getResolutionHeight()) // 2
+    color = (255, 0, 0)
+    croppedFrame = np.zeros((monoRight.getResolutionHeight(), monoRight.getResolutionHeight()))
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    videoFile = open('video.h265', 'wb')
+    cv2.namedWindow("right", cv2.WINDOW_NORMAL)
+    cv2.namedWindow("manip", cv2.WINDOW_NORMAL)
+
+    while True:
+        inRight = qRight.tryGet()
+        inManip = qManip.tryGet()
+        inDet = qDet.tryGet()
+        inDisparity = qDisparity.tryGet()
+
+        while qRgbEnc.has():
+            qRgbEnc.get().getData().tofile(videoFile)
+
+        if inRight is not None:
+            frame = inRight.getCvFrame()
+
+        if inManip is not None:
+            frameManip = inManip.getCvFrame()
+
+        if inDisparity is not None:
+            # Apply color map for better visualization
+            frameDisparity = inDisparity.getCvFrame()
+            frameDisparity = (frameDisparity*disparityMultiplier).astype(np.uint8)
+            frameDisparity = cv2.applyColorMap(frameDisparity, cv2.COLORMAP_JET)
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            for detection in detections:
+                bbox = frameNorm(croppedFrame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+                bbox[::2] += offsetX
+                cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+            # Show the right cam frame
+            cv2.imshow("right", frame)
+
+        if frameDisparity is not None:
+            for detection in detections:
+                bbox = frameNorm(croppedFrame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+                bbox[::2] += offsetX
+                cv2.rectangle(frameDisparity, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+                cv2.putText(frameDisparity, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.putText(frameDisparity, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            # Show the disparity frame
+            cv2.imshow("disparity", frameDisparity)
+
+        if frameManip is not None:
+            for detection in detections:
+                bbox = frameNorm(frameManip, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+                cv2.rectangle(frameManip, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+                cv2.putText(frameManip, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+                cv2.putText(frameManip, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            # Show the manip frame
+            cv2.imshow("manip", frameManip)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
+
+    print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:")
+    print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4")
diff --git a/bindings/python/examples/mixed/rotated_spatial_detections.py b/bindings/python/examples/mixed/rotated_spatial_detections.py
new file mode 100755
index 000000000..a0e668acf
--- /dev/null
+++ b/bindings/python/examples/mixed/rotated_spatial_detections.py
@@ -0,0 +1,155 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+'''
+Spatial object detections demo for 180° rotated OAK camera.
+'''
+
+# Get argument first
+nnBlobPath = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
+if len(sys.argv) > 1:
+    nnBlobPath = sys.argv[1]
+
+if not Path(nnBlobPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.createColorCamera()
+spatialDetectionNetwork = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutNN = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+xoutNN.setStreamName("detections")
+xoutDepth.setStreamName("depth")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)
+
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+# Setting node configs
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+# Align depth map to the perspective of RGB camera, on which inference is done
+stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+stereo.setSubpixel(True)
+stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
+
+rotate_stereo_manip = pipeline.createImageManip()
+rotate_stereo_manip.initialConfig.setVerticalFlip(True)
+rotate_stereo_manip.initialConfig.setHorizontalFlip(True)
+rotate_stereo_manip.setFrameType(dai.ImgFrame.Type.RAW16)
+stereo.depth.link(rotate_stereo_manip.inputImage)
+
+spatialDetectionNetwork.setBlobPath(nnBlobPath)
+spatialDetectionNetwork.setConfidenceThreshold(0.5)
+spatialDetectionNetwork.input.setBlocking(False)
+spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+spatialDetectionNetwork.setDepthLowerThreshold(100)
+spatialDetectionNetwork.setDepthUpperThreshold(5000)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+
+camRgb.preview.link(spatialDetectionNetwork.input)
+if syncNN:
+    spatialDetectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+spatialDetectionNetwork.out.link(xoutNN.input)
+
+rotate_stereo_manip.out.link(spatialDetectionNetwork.inputDepth)
+spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
+color = (255, 0, 0)
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    previewQueue = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    detectionNNQueue = device.getOutputQueue(name="detections", maxSize=4, blocking=False)
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
+    while True:
+        inPreview = previewQueue.get()
+        inDet = detectionNNQueue.get()
+        depth = depthQueue.get()
+
+        frame = inPreview.getCvFrame()
+        depthFrame = depth.getFrame() # depthFrame values are in millimeters
+
+        depth_downscaled = depthFrame[::4]
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+
+        detections = inDet.detections
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        height = frame.shape[0]
+        width  = frame.shape[1]
+        for detection in detections:
+            roiData = detection.boundingBoxMapping
+            roi = roiData.roi
+            roi = roi.denormalize(depthFrameColor.shape[1], depthFrameColor.shape[0])
+            topLeft = roi.topLeft()
+            bottomRight = roi.bottomRight()
+            xmin = int(topLeft.x)
+            ymin = int(topLeft.y)
+            xmax = int(bottomRight.x)
+            ymax = int(bottomRight.y)
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX)
+
+            # Denormalize bounding box
+            x1 = int(detection.xmin * width)
+            x2 = int(detection.xmax * width)
+            y1 = int(detection.ymin * height)
+            y2 = int(detection.ymax * height)
+            try:
+                label = labelMap[detection.label]
+            except:
+                label = detection.label
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, "{:.2f}".format(detection.confidence*100), (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"X: {int(detection.spatialCoordinates.x)} mm", (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Y: {int(detection.spatialCoordinates.y)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"Z: {int(detection.spatialCoordinates.z)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 0), cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.imshow("depth", depthFrameColor)
+        cv2.imshow("preview", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/models/.gitignore b/bindings/python/examples/models/.gitignore
new file mode 100644
index 000000000..022a49800
--- /dev/null
+++ b/bindings/python/examples/models/.gitignore
@@ -0,0 +1,5 @@
+*.blob
+*.mp4
+*.json
+*.calib
+dataset/
diff --git a/bindings/python/examples/models/calibration-sample/model.yml b/bindings/python/examples/models/calibration-sample/model.yml
new file mode 100644
index 000000000..66f74a815
--- /dev/null
+++ b/bindings/python/examples/models/calibration-sample/model.yml
@@ -0,0 +1,34 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  Calibration Sample files to test writing to device
+task_type: object_attributes
+files:
+  - name: depthai_calib.json
+    size: 8019
+    sha256: f27dc05a57d2d964189e459599b1633556dc647e67a3b7e3eb7fe1b00740f157
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/depthai_calib.json
+  - name: depthai_v5.calib
+    size: 444
+    sha256: c258902222d7b9ec55eee56b1b39255f9a3bb55c02eb8c5228f5a251c70740ee
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/depthai_v5.calib
+  - name: BW1098OBC.json
+    size: 286
+    sha256: fed667afd54e97b4918f1118788ae14acd6461ac6364850e32686ce111fa4528
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/misc/BW1098OBC.json
+
+
+framework: dldt
+license: https://vision.middlebury.edu/stereo/data/scenes2014/
diff --git a/bindings/python/examples/models/concat-model/model.yml b/bindings/python/examples/models/concat-model/model.yml
new file mode 100644
index 000000000..3f26f962c
--- /dev/null
+++ b/bindings/python/examples/models/concat-model/model.yml
@@ -0,0 +1,25 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  concat-model
+task_type: image_inpainting # Just random task type, so it's supported by model downloader
+files:
+  - name: concat_openvino_2021.4_6shave.blob
+    size: 1024
+    sha256: 6ac3023ea8dac9b7501ead0f9b2c2a4495d2791a58b7049de065246455cf87be
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/concat_openvino_2021.4_6shave.blob
+
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/models/mobilenet-ssd/model.yml b/bindings/python/examples/models/mobilenet-ssd/model.yml
new file mode 100644
index 000000000..77175b736
--- /dev/null
+++ b/bindings/python/examples/models/mobilenet-ssd/model.yml
@@ -0,0 +1,33 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  mobilenet-ssd
+task_type: object_attributes
+files:
+  - name: mobilenet-ssd_openvino_2021.4_6shave.blob
+    size: 14499200
+    sha256: 5ae9cb636bfa40df02c2ca3e64bc68a6690abd8a147903d4580aea6b6feb9c1c
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/mobilenet-ssd_openvino_2021.4_6shave.blob
+  - name: mobilenet-ssd_openvino_2021.4_5shave.blob
+    size: 14517568
+    sha256: 782d80902c5ce7da01f8fc83894b68da33216edc93d94afb16dd7576a25e50e2
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/mobilenet-ssd_openvino_2021.4_5shave.blob
+  - name: mobilenet-ssd_openvino_2021.4_8shave.blob
+    size: 14493888
+    sha256: 8c9a0189d95580b2442c88539af3198a433efd41b9b0837cea8d09a4d16a2d4a
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/mobilenet-ssd_openvino_2021.4_8shave.blob
+
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/models/normalization-model/model.yml b/bindings/python/examples/models/normalization-model/model.yml
new file mode 100644
index 000000000..ce6c65ed5
--- /dev/null
+++ b/bindings/python/examples/models/normalization-model/model.yml
@@ -0,0 +1,25 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  normalization-model
+task_type: image_inpainting # Just random task type, so it's supported by model downloader
+files:
+  - name: normalize_openvino_2021.4_4shave.blob
+    size: 1216
+    sha256:   9b5dc4b375ed9218c2910284556f8152cbfcc0130e7b7a42d9a9991eae8be23a
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/normalize_openvino_2021.4_4shave.blob
+
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/models/person-detection-retail-0013/model.yml b/bindings/python/examples/models/person-detection-retail-0013/model.yml
new file mode 100644
index 000000000..0d8558b20
--- /dev/null
+++ b/bindings/python/examples/models/person-detection-retail-0013/model.yml
@@ -0,0 +1,25 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  person-detection-retail-0013
+task_type: object_attributes
+files:
+  - name: person-detection-retail-0013_openvino_2021.4_7shave.blob
+    size: 2252352
+    sha256: 4a5d7ef7c27ddbae51a3bfe20b093006f44b3b6329c8d5f6482f9f348b21ad37
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/person-detection-retail-0013_openvino_2021.4_7shave.blob
+
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/models/stereo-dataset/model.yml b/bindings/python/examples/models/stereo-dataset/model.yml
new file mode 100644
index 000000000..65b98e1d7
--- /dev/null
+++ b/bindings/python/examples/models/stereo-dataset/model.yml
@@ -0,0 +1,31 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  stereo dataset to test frames sent from host
+task_type: object_attributes
+files:
+  - name: dataset.zip
+    size: 2361554
+    sha256: 19abe0e4126fc32ea45441abaaf5bed39603493530f616f416531c1c2fe05b86
+    source:
+      $type: google_drive
+      id: 1mPyghc_0odGtSU2cROS1uLD-qwRU8aug
+postprocessing:
+  - $type: unpack_archive
+    format: zip
+    file: dataset.zip
+
+framework: dldt
+license: https://vision.middlebury.edu/stereo/data/scenes2014/
diff --git a/bindings/python/examples/models/tiny-yolo/model.yml b/bindings/python/examples/models/tiny-yolo/model.yml
new file mode 100644
index 000000000..5f987ef78
--- /dev/null
+++ b/bindings/python/examples/models/tiny-yolo/model.yml
@@ -0,0 +1,36 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  tiny-yolo
+task_type: object_attributes
+files:
+  - name: yolo-v3-tiny-tf_openvino_2021.4_6shave.blob
+    size: 17750208
+    sha256: f2729a42e277e994ba68f0e914b66fe52ce665175a80a5596b8d50d18b220343
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolo-v3-tiny-tf_openvino_2021.4_6shave.blob
+  - name: yolo-v4-tiny-tf_openvino_2021.4_6shave.blob
+    size: 12168064
+    sha256: 0229c068ff220631affd323b84eece865bfe28d5fe8950ab602825a8444b86f4
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob
+  - name: yolov4_tiny_coco_416x416_2022.1_vpux.blob
+    size: 12605224
+    sha256: 7be42fb69eeaad16d4b2a16302f2f74eb048569f892eb2cc07c8ea51338ab257
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolov4_tiny_coco_416x416_2022.1_vpux.blob
+  - name: yolov6n_416x416_openvino2022.1_vpux.blob
+    size: 5647272
+    sha256: 82fe09ad02799c00e6a2b8814015969ae5d4479c952c4c0b5b4977e630bdc675
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolov6n_416x416_openvino2022.1_vpux.blob
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/models/video-resources/model.yml b/bindings/python/examples/models/video-resources/model.yml
new file mode 100644
index 000000000..224b3c616
--- /dev/null
+++ b/bindings/python/examples/models/video-resources/model.yml
@@ -0,0 +1,26 @@
+# Copyright (c) 2021 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+description: >-
+  video-resources
+task_type: object_attributes
+files:
+  - name: construction_vest.mp4
+    size: 5423604
+    sha256: 2f35ea35a41e98ee17dc9136c495ed0ff3aa7ba6774d5eedc2b9935350c6084f
+    source: https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/construction_vest.mp4
+
+
+framework: dldt
+license: https://raw.githubusercontent.com/openvinotoolkit/open_model_zoo/master/LICENSE
diff --git a/bindings/python/examples/tmp_s3/benchmarks/benchmark_empty_message.py b/bindings/python/examples/tmp_s3/benchmarks/benchmark_empty_message.py
new file mode 100644
index 000000000..cdd907765
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/benchmarks/benchmark_empty_message.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import depthai as dai
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+xoutReport = pipeline.create(dai.node.XLinkOut)
+benchmarkOut = pipeline.create(dai.node.BenchmarkOut)
+benchmarkIn = pipeline.create(dai.node.BenchmarkIn)
+# benchmarkOut.setNumMessagesToSend() # Specify how many messages you want to be sent
+benchmarkIn.setNumMessagesToGet(10000)
+xinFrame.setStreamName("inFrame")
+xoutReport.setStreamName("outReport")
+
+# Linking
+xinFrame.out.link(benchmarkOut.input)
+benchmarkOut.out.link(benchmarkIn.input)
+benchmarkIn.report.link(xoutReport.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue to receive the report back from the device
+    qOut = device.getOutputQueue(name="outReport")
+
+    frame = None
+    detections = []
+
+    img = dai.ImgFrame()
+    qIn.send(img)
+    report = qOut.get()
+    print(f"Got {report.fps} FPS, in {report.timeTotal} s for {report.numMessagesReceived} messages.")
+    print(f"Average latency was {report.averageLatency * 1e6} us")
+    print(f"First 10 latencies in seconds were: {report.latencies[:10]}")
diff --git a/bindings/python/examples/tmp_s3/benchmarks/nn_from_host_benchmark.py b/bindings/python/examples/tmp_s3/benchmarks/nn_from_host_benchmark.py
new file mode 100644
index 000000000..c062f9ae0
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/benchmarks/nn_from_host_benchmark.py
@@ -0,0 +1,129 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+from time import monotonic
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/yolov4_tiny_coco_416x416_2022.1_vpux.blob')).resolve().absolute())
+videoPath = str((parentDir / Path('../models/construction_vest.mp4')).resolve().absolute())
+if len(sys.argv) > 2:
+    nnPath = sys.argv[1]
+    videoPath = sys.argv[2]
+
+if not Path(nnPath).exists() or not Path(videoPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+nn = pipeline.create(dai.node.YoloDetectionNetwork)
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+nnOut = pipeline.create(dai.node.XLinkOut)
+benchmarkIn = pipeline.create(dai.node.BenchmarkIn)
+xOutBenchmark = pipeline.create(dai.node.XLinkOut)
+
+xinFrame.setStreamName("inFrame")
+nnOut.setStreamName("nn")
+xOutBenchmark.setStreamName("outBenchmark")
+
+# Properties
+nn.setConfidenceThreshold(0.8)
+nn.setNumClasses(80)
+nn.setCoordinateSize(4)
+nn.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+nn.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+nn.setIouThreshold(0.2)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+
+benchmarkIn.setNumMessagesToGet(20)
+
+# Linking
+xinFrame.out.link(nn.input)
+# nn.out.link(nnOut.input)
+
+nn.out.link(benchmarkIn.input)
+benchmarkIn.passthrough.link(nnOut.input)
+benchmarkIn.report.link(xOutBenchmark.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue will be used to get nn data from the video frames.
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    qReport = device.getOutputQueue(name="outBenchmark", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(videoPath)
+    i = 0
+    while cap.isOpened() and i < 50:
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setData(to_planar(frame, (416, 416)))
+        img.setTimestamp(monotonic())
+        img.setWidth(416)
+        img.setHeight(416)
+        qIn.send(img)
+
+        inDet = qDet.get()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
+        i += 1
+    outReport = qReport.get()
+    print(f"FPS was {outReport.fps}")
diff --git a/bindings/python/examples/tmp_s3/camera_sync.py b/bindings/python/examples/tmp_s3/camera_sync.py
new file mode 100755
index 000000000..7c9134fda
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/camera_sync.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+print("Press C to capture a set of frames, Q to quit")
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+FPS = 15
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoVertical = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutVertical = pipeline.create(dai.node.XLinkOut)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+syncNode = pipeline.create(dai.node.Sync)
+
+xoutLeft.setStreamName('left')
+xoutRight.setStreamName('right')
+xoutVertical.setStreamName('vertical')
+xoutRgb.setStreamName('rgb')
+
+# Properties
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+camRgb = pipeline.create(dai.node.ColorCamera)
+camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_720_P)
+
+monoLeft.setFps(FPS)
+monoRight.setFps(FPS)
+monoVertical.setFps(FPS)
+camRgb.setFps(FPS)
+
+monoLeft.out.link(syncNode.inputs["left"])
+monoRight.out.link(syncNode.inputs["right"])
+monoVertical.out.link(syncNode.inputs["vertical"])
+camRgb.isp.link(syncNode.inputs["RGB"])
+
+syncNode.outputs["left"].link(xoutLeft.input)
+syncNode.outputs["right"].link(xoutRight.input)
+syncNode.outputs["vertical"].link(xoutVertical.input)
+syncNode.outputs["RGB"].link(xoutRgb.input)
+
+tFrame = 1000 / FPS  # 0.033s, for 30fps
+tSyncThresholdMs = tFrame / 2
+print(f"Sync threshold {tSyncThresholdMs:.2f}")
+syncNode.setSyncThresholdMs(tSyncThresholdMs)
+
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the grayscale frames from the outputs defined above
+    qLeft = device.getOutputQueue(name="left", maxSize=30, blocking=True)
+    qRight = device.getOutputQueue(name="right", maxSize=30, blocking=True)
+    qVertical = device.getOutputQueue(name="vertical", maxSize=30, blocking=True)
+    qRgb = device.getOutputQueue(name="rgb", maxSize=30, blocking=True)
+
+    cnt = 0
+    while True:
+        inL = qLeft.get()
+        inR = qRight.get()
+        inV = qVertical.get()
+        inRgb = qRgb.get()
+
+        tstampL = inL.getTimestamp().total_seconds()*1000
+        tstampR = inR.getTimestamp().total_seconds()*1000
+        tstampV = inV.getTimestamp().total_seconds()*1000
+        tstampRgb = inRgb.getTimestamp().total_seconds()*1000
+
+        print(f"synced! tstampL {tstampL:.2f}, tstampR {tstampR:.2f}, tstampV {tstampV:.2f}, tstampRgb {tstampRgb:.2f} ")
+
+        frameL = inL.getCvFrame()
+        frameR = inR.getCvFrame()
+        frameV = inV.getCvFrame()
+        frameRgb = inRgb.getCvFrame()
+
+        cv2.imshow("left", frameL)
+        cv2.imshow("right", frameR)
+        cv2.imshow("vertical", frameV)
+        cv2.imshow("frameRgb", frameRgb)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif 0 or key == ord('c'):
+            print("Saving, iter", cnt)
+            cv2.imwrite(str(cnt)+"_left_"    +str(tstampL)+".png", frameL)
+            cv2.imwrite(str(cnt)+"_right_"   +str(tstampR)+".png", frameR)
+            cv2.imwrite(str(cnt)+"_vertical_"+str(tstampV)+".png", frameV)
+            cv2.imwrite(str(cnt)+"_rgb_"+str(tstampRgb)+".png", frameRgb)
+            cnt += 1
\ No newline at end of file
diff --git a/bindings/python/examples/tmp_s3/led_test.py b/bindings/python/examples/tmp_s3/led_test.py
new file mode 100755
index 000000000..54e17c0c6
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/led_test.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import time
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Connect to device and start pipeline
+with dai.Device() as device:
+    print('Connected IR Drivers: ', device.getIrDrivers())
+
+    curBrightness = 0
+    while True:
+        device.setIrFloodLightBrightness(curBrightness)
+        device.setIrLaserDotProjectorBrightness(1000 - curBrightness)
+        curBrightness = curBrightness + 10
+
+        if curBrightness > 1000:
+            curBrightness = 0
+        time.sleep(0.003)
diff --git a/bindings/python/examples/tmp_s3/left_right_vertical_color_nn_manip.py b/bindings/python/examples/tmp_s3/left_right_vertical_color_nn_manip.py
new file mode 100755
index 000000000..1817b11c9
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/left_right_vertical_color_nn_manip.py
@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+parentDir = Path(__file__).parent
+nnPathDefault = str((parentDir / Path('../models/yolov4_tiny_coco_416x416_2022.1_vpux.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.YoloDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setInterleaved(False)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.8)
+nn.setNumClasses(80)
+nn.setCoordinateSize(4)
+nn.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+nn.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+nn.setIouThreshold(0.2)
+nn.setNumInferenceThreads(2)
+nn.setBlobPath(args.nnPath)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoVertical = pipeline.create(dai.node.MonoCamera)
+manip = pipeline.create(dai.node.ImageManip)
+manip.setResizeThumbnail(320, 240, 255, 255, 255)
+
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutVertical = pipeline.create(dai.node.XLinkOut)
+
+xoutLeft.setStreamName('left')
+xoutRight.setStreamName('right')
+xoutVertical.setStreamName('vertical')
+
+# Properties
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(xoutRight.input)
+monoLeft.out.link(xoutLeft.input)
+monoVertical.out.link(manip.inputImage)
+manip.out.link(xoutVertical.input)
+
+
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    # Output queues will be used to get the grayscale frames from the outputs defined above
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    qVertical = device.getOutputQueue(name="vertical", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    printOutputLayersOnce = True
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+            inLeft = qLeft.get()
+            inRight = qRight.get()
+            inVertical = qVertical.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+            inLeft = qLeft.tryGet()
+            inRight = qRight.tryGet()
+            inVertical = qVertical.tryGet()
+
+        if inLeft is not None:
+            cv2.imshow("left", inLeft.getCvFrame())
+        if inRight is not None:
+            cv2.imshow("right", inRight.getCvFrame())
+        if inVertical is not None:
+            cv2.imshow("vertical", inVertical.getCvFrame())
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/location_calc.py b/bindings/python/examples/tmp_s3/location_calc.py
new file mode 100755
index 000000000..b9aee629f
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/location_calc.py
@@ -0,0 +1,160 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+from pathlib import Path
+
+#run examples/install_requirements.py -sdai
+
+datasetDefault = str((Path(__file__).parent / Path('../models/dataset')).resolve().absolute())
+if not Path(datasetDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+left = datasetDefault + '/' + '0' + '/' + 'in_left' + '.png'
+right = datasetDefault + '/' + '0' + '/' + 'in_right' + '.png'
+
+leftImg = cv2.imread(left, cv2.IMREAD_GRAYSCALE)
+rightImg = cv2.imread(right, cv2.IMREAD_GRAYSCALE)
+
+cv2.imshow("leftImg", leftImg)
+cv2.imshow("rightImg", rightImg)
+cv2.waitKey(1)
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.XLinkIn)
+monoRight = pipeline.create(dai.node.XLinkIn)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+stereo = pipeline.create(dai.node.StereoDepth)
+
+spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)
+xoutSpatialData = pipeline.create(dai.node.XLinkOut)
+xinSpatialCalcConfig = pipeline.create(dai.node.XLinkIn)
+
+monoLeft.setStreamName("inLeft")
+monoRight.setStreamName("inRight")
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+xoutDepth.setStreamName("depth")
+
+xoutSpatialData.setStreamName("spatialData")
+xinSpatialCalcConfig.setStreamName("spatialCalcConfig")
+
+monoLeft.setMaxDataSize(1280 * 720)
+monoRight.setMaxDataSize(1280 * 720)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.syncedLeft.link(xoutLeft.input)
+stereo.syncedRight.link(xoutRight.input)
+stereo.depth.link(xoutDepth.input)
+
+stereo.depth.link(spatialLocationCalculator.inputDepth)
+spatialLocationCalculator.out.link(xoutSpatialData.input)
+xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)
+
+# Config
+topLeft = dai.Point2f(0.3, 0.4)
+bottomRight = dai.Point2f(0.6, 0.7)
+
+config = dai.SpatialLocationCalculatorConfigData()
+config.depthThresholds.lowerThreshold = 100
+config.depthThresholds.upperThreshold = 10000
+config.roi = dai.Rect(topLeft, bottomRight)
+
+spatialLocationCalculator.inputConfig.setWaitForMessage(False)
+spatialLocationCalculator.initialConfig.addROI(config)
+
+stereo.setInputResolution(1280, 720)
+
+
+stereo.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_LEFT)
+# stereo.initialConfig.setDepthAlign(dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    qInLeft = device.getInputQueue("inLeft")
+    qInRight = device.getInputQueue("inRight")
+    qLeft = device.getOutputQueue("left", 4, False)
+    qRight = device.getOutputQueue("right", 4, False)
+    qDepth = device.getOutputQueue("depth", 4, False)
+    spatialCalcQueue = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False)
+    spatialCalcConfigInQueue = device.getInputQueue("spatialCalcConfig")
+
+    cnt = 0
+
+    width = 1280
+    height = 720
+    color = (255, 255, 255)
+
+    while True:
+
+        data = cv2.resize(leftImg, (width, height), interpolation=cv2.INTER_AREA)
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(1)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        qInLeft.send(img)
+
+        data = cv2.resize(rightImg, (width, height), interpolation=cv2.INTER_AREA)
+        data = data.reshape(height*width)
+        img = dai.ImgFrame()
+        img.setData(data)
+        img.setInstanceNum(2)
+        img.setType(dai.ImgFrame.Type.RAW8)
+        img.setWidth(width)
+        img.setHeight(height)
+        qInRight.send(img)
+
+
+
+        spatialData = spatialCalcQueue.get().getSpatialLocations()
+        inLeft = qLeft.get()
+        frameLeft = inLeft.getCvFrame()
+        cv2.imshow("left", frameLeft)
+
+        inRight = qRight.get()
+        frameRight = inRight.getCvFrame()
+        cv2.imshow("right", frameRight)
+
+        inDepth = qDepth.get()
+        depthFrame = inDepth.getCvFrame()
+        # cv2.imshow("depth", frameDepth)
+        depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
+        depthFrameColor = cv2.equalizeHist(depthFrameColor)
+        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
+        for depthData in spatialData:
+            roi = depthData.config.roi
+            roi = roi.denormalize(width=depthFrameColor.shape[1], height=depthFrameColor.shape[0])
+            xmin = int(roi.topLeft().x)
+            ymin = int(roi.topLeft().y)
+            xmax = int(roi.bottomRight().x)
+            ymax = int(roi.bottomRight().y)
+
+            depthMin = depthData.depthMin
+            depthMax = depthData.depthMax
+
+            fontType = cv2.FONT_HERSHEY_TRIPLEX
+            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX)
+            cv2.putText(depthFrameColor, f"X: {int(depthData.spatialCoordinates.x)} mm", (xmin + 10, ymin + 20), fontType, 0.5, 255)
+            cv2.putText(depthFrameColor, f"Y: {int(depthData.spatialCoordinates.y)} mm", (xmin + 10, ymin + 35), fontType, 0.5, 255)
+            cv2.putText(depthFrameColor, f"Z: {int(depthData.spatialCoordinates.z)} mm", (xmin + 10, ymin + 50), fontType, 0.5, 255)
+        # Show the frame
+
+        cv2.imshow("disp", depthFrameColor)
+
+        cnt += 1
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/mobilenet_from_host.py b/bindings/python/examples/tmp_s3/mobilenet_from_host.py
new file mode 100755
index 000000000..d10332878
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/mobilenet_from_host.py
@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+from time import monotonic
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/mobilenet-ssd_openvino_2022.1_vpux.blob')).resolve().absolute())
+videoPath = str((parentDir / Path('../models/construction_vest.mp4')).resolve().absolute())
+if len(sys.argv) > 2:
+    nnPath = sys.argv[1]
+    videoPath = sys.argv[2]
+
+if not Path(nnPath).exists() or not Path(videoPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xinFrame.setStreamName("inFrame")
+nnOut.setStreamName("nn")
+
+# Properties
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+
+# Linking
+xinFrame.out.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue will be used to get nn data from the video frames.
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(videoPath)
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setData(to_planar(frame, (300, 300)))
+        img.setTimestamp(monotonic())
+        img.setWidth(300)
+        img.setHeight(300)
+        qIn.send(img)
+
+        inDet = qDet.get()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/nn_from_host.py b/bindings/python/examples/tmp_s3/nn_from_host.py
new file mode 100755
index 000000000..83cf43f12
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/nn_from_host.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+from time import monotonic
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/yolov4_tiny_coco_416x416_2022.1_vpux.blob')).resolve().absolute())
+videoPath = str((parentDir / Path('../models/construction_vest.mp4')).resolve().absolute())
+if len(sys.argv) > 2:
+    nnPath = sys.argv[1]
+    videoPath = sys.argv[2]
+
+if not Path(nnPath).exists() or not Path(videoPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+nn = pipeline.create(dai.node.YoloDetectionNetwork)
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xinFrame.setStreamName("inFrame")
+nnOut.setStreamName("nn")
+
+# Properties
+nn.setConfidenceThreshold(0.8)
+nn.setNumClasses(80)
+nn.setCoordinateSize(4)
+nn.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+nn.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+nn.setIouThreshold(0.2)
+nn.setBlobPath(nnPath)
+nn.setNumInferenceThreads(2)
+
+# Linking
+xinFrame.out.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue will be used to get nn data from the video frames.
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(videoPath)
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setData(to_planar(frame, (416, 416)))
+        img.setTimestamp(monotonic())
+        img.setWidth(416)
+        img.setHeight(416)
+        qIn.send(img)
+
+        inDet = qDet.get()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/nn_from_host_split.py b/bindings/python/examples/tmp_s3/nn_from_host_split.py
new file mode 100755
index 000000000..b272eb717
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/nn_from_host_split.py
@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+from time import monotonic
+
+# Get argument first
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/yolov4_tiny_coco_416x416_2022.1_vpux.blob')).resolve().absolute())
+videoPath = str((parentDir / Path('../models/construction_vest.mp4')).resolve().absolute())
+if len(sys.argv) > 2:
+    nnPath = sys.argv[1]
+    videoPath = sys.argv[2]
+
+if not Path(nnPath).exists() or not Path(videoPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v4 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+nn = pipeline.create(dai.node.NeuralNetwork)
+det = pipeline.create(dai.node.DetectionParser)
+
+xinFrame = pipeline.create(dai.node.XLinkIn)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xinFrame.setStreamName("inFrame")
+nnOut.setStreamName("nn")
+nn.setBlobPath(nnPath)
+# Properties
+det.setNNFamily(dai.DetectionNetworkType.YOLO)
+det.setConfidenceThreshold(0.8)
+det.setNumClasses(80)
+det.setCoordinateSize(4)
+det.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+det.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+det.setIouThreshold(0.2)
+
+# Linking
+xinFrame.out.link(nn.input)
+nn.out.link(det.input)
+det.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Input queue will be used to send video frames to the device.
+    qIn = device.getInputQueue(name="inFrame")
+    # Output queue will be used to get nn data from the video frames.
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def to_planar(arr: np.ndarray, shape: tuple) -> np.ndarray:
+        return cv2.resize(arr, shape).transpose(2, 0, 1).flatten()
+
+    def displayFrame(name, frame):
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    cap = cv2.VideoCapture(videoPath)
+    while cap.isOpened():
+        read_correctly, frame = cap.read()
+        if not read_correctly:
+            break
+
+        img = dai.ImgFrame()
+        img.setData(to_planar(frame, (416, 416)))
+        img.setTimestamp(monotonic())
+        img.setWidth(416)
+        img.setHeight(416)
+        qIn.send(img)
+
+        inDet = qDet.get()
+
+        if inDet is not None:
+            detections = inDet.detections
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/nn_yolov6n.py b/bindings/python/examples/tmp_s3/nn_yolov6n.py
new file mode 100755
index 000000000..0028ee3ac
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/nn_yolov6n.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+from pathlib import Path
+import sys
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+# Get argument first
+nnPath = str((Path(__file__).parent / Path('../models/yolov6n_416x416_openvino2022.1_vpux.blob')).resolve().absolute())
+if 1 < len(sys.argv):
+    arg = sys.argv[1]
+    nnPath = arg
+
+if not Path(nnPath).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# tiny yolo v6 label texts
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+syncNN = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+detectionNetwork = pipeline.create(dai.node.YoloDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setFps(15) # Limitation of the current preview source at 416x416 resolution
+
+# Network specific settings
+detectionNetwork.setConfidenceThreshold(0.5)
+detectionNetwork.setNumClasses(80)
+detectionNetwork.setCoordinateSize(4)
+detectionNetwork.setIouThreshold(0.5)
+detectionNetwork.setBlobPath(nnPath)
+detectionNetwork.setNumInferenceThreads(8)
+detectionNetwork.input.setBlocking(False)
+detectionNetwork.input.setQueueSize(1)
+
+# Linking
+camRgb.preview.link(detectionNetwork.input)
+if syncNN:
+    detectionNetwork.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+detectionNetwork.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    while True:
+        if syncNN:
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+        else:
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/object_tracker.py b/bindings/python/examples/tmp_s3/object_tracker.py
new file mode 100755
index 000000000..71f03d271
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/object_tracker.py
@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+labelMap = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/yolov6n_416x416_openvino2022.1_vpux.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-ff', '--full_frame', action="store_true", help="Perform tracking on full RGB frame", default=False)
+
+args = parser.parse_args()
+
+fullFrameTracking = args.full_frame
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+detectionNetwork = pipeline.create(dai.node.YoloDetectionNetwork)
+objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+xlinkOut = pipeline.create(dai.node.XLinkOut)
+trackerOut = pipeline.create(dai.node.XLinkOut)
+
+xlinkOut.setStreamName("preview")
+trackerOut.setStreamName("tracklets")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setInterleaved(False)
+camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+camRgb.setFps(15)
+
+# testing MobileNet DetectionNetwork
+# Network specific settings
+detectionNetwork.setConfidenceThreshold(0.5)
+detectionNetwork.setNumClasses(80)
+detectionNetwork.setCoordinateSize(4)
+detectionNetwork.setIouThreshold(0.5)
+detectionNetwork.setBlobPath(args.nnPath)
+detectionNetwork.setNumInferenceThreads(1)
+detectionNetwork.input.setBlocking(False)
+detectionNetwork.input.setQueueSize(1)
+
+# objectTracker.setDetectionLabelsToTrack([15])  # track only person
+# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+# Linking
+camRgb.preview.link(detectionNetwork.input)
+objectTracker.passthroughTrackerFrame.link(xlinkOut.input)
+
+if fullFrameTracking:
+    camRgb.video.link(objectTracker.inputTrackerFrame)
+else:
+    detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
+
+detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
+detectionNetwork.out.link(objectTracker.inputDetections)
+objectTracker.out.link(trackerOut.input)
+
+detectionNetwork.setNumInferenceThreads(1)
+detectionNetwork.setNumShavesPerInferenceThread(4)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    preview = device.getOutputQueue("preview", 4, False)
+    tracklets = device.getOutputQueue("tracklets", 4, False)
+
+    startTime = time.monotonic()
+    counter = 0
+    fps = 0
+    frame = None
+
+    while(True):
+        imgFrame = preview.get()
+        track = tracklets.get()
+
+        counter+=1
+        current_time = time.monotonic()
+        if (current_time - startTime) > 1 :
+            fps = counter / (current_time - startTime)
+            counter = 0
+            startTime = current_time
+
+        color = (255, 0, 0)
+        frame = imgFrame.getCvFrame()
+        trackletsData = track.tracklets
+        for t in trackletsData:
+            roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
+            x1 = int(roi.topLeft().x)
+            y1 = int(roi.topLeft().y)
+            x2 = int(roi.bottomRight().x)
+            y2 = int(roi.bottomRight().y)
+
+            try:
+                label = labelMap[t.label]
+            except:
+                label = t.label
+
+            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+
+        cv2.imshow("tracker", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/resnet_labels.txt b/bindings/python/examples/tmp_s3/resnet_labels.txt
new file mode 100644
index 000000000..7aaf3e88d
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/resnet_labels.txt
@@ -0,0 +1,1000 @@
+0: 'tench, Tinca tinca',
+1: 'goldfish, Carassius auratus',
+2: 'great white shark, white shark, man-eater, man-eating shark, Carcharodon carcharias',
+3: 'tiger shark, Galeocerdo cuvieri',
+4: 'hammerhead, hammerhead shark',
+5: 'electric ray, crampfish, numbfish, torpedo',
+6: 'stingray',
+7: 'cock',
+8: 'hen',
+9: 'ostrich, Struthio camelus',
+10: 'brambling, Fringilla montifringilla',
+11: 'goldfinch, Carduelis carduelis',
+12: 'house finch, linnet, Carpodacus mexicanus',
+13: 'junco, snowbird',
+14: 'indigo bunting, indigo finch, indigo bird, Passerina cyanea',
+15: 'robin, American robin, Turdus migratorius',
+16: 'bulbul',
+17: 'jay',
+18: 'magpie',
+19: 'chickadee',
+20: 'water ouzel, dipper',
+21: 'kite',
+22: 'bald eagle, American eagle, Haliaeetus leucocephalus',
+23: 'vulture',
+24: 'great grey owl, great gray owl, Strix nebulosa',
+25: 'European fire salamander, Salamandra salamandra',
+26: 'common newt, Triturus vulgaris',
+27: 'eft',
+28: 'spotted salamander, Ambystoma maculatum',
+29: 'axolotl, mud puppy, Ambystoma mexicanum',
+30: 'bullfrog, Rana catesbeiana',
+31: 'tree frog, tree-frog',
+32: 'tailed frog, bell toad, ribbed toad, tailed toad, Ascaphus trui',
+33: 'loggerhead, loggerhead turtle, Caretta caretta',
+34: 'leatherback turtle, leatherback, leathery turtle, Dermochelys coriacea',
+35: 'mud turtle',
+36: 'terrapin',
+37: 'box turtle, box tortoise',
+38: 'banded gecko',
+39: 'common iguana, iguana, Iguana iguana',
+40: 'American chameleon, anole, Anolis carolinensis',
+41: 'whiptail, whiptail lizard',
+42: 'agama',
+43: 'frilled lizard, Chlamydosaurus kingi',
+44: 'alligator lizard',
+45: 'Gila monster, Heloderma suspectum',
+46: 'green lizard, Lacerta viridis',
+47: 'African chameleon, Chamaeleo chamaeleon',
+48: 'Komodo dragon, Komodo lizard, dragon lizard, giant lizard, Varanus komodoensis',
+49: 'African crocodile, Nile crocodile, Crocodylus niloticus',
+50: 'American alligator, Alligator mississipiensis',
+51: 'triceratops',
+52: 'thunder snake, worm snake, Carphophis amoenus',
+53: 'ringneck snake, ring-necked snake, ring snake',
+54: 'hognose snake, puff adder, sand viper',
+55: 'green snake, grass snake',
+56: 'king snake, kingsnake',
+57: 'garter snake, grass snake',
+58: 'water snake',
+59: 'vine snake',
+60: 'night snake, Hypsiglena torquata',
+61: 'boa constrictor, Constrictor constrictor',
+62: 'rock python, rock snake, Python sebae',
+63: 'Indian cobra, Naja naja',
+64: 'green mamba',
+65: 'sea snake',
+66: 'horned viper, cerastes, sand viper, horned asp, Cerastes cornutus',
+67: 'diamondback, diamondback rattlesnake, Crotalus adamanteus',
+68: 'sidewinder, horned rattlesnake, Crotalus cerastes',
+69: 'trilobite',
+70: 'harvestman, daddy longlegs, Phalangium opilio',
+71: 'scorpion',
+72: 'black and gold garden spider, Argiope aurantia',
+73: 'barn spider, Araneus cavaticus',
+74: 'garden spider, Aranea diademata',
+75: 'black widow, Latrodectus mactans',
+76: 'tarantula',
+77: 'wolf spider, hunting spider',
+78: 'tick',
+79: 'centipede',
+80: 'black grouse',
+81: 'ptarmigan',
+82: 'ruffed grouse, partridge, Bonasa umbellus',
+83: 'prairie chicken, prairie grouse, prairie fowl',
+84: 'peacock',
+85: 'quail',
+86: 'partridge',
+87: 'African grey, African gray, Psittacus erithacus',
+88: 'macaw',
+89: 'sulphur-crested cockatoo, Kakatoe galerita, Cacatua galerita',
+90: 'lorikeet',
+91: 'coucal',
+92: 'bee eater',
+93: 'hornbill',
+94: 'hummingbird',
+95: 'jacamar',
+96: 'toucan',
+97: 'drake',
+98: 'red-breasted merganser, Mergus serrator',
+99: 'goose',
+100: 'black swan, Cygnus atratus',
+101: 'tusker',
+102: 'echidna, spiny anteater, anteater',
+103: 'platypus, duckbill, duckbilled platypus, duck-billed platypus, Ornithorhynchus anatinus',
+104: 'wallaby, brush kangaroo',
+105: 'koala, koala bear, kangaroo bear, native bear, Phascolarctos cinereus',
+106: 'wombat',
+107: 'jellyfish',
+108: 'sea anemone, anemone',
+109: 'brain coral',
+110: 'flatworm, platyhelminth',
+111: 'nematode, nematode worm, roundworm',
+112: 'conch',
+113: 'snail',
+114: 'slug',
+115: 'sea slug, nudibranch',
+116: 'chiton, coat-of-mail shell, sea cradle, polyplacophore',
+117: 'chambered nautilus, pearly nautilus, nautilus',
+118: 'Dungeness crab, Cancer magister',
+119: 'rock crab, Cancer irroratus',
+120: 'fiddler crab',
+121: 'king crab, Alaska crab, Alaskan king crab, Alaska king crab, Paralithodes camtschatica',
+122: 'American lobster, Northern lobster, Maine lobster, Homarus americanus',
+123: 'spiny lobster, langouste, rock lobster, crawfish, crayfish, sea crawfish',
+124: 'crayfish, crawfish, crawdad, crawdaddy',
+125: 'hermit crab',
+126: 'isopod',
+127: 'white stork, Ciconia ciconia',
+128: 'black stork, Ciconia nigra',
+129: 'spoonbill',
+130: 'flamingo',
+131: 'little blue heron, Egretta caerulea',
+132: 'American egret, great white heron, Egretta albus',
+133: 'bittern',
+134: 'crane',
+135: 'limpkin, Aramus pictus',
+136: 'European gallinule, Porphyrio porphyrio',
+137: 'American coot, marsh hen, mud hen, water hen, Fulica americana',
+138: 'bustard',
+139: 'ruddy turnstone, Arenaria interpres',
+140: 'red-backed sandpiper, dunlin, Erolia alpina',
+141: 'redshank, Tringa totanus',
+142: 'dowitcher',
+143: 'oystercatcher, oyster catcher',
+144: 'pelican',
+145: 'king penguin, Aptenodytes patagonica',
+146: 'albatross, mollymawk',
+147: 'grey whale, gray whale, devilfish, Eschrichtius gibbosus, Eschrichtius robustus',
+148: 'killer whale, killer, orca, grampus, sea wolf, Orcinus orca',
+149: 'dugong, Dugong dugon',
+150: 'sea lion',
+151: 'Chihuahua',
+152: 'Japanese spaniel',
+153: 'Maltese dog, Maltese terrier, Maltese',
+154: 'Pekinese, Pekingese, Peke',
+155: 'Shih-Tzu',
+156: 'Blenheim spaniel',
+157: 'papillon',
+158: 'toy terrier',
+159: 'Rhodesian ridgeback',
+160: 'Afghan hound, Afghan',
+161: 'basset, basset hound',
+162: 'beagle',
+163: 'bloodhound, sleuthhound',
+164: 'bluetick',
+165: 'black-and-tan coonhound',
+166: 'Walker hound, Walker foxhound',
+167: 'English foxhound',
+168: 'redbone',
+169: 'borzoi, Russian wolfhound',
+170: 'Irish wolfhound',
+171: 'Italian greyhound',
+172: 'whippet',
+173: 'Ibizan hound, Ibizan Podenco',
+174: 'Norwegian elkhound, elkhound',
+175: 'otterhound, otter hound',
+176: 'Saluki, gazelle hound',
+177: 'Scottish deerhound, deerhound',
+178: 'Weimaraner',
+179: 'Staffordshire bullterrier, Staffordshire bull terrier',
+180: 'American Staffordshire terrier, Staffordshire terrier, American pit bull terrier, pit bull terrier',
+181: 'Bedlington terrier',
+182: 'Border terrier',
+183: 'Kerry blue terrier',
+184: 'Irish terrier',
+185: 'Norfolk terrier',
+186: 'Norwich terrier',
+187: 'Yorkshire terrier',
+188: 'wire-haired fox terrier',
+189: 'Lakeland terrier',
+190: 'Sealyham terrier, Sealyham',
+191: 'Airedale, Airedale terrier',
+192: 'cairn, cairn terrier',
+193: 'Australian terrier',
+194: 'Dandie Dinmont, Dandie Dinmont terrier',
+195: 'Boston bull, Boston terrier',
+196: 'miniature schnauzer',
+197: 'giant schnauzer',
+198: 'standard schnauzer',
+199: 'Scotch terrier, Scottish terrier, Scottie',
+200: 'Tibetan terrier, chrysanthemum dog',
+201: 'silky terrier, Sydney silky',
+202: 'soft-coated wheaten terrier',
+203: 'West Highland white terrier',
+204: 'Lhasa, Lhasa apso',
+205: 'flat-coated retriever',
+206: 'curly-coated retriever',
+207: 'golden retriever',
+208: 'Labrador retriever',
+209: 'Chesapeake Bay retriever',
+210: 'German short-haired pointer',
+211: 'vizsla, Hungarian pointer',
+212: 'English setter',
+213: 'Irish setter, red setter',
+214: 'Gordon setter',
+215: 'Brittany spaniel',
+216: 'clumber, clumber spaniel',
+217: 'English springer, English springer spaniel',
+218: 'Welsh springer spaniel',
+219: 'cocker spaniel, English cocker spaniel, cocker',
+220: 'Sussex spaniel',
+221: 'Irish water spaniel',
+222: 'kuvasz',
+223: 'schipperke',
+224: 'groenendael',
+225: 'malinois',
+226: 'briard',
+227: 'kelpie',
+228: 'komondor',
+229: 'Old English sheepdog, bobtail',
+230: 'Shetland sheepdog, Shetland sheep dog, Shetland',
+231: 'collie',
+232: 'Border collie',
+233: 'Bouvier des Flandres, Bouviers des Flandres',
+234: 'Rottweiler',
+235: 'German shepherd, German shepherd dog, German police dog, alsatian',
+236: 'Doberman, Doberman pinscher',
+237: 'miniature pinscher',
+238: 'Greater Swiss Mountain dog',
+239: 'Bernese mountain dog',
+240: 'Appenzeller',
+241: 'EntleBucher',
+242: 'boxer',
+243: 'bull mastiff',
+244: 'Tibetan mastiff',
+245: 'French bulldog',
+246: 'Great Dane',
+247: 'Saint Bernard, St Bernard',
+248: 'Eskimo dog, husky',
+249: 'malamute, malemute, Alaskan malamute',
+250: 'Siberian husky',
+251: 'dalmatian, coach dog, carriage dog',
+252: 'affenpinscher, monkey pinscher, monkey dog',
+253: 'basenji',
+254: 'pug, pug-dog',
+255: 'Leonberg',
+256: 'Newfoundland, Newfoundland dog',
+257: 'Great Pyrenees',
+258: 'Samoyed, Samoyede',
+259: 'Pomeranian',
+260: 'chow, chow chow',
+261: 'keeshond',
+262: 'Brabancon griffon',
+263: 'Pembroke, Pembroke Welsh corgi',
+264: 'Cardigan, Cardigan Welsh corgi',
+265: 'toy poodle',
+266: 'miniature poodle',
+267: 'standard poodle',
+268: 'Mexican hairless',
+269: 'timber wolf, grey wolf, gray wolf, Canis lupus',
+270: 'white wolf, Arctic wolf, Canis lupus tundrarum',
+271: 'red wolf, maned wolf, Canis rufus, Canis niger',
+272: 'coyote, prairie wolf, brush wolf, Canis latrans',
+273: 'dingo, warrigal, warragal, Canis dingo',
+274: 'dhole, Cuon alpinus',
+275: 'African hunting dog, hyena dog, Cape hunting dog, Lycaon pictus',
+276: 'hyena, hyaena',
+277: 'red fox, Vulpes vulpes',
+278: 'kit fox, Vulpes macrotis',
+279: 'Arctic fox, white fox, Alopex lagopus',
+280: 'grey fox, gray fox, Urocyon cinereoargenteus',
+281: 'tabby, tabby cat',
+282: 'tiger cat',
+283: 'Persian cat',
+284: 'Siamese cat, Siamese',
+285: 'Egyptian cat',
+286: 'cougar, puma, catamount, mountain lion, painter, panther, Felis concolor',
+287: 'lynx, catamount',
+288: 'leopard, Panthera pardus',
+289: 'snow leopard, ounce, Panthera uncia',
+290: 'jaguar, panther, Panthera onca, Felis onca',
+291: 'lion, king of beasts, Panthera leo',
+292: 'tiger, Panthera tigris',
+293: 'cheetah, chetah, Acinonyx jubatus',
+294: 'brown bear, bruin, Ursus arctos',
+295: 'American black bear, black bear, Ursus americanus, Euarctos americanus',
+296: 'ice bear, polar bear, Ursus Maritimus, Thalarctos maritimus',
+297: 'sloth bear, Melursus ursinus, Ursus ursinus',
+298: 'mongoose',
+299: 'meerkat, mierkat',
+300: 'tiger beetle',
+301: 'ladybug, ladybeetle, lady beetle, ladybird, ladybird beetle',
+302: 'ground beetle, carabid beetle',
+303: 'long-horned beetle, longicorn, longicorn beetle',
+304: 'leaf beetle, chrysomelid',
+305: 'dung beetle',
+306: 'rhinoceros beetle',
+307: 'weevil',
+308: 'fly',
+309: 'bee',
+310: 'ant, emmet, pismire',
+311: 'grasshopper, hopper',
+312: 'cricket',
+313: 'walking stick, walkingstick, stick insect',
+314: 'cockroach, roach',
+315: 'mantis, mantid',
+316: 'cicada, cicala',
+317: 'leafhopper',
+318: 'lacewing, lacewing fly',
+319: "dragonfly, darning needle, devil's darning needle, sewing needle, snake feeder, snake doctor, mosquito hawk, skeeter hawk",
+320: 'damselfly',
+321: 'admiral',
+322: 'ringlet, ringlet butterfly',
+323: 'monarch, monarch butterfly, milkweed butterfly, Danaus plexippus',
+324: 'cabbage butterfly',
+325: 'sulphur butterfly, sulfur butterfly',
+326: 'lycaenid, lycaenid butterfly',
+327: 'starfish, sea star',
+328: 'sea urchin',
+329: 'sea cucumber, holothurian',
+330: 'wood rabbit, cottontail, cottontail rabbit',
+331: 'hare',
+332: 'Angora, Angora rabbit',
+333: 'hamster',
+334: 'porcupine, hedgehog',
+335: 'fox squirrel, eastern fox squirrel, Sciurus niger',
+336: 'marmot',
+337: 'beaver',
+338: 'guinea pig, Cavia cobaya',
+339: 'sorrel',
+340: 'zebra',
+341: 'hog, pig, grunter, squealer, Sus scrofa',
+342: 'wild boar, boar, Sus scrofa',
+343: 'warthog',
+344: 'hippopotamus, hippo, river horse, Hippopotamus amphibius',
+345: 'ox',
+346: 'water buffalo, water ox, Asiatic buffalo, Bubalus bubalis',
+347: 'bison',
+348: 'ram, tup',
+349: 'bighorn, bighorn sheep, cimarron, Rocky Mountain bighorn, Rocky Mountain sheep, Ovis canadensis',
+350: 'ibex, Capra ibex',
+351: 'hartebeest',
+352: 'impala, Aepyceros melampus',
+353: 'gazelle',
+354: 'Arabian camel, dromedary, Camelus dromedarius',
+355: 'llama',
+356: 'weasel',
+357: 'mink',
+358: 'polecat, fitch, foulmart, foumart, Mustela putorius',
+359: 'black-footed ferret, ferret, Mustela nigripes',
+360: 'otter',
+361: 'skunk, polecat, wood pussy',
+362: 'badger',
+363: 'armadillo',
+364: 'three-toed sloth, ai, Bradypus tridactylus',
+365: 'orangutan, orang, orangutang, Pongo pygmaeus',
+366: 'gorilla, Gorilla gorilla',
+367: 'chimpanzee, chimp, Pan troglodytes',
+368: 'gibbon, Hylobates lar',
+369: 'siamang, Hylobates syndactylus, Symphalangus syndactylus',
+370: 'guenon, guenon monkey',
+371: 'patas, hussar monkey, Erythrocebus patas',
+372: 'baboon',
+373: 'macaque',
+374: 'langur',
+375: 'colobus, colobus monkey',
+376: 'proboscis monkey, Nasalis larvatus',
+377: 'marmoset',
+378: 'capuchin, ringtail, Cebus capucinus',
+379: 'howler monkey, howler',
+380: 'titi, titi monkey',
+381: 'spider monkey, Ateles geoffroyi',
+382: 'squirrel monkey, Saimiri sciureus',
+383: 'Madagascar cat, ring-tailed lemur, Lemur catta',
+384: 'indri, indris, Indri indri, Indri brevicaudatus',
+385: 'Indian elephant, Elephas maximus',
+386: 'African elephant, Loxodonta africana',
+387: 'lesser panda, red panda, panda, bear cat, cat bear, Ailurus fulgens',
+388: 'giant panda, panda, panda bear, coon bear, Ailuropoda melanoleuca',
+389: 'barracouta, snoek',
+390: 'eel',
+391: 'coho, cohoe, coho salmon, blue jack, silver salmon, Oncorhynchus kisutch',
+392: 'rock beauty, Holocanthus tricolor',
+393: 'anemone fish',
+394: 'sturgeon',
+395: 'gar, garfish, garpike, billfish, Lepisosteus osseus',
+396: 'lionfish',
+397: 'puffer, pufferfish, blowfish, globefish',
+398: 'abacus',
+399: 'abaya',
+400: "academic gown, academic robe, judge's robe",
+401: 'accordion, piano accordion, squeeze box',
+402: 'acoustic guitar',
+403: 'aircraft carrier, carrier, flattop, attack aircraft carrier',
+404: 'airliner',
+405: 'airship, dirigible',
+406: 'altar',
+407: 'ambulance',
+408: 'amphibian, amphibious vehicle',
+409: 'analog clock',
+410: 'apiary, bee house',
+411: 'apron',
+412: 'ashcan, trash can, garbage can, wastebin, ash bin, ash-bin, ashbin, dustbin, trash barrel, trash bin',
+413: 'assault rifle, assault gun',
+414: 'backpack, back pack, knapsack, packsack, rucksack, haversack',
+415: 'bakery, bakeshop, bakehouse',
+416: 'balance beam, beam',
+417: 'balloon',
+418: 'ballpoint, ballpoint pen, ballpen, Biro',
+419: 'Band Aid',
+420: 'banjo',
+421: 'bannister, banister, balustrade, balusters, handrail',
+422: 'barbell',
+423: 'barber chair',
+424: 'barbershop',
+425: 'barn',
+426: 'barometer',
+427: 'barrel, cask',
+428: 'barrow, garden cart, lawn cart, wheelbarrow',
+429: 'baseball',
+430: 'basketball',
+431: 'bassinet',
+432: 'bassoon',
+433: 'bathing cap, swimming cap',
+434: 'bath towel',
+435: 'bathtub, bathing tub, bath, tub',
+436: 'beach wagon, station wagon, wagon, estate car, beach waggon, station waggon, waggon',
+437: 'beacon, lighthouse, beacon light, pharos',
+438: 'beaker',
+439: 'bearskin, busby, shako',
+440: 'beer bottle',
+441: 'beer glass',
+442: 'bell cote, bell cot',
+443: 'bib',
+444: 'bicycle-built-for-two, tandem bicycle, tandem',
+445: 'bikini, two-piece',
+446: 'binder, ring-binder',
+447: 'binoculars, field glasses, opera glasses',
+448: 'birdhouse',
+449: 'boathouse',
+450: 'bobsled, bobsleigh, bob',
+451: 'bolo tie, bolo, bola tie, bola',
+452: 'bonnet, poke bonnet',
+453: 'bookcase',
+454: 'bookshop, bookstore, bookstall',
+455: 'bottlecap',
+456: 'bow',
+457: 'bow tie, bow-tie, bowtie',
+458: 'brass, memorial tablet, plaque',
+459: 'brassiere, bra, bandeau',
+460: 'breakwater, groin, groyne, mole, bulwark, seawall, jetty',
+461: 'breastplate, aegis, egis',
+462: 'broom',
+463: 'bucket, pail',
+464: 'buckle',
+465: 'bulletproof vest',
+466: 'bullet train, bullet',
+467: 'butcher shop, meat market',
+468: 'cab, hack, taxi, taxicab',
+469: 'caldron, cauldron',
+470: 'candle, taper, wax light',
+471: 'cannon',
+472: 'canoe',
+473: 'can opener, tin opener',
+474: 'cardigan',
+475: 'car mirror',
+476: 'carousel, carrousel, merry-go-round, roundabout, whirligig',
+477: "carpenter's kit, tool kit",
+478: 'carton',
+479: 'car wheel',
+480: 'cash machine, cash dispenser, automated teller machine, automatic teller machine, automated teller, automatic teller, ATM',
+481: 'cassette',
+482: 'cassette player',
+483: 'castle',
+484: 'catamaran',
+485: 'CD player',
+486: 'cello, violoncello',
+487: 'cellular telephone, cellular phone, cellphone, cell, mobile phone',
+488: 'chain',
+489: 'chainlink fence',
+490: 'chain mail, ring mail, mail, chain armor, chain armour, ring armor, ring armour',
+491: 'chain saw, chainsaw',
+492: 'chest',
+493: 'chiffonier, commode',
+494: 'chime, bell, gong',
+495: 'china cabinet, china closet',
+496: 'Christmas stocking',
+497: 'church, church building',
+498: 'cinema, movie theater, movie theatre, movie house, picture palace',
+499: 'cleaver, meat cleaver, chopper',
+500: 'cliff dwelling',
+501: 'cloak',
+502: 'clog, geta, patten, sabot',
+503: 'cocktail shaker',
+504: 'coffee mug',
+505: 'coffeepot',
+506: 'coil, spiral, volute, whorl, helix',
+507: 'combination lock',
+508: 'computer keyboard, keypad',
+509: 'confectionery, confectionary, candy store',
+510: 'container ship, containership, container vessel',
+511: 'convertible',
+512: 'corkscrew, bottle screw',
+513: 'cornet, horn, trumpet, trump',
+514: 'cowboy boot',
+515: 'cowboy hat, ten-gallon hat',
+516: 'cradle',
+517: 'crane',
+518: 'crash helmet',
+519: 'crate',
+520: 'crib, cot',
+521: 'Crock Pot',
+522: 'croquet ball',
+523: 'crutch',
+524: 'cuirass',
+525: 'dam, dike, dyke',
+526: 'desk',
+527: 'desktop computer',
+528: 'dial telephone, dial phone',
+529: 'diaper, nappy, napkin',
+530: 'digital clock',
+531: 'digital watch',
+532: 'dining table, board',
+533: 'dishrag, dishcloth',
+534: 'dishwasher, dish washer, dishwashing machine',
+535: 'disk brake, disc brake',
+536: 'dock, dockage, docking facility',
+537: 'dogsled, dog sled, dog sleigh',
+538: 'dome',
+539: 'doormat, welcome mat',
+540: 'drilling platform, offshore rig',
+541: 'drum, membranophone, tympan',
+542: 'drumstick',
+543: 'dumbbell',
+544: 'Dutch oven',
+545: 'electric fan, blower',
+546: 'electric guitar',
+547: 'electric locomotive',
+548: 'entertainment center',
+549: 'envelope',
+550: 'espresso maker',
+551: 'face powder',
+552: 'feather boa, boa',
+553: 'file, file cabinet, filing cabinet',
+554: 'fireboat',
+555: 'fire engine, fire truck',
+556: 'fire screen, fireguard',
+557: 'flagpole, flagstaff',
+558: 'flute, transverse flute',
+559: 'folding chair',
+560: 'football helmet',
+561: 'forklift',
+562: 'fountain',
+563: 'fountain pen',
+564: 'four-poster',
+565: 'freight car',
+566: 'French horn, horn',
+567: 'frying pan, frypan, skillet',
+568: 'fur coat',
+569: 'garbage truck, dustcart',
+570: 'gasmask, respirator, gas helmet',
+571: 'gas pump, gasoline pump, petrol pump, island dispenser',
+572: 'goblet',
+573: 'go-kart',
+574: 'golf ball',
+575: 'golfcart, golf cart',
+576: 'gondola',
+577: 'gong, tam-tam',
+578: 'gown',
+579: 'grand piano, grand',
+580: 'greenhouse, nursery, glasshouse',
+581: 'grille, radiator grille',
+582: 'grocery store, grocery, food market, market',
+583: 'guillotine',
+584: 'hair slide',
+585: 'hair spray',
+586: 'half track',
+587: 'hammer',
+588: 'hamper',
+589: 'hand blower, blow dryer, blow drier, hair dryer, hair drier',
+590: 'hand-held computer, hand-held microcomputer',
+591: 'handkerchief, hankie, hanky, hankey',
+592: 'hard disc, hard disk, fixed disk',
+593: 'harmonica, mouth organ, harp, mouth harp',
+594: 'harp',
+595: 'harvester, reaper',
+596: 'hatchet',
+597: 'holster',
+598: 'home theater, home theatre',
+599: 'honeycomb',
+600: 'hook, claw',
+601: 'hoopskirt, crinoline',
+602: 'horizontal bar, high bar',
+603: 'horse cart, horse-cart',
+604: 'hourglass',
+605: 'iPod',
+606: 'iron, smoothing iron',
+607: "jack-o'-lantern",
+608: 'jean, blue jean, denim',
+609: 'jeep, landrover',
+610: 'jersey, T-shirt, tee shirt',
+611: 'jigsaw puzzle',
+612: 'jinrikisha, ricksha, rickshaw',
+613: 'joystick',
+614: 'kimono',
+615: 'knee pad',
+616: 'knot',
+617: 'lab coat, laboratory coat',
+618: 'ladle',
+619: 'lampshade, lamp shade',
+620: 'laptop, laptop computer',
+621: 'lawn mower, mower',
+622: 'lens cap, lens cover',
+623: 'letter opener, paper knife, paperknife',
+624: 'library',
+625: 'lifeboat',
+626: 'lighter, light, igniter, ignitor',
+627: 'limousine, limo',
+628: 'liner, ocean liner',
+629: 'lipstick, lip rouge',
+630: 'Loafer',
+631: 'lotion',
+632: 'loudspeaker, speaker, speaker unit, loudspeaker system, speaker system',
+633: "loupe, jeweler's loupe",
+634: 'lumbermill, sawmill',
+635: 'magnetic compass',
+636: 'mailbag, postbag',
+637: 'mailbox, letter box',
+638: 'maillot',
+639: 'maillot, tank suit',
+640: 'manhole cover',
+641: 'maraca',
+642: 'marimba, xylophone',
+643: 'mask',
+644: 'matchstick',
+645: 'maypole',
+646: 'maze, labyrinth',
+647: 'measuring cup',
+648: 'medicine chest, medicine cabinet',
+649: 'megalith, megalithic structure',
+650: 'microphone, mike',
+651: 'microwave, microwave oven',
+652: 'military uniform',
+653: 'milk can',
+654: 'minibus',
+655: 'miniskirt, mini',
+656: 'minivan',
+657: 'missile',
+658: 'mitten',
+659: 'mixing bowl',
+660: 'mobile home, manufactured home',
+661: 'Model T',
+662: 'modem',
+663: 'monastery',
+664: 'monitor',
+665: 'moped',
+666: 'mortar',
+667: 'mortarboard',
+668: 'mosque',
+669: 'mosquito net',
+670: 'motor scooter, scooter',
+671: 'mountain bike, all-terrain bike, off-roader',
+672: 'mountain tent',
+673: 'mouse, computer mouse',
+674: 'mousetrap',
+675: 'moving van',
+676: 'muzzle',
+677: 'nail',
+678: 'neck brace',
+679: 'necklace',
+680: 'nipple',
+681: 'notebook, notebook computer',
+682: 'obelisk',
+683: 'oboe, hautboy, hautbois',
+684: 'ocarina, sweet potato',
+685: 'odometer, hodometer, mileometer, milometer',
+686: 'oil filter',
+687: 'organ, pipe organ',
+688: 'oscilloscope, scope, cathode-ray oscilloscope, CRO',
+689: 'overskirt',
+690: 'oxcart',
+691: 'oxygen mask',
+692: 'packet',
+693: 'paddle, boat paddle',
+694: 'paddlewheel, paddle wheel',
+695: 'padlock',
+696: 'paintbrush',
+697: "pajama, pyjama, pj's, jammies",
+698: 'palace',
+699: 'panpipe, pandean pipe, syrinx',
+700: 'paper towel',
+701: 'parachute, chute',
+702: 'parallel bars, bars',
+703: 'park bench',
+704: 'parking meter',
+705: 'passenger car, coach, carriage',
+706: 'patio, terrace',
+707: 'pay-phone, pay-station',
+708: 'pedestal, plinth, footstall',
+709: 'pencil box, pencil case',
+710: 'pencil sharpener',
+711: 'perfume, essence',
+712: 'Petri dish',
+713: 'photocopier',
+714: 'pick, plectrum, plectron',
+715: 'pickelhaube',
+716: 'picket fence, paling',
+717: 'pickup, pickup truck',
+718: 'pier',
+719: 'piggy bank, penny bank',
+720: 'pill bottle',
+721: 'pillow',
+722: 'ping-pong ball',
+723: 'pinwheel',
+724: 'pirate, pirate ship',
+725: 'pitcher, ewer',
+726: "plane, carpenter's plane, woodworking plane",
+727: 'planetarium',
+728: 'plastic bag',
+729: 'plate rack',
+730: 'plow, plough',
+731: "plunger, plumber's helper",
+732: 'Polaroid camera, Polaroid Land camera',
+733: 'pole',
+734: 'police van, police wagon, paddy wagon, patrol wagon, wagon, black Maria',
+735: 'poncho',
+736: 'pool table, billiard table, snooker table',
+737: 'pop bottle, soda bottle',
+738: 'pot, flowerpot',
+739: "potter's wheel",
+740: 'power drill',
+741: 'prayer rug, prayer mat',
+742: 'printer',
+743: 'prison, prison house',
+744: 'projectile, missile',
+745: 'projector',
+746: 'puck, hockey puck',
+747: 'punching bag, punch bag, punching ball, punchball',
+748: 'purse',
+749: 'quill, quill pen',
+750: 'quilt, comforter, comfort, puff',
+751: 'racer, race car, racing car',
+752: 'racket, racquet',
+753: 'radiator',
+754: 'radio, wireless',
+755: 'radio telescope, radio reflector',
+756: 'rain barrel',
+757: 'recreational vehicle, RV, R.V.',
+758: 'reel',
+759: 'reflex camera',
+760: 'refrigerator, icebox',
+761: 'remote control, remote',
+762: 'restaurant, eating house, eating place, eatery',
+763: 'revolver, six-gun, six-shooter',
+764: 'rifle',
+765: 'rocking chair, rocker',
+766: 'rotisserie',
+767: 'rubber eraser, rubber, pencil eraser',
+768: 'rugby ball',
+769: 'rule, ruler',
+770: 'running shoe',
+771: 'safe',
+772: 'safety pin',
+773: 'saltshaker, salt shaker',
+774: 'sandal',
+775: 'sarong',
+776: 'sax, saxophone',
+777: 'scabbard',
+778: 'scale, weighing machine',
+779: 'school bus',
+780: 'schooner',
+781: 'scoreboard',
+782: 'screen, CRT screen',
+783: 'screw',
+784: 'screwdriver',
+785: 'seat belt, seatbelt',
+786: 'sewing machine',
+787: 'shield, buckler',
+788: 'shoe shop, shoe-shop, shoe store',
+789: 'shoji',
+790: 'shopping basket',
+791: 'shopping cart',
+792: 'shovel',
+793: 'shower cap',
+794: 'shower curtain',
+795: 'ski',
+796: 'ski mask',
+797: 'sleeping bag',
+798: 'slide rule, slipstick',
+799: 'sliding door',
+800: 'slot, one-armed bandit',
+801: 'snorkel',
+802: 'snowmobile',
+803: 'snowplow, snowplough',
+804: 'soap dispenser',
+805: 'soccer ball',
+806: 'sock',
+807: 'solar dish, solar collector, solar furnace',
+808: 'sombrero',
+809: 'soup bowl',
+810: 'space bar',
+811: 'space heater',
+812: 'space shuttle',
+813: 'spatula',
+814: 'speedboat',
+815: "spider web, spider's web",
+816: 'spindle',
+817: 'sports car, sport car',
+818: 'spotlight, spot',
+819: 'stage',
+820: 'steam locomotive',
+821: 'steel arch bridge',
+822: 'steel drum',
+823: 'stethoscope',
+824: 'stole',
+825: 'stone wall',
+826: 'stopwatch, stop watch',
+827: 'stove',
+828: 'strainer',
+829: 'streetcar, tram, tramcar, trolley, trolley car',
+830: 'stretcher',
+831: 'studio couch, day bed',
+832: 'stupa, tope',
+833: 'submarine, pigboat, sub, U-boat',
+834: 'suit, suit of clothes',
+835: 'sundial',
+836: 'sunglass',
+837: 'sunglasses, dark glasses, shades',
+838: 'sunscreen, sunblock, sun blocker',
+839: 'suspension bridge',
+840: 'swab, swob, mop',
+841: 'sweatshirt',
+842: 'swimming trunks, bathing trunks',
+843: 'swing',
+844: 'switch, electric switch, electrical switch',
+845: 'syringe',
+846: 'table lamp',
+847: 'tank, army tank, armored combat vehicle, armoured combat vehicle',
+848: 'tape player',
+849: 'teapot',
+850: 'teddy, teddy bear',
+851: 'television, television system',
+852: 'tennis ball',
+853: 'thatch, thatched roof',
+854: 'theater curtain, theatre curtain',
+855: 'thimble',
+856: 'thresher, thrasher, threshing machine',
+857: 'throne',
+858: 'tile roof',
+859: 'toaster',
+860: 'tobacco shop, tobacconist shop, tobacconist',
+861: 'toilet seat',
+862: 'torch',
+863: 'totem pole',
+864: 'tow truck, tow car, wrecker',
+865: 'toyshop',
+866: 'tractor',
+867: 'trailer truck, tractor trailer, trucking rig, rig, articulated lorry, semi',
+868: 'tray',
+869: 'trench coat',
+870: 'tricycle, trike, velocipede',
+871: 'trimaran',
+872: 'tripod',
+873: 'triumphal arch',
+874: 'trolleybus, trolley coach, trackless trolley',
+875: 'trombone',
+876: 'tub, vat',
+877: 'turnstile',
+878: 'typewriter keyboard',
+879: 'umbrella',
+880: 'unicycle, monocycle',
+881: 'upright, upright piano',
+882: 'vacuum, vacuum cleaner',
+883: 'vase',
+884: 'vault',
+885: 'velvet',
+886: 'vending machine',
+887: 'vestment',
+888: 'viaduct',
+889: 'violin, fiddle',
+890: 'volleyball',
+891: 'waffle iron',
+892: 'wall clock',
+893: 'wallet, billfold, notecase, pocketbook',
+894: 'wardrobe, closet, press',
+895: 'warplane, military plane',
+896: 'washbasin, handbasin, washbowl, lavabo, wash-hand basin',
+897: 'washer, automatic washer, washing machine',
+898: 'water bottle',
+899: 'water jug',
+900: 'water tower',
+901: 'whiskey jug',
+902: 'whistle',
+903: 'wig',
+904: 'window screen',
+905: 'window shade',
+906: 'Windsor tie',
+907: 'wine bottle',
+908: 'wing',
+909: 'wok',
+910: 'wooden spoon',
+911: 'wool, woolen, woollen',
+912: 'worm fence, snake fence, snake-rail fence, Virginia fence',
+913: 'wreck',
+914: 'yawl',
+915: 'yurt',
+916: 'web site, website, internet site, site',
+917: 'comic book',
+918: 'crossword puzzle, crossword',
+919: 'street sign',
+920: 'traffic light, traffic signal, stoplight',
+921: 'book jacket, dust cover, dust jacket, dust wrapper',
+922: 'menu',
+923: 'plate',
+924: 'guacamole',
+925: 'consomme',
+926: 'hot pot, hotpot',
+927: 'trifle',
+928: 'ice cream, icecream',
+929: 'ice lolly, lolly, lollipop, popsicle',
+930: 'French loaf',
+931: 'bagel, beigel',
+932: 'pretzel',
+933: 'cheeseburger',
+934: 'hotdog, hot dog, red hot',
+935: 'mashed potato',
+936: 'head cabbage',
+937: 'broccoli',
+938: 'cauliflower',
+939: 'zucchini, courgette',
+940: 'spaghetti squash',
+941: 'acorn squash',
+942: 'butternut squash',
+943: 'cucumber, cuke',
+944: 'artichoke, globe artichoke',
+945: 'bell pepper',
+946: 'cardoon',
+947: 'mushroom',
+948: 'Granny Smith',
+949: 'strawberry',
+950: 'orange',
+951: 'lemon',
+952: 'fig',
+953: 'pineapple, ananas',
+954: 'banana',
+955: 'jackfruit, jak, jack',
+956: 'custard apple',
+957: 'pomegranate',
+958: 'hay',
+959: 'carbonara',
+960: 'chocolate sauce, chocolate syrup',
+961: 'dough',
+962: 'meat loaf, meatloaf',
+963: 'pizza, pizza pie',
+964: 'potpie',
+965: 'burrito',
+966: 'red wine',
+967: 'espresso',
+968: 'cup',
+969: 'eggnog',
+970: 'alp',
+971: 'bubble',
+972: 'cliff, drop, drop-off',
+973: 'coral reef',
+974: 'geyser',
+975: 'lakeside, lakeshore',
+976: 'promontory, headland, head, foreland',
+977: 'sandbar, sand bar',
+978: 'seashore, coast, seacoast, sea-coast',
+979: 'valley, vale',
+980: 'volcano',
+981: 'ballplayer, baseball player',
+982: 'groom, bridegroom',
+983: 'scuba diver',
+984: 'rapeseed',
+985: 'daisy',
+986: "yellow lady's slipper, yellow lady-slipper, Cypripedium calceolus, Cypripedium parviflorum",
+987: 'corn',
+988: 'acorn',
+989: 'hip, rose hip, rosehip',
+990: 'buckeye, horse chestnut, conker',
+991: 'coral fungus',
+992: 'agaric',
+993: 'gyromitra',
+994: 'stinkhorn, carrion fungus',
+995: 'earthstar',
+996: 'hen-of-the-woods, hen of the woods, Polyporus frondosus, Grifola frondosa',
+997: 'bolete',
+998: 'ear, spike, capitulum',
+999: 'toilet tissue, toilet paper, bathroom tissue'
\ No newline at end of file
diff --git a/bindings/python/examples/tmp_s3/rgb_mobilenet_native_s3.py b/bindings/python/examples/tmp_s3/rgb_mobilenet_native_s3.py
new file mode 100755
index 000000000..b9ea4929d
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/rgb_mobilenet_native_s3.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2022.1_vpux.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(args.nnPath)
+nn.setNumInferenceThreads(1)
+nn.setNumShavesPerInferenceThread(4)
+nn.setBackend('native')
+nn.input.setBlocking(False)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    printOutputLayersOnce = True
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/rgb_mobilenet_s3.py b/bindings/python/examples/tmp_s3/rgb_mobilenet_s3.py
new file mode 100755
index 000000000..dcd88edef
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/rgb_mobilenet_s3.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+nnPathDefault = str((Path(__file__).parent / Path('../models/mobilenet-ssd_openvino_2022.1_vpux.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+camRgb.setInterleaved(False)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.5)
+nn.setBlobPath(args.nnPath)
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    printOutputLayersOnce = True
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/script_read_out_sensor.py b/bindings/python/examples/tmp_s3/script_read_out_sensor.py
new file mode 100644
index 000000000..2b116ac7f
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/script_read_out_sensor.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+import depthai as dai
+import json
+
+pipeline = dai.Pipeline()
+
+script = pipeline.create(dai.node.Script)
+script.setScript("""
+    import json
+    dict = {}
+    with open('/sys/class/thermal/thermal_zone0/temp') as f:
+        dict['temp'] = int(f.read()) / 1000.0
+    # Change initial dictionary a bit
+    dict['other_sensor'] = 3
+    dict['another_sensor'] = 4.12
+
+    b = Buffer()
+    b.setData(json.dumps(dict).encode('utf-8'))
+    node.io['out'].send(b)
+""")
+
+xout = pipeline.create(dai.node.XLinkOut)
+xout.setStreamName('out')
+script.outputs['out'].link(xout.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    # Wait for the script to send the changed dictionary back
+    jsonData = device.getOutputQueue("out").get()
+    jsonText = str(jsonData.getData(), 'utf-8')
+    sensorDict = json.loads(jsonText)
+    print('sensorDict', sensorDict)
\ No newline at end of file
diff --git a/bindings/python/examples/tmp_s3/thermal_test.py b/bindings/python/examples/tmp_s3/thermal_test.py
new file mode 100755
index 000000000..eaeec39f7
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/thermal_test.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+
+from pathlib import Path
+import cv2
+import depthai as dai
+import numpy as np
+import time
+import argparse
+
+parentDir = Path(__file__).parent
+nnPathDefault = str((parentDir / Path('../models/yolov4_tiny_coco_416x416_2022.1_vpux.blob')).resolve().absolute())
+parser = argparse.ArgumentParser()
+parser.add_argument('nnPath', nargs='?', help="Path to mobilenet detection network blob", default=nnPathDefault)
+parser.add_argument('-s', '--sync', action="store_true", help="Sync RGB output with NN output", default=False)
+args = parser.parse_args()
+
+if not Path(nnPathDefault).exists():
+    import sys
+    raise FileNotFoundError(f'Required file/s not found, please run "{sys.executable} install_requirements.py"')
+
+# MobilenetSSD label texts
+labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow",
+            "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"]
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.YoloDetectionNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+
+# Properties
+camRgb.setPreviewSize(416, 416)
+camRgb.setInterleaved(False)
+# Define a neural network that will make predictions based on the source frames
+nn.setConfidenceThreshold(0.8)
+nn.setNumClasses(80)
+nn.setCoordinateSize(4)
+nn.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+nn.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+nn.setIouThreshold(0.2)
+nn.setNumInferenceThreads(2)
+nn.setBlobPath(args.nnPath)
+
+# Linking
+if args.sync:
+    nn.passthrough.link(xoutRgb.input)
+else:
+    camRgb.preview.link(xoutRgb.input)
+
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+monoVertical = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+xoutVertical = pipeline.create(dai.node.XLinkOut)
+
+xoutLeft.setStreamName('left')
+xoutRight.setStreamName('right')
+xoutVertical.setStreamName('vertical')
+
+# Properties
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoVertical.setBoardSocket(dai.CameraBoardSocket.VERTICAL)
+monoVertical.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+
+# Linking
+monoRight.out.link(xoutRight.input)
+monoLeft.out.link(xoutLeft.input)
+monoVertical.out.link(xoutVertical.input)
+
+
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+    # Output queues will be used to get the grayscale frames from the outputs defined above
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    qVertical = device.getOutputQueue(name="vertical", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    # nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def displayFrame(name, frame):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+        # Show the frame
+        cv2.imshow(name, frame)
+
+    printOutputLayersOnce = True
+
+    while True:
+        if args.sync:
+            # Use blocking get() call to catch frame and inference result synced
+            inRgb = qRgb.get()
+            inDet = qDet.get()
+            inLeft = qLeft.get()
+            inRight = qRight.get()
+            inVertical = qVertical.get()
+        else:
+            # Instead of get (blocking), we use tryGet (non-blocking) which will return the available data or None otherwise
+            inRgb = qRgb.tryGet()
+            inDet = qDet.tryGet()
+            inLeft = qLeft.tryGet()
+            inRight = qRight.tryGet()
+            inVertical = qVertical.tryGet()
+
+        if inLeft is not None:
+            cv2.imshow("left", inLeft.getCvFrame())
+        if inRight is not None:
+            cv2.imshow("right", inRight.getCvFrame())
+        if inVertical is not None:
+            cv2.imshow("vertical", inVertical.getCvFrame())
+
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detections = inDet.detections
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            displayFrame("rgb", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/examples/tmp_s3/tmp_nn_resnet.py b/bindings/python/examples/tmp_s3/tmp_nn_resnet.py
new file mode 100644
index 000000000..218d26e83
--- /dev/null
+++ b/bindings/python/examples/tmp_s3/tmp_nn_resnet.py
@@ -0,0 +1,84 @@
+import cv2
+import depthai as dai
+import numpy as np
+import time
+
+
+from pathlib import Path
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+camRgb = pipeline.create(dai.node.ColorCamera)
+nn = pipeline.create(dai.node.NeuralNetwork)
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+nnOut = pipeline.create(dai.node.XLinkOut)
+nnNetworkOut = pipeline.create(dai.node.XLinkOut)
+
+xoutRgb.setStreamName("rgb")
+nnOut.setStreamName("nn")
+nnNetworkOut.setStreamName("nnNetwork")
+
+# Properties
+camRgb.setPreviewSize(224, 224)
+camRgb.setInterleaved(False)
+camRgb.setFps(40)
+# Define a neural network that will make predictions based on the source frames
+nn.setBlobPath("${Path to resnet blob}")
+nn.setNumInferenceThreads(2)
+nn.input.setBlocking(False)
+
+# Linking
+nn.passthrough.link(xoutRgb.input)
+camRgb.preview.link(nn.input)
+nn.out.link(nnOut.input)
+
+labels = []
+
+# Parse
+with open(str((Path(__file__).parent / Path("resnet_labels.txt")).resolve().absolute())) as f:
+    for line in f:
+        splitLine = line.split("\'")
+        labels.append(splitLine[1])
+
+with dai.Device(pipeline) as device:
+
+    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
+    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)
+
+    frame = None
+    detections = []
+    startTime = time.monotonic()
+    counter = 0
+    color2 = (255, 255, 255)
+
+    while True:
+        inRgb: dai.ImgFrame = qRgb.get()
+        inDet: dai.NNData = qDet.get()
+
+        deviceTimestamp = inRgb.getTimestamp()
+        if inRgb is not None:
+            frame = inRgb.getCvFrame()
+            cv2.putText(frame, "NN fps: {:.2f}".format(counter / (time.monotonic() - startTime)),
+                        (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+
+        if inDet is not None:
+            detData = inDet.getFirstLayerFp16()
+            npDetData = np.array(detData)
+            softmaxOutput = np.exp(npDetData)/sum(np.exp(npDetData))
+            labelIndex = np.argmax(softmaxOutput)
+            # print(softmaxOutput[labelIndex])
+            # print("Detection:")
+            # print(labels[labelIndex])
+            if frame is not None:
+                cv2.putText(frame, f"Detection: {labels[labelIndex]}", (5, 15), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color2)
+            counter += 1
+
+        # If the frame is available, draw bounding boxes on it and show the frame
+        if frame is not None:
+            cv2.imshow("preview", frame)
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/bindings/python/external/CMakeLists.txt b/bindings/python/external/CMakeLists.txt
new file mode 100644
index 000000000..f801c515c
--- /dev/null
+++ b/bindings/python/external/CMakeLists.txt
@@ -0,0 +1,6 @@
+# Add 'hedley' library
+add_subdirectory(hedley)
+# Add 'pybind11_json' library
+add_subdirectory(pybind11_json)
+# Add 'xtensor-python' library
+add_subdirectory(xtensor-python)
\ No newline at end of file
diff --git a/bindings/python/external/hedley/CMakeLists.txt b/bindings/python/external/hedley/CMakeLists.txt
new file mode 100644
index 000000000..d9448473a
--- /dev/null
+++ b/bindings/python/external/hedley/CMakeLists.txt
@@ -0,0 +1,3 @@
+# Hedley library
+add_library(hedley INTERFACE)
+target_include_directories(hedley INTERFACE "${CMAKE_CURRENT_LIST_DIR}/include")
diff --git a/bindings/python/external/hedley/include/hedley/hedley.h b/bindings/python/external/hedley/include/hedley/hedley.h
new file mode 100644
index 000000000..d03ea6faa
--- /dev/null
+++ b/bindings/python/external/hedley/include/hedley/hedley.h
@@ -0,0 +1,1971 @@
+/* Hedley - https://nemequ.github.io/hedley
+ * Created by Evan Nemerson <evan@nemerson.com>
+ *
+ * To the extent possible under law, the author(s) have dedicated all
+ * copyright and related and neighboring rights to this software to
+ * the public domain worldwide. This software is distributed without
+ * any warranty.
+ *
+ * For details, see <http://creativecommons.org/publicdomain/zero/1.0/>.
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#if !defined(HEDLEY_VERSION) || (HEDLEY_VERSION < 14)
+#if defined(HEDLEY_VERSION)
+#  undef HEDLEY_VERSION
+#endif
+#define HEDLEY_VERSION 14
+
+#if defined(HEDLEY_STRINGIFY_EX)
+#  undef HEDLEY_STRINGIFY_EX
+#endif
+#define HEDLEY_STRINGIFY_EX(x) #x
+
+#if defined(HEDLEY_STRINGIFY)
+#  undef HEDLEY_STRINGIFY
+#endif
+#define HEDLEY_STRINGIFY(x) HEDLEY_STRINGIFY_EX(x)
+
+#if defined(HEDLEY_CONCAT_EX)
+#  undef HEDLEY_CONCAT_EX
+#endif
+#define HEDLEY_CONCAT_EX(a,b) a##b
+
+#if defined(HEDLEY_CONCAT)
+#  undef HEDLEY_CONCAT
+#endif
+#define HEDLEY_CONCAT(a,b) HEDLEY_CONCAT_EX(a,b)
+
+#if defined(HEDLEY_CONCAT3_EX)
+#  undef HEDLEY_CONCAT3_EX
+#endif
+#define HEDLEY_CONCAT3_EX(a,b,c) a##b##c
+
+#if defined(HEDLEY_CONCAT3)
+#  undef HEDLEY_CONCAT3
+#endif
+#define HEDLEY_CONCAT3(a,b,c) HEDLEY_CONCAT3_EX(a,b,c)
+
+#if defined(HEDLEY_VERSION_ENCODE)
+#  undef HEDLEY_VERSION_ENCODE
+#endif
+#define HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision))
+
+#if defined(HEDLEY_VERSION_DECODE_MAJOR)
+#  undef HEDLEY_VERSION_DECODE_MAJOR
+#endif
+#define HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000)
+
+#if defined(HEDLEY_VERSION_DECODE_MINOR)
+#  undef HEDLEY_VERSION_DECODE_MINOR
+#endif
+#define HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000)
+
+#if defined(HEDLEY_VERSION_DECODE_REVISION)
+#  undef HEDLEY_VERSION_DECODE_REVISION
+#endif
+#define HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000)
+
+#if defined(HEDLEY_GNUC_VERSION)
+#  undef HEDLEY_GNUC_VERSION
+#endif
+#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__)
+#  define HEDLEY_GNUC_VERSION HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
+#elif defined(__GNUC__)
+#  define HEDLEY_GNUC_VERSION HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0)
+#endif
+
+#if defined(HEDLEY_GNUC_VERSION_CHECK)
+#  undef HEDLEY_GNUC_VERSION_CHECK
+#endif
+#if defined(HEDLEY_GNUC_VERSION)
+#  define HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (HEDLEY_GNUC_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_MSVC_VERSION)
+#  undef HEDLEY_MSVC_VERSION
+#endif
+#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000) && !defined(__ICL)
+#  define HEDLEY_MSVC_VERSION HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100)
+#elif defined(_MSC_FULL_VER) && !defined(__ICL)
+#  define HEDLEY_MSVC_VERSION HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10)
+#elif defined(_MSC_VER) && !defined(__ICL)
+#  define HEDLEY_MSVC_VERSION HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0)
+#endif
+
+#if defined(HEDLEY_MSVC_VERSION_CHECK)
+#  undef HEDLEY_MSVC_VERSION_CHECK
+#endif
+#if !defined(HEDLEY_MSVC_VERSION)
+#  define HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0)
+#elif defined(_MSC_VER) && (_MSC_VER >= 1400)
+#  define HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch)))
+#elif defined(_MSC_VER) && (_MSC_VER >= 1200)
+#  define HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch)))
+#else
+#  define HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor)))
+#endif
+
+#if defined(HEDLEY_INTEL_VERSION)
+#  undef HEDLEY_INTEL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && !defined(__ICL)
+#  define HEDLEY_INTEL_VERSION HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE)
+#elif defined(__INTEL_COMPILER) && !defined(__ICL)
+#  define HEDLEY_INTEL_VERSION HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0)
+#endif
+
+#if defined(HEDLEY_INTEL_VERSION_CHECK)
+#  undef HEDLEY_INTEL_VERSION_CHECK
+#endif
+#if defined(HEDLEY_INTEL_VERSION)
+#  define HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (HEDLEY_INTEL_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_INTEL_CL_VERSION)
+#  undef HEDLEY_INTEL_CL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && defined(__ICL)
+#  define HEDLEY_INTEL_CL_VERSION HEDLEY_VERSION_ENCODE(__INTEL_COMPILER, __INTEL_COMPILER_UPDATE, 0)
+#endif
+
+#if defined(HEDLEY_INTEL_CL_VERSION_CHECK)
+#  undef HEDLEY_INTEL_CL_VERSION_CHECK
+#endif
+#if defined(HEDLEY_INTEL_CL_VERSION)
+#  define HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (HEDLEY_INTEL_CL_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_PGI_VERSION)
+#  undef HEDLEY_PGI_VERSION
+#endif
+#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__)
+#  define HEDLEY_PGI_VERSION HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__)
+#endif
+
+#if defined(HEDLEY_PGI_VERSION_CHECK)
+#  undef HEDLEY_PGI_VERSION_CHECK
+#endif
+#if defined(HEDLEY_PGI_VERSION)
+#  define HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (HEDLEY_PGI_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_SUNPRO_VERSION)
+#  undef HEDLEY_SUNPRO_VERSION
+#endif
+#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000)
+#  define HEDLEY_SUNPRO_VERSION HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10)
+#elif defined(__SUNPRO_C)
+#  define HEDLEY_SUNPRO_VERSION HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf)
+#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000)
+#  define HEDLEY_SUNPRO_VERSION HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10)
+#elif defined(__SUNPRO_CC)
+#  define HEDLEY_SUNPRO_VERSION HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf)
+#endif
+
+#if defined(HEDLEY_SUNPRO_VERSION_CHECK)
+#  undef HEDLEY_SUNPRO_VERSION_CHECK
+#endif
+#if defined(HEDLEY_SUNPRO_VERSION)
+#  define HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (HEDLEY_SUNPRO_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_EMSCRIPTEN_VERSION)
+#  undef HEDLEY_EMSCRIPTEN_VERSION
+#endif
+#if defined(__EMSCRIPTEN__)
+#  define HEDLEY_EMSCRIPTEN_VERSION HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__)
+#endif
+
+#if defined(HEDLEY_EMSCRIPTEN_VERSION_CHECK)
+#  undef HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#endif
+#if defined(HEDLEY_EMSCRIPTEN_VERSION)
+#  define HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (HEDLEY_EMSCRIPTEN_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_ARM_VERSION)
+#  undef HEDLEY_ARM_VERSION
+#endif
+#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION)
+#  define HEDLEY_ARM_VERSION HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100)
+#elif defined(__CC_ARM) && defined(__ARMCC_VERSION)
+#  define HEDLEY_ARM_VERSION HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100)
+#endif
+
+#if defined(HEDLEY_ARM_VERSION_CHECK)
+#  undef HEDLEY_ARM_VERSION_CHECK
+#endif
+#if defined(HEDLEY_ARM_VERSION)
+#  define HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (HEDLEY_ARM_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_IBM_VERSION)
+#  undef HEDLEY_IBM_VERSION
+#endif
+#if defined(__ibmxl__)
+#  define HEDLEY_IBM_VERSION HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__)
+#elif defined(__xlC__) && defined(__xlC_ver__)
+#  define HEDLEY_IBM_VERSION HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff)
+#elif defined(__xlC__)
+#  define HEDLEY_IBM_VERSION HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0)
+#endif
+
+#if defined(HEDLEY_IBM_VERSION_CHECK)
+#  undef HEDLEY_IBM_VERSION_CHECK
+#endif
+#if defined(HEDLEY_IBM_VERSION)
+#  define HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (HEDLEY_IBM_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_VERSION)
+#  undef HEDLEY_TI_VERSION
+#endif
+#if \
+    defined(__TI_COMPILER_VERSION__) && \
+    ( \
+      defined(__TMS470__) || defined(__TI_ARM__) || \
+      defined(__MSP430__) || \
+      defined(__TMS320C2000__) \
+    )
+#  if (__TI_COMPILER_VERSION__ >= 16000000)
+#    define HEDLEY_TI_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#  endif
+#endif
+
+#if defined(HEDLEY_TI_VERSION_CHECK)
+#  undef HEDLEY_TI_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_VERSION)
+#  define HEDLEY_TI_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_CL2000_VERSION)
+#  undef HEDLEY_TI_CL2000_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__)
+#  define HEDLEY_TI_CL2000_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_CL2000_VERSION_CHECK)
+#  undef HEDLEY_TI_CL2000_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_CL2000_VERSION)
+#  define HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_CL2000_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_CL430_VERSION)
+#  undef HEDLEY_TI_CL430_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__)
+#  define HEDLEY_TI_CL430_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_CL430_VERSION_CHECK)
+#  undef HEDLEY_TI_CL430_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_CL430_VERSION)
+#  define HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_CL430_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_ARMCL_VERSION)
+#  undef HEDLEY_TI_ARMCL_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__))
+#  define HEDLEY_TI_ARMCL_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_ARMCL_VERSION_CHECK)
+#  undef HEDLEY_TI_ARMCL_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_ARMCL_VERSION)
+#  define HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_ARMCL_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_CL6X_VERSION)
+#  undef HEDLEY_TI_CL6X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__)
+#  define HEDLEY_TI_CL6X_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_CL6X_VERSION_CHECK)
+#  undef HEDLEY_TI_CL6X_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_CL6X_VERSION)
+#  define HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_CL6X_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_CL7X_VERSION)
+#  undef HEDLEY_TI_CL7X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__)
+#  define HEDLEY_TI_CL7X_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_CL7X_VERSION_CHECK)
+#  undef HEDLEY_TI_CL7X_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_CL7X_VERSION)
+#  define HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_CL7X_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TI_CLPRU_VERSION)
+#  undef HEDLEY_TI_CLPRU_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__)
+#  define HEDLEY_TI_CLPRU_VERSION HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(HEDLEY_TI_CLPRU_VERSION_CHECK)
+#  undef HEDLEY_TI_CLPRU_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TI_CLPRU_VERSION)
+#  define HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (HEDLEY_TI_CLPRU_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_CRAY_VERSION)
+#  undef HEDLEY_CRAY_VERSION
+#endif
+#if defined(_CRAYC)
+#  if defined(_RELEASE_PATCHLEVEL)
+#    define HEDLEY_CRAY_VERSION HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL)
+#  else
+#    define HEDLEY_CRAY_VERSION HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0)
+#  endif
+#endif
+
+#if defined(HEDLEY_CRAY_VERSION_CHECK)
+#  undef HEDLEY_CRAY_VERSION_CHECK
+#endif
+#if defined(HEDLEY_CRAY_VERSION)
+#  define HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (HEDLEY_CRAY_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_IAR_VERSION)
+#  undef HEDLEY_IAR_VERSION
+#endif
+#if defined(__IAR_SYSTEMS_ICC__)
+#  if __VER__ > 1000
+#    define HEDLEY_IAR_VERSION HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000))
+#  else
+#    define HEDLEY_IAR_VERSION HEDLEY_VERSION_ENCODE(VER / 100, __VER__ % 100, 0)
+#  endif
+#endif
+
+#if defined(HEDLEY_IAR_VERSION_CHECK)
+#  undef HEDLEY_IAR_VERSION_CHECK
+#endif
+#if defined(HEDLEY_IAR_VERSION)
+#  define HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (HEDLEY_IAR_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_TINYC_VERSION)
+#  undef HEDLEY_TINYC_VERSION
+#endif
+#if defined(__TINYC__)
+#  define HEDLEY_TINYC_VERSION HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100)
+#endif
+
+#if defined(HEDLEY_TINYC_VERSION_CHECK)
+#  undef HEDLEY_TINYC_VERSION_CHECK
+#endif
+#if defined(HEDLEY_TINYC_VERSION)
+#  define HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (HEDLEY_TINYC_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_DMC_VERSION)
+#  undef HEDLEY_DMC_VERSION
+#endif
+#if defined(__DMC__)
+#  define HEDLEY_DMC_VERSION HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf)
+#endif
+
+#if defined(HEDLEY_DMC_VERSION_CHECK)
+#  undef HEDLEY_DMC_VERSION_CHECK
+#endif
+#if defined(HEDLEY_DMC_VERSION)
+#  define HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (HEDLEY_DMC_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_COMPCERT_VERSION)
+#  undef HEDLEY_COMPCERT_VERSION
+#endif
+#if defined(__COMPCERT_VERSION__)
+#  define HEDLEY_COMPCERT_VERSION HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100)
+#endif
+
+#if defined(HEDLEY_COMPCERT_VERSION_CHECK)
+#  undef HEDLEY_COMPCERT_VERSION_CHECK
+#endif
+#if defined(HEDLEY_COMPCERT_VERSION)
+#  define HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (HEDLEY_COMPCERT_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_PELLES_VERSION)
+#  undef HEDLEY_PELLES_VERSION
+#endif
+#if defined(__POCC__)
+#  define HEDLEY_PELLES_VERSION HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0)
+#endif
+
+#if defined(HEDLEY_PELLES_VERSION_CHECK)
+#  undef HEDLEY_PELLES_VERSION_CHECK
+#endif
+#if defined(HEDLEY_PELLES_VERSION)
+#  define HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (HEDLEY_PELLES_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_GCC_VERSION)
+#  undef HEDLEY_GCC_VERSION
+#endif
+#if \
+  defined(HEDLEY_GNUC_VERSION) && \
+  !defined(__clang__) && \
+  !defined(HEDLEY_INTEL_VERSION) && \
+  !defined(HEDLEY_PGI_VERSION) && \
+  !defined(HEDLEY_ARM_VERSION) && \
+  !defined(HEDLEY_TI_VERSION) && \
+  !defined(HEDLEY_TI_ARMCL_VERSION) && \
+  !defined(HEDLEY_TI_CL430_VERSION) && \
+  !defined(HEDLEY_TI_CL2000_VERSION) && \
+  !defined(HEDLEY_TI_CL6X_VERSION) && \
+  !defined(HEDLEY_TI_CL7X_VERSION) && \
+  !defined(HEDLEY_TI_CLPRU_VERSION) && \
+  !defined(__COMPCERT__)
+#  define HEDLEY_GCC_VERSION HEDLEY_GNUC_VERSION
+#endif
+
+#if defined(HEDLEY_GCC_VERSION_CHECK)
+#  undef HEDLEY_GCC_VERSION_CHECK
+#endif
+#if defined(HEDLEY_GCC_VERSION)
+#  define HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (HEDLEY_GCC_VERSION >= HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+#  define HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(HEDLEY_HAS_ATTRIBUTE)
+#  undef HEDLEY_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+#  define HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute)
+#else
+#  define HEDLEY_HAS_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_ATTRIBUTE)
+#  undef HEDLEY_GNUC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+#  define HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+#  define HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_ATTRIBUTE)
+#  undef HEDLEY_GCC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+#  define HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+#  define HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_CPP_ATTRIBUTE)
+#  undef HEDLEY_HAS_CPP_ATTRIBUTE
+#endif
+#if \
+  defined(__has_cpp_attribute) && \
+  defined(__cplusplus) && \
+  (!defined(HEDLEY_SUNPRO_VERSION) || HEDLEY_SUNPRO_VERSION_CHECK(5,15,0))
+#  define HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute)
+#else
+#  define HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(HEDLEY_HAS_CPP_ATTRIBUTE_NS)
+#  undef HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#endif
+#if !defined(__cplusplus) || !defined(__has_cpp_attribute)
+#  define HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#elif \
+  !defined(HEDLEY_PGI_VERSION) && \
+  !defined(HEDLEY_IAR_VERSION) && \
+  (!defined(HEDLEY_SUNPRO_VERSION) || HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \
+  (!defined(HEDLEY_MSVC_VERSION) || HEDLEY_MSVC_VERSION_CHECK(19,20,0))
+#  define HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute)
+#else
+#  define HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_CPP_ATTRIBUTE)
+#  undef HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+#  define HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+#  define HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_CPP_ATTRIBUTE)
+#  undef HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+#  define HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+#  define HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_BUILTIN)
+#  undef HEDLEY_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+#  define HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin)
+#else
+#  define HEDLEY_HAS_BUILTIN(builtin) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_BUILTIN)
+#  undef HEDLEY_GNUC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+#  define HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+#  define HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_BUILTIN)
+#  undef HEDLEY_GCC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+#  define HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+#  define HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_FEATURE)
+#  undef HEDLEY_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+#  define HEDLEY_HAS_FEATURE(feature) __has_feature(feature)
+#else
+#  define HEDLEY_HAS_FEATURE(feature) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_FEATURE)
+#  undef HEDLEY_GNUC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+#  define HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+#  define HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_FEATURE)
+#  undef HEDLEY_GCC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+#  define HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+#  define HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_EXTENSION)
+#  undef HEDLEY_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+#  define HEDLEY_HAS_EXTENSION(extension) __has_extension(extension)
+#else
+#  define HEDLEY_HAS_EXTENSION(extension) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_EXTENSION)
+#  undef HEDLEY_GNUC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+#  define HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+#  define HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_EXTENSION)
+#  undef HEDLEY_GCC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+#  define HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+#  define HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_DECLSPEC_ATTRIBUTE)
+#  undef HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+#  define HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute)
+#else
+#  define HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE)
+#  undef HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+#  define HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+#  define HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE)
+#  undef HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+#  define HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+#  define HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_HAS_WARNING)
+#  undef HEDLEY_HAS_WARNING
+#endif
+#if defined(__has_warning)
+#  define HEDLEY_HAS_WARNING(warning) __has_warning(warning)
+#else
+#  define HEDLEY_HAS_WARNING(warning) (0)
+#endif
+
+#if defined(HEDLEY_GNUC_HAS_WARNING)
+#  undef HEDLEY_GNUC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+#  define HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+#  define HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_GCC_HAS_WARNING)
+#  undef HEDLEY_GCC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+#  define HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+#  define HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if \
+  (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+  defined(__clang__) || \
+  HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+  HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \
+  HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \
+  (HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR))
+#  define HEDLEY_PRAGMA(value) _Pragma(#value)
+#elif HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+#  define HEDLEY_PRAGMA(value) __pragma(value)
+#else
+#  define HEDLEY_PRAGMA(value)
+#endif
+
+#if defined(HEDLEY_DIAGNOSTIC_PUSH)
+#  undef HEDLEY_DIAGNOSTIC_PUSH
+#endif
+#if defined(HEDLEY_DIAGNOSTIC_POP)
+#  undef HEDLEY_DIAGNOSTIC_POP
+#endif
+#if defined(__clang__)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop")
+#elif HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#elif HEDLEY_GCC_VERSION_CHECK(4,6,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push))
+#  define HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop))
+#elif HEDLEY_ARM_VERSION_CHECK(5,6,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("push")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("pop")
+#elif \
+    HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \
+    HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop")
+#elif HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+#  define HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+#  define HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#else
+#  define HEDLEY_DIAGNOSTIC_PUSH
+#  define HEDLEY_DIAGNOSTIC_POP
+#endif
+
+/* HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+#  undef HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#endif
+#if defined(__cplusplus)
+#  if HEDLEY_HAS_WARNING("-Wc++98-compat")
+#    if HEDLEY_HAS_WARNING("-Wc++17-extensions")
+#      if HEDLEY_HAS_WARNING("-Wc++1z-extensions")
+#        define HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+           HEDLEY_DIAGNOSTIC_PUSH \
+           _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+           _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+           _Pragma("clang diagnostic ignored \"-Wc++1z-extensions\"") \
+           xpr \
+           HEDLEY_DIAGNOSTIC_POP
+#      else
+#        define HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+           HEDLEY_DIAGNOSTIC_PUSH \
+           _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+           _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+           xpr \
+           HEDLEY_DIAGNOSTIC_POP
+#      endif
+#    else
+#      define HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+         HEDLEY_DIAGNOSTIC_PUSH \
+         _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+         xpr \
+         HEDLEY_DIAGNOSTIC_POP
+#    endif
+#  endif
+#endif
+#if !defined(HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x
+#endif
+
+#if defined(HEDLEY_CONST_CAST)
+#  undef HEDLEY_CONST_CAST
+#endif
+#if defined(__cplusplus)
+#  define HEDLEY_CONST_CAST(T, expr) (const_cast<T>(expr))
+#elif \
+  HEDLEY_HAS_WARNING("-Wcast-qual") || \
+  HEDLEY_GCC_VERSION_CHECK(4,6,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \
+      HEDLEY_DIAGNOSTIC_PUSH \
+      HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \
+      ((T) (expr)); \
+      HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define HEDLEY_CONST_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(HEDLEY_REINTERPRET_CAST)
+#  undef HEDLEY_REINTERPRET_CAST
+#endif
+#if defined(__cplusplus)
+#  define HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast<T>(expr))
+#else
+#  define HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(HEDLEY_STATIC_CAST)
+#  undef HEDLEY_STATIC_CAST
+#endif
+#if defined(__cplusplus)
+#  define HEDLEY_STATIC_CAST(T, expr) (static_cast<T>(expr))
+#else
+#  define HEDLEY_STATIC_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(HEDLEY_CPP_CAST)
+#  undef HEDLEY_CPP_CAST
+#endif
+#if defined(__cplusplus)
+#  if HEDLEY_HAS_WARNING("-Wold-style-cast")
+#    define HEDLEY_CPP_CAST(T, expr) \
+       HEDLEY_DIAGNOSTIC_PUSH \
+       _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \
+       ((T) (expr)) \
+       HEDLEY_DIAGNOSTIC_POP
+#  elif HEDLEY_IAR_VERSION_CHECK(8,3,0)
+#    define HEDLEY_CPP_CAST(T, expr) \
+       HEDLEY_DIAGNOSTIC_PUSH \
+       _Pragma("diag_suppress=Pe137") \
+       HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define HEDLEY_CPP_CAST(T, expr) ((T) (expr))
+#  endif
+#else
+#  define HEDLEY_CPP_CAST(T, expr) (expr)
+#endif
+
+#if defined(HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED)
+#  undef HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+#if HEDLEY_HAS_WARNING("-Wdeprecated-declarations")
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)")
+#elif HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:1478 1786))
+#elif HEDLEY_PGI_VERSION_CHECK(20,7,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1216,1444,1445")
+#elif HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif HEDLEY_GCC_VERSION_CHECK(4,3,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996))
+#elif \
+    HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718")
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)")
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)")
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215")
+#elif HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)")
+#else
+#  define HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+
+#if defined(HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS)
+#  undef HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+#if HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"")
+#elif HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)")
+#elif HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:161))
+#elif HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675")
+#elif HEDLEY_GCC_VERSION_CHECK(4,3,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"")
+#elif HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068))
+#elif \
+    HEDLEY_TI_VERSION_CHECK(16,9,0) || \
+    HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161")
+#else
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+
+#if defined(HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES)
+#  undef HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+#if HEDLEY_HAS_WARNING("-Wunknown-attributes")
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"")
+#elif HEDLEY_GCC_VERSION_CHECK(4,6,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif HEDLEY_INTEL_VERSION_CHECK(17,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)")
+#elif HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:1292))
+#elif HEDLEY_MSVC_VERSION_CHECK(19,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030))
+#elif HEDLEY_PGI_VERSION_CHECK(20,7,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097,1098")
+#elif HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)")
+#elif \
+    HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173")
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097")
+#else
+#  define HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+
+#if defined(HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL)
+#  undef HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+#if HEDLEY_HAS_WARNING("-Wcast-qual")
+#  define HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"")
+#elif HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)")
+#elif HEDLEY_GCC_VERSION_CHECK(3,0,0)
+#  define HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"")
+#else
+#  define HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+
+#if defined(HEDLEY_DEPRECATED)
+#  undef HEDLEY_DEPRECATED
+#endif
+#if defined(HEDLEY_DEPRECATED_FOR)
+#  undef HEDLEY_DEPRECATED_FOR
+#endif
+#if \
+  HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since))
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement))
+#elif \
+  HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) || \
+  HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \
+  HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+  HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+#  define HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since)))
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement)))
+#elif defined(__cplusplus) && (__cplusplus >= 201402L)
+#  define HEDLEY_DEPRECATED(since) HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]])
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]])
+#elif \
+  HEDLEY_HAS_ATTRIBUTE(deprecated) || \
+  HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_DEPRECATED(since) __attribute__((__deprecated__))
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__))
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+  HEDLEY_PELLES_VERSION_CHECK(6,50,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_DEPRECATED(since) __declspec(deprecated)
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated)
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_DEPRECATED(since) _Pragma("deprecated")
+#  define HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated")
+#else
+#  define HEDLEY_DEPRECATED(since)
+#  define HEDLEY_DEPRECATED_FOR(since, replacement)
+#endif
+
+#if defined(HEDLEY_UNAVAILABLE)
+#  undef HEDLEY_UNAVAILABLE
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(warning) || \
+  HEDLEY_GCC_VERSION_CHECK(4,3,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since)))
+#else
+#  define HEDLEY_UNAVAILABLE(available_since)
+#endif
+
+#if defined(HEDLEY_WARN_UNUSED_RESULT)
+#  undef HEDLEY_WARN_UNUSED_RESULT
+#endif
+#if defined(HEDLEY_WARN_UNUSED_RESULT_MSG)
+#  undef HEDLEY_WARN_UNUSED_RESULT_MSG
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \
+  HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  (HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__))
+#  define HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__))
+#elif (HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L)
+#  define HEDLEY_WARN_UNUSED_RESULT HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#  define HEDLEY_WARN_UNUSED_RESULT_MSG(msg) HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]])
+#elif HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard)
+#  define HEDLEY_WARN_UNUSED_RESULT HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#  define HEDLEY_WARN_UNUSED_RESULT_MSG(msg) HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#elif defined(_Check_return_) /* SAL */
+#  define HEDLEY_WARN_UNUSED_RESULT _Check_return_
+#  define HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_
+#else
+#  define HEDLEY_WARN_UNUSED_RESULT
+#  define HEDLEY_WARN_UNUSED_RESULT_MSG(msg)
+#endif
+
+#if defined(HEDLEY_SENTINEL)
+#  undef HEDLEY_SENTINEL
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(sentinel) || \
+  HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_ARM_VERSION_CHECK(5,4,0)
+#  define HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position)))
+#else
+#  define HEDLEY_SENTINEL(position)
+#endif
+
+#if defined(HEDLEY_NO_RETURN)
+#  undef HEDLEY_NO_RETURN
+#endif
+#if HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_NO_RETURN __noreturn
+#elif HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+#  define HEDLEY_NO_RETURN _Noreturn
+#elif defined(__cplusplus) && (__cplusplus >= 201103L)
+#  define HEDLEY_NO_RETURN HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]])
+#elif \
+  HEDLEY_HAS_ATTRIBUTE(noreturn) || \
+  HEDLEY_GCC_VERSION_CHECK(3,2,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define HEDLEY_NO_RETURN _Pragma("does_not_return")
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_NO_RETURN __declspec(noreturn)
+#elif HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+#  define HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;")
+#elif HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+#  define HEDLEY_NO_RETURN __attribute((noreturn))
+#elif HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+#  define HEDLEY_NO_RETURN __declspec(noreturn)
+#else
+#  define HEDLEY_NO_RETURN
+#endif
+
+#if defined(HEDLEY_NO_ESCAPE)
+#  undef HEDLEY_NO_ESCAPE
+#endif
+#if HEDLEY_HAS_ATTRIBUTE(noescape)
+#  define HEDLEY_NO_ESCAPE __attribute__((__noescape__))
+#else
+#  define HEDLEY_NO_ESCAPE
+#endif
+
+#if defined(HEDLEY_UNREACHABLE)
+#  undef HEDLEY_UNREACHABLE
+#endif
+#if defined(HEDLEY_UNREACHABLE_RETURN)
+#  undef HEDLEY_UNREACHABLE_RETURN
+#endif
+#if defined(HEDLEY_ASSUME)
+#  undef HEDLEY_ASSUME
+#endif
+#if \
+  HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_ASSUME(expr) __assume(expr)
+#elif HEDLEY_HAS_BUILTIN(__builtin_assume)
+#  define HEDLEY_ASSUME(expr) __builtin_assume(expr)
+#elif \
+    HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+#  if defined(__cplusplus)
+#    define HEDLEY_ASSUME(expr) std::_nassert(expr)
+#  else
+#    define HEDLEY_ASSUME(expr) _nassert(expr)
+#  endif
+#endif
+#if \
+  (HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(HEDLEY_ARM_VERSION))) || \
+  HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+  HEDLEY_PGI_VERSION_CHECK(18,10,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_IBM_VERSION_CHECK(13,1,5)
+#  define HEDLEY_UNREACHABLE() __builtin_unreachable()
+#elif defined(HEDLEY_ASSUME)
+#  define HEDLEY_UNREACHABLE() HEDLEY_ASSUME(0)
+#endif
+#if !defined(HEDLEY_ASSUME)
+#  if defined(HEDLEY_UNREACHABLE)
+#    define HEDLEY_ASSUME(expr) HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (HEDLEY_UNREACHABLE(), 1)))
+#  else
+#    define HEDLEY_ASSUME(expr) HEDLEY_STATIC_CAST(void, expr)
+#  endif
+#endif
+#if defined(HEDLEY_UNREACHABLE)
+#  if  \
+      HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+      HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+#    define HEDLEY_UNREACHABLE_RETURN(value) return (HEDLEY_STATIC_CAST(void, HEDLEY_ASSUME(0)), (value))
+#  else
+#    define HEDLEY_UNREACHABLE_RETURN(value) HEDLEY_UNREACHABLE()
+#  endif
+#else
+#  define HEDLEY_UNREACHABLE_RETURN(value) return (value)
+#endif
+#if !defined(HEDLEY_UNREACHABLE)
+#  define HEDLEY_UNREACHABLE() HEDLEY_ASSUME(0)
+#endif
+
+HEDLEY_DIAGNOSTIC_PUSH
+#if HEDLEY_HAS_WARNING("-Wpedantic")
+#  pragma clang diagnostic ignored "-Wpedantic"
+#endif
+#if HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus)
+#  pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#endif
+#if HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0)
+#  if defined(__clang__)
+#    pragma clang diagnostic ignored "-Wvariadic-macros"
+#  elif defined(HEDLEY_GCC_VERSION)
+#    pragma GCC diagnostic ignored "-Wvariadic-macros"
+#  endif
+#endif
+#if defined(HEDLEY_NON_NULL)
+#  undef HEDLEY_NON_NULL
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(nonnull) || \
+  HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0)
+#  define HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__)))
+#else
+#  define HEDLEY_NON_NULL(...)
+#endif
+HEDLEY_DIAGNOSTIC_POP
+
+#if defined(HEDLEY_PRINTF_FORMAT)
+#  undef HEDLEY_PRINTF_FORMAT
+#endif
+#if defined(__MINGW32__) && HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO)
+#  define HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check)))
+#elif defined(__MINGW32__) && HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO)
+#  define HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check)))
+#elif \
+  HEDLEY_HAS_ATTRIBUTE(format) || \
+  HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check)))
+#elif HEDLEY_PELLES_VERSION_CHECK(6,0,0)
+#  define HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check))
+#else
+#  define HEDLEY_PRINTF_FORMAT(string_idx,first_to_check)
+#endif
+
+#if defined(HEDLEY_CONSTEXPR)
+#  undef HEDLEY_CONSTEXPR
+#endif
+#if defined(__cplusplus)
+#  if __cplusplus >= 201103L
+#    define HEDLEY_CONSTEXPR HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr)
+#  endif
+#endif
+#if !defined(HEDLEY_CONSTEXPR)
+#  define HEDLEY_CONSTEXPR
+#endif
+
+#if defined(HEDLEY_PREDICT)
+#  undef HEDLEY_PREDICT
+#endif
+#if defined(HEDLEY_LIKELY)
+#  undef HEDLEY_LIKELY
+#endif
+#if defined(HEDLEY_UNLIKELY)
+#  undef HEDLEY_UNLIKELY
+#endif
+#if defined(HEDLEY_UNPREDICTABLE)
+#  undef HEDLEY_UNPREDICTABLE
+#endif
+#if HEDLEY_HAS_BUILTIN(__builtin_unpredictable)
+#  define HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr))
+#endif
+#if \
+  (HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) && !defined(HEDLEY_PGI_VERSION)) || \
+  HEDLEY_GCC_VERSION_CHECK(9,0,0)
+#  define HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability(  (expr), (value), (probability))
+#  define HEDLEY_PREDICT_TRUE(expr, probability)   __builtin_expect_with_probability(!!(expr),    1   , (probability))
+#  define HEDLEY_PREDICT_FALSE(expr, probability)  __builtin_expect_with_probability(!!(expr),    0   , (probability))
+#  define HEDLEY_LIKELY(expr)                      __builtin_expect                 (!!(expr),    1                  )
+#  define HEDLEY_UNLIKELY(expr)                    __builtin_expect                 (!!(expr),    0                  )
+#elif \
+  (HEDLEY_HAS_BUILTIN(__builtin_expect) && !defined(HEDLEY_INTEL_CL_VERSION)) || \
+  HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  (HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \
+  HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+#  define HEDLEY_PREDICT(expr, expected, probability) \
+     (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (HEDLEY_STATIC_CAST(void, expected), (expr)))
+#  define HEDLEY_PREDICT_TRUE(expr, probability) \
+     (__extension__ ({ \
+       double hedley_probability_ = (probability); \
+       ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \
+     }))
+#  define HEDLEY_PREDICT_FALSE(expr, probability) \
+     (__extension__ ({ \
+       double hedley_probability_ = (probability); \
+       ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \
+     }))
+#  define HEDLEY_LIKELY(expr)   __builtin_expect(!!(expr), 1)
+#  define HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0)
+#else
+#  define HEDLEY_PREDICT(expr, expected, probability) (HEDLEY_STATIC_CAST(void, expected), (expr))
+#  define HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr))
+#  define HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr))
+#  define HEDLEY_LIKELY(expr) (!!(expr))
+#  define HEDLEY_UNLIKELY(expr) (!!(expr))
+#endif
+#if !defined(HEDLEY_UNPREDICTABLE)
+#  define HEDLEY_UNPREDICTABLE(expr) HEDLEY_PREDICT(expr, 1, 0.5)
+#endif
+
+#if defined(HEDLEY_MALLOC)
+#  undef HEDLEY_MALLOC
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(malloc) || \
+  HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_MALLOC __attribute__((__malloc__))
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define HEDLEY_MALLOC _Pragma("returns_new_memory")
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_MALLOC __declspec(restrict)
+#else
+#  define HEDLEY_MALLOC
+#endif
+
+#if defined(HEDLEY_PURE)
+#  undef HEDLEY_PURE
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(pure) || \
+  HEDLEY_GCC_VERSION_CHECK(2,96,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_PURE __attribute__((__pure__))
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define HEDLEY_PURE _Pragma("does_not_write_global_data")
+#elif defined(__cplusplus) && \
+    ( \
+      HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+      HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \
+      HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \
+    )
+#  define HEDLEY_PURE _Pragma("FUNC_IS_PURE;")
+#else
+#  define HEDLEY_PURE
+#endif
+
+#if defined(HEDLEY_CONST)
+#  undef HEDLEY_CONST
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(const) || \
+  HEDLEY_GCC_VERSION_CHECK(2,5,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define HEDLEY_CONST __attribute__((__const__))
+#elif \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define HEDLEY_CONST _Pragma("no_side_effect")
+#else
+#  define HEDLEY_CONST HEDLEY_PURE
+#endif
+
+#if defined(HEDLEY_RESTRICT)
+#  undef HEDLEY_RESTRICT
+#endif
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus)
+#  define HEDLEY_RESTRICT restrict
+#elif \
+  HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+  HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  (HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \
+  HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+  defined(__clang__)
+#  define HEDLEY_RESTRICT __restrict
+#elif HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus)
+#  define HEDLEY_RESTRICT _Restrict
+#else
+#  define HEDLEY_RESTRICT
+#endif
+
+#if defined(HEDLEY_INLINE)
+#  undef HEDLEY_INLINE
+#endif
+#if \
+  (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+  (defined(__cplusplus) && (__cplusplus >= 199711L))
+#  define HEDLEY_INLINE inline
+#elif \
+  defined(HEDLEY_GCC_VERSION) || \
+  HEDLEY_ARM_VERSION_CHECK(6,2,0)
+#  define HEDLEY_INLINE __inline__
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_INLINE __inline
+#else
+#  define HEDLEY_INLINE
+#endif
+
+#if defined(HEDLEY_ALWAYS_INLINE)
+#  undef HEDLEY_ALWAYS_INLINE
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(always_inline) || \
+  HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) HEDLEY_INLINE
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_ALWAYS_INLINE __forceinline
+#elif defined(__cplusplus) && \
+    ( \
+      HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+      HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+      HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+      HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+      HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+      HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \
+    )
+#  define HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;")
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_ALWAYS_INLINE _Pragma("inline=forced")
+#else
+#  define HEDLEY_ALWAYS_INLINE HEDLEY_INLINE
+#endif
+
+#if defined(HEDLEY_NEVER_INLINE)
+#  undef HEDLEY_NEVER_INLINE
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(noinline) || \
+  HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define HEDLEY_NEVER_INLINE __attribute__((__noinline__))
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_NEVER_INLINE __declspec(noinline)
+#elif HEDLEY_PGI_VERSION_CHECK(10,2,0)
+#  define HEDLEY_NEVER_INLINE _Pragma("noinline")
+#elif HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+#  define HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;")
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_NEVER_INLINE _Pragma("inline=never")
+#elif HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+#  define HEDLEY_NEVER_INLINE __attribute((noinline))
+#elif HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+#  define HEDLEY_NEVER_INLINE __declspec(noinline)
+#else
+#  define HEDLEY_NEVER_INLINE
+#endif
+
+#if defined(HEDLEY_PRIVATE)
+#  undef HEDLEY_PRIVATE
+#endif
+#if defined(HEDLEY_PUBLIC)
+#  undef HEDLEY_PUBLIC
+#endif
+#if defined(HEDLEY_IMPORT)
+#  undef HEDLEY_IMPORT
+#endif
+#if defined(_WIN32) || defined(__CYGWIN__)
+#  define HEDLEY_PRIVATE
+#  define HEDLEY_PUBLIC   __declspec(dllexport)
+#  define HEDLEY_IMPORT   __declspec(dllimport)
+#else
+#  if \
+    HEDLEY_HAS_ATTRIBUTE(visibility) || \
+    HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    ( \
+      defined(__TI_EABI__) && \
+      ( \
+        (HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+        HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \
+      ) \
+    )
+#    define HEDLEY_PRIVATE __attribute__((__visibility__("hidden")))
+#    define HEDLEY_PUBLIC  __attribute__((__visibility__("default")))
+#  else
+#    define HEDLEY_PRIVATE
+#    define HEDLEY_PUBLIC
+#  endif
+#  define HEDLEY_IMPORT    extern
+#endif
+
+#if defined(HEDLEY_NO_THROW)
+#  undef HEDLEY_NO_THROW
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(nothrow) || \
+  HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_NO_THROW __attribute__((__nothrow__))
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0)
+#  define HEDLEY_NO_THROW __declspec(nothrow)
+#else
+#  define HEDLEY_NO_THROW
+#endif
+
+#if defined(HEDLEY_FALL_THROUGH)
+# undef HEDLEY_FALL_THROUGH
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(fallthrough) || \
+  HEDLEY_GCC_VERSION_CHECK(7,0,0)
+#  define HEDLEY_FALL_THROUGH __attribute__((__fallthrough__))
+#elif HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough)
+#  define HEDLEY_FALL_THROUGH HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]])
+#elif HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough)
+#  define HEDLEY_FALL_THROUGH HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]])
+#elif defined(__fallthrough) /* SAL */
+#  define HEDLEY_FALL_THROUGH __fallthrough
+#else
+#  define HEDLEY_FALL_THROUGH
+#endif
+
+#if defined(HEDLEY_RETURNS_NON_NULL)
+#  undef HEDLEY_RETURNS_NON_NULL
+#endif
+#if \
+  HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \
+  HEDLEY_GCC_VERSION_CHECK(4,9,0)
+#  define HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__))
+#elif defined(_Ret_notnull_) /* SAL */
+#  define HEDLEY_RETURNS_NON_NULL _Ret_notnull_
+#else
+#  define HEDLEY_RETURNS_NON_NULL
+#endif
+
+#if defined(HEDLEY_ARRAY_PARAM)
+#  undef HEDLEY_ARRAY_PARAM
+#endif
+#if \
+  defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \
+  !defined(__STDC_NO_VLA__) && \
+  !defined(__cplusplus) && \
+  !defined(HEDLEY_PGI_VERSION) && \
+  !defined(HEDLEY_TINYC_VERSION)
+#  define HEDLEY_ARRAY_PARAM(name) (name)
+#else
+#  define HEDLEY_ARRAY_PARAM(name)
+#endif
+
+#if defined(HEDLEY_IS_CONSTANT)
+#  undef HEDLEY_IS_CONSTANT
+#endif
+#if defined(HEDLEY_REQUIRE_CONSTEXPR)
+#  undef HEDLEY_REQUIRE_CONSTEXPR
+#endif
+/* HEDLEY_IS_CONSTEXPR_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(HEDLEY_IS_CONSTEXPR_)
+#  undef HEDLEY_IS_CONSTEXPR_
+#endif
+#if \
+  HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \
+  HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \
+  HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+  HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  (HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \
+  HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+#  define HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr)
+#endif
+#if !defined(__cplusplus)
+#  if \
+       HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \
+       HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+       HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+       HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+       HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+       HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+       HEDLEY_TINYC_VERSION_CHECK(0,9,24)
+#    if defined(__INTPTR_TYPE__)
+#      define HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*)
+#    else
+#      include <stdint.h>
+#      define HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*)
+#    endif
+#  elif \
+       ( \
+          defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \
+          !defined(HEDLEY_SUNPRO_VERSION) && \
+          !defined(HEDLEY_PGI_VERSION) && \
+          !defined(HEDLEY_IAR_VERSION)) || \
+       HEDLEY_HAS_EXTENSION(c_generic_selections) || \
+       HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+       HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \
+       HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+       HEDLEY_ARM_VERSION_CHECK(5,3,0)
+#    if defined(__INTPTR_TYPE__)
+#      define HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0)
+#    else
+#      include <stdint.h>
+#      define HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0)
+#    endif
+#  elif \
+       defined(HEDLEY_GCC_VERSION) || \
+       defined(HEDLEY_INTEL_VERSION) || \
+       defined(HEDLEY_TINYC_VERSION) || \
+       defined(HEDLEY_TI_ARMCL_VERSION) || \
+       HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \
+       defined(HEDLEY_TI_CL2000_VERSION) || \
+       defined(HEDLEY_TI_CL6X_VERSION) || \
+       defined(HEDLEY_TI_CL7X_VERSION) || \
+       defined(HEDLEY_TI_CLPRU_VERSION) || \
+       defined(__clang__)
+#    define HEDLEY_IS_CONSTEXPR_(expr) ( \
+         sizeof(void) != \
+         sizeof(*( \
+           1 ? \
+             ((void*) ((expr) * 0L) ) : \
+             ((struct { char v[sizeof(void) * 2]; } *) 1) \
+           ) \
+         ) \
+       )
+#  endif
+#endif
+#if defined(HEDLEY_IS_CONSTEXPR_)
+#  if !defined(HEDLEY_IS_CONSTANT)
+#    define HEDLEY_IS_CONSTANT(expr) HEDLEY_IS_CONSTEXPR_(expr)
+#  endif
+#  define HEDLEY_REQUIRE_CONSTEXPR(expr) (HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1))
+#else
+#  if !defined(HEDLEY_IS_CONSTANT)
+#    define HEDLEY_IS_CONSTANT(expr) (0)
+#  endif
+#  define HEDLEY_REQUIRE_CONSTEXPR(expr) (expr)
+#endif
+
+#if defined(HEDLEY_BEGIN_C_DECLS)
+#  undef HEDLEY_BEGIN_C_DECLS
+#endif
+#if defined(HEDLEY_END_C_DECLS)
+#  undef HEDLEY_END_C_DECLS
+#endif
+#if defined(HEDLEY_C_DECL)
+#  undef HEDLEY_C_DECL
+#endif
+#if defined(__cplusplus)
+#  define HEDLEY_BEGIN_C_DECLS extern "C" {
+#  define HEDLEY_END_C_DECLS }
+#  define HEDLEY_C_DECL extern "C"
+#else
+#  define HEDLEY_BEGIN_C_DECLS
+#  define HEDLEY_END_C_DECLS
+#  define HEDLEY_C_DECL
+#endif
+
+#if defined(HEDLEY_STATIC_ASSERT)
+#  undef HEDLEY_STATIC_ASSERT
+#endif
+#if \
+  !defined(__cplusplus) && ( \
+      (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \
+      (HEDLEY_HAS_FEATURE(c_static_assert) && !defined(HEDLEY_INTEL_CL_VERSION)) || \
+      HEDLEY_GCC_VERSION_CHECK(6,0,0) || \
+      HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+      defined(_Static_assert) \
+    )
+#  define HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message)
+#elif \
+  (defined(__cplusplus) && (__cplusplus >= 201103L)) || \
+  HEDLEY_MSVC_VERSION_CHECK(16,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_STATIC_ASSERT(expr, message) HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message))
+#else
+#  define HEDLEY_STATIC_ASSERT(expr, message)
+#endif
+
+#if defined(HEDLEY_NULL)
+#  undef HEDLEY_NULL
+#endif
+#if defined(__cplusplus)
+#  if __cplusplus >= 201103L
+#    define HEDLEY_NULL HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr)
+#  elif defined(NULL)
+#    define HEDLEY_NULL NULL
+#  else
+#    define HEDLEY_NULL HEDLEY_STATIC_CAST(void*, 0)
+#  endif
+#elif defined(NULL)
+#  define HEDLEY_NULL NULL
+#else
+#  define HEDLEY_NULL ((void*) 0)
+#endif
+
+#if defined(HEDLEY_MESSAGE)
+#  undef HEDLEY_MESSAGE
+#endif
+#if HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define HEDLEY_MESSAGE(msg) \
+  HEDLEY_DIAGNOSTIC_PUSH \
+  HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+  HEDLEY_PRAGMA(message msg) \
+  HEDLEY_DIAGNOSTIC_POP
+#elif \
+  HEDLEY_GCC_VERSION_CHECK(4,4,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_MESSAGE(msg) HEDLEY_PRAGMA(message msg)
+#elif HEDLEY_CRAY_VERSION_CHECK(5,0,0)
+#  define HEDLEY_MESSAGE(msg) HEDLEY_PRAGMA(_CRI message msg)
+#elif HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define HEDLEY_MESSAGE(msg) HEDLEY_PRAGMA(message(msg))
+#elif HEDLEY_PELLES_VERSION_CHECK(2,0,0)
+#  define HEDLEY_MESSAGE(msg) HEDLEY_PRAGMA(message(msg))
+#else
+#  define HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(HEDLEY_WARNING)
+#  undef HEDLEY_WARNING
+#endif
+#if HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define HEDLEY_WARNING(msg) \
+  HEDLEY_DIAGNOSTIC_PUSH \
+  HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+  HEDLEY_PRAGMA(clang warning msg) \
+  HEDLEY_DIAGNOSTIC_POP
+#elif \
+  HEDLEY_GCC_VERSION_CHECK(4,8,0) || \
+  HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define HEDLEY_WARNING(msg) HEDLEY_PRAGMA(GCC warning msg)
+#elif \
+  HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_WARNING(msg) HEDLEY_PRAGMA(message(msg))
+#else
+#  define HEDLEY_WARNING(msg) HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(HEDLEY_REQUIRE)
+#  undef HEDLEY_REQUIRE
+#endif
+#if defined(HEDLEY_REQUIRE_MSG)
+#  undef HEDLEY_REQUIRE_MSG
+#endif
+#if HEDLEY_HAS_ATTRIBUTE(diagnose_if)
+#  if HEDLEY_HAS_WARNING("-Wgcc-compat")
+#    define HEDLEY_REQUIRE(expr) \
+       HEDLEY_DIAGNOSTIC_PUSH \
+       _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+       __attribute__((diagnose_if(!(expr), #expr, "error"))) \
+       HEDLEY_DIAGNOSTIC_POP
+#    define HEDLEY_REQUIRE_MSG(expr,msg) \
+       HEDLEY_DIAGNOSTIC_PUSH \
+       _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+       __attribute__((diagnose_if(!(expr), msg, "error"))) \
+       HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error")))
+#    define HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error")))
+#  endif
+#else
+#  define HEDLEY_REQUIRE(expr)
+#  define HEDLEY_REQUIRE_MSG(expr,msg)
+#endif
+
+#if defined(HEDLEY_FLAGS)
+#  undef HEDLEY_FLAGS
+#endif
+#if HEDLEY_HAS_ATTRIBUTE(flag_enum)
+#  define HEDLEY_FLAGS __attribute__((__flag_enum__))
+#else
+#  define HEDLEY_FLAGS
+#endif
+
+#if defined(HEDLEY_FLAGS_CAST)
+#  undef HEDLEY_FLAGS_CAST
+#endif
+#if HEDLEY_INTEL_VERSION_CHECK(19,0,0)
+#  define HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \
+  HEDLEY_DIAGNOSTIC_PUSH \
+      _Pragma("warning(disable:188)") \
+      ((T) (expr)); \
+      HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define HEDLEY_FLAGS_CAST(T, expr) HEDLEY_STATIC_CAST(T, expr)
+#endif
+
+#if defined(HEDLEY_EMPTY_BASES)
+#  undef HEDLEY_EMPTY_BASES
+#endif
+#if \
+  (HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !HEDLEY_MSVC_VERSION_CHECK(20,0,0)) || \
+  HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define HEDLEY_EMPTY_BASES __declspec(empty_bases)
+#else
+#  define HEDLEY_EMPTY_BASES
+#endif
+
+/* Remaining macros are deprecated. */
+
+#if defined(HEDLEY_GCC_NOT_CLANG_VERSION_CHECK)
+#  undef HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#endif
+#if defined(__clang__)
+#  define HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0)
+#else
+#  define HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(HEDLEY_CLANG_HAS_ATTRIBUTE)
+#  undef HEDLEY_CLANG_HAS_ATTRIBUTE
+#endif
+#define HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) HEDLEY_HAS_ATTRIBUTE(attribute)
+
+#if defined(HEDLEY_CLANG_HAS_CPP_ATTRIBUTE)
+#  undef HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#endif
+#define HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) HEDLEY_HAS_CPP_ATTRIBUTE(attribute)
+
+#if defined(HEDLEY_CLANG_HAS_BUILTIN)
+#  undef HEDLEY_CLANG_HAS_BUILTIN
+#endif
+#define HEDLEY_CLANG_HAS_BUILTIN(builtin) HEDLEY_HAS_BUILTIN(builtin)
+
+#if defined(HEDLEY_CLANG_HAS_FEATURE)
+#  undef HEDLEY_CLANG_HAS_FEATURE
+#endif
+#define HEDLEY_CLANG_HAS_FEATURE(feature) HEDLEY_HAS_FEATURE(feature)
+
+#if defined(HEDLEY_CLANG_HAS_EXTENSION)
+#  undef HEDLEY_CLANG_HAS_EXTENSION
+#endif
+#define HEDLEY_CLANG_HAS_EXTENSION(extension) HEDLEY_HAS_EXTENSION(extension)
+
+#if defined(HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE)
+#  undef HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#endif
+#define HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute)
+
+#if defined(HEDLEY_CLANG_HAS_WARNING)
+#  undef HEDLEY_CLANG_HAS_WARNING
+#endif
+#define HEDLEY_CLANG_HAS_WARNING(warning) HEDLEY_HAS_WARNING(warning)
+
+#endif /* !defined(HEDLEY_VERSION) || (HEDLEY_VERSION < X) */
diff --git a/bindings/python/external/pybind11_json/CMakeLists.txt b/bindings/python/external/pybind11_json/CMakeLists.txt
new file mode 100644
index 000000000..1e2842c70
--- /dev/null
+++ b/bindings/python/external/pybind11_json/CMakeLists.txt
@@ -0,0 +1,3 @@
+# pybind11_json library
+add_library(pybind11_json INTERFACE)
+target_include_directories(pybind11_json INTERFACE "${CMAKE_CURRENT_LIST_DIR}/include")
diff --git a/bindings/python/external/pybind11_json/include/pybind11_json/pybind11_json.hpp b/bindings/python/external/pybind11_json/include/pybind11_json/pybind11_json.hpp
new file mode 100644
index 000000000..773a30cf4
--- /dev/null
+++ b/bindings/python/external/pybind11_json/include/pybind11_json/pybind11_json.hpp
@@ -0,0 +1,223 @@
+/***************************************************************************
+* Copyright (c) 2019, Martin Renou                                         *
+*                                                                          *
+* Distributed under the terms of the BSD 3-Clause License.                 *
+*                                                                          *
+* The full license is in the file LICENSE, distributed with this software. *
+****************************************************************************/
+
+#ifndef PYBIND11_JSON_HPP
+#define PYBIND11_JSON_HPP
+
+#include <string>
+#include <vector>
+
+#include "nlohmann/json.hpp"
+
+#include "pybind11/pybind11.h"
+
+namespace py = pybind11;
+namespace nl = nlohmann;
+
+namespace pyjson
+{
+    inline py::object from_json(const nl::json& j)
+    {
+        if (j.is_null())
+        {
+            return py::none();
+        }
+        else if (j.is_boolean())
+        {
+            return py::bool_(j.get<bool>());
+        }
+        else if (j.is_number_integer())
+        {
+            return py::int_(j.get<nl::json::number_integer_t>());
+        }
+        else if (j.is_number_unsigned())
+        {
+            return py::int_(j.get<nl::json::number_unsigned_t>());
+        }
+        else if (j.is_number_float())
+        {
+            return py::float_(j.get<double>());
+        }
+        else if (j.is_string())
+        {
+            return py::str(j.get<std::string>());
+        }
+        else if (j.is_array())
+        {
+            py::list obj;
+            for (const auto& el : j)
+            {
+                obj.append(from_json(el));
+            }
+            return std::move(obj);
+        }
+        else // Object
+        {
+            py::dict obj;
+            for (nl::json::const_iterator it = j.cbegin(); it != j.cend(); ++it)
+            {
+                obj[py::str(it.key())] = from_json(it.value());
+            }
+            return std::move(obj);
+        }
+    }
+
+    inline nl::json to_json(const py::handle& obj)
+    {
+        if (obj.ptr() == nullptr || obj.is_none())
+        {
+            return nullptr;
+        }
+        if (py::isinstance<py::bool_>(obj))
+        {
+            return obj.cast<bool>();
+        }
+        if (py::isinstance<py::int_>(obj))
+        {
+            try
+            {
+                nl::json::number_integer_t s = obj.cast<nl::json::number_integer_t>();
+                if (py::int_(s).equal(obj))
+                {
+                    return s;
+                }
+            }
+            catch (...)
+            {
+            }
+            try
+            {
+                nl::json::number_unsigned_t u = obj.cast<nl::json::number_unsigned_t>();
+                if (py::int_(u).equal(obj))
+                {
+                    return u;
+                }
+            }
+            catch (...)
+            {
+            }
+            throw std::runtime_error("to_json received an integer out of range for both nl::json::number_integer_t and nl::json::number_unsigned_t type: " + py::repr(obj).cast<std::string>());
+        }
+        if (py::isinstance<py::float_>(obj))
+        {
+            return obj.cast<double>();
+        }
+        if (py::isinstance<py::bytes>(obj))
+        {
+            py::module base64 = py::module::import("base64");
+            return base64.attr("b64encode")(obj).attr("decode")("utf-8").cast<std::string>();
+        }
+        if (py::isinstance<py::str>(obj))
+        {
+            return obj.cast<std::string>();
+        }
+        if (py::isinstance<py::tuple>(obj) || py::isinstance<py::list>(obj))
+        {
+            auto out = nl::json::array();
+            for (const py::handle value : obj)
+            {
+                out.push_back(to_json(value));
+            }
+            return out;
+        }
+        if (py::isinstance<py::dict>(obj))
+        {
+            auto out = nl::json::object();
+            for (const py::handle key : obj)
+            {
+                out[py::str(key).cast<std::string>()] = to_json(obj[key]);
+            }
+            return out;
+        }
+        throw std::runtime_error("to_json not implemented for this type of object: " + py::repr(obj).cast<std::string>());
+    }
+}
+
+// nlohmann_json serializers
+namespace nlohmann
+{
+    #define MAKE_NLJSON_SERIALIZER_DESERIALIZER(T)         \
+    template <>                                            \
+    struct adl_serializer<T>                               \
+    {                                                      \
+        inline static void to_json(json& j, const T& obj)  \
+        {                                                  \
+            j = pyjson::to_json(obj);                      \
+        }                                                  \
+                                                           \
+        inline static T from_json(const json& j)           \
+        {                                                  \
+            return pyjson::from_json(j);                   \
+        }                                                  \
+    }
+
+    #define MAKE_NLJSON_SERIALIZER_ONLY(T)                 \
+    template <>                                            \
+    struct adl_serializer<T>                               \
+    {                                                      \
+        inline static void to_json(json& j, const T& obj)  \
+        {                                                  \
+            j = pyjson::to_json(obj);                      \
+        }                                                  \
+    }
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::object);
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::bool_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::int_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::float_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::str);
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::list);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::tuple);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::dict);
+
+    MAKE_NLJSON_SERIALIZER_ONLY(py::handle);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::item_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::list_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::tuple_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::sequence_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::str_attr_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::obj_attr_accessor);
+
+    #undef MAKE_NLJSON_SERIALIZER
+    #undef MAKE_NLJSON_SERIALIZER_ONLY
+}
+
+// pybind11 caster
+namespace pybind11
+{
+    namespace detail
+    {
+        template <> struct type_caster<nl::json>
+        {
+        public:
+            PYBIND11_TYPE_CASTER(nl::json, _("json"));
+
+            bool load(handle src, bool)
+            {
+                try {
+                    value = pyjson::to_json(src);
+                    return true;
+                }
+                catch (...)
+                {
+                    return false;
+                }
+            }
+
+            static handle cast(nl::json src, return_value_policy /* policy */, handle /* parent */)
+            {
+                object obj = pyjson::from_json(src);
+                return obj.release();
+            }
+        };
+    }
+}
+
+#endif
diff --git a/bindings/python/external/xtensor-python b/bindings/python/external/xtensor-python
new file mode 160000
index 000000000..6a286681c
--- /dev/null
+++ b/bindings/python/external/xtensor-python
@@ -0,0 +1 @@
+Subproject commit 6a286681c48c35d3df342f291938f4825b20c0a3
diff --git a/bindings/python/find_version.py b/bindings/python/find_version.py
new file mode 100644
index 000000000..48823d345
--- /dev/null
+++ b/bindings/python/find_version.py
@@ -0,0 +1,35 @@
+import sys
+import os
+import re
+
+
+project_root = os.path.dirname(__file__)
+version_depthai_core_path = project_root + "/" + "../../CMakeLists.txt"
+version_depthai_python_path = project_root + "/" + "CMakeLists.txt"
+
+cmake_lists_txt_version_pattern = r'project[\s]*\([^Vv]*version[\s]+((\"(?P<ver1>\S*)\"|(?P<ver2>\S*)\s))'
+
+def get_version_from_cmake_lists(path):
+    with open(path, 'r') as file:
+        content = file.read()
+        match = re.search(cmake_lists_txt_version_pattern, content, flags=re.IGNORECASE)
+        ver1 = match.group('ver1')
+        ver2 = match.group('ver2')
+        version = ver1
+        if ver1 == None:
+            version = ver2
+        return version
+
+def get_package_version():
+
+    version_core = '0.0.0'
+    version_revision = '0'
+    version_core = get_version_from_cmake_lists(version_depthai_core_path)
+    version_revision = get_version_from_cmake_lists(version_depthai_python_path)
+    package_version = version_core + '.' + version_revision
+
+    return package_version
+
+
+def get_package_dev_version(commit_hash):
+    return get_package_version() + ".dev0+" + commit_hash
diff --git a/bindings/python/generate_stubs.py b/bindings/python/generate_stubs.py
new file mode 100644
index 000000000..66386b4c9
--- /dev/null
+++ b/bindings/python/generate_stubs.py
@@ -0,0 +1,108 @@
+import sys
+import subprocess
+import re
+import tempfile
+import os
+import textwrap
+
+# Usage
+if len(sys.argv) < 3:
+    print(f"Usage: {sys.argv[0]} [module_name] [library_dir]")
+    exit(-1)
+
+MODULE_NAME = sys.argv[1]
+DIRECTORY = sys.argv[2]
+
+print(f'Generating stubs for module: "{MODULE_NAME}" in directory: "{DIRECTORY}"')
+
+try:
+
+    # Create stubs, add PYTHONPATH to find the build module
+    # CWD to to extdir where the built module can be found to extract the types
+    env = os.environ
+    env['PYTHONPATH'] = f'{DIRECTORY}{os.pathsep}{env.get("PYTHONPATH", "")}'
+
+    # Test importing depthai after PYTHONPATH is specified
+    try:
+        import depthai
+    except Exception as ex:
+        print(f'Could not import depthai: {ex}')
+
+    print(f'PYTHONPATH set to {env["PYTHONPATH"]}')
+    subprocess.check_call(['stubgen', '-p', MODULE_NAME, '-o', f'{DIRECTORY}'], cwd=DIRECTORY, env=env)
+
+    # Add py.typed
+    open(f'{DIRECTORY}/depthai/py.typed', 'a').close()
+
+    # imports and overloads
+    with open(f'{DIRECTORY}/depthai/__init__.pyi' ,'r+') as file:
+        # Read
+        contents = file.read()
+
+        # Add imports
+        stubs_import = textwrap.dedent('''
+            # Ensures that the stubs are picked up - thanks, numpy project
+            from depthai import (
+                node as node,
+            )
+
+            import typing
+            json = dict
+            from pathlib import Path
+            from typing import Set
+        ''') + contents
+
+        # Create 'create' overloads
+        nodes = re.findall('def \S*\(self\) -> node.(\S*):', stubs_import)
+        overloads = ''
+        for node in nodes:
+            overloads = overloads + f'\\1@overload\\1def create(self, arg0: typing.Type[node.{node}]) -> node.{node}: ...'
+        final_stubs = re.sub(r"([\s]*)def create\(self, arg0: object\) -> Node: ...", f'{overloads}', stubs_import)
+
+        # Writeout changes
+        file.seek(0)
+        file.truncate(0)
+        file.write(final_stubs)
+
+    # node fixes
+    with open(f'{DIRECTORY}/depthai/node.pyi' ,'r+') as file:
+        # Read
+        contents = file.read()
+
+        # Add imports
+        stubs_import = textwrap.dedent('''
+            from pathlib import Path
+            from typing import Set
+        ''') + contents
+
+        # Remove import depthai.*
+        final_stubs = re.sub(r"import depthai\.\S*", "", stubs_import)
+
+        # Writeout changes
+        file.seek(0)
+        file.truncate(0)
+        file.write(final_stubs)
+
+    # Flush previous stdout
+    sys.stdout.flush()
+
+    # Check syntax (Mypy and later Pylance/Pyright)
+    # Windows limitation - another process cannot normally read temporary file that is opened by this process
+    # Close first and delete manually afterwards
+    try:
+        config = tempfile.NamedTemporaryFile(mode='w', delete=False)
+        config.write('[mypy]\nignore_errors = True\n')
+        config.close()
+        print(f'Mypy config file: {config.name}')
+        # Mypy check
+        subprocess.check_call([sys.executable, '-m' 'mypy', f'{DIRECTORY}/{MODULE_NAME}', f'--config-file={config.name}'], env=env)
+    finally:
+        os.unlink(config.name)
+
+    # # TODO(thamarpe) - Pylance / Pyright check
+    # subprocess.check_call([sys.executable, '-m' 'pyright', f'{DIRECTORY}/{MODULE_NAME}'], env=env)
+
+except subprocess.CalledProcessError as err:
+    exit(err.returncode)
+
+exit(0)
diff --git a/bindings/python/list_devices.py b/bindings/python/list_devices.py
new file mode 100644
index 000000000..60e544c97
--- /dev/null
+++ b/bindings/python/list_devices.py
@@ -0,0 +1,3 @@
+import depthai as dai
+
+print(dai.Device.getAllConnectedDevices())
diff --git a/bindings/python/pyproject.toml b/bindings/python/pyproject.toml
new file mode 100644
index 000000000..fc198666c
--- /dev/null
+++ b/bindings/python/pyproject.toml
@@ -0,0 +1,2 @@
+[build-system]
+requires = ["setuptools", "wheel", "mypy<=1.3.0", "numpy", "cmake==3.25"]
diff --git a/bindings/python/setup.py b/bindings/python/setup.py
new file mode 100644
index 000000000..e9a9232f0
--- /dev/null
+++ b/bindings/python/setup.py
@@ -0,0 +1,263 @@
+import os
+import io
+import re
+import sys
+import platform
+import subprocess
+import find_version
+import multiprocessing
+
+from setuptools import setup, Extension
+from setuptools.command.build_ext import build_ext
+from distutils.version import LooseVersion
+from pathlib import Path
+
+### NAME
+MODULE_NAME = 'depthai'
+DEPTHAI_CLI_MODULE_NAME = 'depthai_cli'
+
+### VERSION
+here = os.path.abspath(os.path.dirname(__file__))
+version_file = os.path.join(here, "generated", "version.py")
+os.makedirs(os.path.join(here, "generated"), exist_ok=True)
+if os.environ.get('CI') != None :
+    ### If CI build, respect 'BUILD_COMMIT_HASH' to determine final version if set
+    final_version = find_version.get_package_version()
+    if os.environ.get('BUILD_COMMIT_HASH') != None:
+        final_version = find_version.get_package_dev_version(os.environ['BUILD_COMMIT_HASH'])
+    with open(version_file, 'w') as vf :
+        vf.write("__version__ = '" + final_version + "'")
+elif os.path.exists("../../.git"):
+    ### else if .git folder exists, create depthai with commit hash retrieved from git rev-parse HEAD
+    commit_hash = 'dev'
+    try:
+        commit_hash = (
+            subprocess.check_output(
+                ["git", "rev-parse", "HEAD"], stderr=subprocess.STDOUT
+            )
+            .splitlines()[0]
+            .decode()
+        )
+    except subprocess.CalledProcessError as e:
+        # cannot get commit hash, leave empty
+        commit_hash = 'dev'
+    final_version = find_version.get_package_dev_version(commit_hash)
+
+    with open(version_file, 'w') as vf :
+        vf.write("__version__ = '" + final_version + "'")
+
+
+# If not generated, generate from find_version
+if os.path.isfile(version_file) == False :
+    # generate from find_version
+    final_version = find_version.get_package_dev_version('dev')
+    with open(version_file, 'w') as vf :
+        vf.write("__version__ = '" + final_version + "'")
+
+### Get version from version.py (sdist will have this pregenerated)
+exec(open(version_file).read())
+buildCommitHash = None
+if len(__version__.split("+")) > 1 :
+    buildCommitHash = __version__.split("+")[1]
+
+
+## Read description (README.md)
+long_description = io.open("README.md", encoding="utf-8").read()
+
+## Early settings
+MACOS_ARM64_WHEEL_NAME_OVERRIDE = 'macosx-11.0-arm64'
+if sys.platform == 'darwin' and platform.machine() == 'arm64':
+    os.environ['_PYTHON_HOST_PLATFORM'] = MACOS_ARM64_WHEEL_NAME_OVERRIDE
+
+class CMakeExtension(Extension):
+    def __init__(self, name, sourcedir=''):
+        Extension.__init__(self, name, sources=[])
+        self.sourcedir = os.path.abspath(sourcedir)
+
+
+class CMakeBuild(build_ext):
+
+    def run(self):
+        try:
+            out = subprocess.check_output(['cmake', '--version'])
+        except OSError:
+            raise RuntimeError("CMake must be installed to build the following extensions: " +
+                               ", ".join(e.name for e in self.extensions))
+
+        if platform.system() == "Windows":
+            cmake_version = LooseVersion(re.search(r'version\s*([\d.]+)', out.decode()).group(1))
+            if cmake_version < '3.2.0':
+                raise RuntimeError("CMake >= 3.2.0 is required on Windows")
+
+        for ext in self.extensions:
+            self.build_extension(ext)
+
+    def build_extension(self, ext):
+        if ext.name == DEPTHAI_CLI_MODULE_NAME:
+            # Copy cam_test.py and it's dependencies to depthai_cli/
+            cam_test_path = os.path.join(here, "utilities", "cam_test.py")
+            cam_test_dest = os.path.join(self.build_lib, DEPTHAI_CLI_MODULE_NAME, "cam_test.py")
+            cam_test_gui_path = os.path.join(here, "utilities", "cam_test_gui.py")
+            cam_test_gui_dest = os.path.join(self.build_lib, DEPTHAI_CLI_MODULE_NAME, "cam_test_gui.py")
+            stress_test_path = os.path.join(here, "utilities", "stress_test.py")
+            stress_test_dest = os.path.join(self.build_lib, DEPTHAI_CLI_MODULE_NAME, "stress_test.py")
+            files_to_copy = [(cam_test_path, cam_test_dest), (cam_test_gui_path, cam_test_gui_dest), (stress_test_path, stress_test_dest)]
+            for src, dst in files_to_copy:
+                with open(src, "r") as f:
+                    with open(dst, "w") as f2:
+                        f2.write(f.read())
+            return
+
+        extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name)))
+        # required for auto-detection of auxiliary "native" libs
+        if not extdir.endswith(os.path.sep):
+            extdir += os.path.sep
+
+        # initialize cmake_args and build_args
+        cmake_args = []
+        build_args = []
+        env = os.environ.copy()
+
+        cmake_args += ['-DDEPTHAI_BUILD_PYTHON=ON']
+        build_args += ['--target=depthai']
+
+        # Specify output directory and python executable
+        cmake_args += ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + extdir, '-DPYTHON_EXECUTABLE=' + sys.executable]
+        # Specify dir of python executable (pybind11)
+        if platform.system() == "Windows":
+            # Windows - remove case insensitive variants
+            env = {key:env[key] for key in env if key.upper() != 'pythonLocation'.upper()}
+        env['pythonLocation'] = str(Path(sys.executable).parent.absolute())
+
+
+        # Pass a commit hash
+        if buildCommitHash != None :
+            cmake_args += ['-DDEPTHAI_PYTHON_COMMIT_HASH=' + buildCommitHash]
+
+        # Pass a docstring option
+        if 'DEPTHAI_PYTHON_DOCSTRINGS_INPUT' in os.environ:
+            cmake_args += ['-DDEPTHAI_PYTHON_DOCSTRINGS_INPUT='+os.environ['DEPTHAI_PYTHON_DOCSTRINGS_INPUT']]
+
+        # Pass installation directory
+        if 'DEPTHAI_INSTALLATION_DIR' in os.environ:
+            cmake_args += ['-DDEPTHAI_PYTHON_USE_FIND_PACKAGE=ON']
+            cmake_args += ['-DCMAKE_PREFIX_PATH='+os.environ['DEPTHAI_INSTALLATION_DIR']]
+
+        # Set build type (debug vs release for library as well as dependencies)
+        cfg = 'Debug' if self.debug else 'Release'
+        cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg]
+        cmake_args += ['-DHUNTER_CONFIGURATION_TYPES=' + cfg]
+        build_args += ['--config', cfg]
+
+        # Memcheck (guard if it fails)
+        freeMemory = 4000
+        if platform.system() == "Linux":
+            try:
+                freeMemory = int(os.popen("free -m").readlines()[1].split()[6])
+            except (KeyboardInterrupt, SystemExit):
+                raise
+            except:
+                freeMemory = 4000
+
+        # Configure and build
+
+        # Add additional cmake build args from environment
+        if 'CMAKE_BUILD_ARGS' in os.environ:
+            build_args += [os.environ['CMAKE_BUILD_ARGS']]
+
+        # Windows
+        if platform.system() == "Windows":
+            cmake_args += ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{}={}'.format(cfg.upper(), extdir)]
+            cmake_args += ['-DCMAKE_TOOLCHAIN_FILE={}'.format(os.path.dirname(os.path.abspath(__file__)) + '/cmake/toolchain/msvc.cmake')]
+
+            # Detect whether 32 / 64 bit Python is used and compile accordingly
+            if sys.maxsize > 2**32:
+                cmake_args += ['-A', 'x64']
+            else:
+                cmake_args += ['-A', 'Win32']
+
+            # Add flag to build with maximum available threads
+            build_args += ['--', '/m']
+        # Unix
+        else:
+            # if macos add some additional env vars
+            if sys.platform == 'darwin':
+                from distutils import util
+                if platform.machine() == 'arm64':
+                    # Build ARM64 wheels explicitly instead of universal2
+                    env['_PYTHON_HOST_PLATFORM'] = MACOS_ARM64_WHEEL_NAME_OVERRIDE
+                else:
+                    env['_PYTHON_HOST_PLATFORM'] = re.sub(r'macosx-[0-9]+\.[0-9]+-(.+)', r'macosx-10.9-\1', util.get_platform())
+
+            # Specify how many threads to use when building, depending on available memory
+            max_threads = multiprocessing.cpu_count()
+            num_threads = (freeMemory // 2000)
+            num_threads = min(num_threads, max_threads)
+            if num_threads <= 0:
+                num_threads = 1
+            build_args += ['--', '-j' + str(num_threads)]
+            cmake_args += ['-DHUNTER_JOBS_NUMBER=' + str(num_threads)]
+
+        env['CXXFLAGS'] = '{} -DVERSION_INFO=\\"{}\\"'.format(env.get('CXXFLAGS', ''), self.distribution.get_version())
+
+        # Add additional cmake args from environment
+        if 'CMAKE_ARGS' in os.environ:
+            cmake_args += [os.environ['CMAKE_ARGS']]
+
+        if not os.path.exists(self.build_temp):
+            os.makedirs(self.build_temp)
+
+        # Configure and build
+        subprocess.check_call(['cmake', ext.sourcedir] + cmake_args, cwd=self.build_temp, env=env)
+        subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp, env=env)
+
+setup(
+    name=MODULE_NAME,
+    version=__version__,
+    author='Luxonis',
+    author_email='support@luxonis.com',
+    description='DepthAI Python Library',
+    license="MIT",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    url="https://github.com/luxonis/depthai-core/bindings/python",
+    ext_modules=[
+        CMakeExtension(MODULE_NAME, str(Path(__file__).absolute().parent.parent.parent.absolute())),
+        Extension(DEPTHAI_CLI_MODULE_NAME, sources=[])
+    ],
+    cmdclass={
+        'build_ext': CMakeBuild,
+    },
+    packages=[DEPTHAI_CLI_MODULE_NAME],
+    zip_safe=False,
+    classifiers=[
+        "Development Status :: 4 - Beta",
+        "Intended Audience :: Developers",
+        "Intended Audience :: Education",
+        "Intended Audience :: Information Technology",
+        "Intended Audience :: Science/Research",
+        "License :: OSI Approved :: MIT License",
+        "Operating System :: MacOS",
+        "Operating System :: Microsoft :: Windows",
+        "Operating System :: Unix",
+        "Programming Language :: Python",
+        "Programming Language :: Python :: 3",
+        "Programming Language :: Python :: 3.6",
+        "Programming Language :: Python :: 3.7",
+        "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
+        "Programming Language :: Python :: 3.11",
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: C++",
+        "Programming Language :: Python :: Implementation :: CPython",
+        "Topic :: Scientific/Engineering",
+        "Topic :: Software Development",
+    ],
+    python_requires='>=3.6',
+    entry_points={
+        "console_scripts": [
+            f'depthai={DEPTHAI_CLI_MODULE_NAME}.depthai_cli:cli'
+        ]
+    }
+)
diff --git a/bindings/python/src/CalibrationHandlerBindings.cpp b/bindings/python/src/CalibrationHandlerBindings.cpp
new file mode 100644
index 000000000..be4ab676f
--- /dev/null
+++ b/bindings/python/src/CalibrationHandlerBindings.cpp
@@ -0,0 +1,88 @@
+#include "CalibrationHandlerBindings.hpp"
+#include "depthai/common/Point2f.hpp"
+#include "depthai/device/CalibrationHandler.hpp"
+#include <vector>
+
+void CalibrationHandlerBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Type definitions
+    py::class_<CalibrationHandler> calibrationHandler(m, "CalibrationHandler", DOC(dai, CalibrationHandler));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Bindings
+    calibrationHandler
+        .def(py::init<>(), DOC(dai, CalibrationHandler, CalibrationHandler))
+        .def(py::init<dai::Path>(), DOC(dai, CalibrationHandler, CalibrationHandler, 2))
+        .def(py::init<dai::Path, dai::Path>(), DOC(dai, CalibrationHandler, CalibrationHandler, 3))
+        .def(py::init<EepromData>(), DOC(dai, CalibrationHandler, CalibrationHandler, 4))
+
+        .def_static("fromJson", &CalibrationHandler::fromJson, DOC(dai, CalibrationHandler, fromJson))
+
+        .def("getEepromData", &CalibrationHandler::getEepromData, DOC(dai, CalibrationHandler, getEepromData))
+
+        .def("getCameraIntrinsics", py::overload_cast<CameraBoardSocket, int, int, Point2f, Point2f, bool>(&CalibrationHandler::getCameraIntrinsics, py::const_), py::arg("cameraId"), py::arg("resizeWidth") = -1, py::arg("resizeHeight") = -1, py::arg("topLeftPixelId") = Point2f(), py::arg("bottomRightPixelId") = Point2f(), py::arg("keepAspectRatio") = true, DOC(dai, CalibrationHandler, getCameraIntrinsics))
+        .def("getCameraIntrinsics", py::overload_cast<CameraBoardSocket, Size2f, Point2f, Point2f, bool>(&CalibrationHandler::getCameraIntrinsics, py::const_), py::arg("cameraId"), py::arg("destShape"), py::arg("topLeftPixelId") = Point2f(), py::arg("bottomRightPixelId") = Point2f(), py::arg("keepAspectRatio") = true, DOC(dai, CalibrationHandler, getCameraIntrinsics, 2))
+        .def("getCameraIntrinsics", py::overload_cast<CameraBoardSocket, std::tuple<int, int>, Point2f, Point2f, bool>(&CalibrationHandler::getCameraIntrinsics, py::const_), py::arg("cameraId"), py::arg("destShape"), py::arg("topLeftPixelId") = Point2f(), py::arg("bottomRightPixelId") = Point2f(), py::arg("keepAspectRatio") = true, DOC(dai, CalibrationHandler, getCameraIntrinsics, 3))
+
+        .def("getDefaultIntrinsics", &CalibrationHandler::getDefaultIntrinsics, py::arg("cameraId"), DOC(dai, CalibrationHandler, getDefaultIntrinsics))
+        .def("getDistortionCoefficients", &CalibrationHandler::getDistortionCoefficients, py::arg("cameraId"), DOC(dai, CalibrationHandler, getDistortionCoefficients))
+
+        .def("getFov", &CalibrationHandler::getFov, py::arg("cameraId"), py::arg("useSpec") = true, DOC(dai, CalibrationHandler, getFov))
+        .def("getLensPosition", &CalibrationHandler::getLensPosition, py::arg("cameraId"), DOC(dai, CalibrationHandler, getLensPosition))
+        .def("getDistortionModel", &CalibrationHandler::getDistortionModel, py::arg("cameraId"), DOC(dai, CalibrationHandler, getDistortionModel))
+
+        .def("getCameraExtrinsics", &CalibrationHandler::getCameraExtrinsics, py::arg("srcCamera"), py::arg("dstCamera"), py::arg("useSpecTranslation") = false, DOC(dai, CalibrationHandler, getCameraExtrinsics))
+
+        .def("getCameraTranslationVector", &CalibrationHandler::getCameraTranslationVector, py::arg("srcCamera"), py::arg("dstCamera"), py::arg("useSpecTranslation") = true, DOC(dai, CalibrationHandler, getCameraTranslationVector))
+        .def("getCameraRotationMatrix", &CalibrationHandler::getCameraRotationMatrix, py::arg("srcCamera"), py::arg("dstCamera"), DOC(dai, CalibrationHandler, getCameraRotationMatrix))
+        .def("getBaselineDistance", &CalibrationHandler::getBaselineDistance, py::arg("cam1") = dai::CameraBoardSocket::CAM_C, py::arg("cam2") = dai::CameraBoardSocket::CAM_B, py::arg("useSpecTranslation") = true, DOC(dai, CalibrationHandler, getBaselineDistance))
+
+        .def("getCameraToImuExtrinsics", &CalibrationHandler::getCameraToImuExtrinsics, py::arg("cameraId"), py::arg("useSpecTranslation") = false, DOC(dai, CalibrationHandler, getCameraToImuExtrinsics))
+        .def("getImuToCameraExtrinsics", &CalibrationHandler::getImuToCameraExtrinsics, py::arg("cameraId"), py::arg("useSpecTranslation") = false, DOC(dai, CalibrationHandler, getImuToCameraExtrinsics))
+
+        .def("getStereoRightRectificationRotation", &CalibrationHandler::getStereoRightRectificationRotation, DOC(dai, CalibrationHandler, getStereoRightRectificationRotation))
+        .def("getStereoLeftRectificationRotation", &CalibrationHandler::getStereoLeftRectificationRotation, DOC(dai, CalibrationHandler, getStereoLeftRectificationRotation))
+        .def("getStereoLeftCameraId", &CalibrationHandler::getStereoLeftCameraId, DOC(dai, CalibrationHandler, getStereoLeftCameraId))
+        .def("getStereoRightCameraId", &CalibrationHandler::getStereoRightCameraId, DOC(dai, CalibrationHandler, getStereoRightCameraId))
+
+        .def("eepromToJsonFile", &CalibrationHandler::eepromToJsonFile, py::arg("destPath"), DOC(dai, CalibrationHandler, eepromToJsonFile))
+        .def("eepromToJson", &CalibrationHandler::eepromToJson, DOC(dai, CalibrationHandler, eepromToJson))
+
+        .def("setBoardInfo", py::overload_cast<std::string, std::string>(&CalibrationHandler::setBoardInfo), py::arg("boardName"), py::arg("boardRev"), DOC(dai, CalibrationHandler, setBoardInfo))
+        .def("setBoardInfo", py::overload_cast<std::string, std::string, std::string, std::string, std::string, std::string, uint64_t, uint32_t, std::string>(&CalibrationHandler::setBoardInfo), py::arg("productName"), py::arg("boardName"), py::arg("boardRev"), py::arg("boardConf"), py::arg("hardwareConf"), py::arg("batchName"), py::arg("batchTime"), py::arg("boardOptions"), py::arg("boardCustom") = "", DOC(dai, CalibrationHandler, setBoardInfo, 2))
+        .def("setBoardInfo", py::overload_cast<std::string, std::string, std::string, std::string, std::string, std::string, std::string, uint64_t, uint32_t, std::string>(&CalibrationHandler::setBoardInfo), py::arg("deviceName"), py::arg("productName"), py::arg("boardName"), py::arg("boardRev"), py::arg("boardConf"), py::arg("hardwareConf"), py::arg("batchName"), py::arg("batchTime"), py::arg("boardOptions"), py::arg("boardCustom") = "", DOC(dai, CalibrationHandler, setBoardInfo, 3))
+
+        .def("setDeviceName", &CalibrationHandler::setDeviceName, py::arg("deviceName"), DOC(dai, CalibrationHandler, setDeviceName))
+        .def("setProductName", &CalibrationHandler::setProductName, py::arg("productName"), DOC(dai, CalibrationHandler, setProductName))
+
+        .def("setCameraIntrinsics", py::overload_cast<CameraBoardSocket, std::vector<std::vector<float>>, Size2f>(&CalibrationHandler::setCameraIntrinsics), py::arg("cameraId"), py::arg("intrinsics"), py::arg("frameSize"), DOC(dai, CalibrationHandler, setCameraIntrinsics))
+        .def("setCameraIntrinsics", py::overload_cast<CameraBoardSocket, std::vector<std::vector<float>>, int, int>(&CalibrationHandler::setCameraIntrinsics), py::arg("cameraId"), py::arg("intrinsics"), py::arg("width"), py::arg("height"), DOC(dai, CalibrationHandler, setCameraIntrinsics, 2))
+        .def("setCameraIntrinsics", py::overload_cast<CameraBoardSocket, std::vector<std::vector<float>>, std::tuple<int, int>>(&CalibrationHandler::setCameraIntrinsics), py::arg("cameraId"), py::arg("intrinsics"), py::arg("frameSize"), DOC(dai, CalibrationHandler, setCameraIntrinsics, 3))
+
+        .def("setDistortionCoefficients", &CalibrationHandler::setDistortionCoefficients, py::arg("cameraId"), py::arg("distortionCoefficients"), DOC(dai, CalibrationHandler, setDistortionCoefficients))
+        .def("setFov", &CalibrationHandler::setFov, py::arg("cameraId"), py::arg("hfov"), DOC(dai, CalibrationHandler, setFov))
+
+        .def("setLensPosition", &CalibrationHandler::setLensPosition, py::arg("cameraId"), py::arg("lensPosition"), DOC(dai, CalibrationHandler, setLensPosition))
+        .def("setCameraType", &CalibrationHandler::setCameraType, py::arg("cameraId"), py::arg("cameraModel"), DOC(dai, CalibrationHandler, setCameraType))
+
+        .def("setCameraExtrinsics", &CalibrationHandler::setCameraExtrinsics, py::arg("srcCameraId"), py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("specTranslation") = std::vector<float>(3,0), DOC(dai, CalibrationHandler, setCameraExtrinsics))
+        .def("setImuExtrinsics", &CalibrationHandler::setImuExtrinsics, py::arg("destCameraId"), py::arg("rotationMatrix"), py::arg("translation"), py::arg("specTranslation") = std::vector<float>(3,0), DOC(dai, CalibrationHandler, setImuExtrinsics))
+
+        .def("setStereoLeft", &CalibrationHandler::setStereoLeft, py::arg("cameraId"), py::arg("rectifiedRotation"), DOC(dai, CalibrationHandler, setStereoLeft))
+        .def("setStereoRight", &CalibrationHandler::setStereoRight, py::arg("cameraId"), py::arg("rectifiedRotation"), DOC(dai, CalibrationHandler, setStereoRight));
+
+
+}
\ No newline at end of file
diff --git a/bindings/python/src/CalibrationHandlerBindings.hpp b/bindings/python/src/CalibrationHandlerBindings.hpp
new file mode 100644
index 000000000..8a4fdc283
--- /dev/null
+++ b/bindings/python/src/CalibrationHandlerBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct CalibrationHandlerBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/DataQueueBindings.cpp b/bindings/python/src/DataQueueBindings.cpp
new file mode 100644
index 000000000..da6fcdc25
--- /dev/null
+++ b/bindings/python/src/DataQueueBindings.cpp
@@ -0,0 +1,171 @@
+#include "DataQueueBindings.hpp"
+
+// std
+#include <chrono>
+
+// depthai
+#include "depthai/device/DataQueue.hpp"
+
+void DataQueueBindings::bind(pybind11::module& m, void* pCallstack){
+    using namespace dai;
+    using namespace std::chrono;
+
+
+    // Type definitions
+    py::class_<DataOutputQueue, std::shared_ptr<DataOutputQueue>> dataOutputQueue(m, "DataOutputQueue", DOC(dai, DataOutputQueue));
+    py::class_<DataInputQueue, std::shared_ptr<DataInputQueue>> dataInputQueue(m, "DataInputQueue", DOC(dai, DataInputQueue));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // To prevent blocking whole python interpreter, blocking functions like 'get' and 'send'
+    // are pooled with a reasonable delay and check for python interrupt signal in between.
+
+    // Bind DataOutputQueue
+    auto addCallbackLambda = [](DataOutputQueue& q, py::function cb) -> int {
+        pybind11::module inspect_module = pybind11::module::import("inspect");
+        pybind11::object result = inspect_module.attr("signature")(cb).attr("parameters");
+        auto numParams = pybind11::len(result);
+        if(numParams == 2){
+            return q.addCallback(cb.cast<std::function<void(std::string, std::shared_ptr<ADatatype>)>>());
+        } else if (numParams == 1){
+            return q.addCallback(cb.cast<std::function<void(std::shared_ptr<ADatatype>)>>());
+        } else if (numParams == 0){
+            return q.addCallback(cb.cast<std::function<void()>>());
+        } else {
+            throw py::value_error("Callback must take either zero, one or two arguments");
+        }
+    };
+    dataOutputQueue
+        .def("getName", &DataOutputQueue::getName, DOC(dai, DataOutputQueue, getName))
+        .def("isClosed", &DataOutputQueue::isClosed, DOC(dai, DataOutputQueue, isClosed))
+        .def("close", &DataOutputQueue::close, DOC(dai, DataOutputQueue, close), py::call_guard<py::gil_scoped_release>())
+
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback))
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 2))
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 3))
+        .def("removeCallback", &DataOutputQueue::removeCallback, py::arg("callbackId"), DOC(dai, DataOutputQueue, removeCallback))
+
+        .def("setBlocking", &DataOutputQueue::setBlocking, py::arg("blocking"), DOC(dai, DataOutputQueue, setBlocking))
+        .def("getBlocking", &DataOutputQueue::getBlocking, DOC(dai, DataOutputQueue, getBlocking))
+        .def("setMaxSize", &DataOutputQueue::setMaxSize, py::arg("maxSize"), DOC(dai, DataOutputQueue, setMaxSize))
+        .def("getMaxSize", &DataOutputQueue::getMaxSize, DOC(dai, DataOutputQueue, getMaxSize))
+        .def("getAll", [](DataOutputQueue& obj){
+
+            std::vector<std::shared_ptr<ADatatype>> messages;
+            bool timedout = true;
+            do {
+                {
+                    // releases python GIL
+                    py::gil_scoped_release release;
+
+                    // block for 100ms
+                    messages = obj.getAll(milliseconds(100), timedout);
+                }
+
+                // reacquires python GIL for PyErr_CheckSignals call
+
+                // check if interrupt triggered in between
+                if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+
+            } while(timedout); // Keep reiterating until a message is received (not timedout)
+
+            return messages;
+        }, DOC(dai, DataOutputQueue, getAll, 2))
+        .def("get", [](DataOutputQueue& obj){
+
+            std::shared_ptr<ADatatype> d = nullptr;
+            bool timedout = true;
+            do {
+                {
+                    // releases python GIL
+                    py::gil_scoped_release release;
+
+                    // block for 100ms
+                    d = obj.get(milliseconds(100), timedout);
+                }
+
+                // reacquires python GIL for PyErr_CheckSignals call
+
+                // check if interrupt triggered in between
+                if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+
+            } while(timedout);
+
+            return d;
+        }, DOC(dai, DataOutputQueue, get, 2))
+        .def("has", static_cast<bool(DataOutputQueue::*)()>(&DataOutputQueue::has), DOC(dai, DataOutputQueue, has, 2))
+        .def("tryGet", static_cast<std::shared_ptr<ADatatype>(DataOutputQueue::*)()>(&DataOutputQueue::tryGet), DOC(dai, DataOutputQueue, tryGet, 2))
+        .def("tryGetAll", static_cast<std::vector<std::shared_ptr<ADatatype>>(DataOutputQueue::*)()>(&DataOutputQueue::tryGetAll), DOC(dai, DataOutputQueue, tryGetAll, 2))
+        ;
+
+    // Bind DataInputQueue
+    dataInputQueue
+        .def("isClosed", &DataInputQueue::isClosed,
+             DOC(dai, DataInputQueue, isClosed))
+        .def("close", &DataInputQueue::close, DOC(dai, DataInputQueue, close),
+             py::call_guard<py::gil_scoped_release>())
+        .def("getName", &DataInputQueue::getName,
+             DOC(dai, DataInputQueue, getName))
+        .def("setBlocking", &DataInputQueue::setBlocking, py::arg("blocking"),
+             DOC(dai, DataInputQueue, setBlocking))
+        .def("getBlocking", &DataInputQueue::getBlocking,
+             DOC(dai, DataInputQueue, getBlocking))
+        .def("setMaxSize", &DataInputQueue::setMaxSize, py::arg("maxSize"),
+             DOC(dai, DataInputQueue, setMaxSize))
+        .def("getMaxSize", &DataInputQueue::getMaxSize,
+             DOC(dai, DataInputQueue, getMaxSize))
+        .def(
+            "send",
+            [](DataInputQueue &obj, std::shared_ptr<ADatatype> d) {
+              bool sent = false;
+              do {
+
+                // block for 100ms
+                {
+                  // Release GIL, then block
+                  py::gil_scoped_release release;
+                  sent = obj.send(d, milliseconds(100));
+                }
+
+                // reacquires GIL as PyErr_CheckSignals requires GIL
+
+                // check if interrupt triggered in between
+                if (PyErr_CheckSignals() != 0)
+                  throw py::error_already_set();
+
+              } while (!sent);
+            },
+            py::arg("msg"), DOC(dai, DataInputQueue, send, 2))
+        // .def("send", [](DataInputQueue& obj, std::shared_ptr<dai::Buffer> d){
+
+        //     bool sent = false;
+        //     do {
+        //          // block for 100ms
+        //         {
+        //             // Release GIL, then block
+        //             py::gil_scoped_release release;
+        //             sent = obj.send(d, milliseconds(100));
+        //         }
+        //         // reacquires GIL as PyErr_CheckSignals requires GIL
+
+        //         // check if interrupt triggered in between
+        //         if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+
+        //     } while(!sent);
+
+        // }, py::arg("rawMsg"), DOC(dai, DataInputQueue, send))
+        ;
+}
\ No newline at end of file
diff --git a/bindings/python/src/DataQueueBindings.hpp b/bindings/python/src/DataQueueBindings.hpp
new file mode 100644
index 000000000..9b1586944
--- /dev/null
+++ b/bindings/python/src/DataQueueBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct DataQueueBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/DatatypeBindings.cpp b/bindings/python/src/DatatypeBindings.cpp
new file mode 100644
index 000000000..485ff4732
--- /dev/null
+++ b/bindings/python/src/DatatypeBindings.cpp
@@ -0,0 +1,110 @@
+#include "DatatypeBindings.hpp"
+
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "pipeline/CommonBindings.hpp"
+
+void bind_adatatype(pybind11::module& m, void* pCallstack);
+void bind_apriltagconfig(pybind11::module& m, void* pCallstack);
+void bind_apriltags(pybind11::module& m, void* pCallstack);
+void bind_buffer(pybind11::module& m, void* pCallstack);
+void bind_cameracontrol(pybind11::module& m, void* pCallstack);
+void bind_edgedetectorconfig(pybind11::module& m, void* pCallstack);
+void bind_featuretrackerconfig(pybind11::module& m, void* pCallstack);
+void bind_tofconfig(pybind11::module& m, void* pCallstack);
+void bind_imagemanipconfig(pybind11::module& m, void* pCallstack);
+void bind_imgdetections(pybind11::module& m, void* pCallstack);
+void bind_imgframe(pybind11::module& m, void* pCallstack);
+void bind_encodedframe(pybind11::module& m, void* pCallstack);
+void bind_imudata(pybind11::module& m, void* pCallstack);
+void bind_message_group(pybind11::module& m, void* pCallstack);
+void bind_nndata(pybind11::module& m, void* pCallstack);
+void bind_spatialimgdetections(pybind11::module& m, void* pCallstack);
+void bind_spatiallocationcalculatorconfig(pybind11::module& m, void* pCallstack);
+void bind_spatiallocationcalculatordata(pybind11::module& m, void* pCallstack);
+void bind_stereodepthconfig(pybind11::module& m, void* pCallstack);
+void bind_systeminformation(pybind11::module& m, void* pCallstack);
+void bind_systeminformationS3(pybind11::module& m, void* pCallstack);
+void bind_trackedfeatures(pybind11::module& m, void* pCallstack);
+void bind_tracklets(pybind11::module& m, void* pCallstack);
+void bind_benchmarkreport(pybind11::module& m, void* pCallstack);
+void bind_pointcloudconfig(pybind11::module& m, void* pCallstack);
+void bind_pointclouddata(pybind11::module& m, void* pCallstack);
+
+void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
+     // Bind common datatypebindings
+    callstack.push_front(DatatypeBindings::bind);
+
+    // Bind all datatypes (order matters)
+    callstack.push_front(bind_adatatype);
+    callstack.push_front(bind_buffer);
+    callstack.push_front(bind_apriltagconfig);
+    callstack.push_front(bind_apriltags);
+    callstack.push_front(bind_cameracontrol);
+    callstack.push_front(bind_edgedetectorconfig);
+    callstack.push_front(bind_featuretrackerconfig);
+    callstack.push_front(bind_tofconfig);
+    callstack.push_front(bind_imagemanipconfig);
+    callstack.push_front(bind_imgdetections);
+    callstack.push_front(bind_imgframe);
+    callstack.push_front(bind_encodedframe);
+    callstack.push_front(bind_imudata);
+    callstack.push_front(bind_message_group);
+    callstack.push_front(bind_nndata);
+    callstack.push_front(bind_spatialimgdetections);
+    callstack.push_front(bind_spatiallocationcalculatorconfig);
+    callstack.push_front(bind_spatiallocationcalculatordata);
+    callstack.push_front(bind_stereodepthconfig);
+    callstack.push_front(bind_systeminformation);
+    callstack.push_front(bind_systeminformationS3);
+    callstack.push_front(bind_trackedfeatures);
+    callstack.push_front(bind_tracklets);
+    callstack.push_front(bind_benchmarkreport);
+    callstack.push_front(bind_pointcloudconfig);
+    callstack.push_front(bind_pointclouddata);
+}
+
+void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){
+    using namespace dai;
+
+    py::enum_<DatatypeEnum> datatypeEnum(m, "DatatypeEnum", DOC(dai, DatatypeEnum));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    m.def("isDatatypeSubclassOf", &isDatatypeSubclassOf);
+
+    datatypeEnum
+        .value("Buffer", DatatypeEnum::Buffer)
+        .value("ImgFrame", DatatypeEnum::ImgFrame)
+        .value("EncodedFrame", DatatypeEnum::EncodedFrame)
+        .value("NNData", DatatypeEnum::NNData)
+        .value("ImageManipConfig", DatatypeEnum::ImageManipConfig)
+        .value("CameraControl", DatatypeEnum::CameraControl)
+        .value("ImgDetections", DatatypeEnum::ImgDetections)
+        .value("SpatialImgDetections", DatatypeEnum::SpatialImgDetections)
+        .value("SystemInformation", DatatypeEnum::SystemInformation)
+        .value("SpatialLocationCalculatorConfig", DatatypeEnum::SpatialLocationCalculatorConfig)
+        .value("SpatialLocationCalculatorData", DatatypeEnum::SpatialLocationCalculatorData)
+        .value("EdgeDetectorConfig", DatatypeEnum::EdgeDetectorConfig)
+        .value("AprilTagConfig", DatatypeEnum::AprilTagConfig)
+        .value("AprilTags", DatatypeEnum::AprilTags)
+        .value("Tracklets", DatatypeEnum::Tracklets)
+        .value("IMUData", DatatypeEnum::IMUData)
+        .value("StereoDepthConfig", DatatypeEnum::StereoDepthConfig)
+        .value("FeatureTrackerConfig", DatatypeEnum::FeatureTrackerConfig)
+        .value("TrackedFeatures", DatatypeEnum::TrackedFeatures)
+        .value("PointCloudConfig", DatatypeEnum::PointCloudConfig)
+        .value("PointCloudData", DatatypeEnum::PointCloudData)
+    ;
+
+}
diff --git a/bindings/python/src/DatatypeBindings.hpp b/bindings/python/src/DatatypeBindings.hpp
new file mode 100644
index 000000000..e8f2ad7fb
--- /dev/null
+++ b/bindings/python/src/DatatypeBindings.hpp
@@ -0,0 +1,10 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct DatatypeBindings {
+    static void addToCallstack(std::deque<StackFunction>& callstack);
+ private:
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/DeviceBindings.cpp b/bindings/python/src/DeviceBindings.cpp
new file mode 100644
index 000000000..42c90520f
--- /dev/null
+++ b/bindings/python/src/DeviceBindings.cpp
@@ -0,0 +1,727 @@
+#include "DeviceBindings.hpp"
+
+// depthai
+#include "depthai/device/CrashDump.hpp"
+#include "depthai/device/Device.hpp"
+#include "depthai/device/EepromError.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/utility/Clock.hpp"
+#include "depthai/xlink/XLinkConnection.hpp"
+
+// std::chrono bindings
+#include <pybind11/chrono.h>
+// py::detail
+#include <pybind11/detail/common.h>
+// hedley
+#include <hedley/hedley.h>
+// STL Bind
+#include <pybind11/stl_bind.h>
+
+PYBIND11_MAKE_OPAQUE(std::unordered_map<std::int8_t, dai::BoardConfig::GPIO>);
+PYBIND11_MAKE_OPAQUE(std::unordered_map<std::int8_t, dai::BoardConfig::UART>);
+
+// Patch for bind_map naming
+// Remove if it gets mainlined in pybind11
+namespace pybind11 {
+
+template <typename Map, typename holder_type = std::unique_ptr<Map>, typename... Args>
+class_<Map, holder_type> bind_map_patched(handle scope, const std::string &name, Args &&...args) {
+    using KeyType = typename Map::key_type;
+    using MappedType = typename Map::mapped_type;
+    using KeysView = detail::keys_view<Map>;
+    using ValuesView = detail::values_view<Map>;
+    using ItemsView = detail::items_view<Map>;
+    using Class_ = class_<Map, holder_type>;
+
+    // If either type is a non-module-local bound type then make the map binding non-local as well;
+    // otherwise (e.g. both types are either module-local or converting) the map will be
+    // module-local.
+    auto *tinfo = detail::get_type_info(typeid(MappedType));
+    bool local = !tinfo || tinfo->module_local;
+    if (local) {
+        tinfo = detail::get_type_info(typeid(KeyType));
+        local = !tinfo || tinfo->module_local;
+    }
+
+    Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
+    class_<KeysView> keys_view(
+        scope, ("KeysView_" + name).c_str(), pybind11::module_local(local));
+    class_<ValuesView> values_view(
+        scope, ("ValuesView_" + name).c_str(), pybind11::module_local(local));
+    class_<ItemsView> items_view(
+        scope, ("ItemsView_" + name).c_str(), pybind11::module_local(local));
+
+    cl.def(init<>());
+
+    // Register stream insertion operator (if possible)
+    detail::map_if_insertion_operator<Map, Class_>(cl, name);
+
+    cl.def(
+        "__bool__",
+        [](const Map &m) -> bool { return !m.empty(); },
+        "Check whether the map is nonempty");
+
+    cl.def(
+        "__iter__",
+        [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
+        keep_alive<0, 1>() /* Essential: keep map alive while iterator exists */
+    );
+
+    cl.def(
+        "keys",
+        [](Map &m) { return KeysView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    );
+
+    cl.def(
+        "values",
+        [](Map &m) { return ValuesView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    );
+
+    cl.def(
+        "items",
+        [](Map &m) { return ItemsView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    );
+
+    cl.def(
+        "__getitem__",
+        [](Map &m, const KeyType &k) -> MappedType & {
+            auto it = m.find(k);
+            if (it == m.end()) {
+                throw key_error();
+            }
+            return it->second;
+        },
+        return_value_policy::reference_internal // ref + keepalive
+    );
+
+    cl.def("__contains__", [](Map &m, const KeyType &k) -> bool {
+        auto it = m.find(k);
+        if (it == m.end()) {
+            return false;
+        }
+        return true;
+    });
+    // Fallback for when the object is not of the key type
+    cl.def("__contains__", [](Map &, const object &) -> bool { return false; });
+
+    // Assignment provided only if the type is copyable
+    detail::map_assignment<Map, Class_>(cl);
+
+    cl.def("__delitem__", [](Map &m, const KeyType &k) {
+        auto it = m.find(k);
+        if (it == m.end()) {
+            throw key_error();
+        }
+        m.erase(it);
+    });
+
+    cl.def("__len__", &Map::size);
+
+    keys_view.def("__len__", [](KeysView &view) { return view.map.size(); });
+    keys_view.def(
+        "__iter__",
+        [](KeysView &view) { return make_key_iterator(view.map.begin(), view.map.end()); },
+        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+    );
+    keys_view.def("__contains__", [](KeysView &view, const KeyType &k) -> bool {
+        auto it = view.map.find(k);
+        if (it == view.map.end()) {
+            return false;
+        }
+        return true;
+    });
+    // Fallback for when the object is not of the key type
+    keys_view.def("__contains__", [](KeysView &, const object &) -> bool { return false; });
+
+    values_view.def("__len__", [](ValuesView &view) { return view.map.size(); });
+    values_view.def(
+        "__iter__",
+        [](ValuesView &view) { return make_value_iterator(view.map.begin(), view.map.end()); },
+        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+    );
+
+    items_view.def("__len__", [](ItemsView &view) { return view.map.size(); });
+    items_view.def(
+        "__iter__",
+        [](ItemsView &view) { return make_iterator(view.map.begin(), view.map.end()); },
+        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+    );
+
+    return cl;
+}
+
+} // namespace pybind11
+
+
+// Searches for available devices (as Device constructor)
+// but pooling, to check for python interrupts, and releases GIL in between
+
+template<typename DEVICE, class... Args>
+static auto deviceSearchHelper(Args&&... args){
+
+    bool found;
+    dai::DeviceInfo deviceInfo;
+    // releases python GIL
+    py::gil_scoped_release release;
+    std::tie(found, deviceInfo) = DEVICE::getAnyAvailableDevice(DEVICE::getDefaultSearchTime(), [](){
+        py::gil_scoped_acquire acquire;
+        if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+    });
+
+    // if no devices found, then throw
+    if(!found) {
+        auto numConnected = DEVICE::getAllAvailableDevices().size();
+        if(numConnected > 0) {
+            throw std::runtime_error("No available devices (" + std::to_string(numConnected) + " connected, but in use)");
+        } else {
+            throw std::runtime_error("No available devices");
+        }
+    }
+
+    return deviceInfo;
+}
+
+
+static std::vector<std::string> deviceGetQueueEventsHelper(dai::Device& d, const std::vector<std::string>& queueNames, std::size_t maxNumEvents, std::chrono::microseconds timeout){
+    using namespace std::chrono;
+
+    // if timeout < 0, unlimited timeout
+    bool unlimitedTimeout = timeout < microseconds(0);
+    auto startTime = steady_clock::now();
+    do {
+        {
+            // releases python GIL
+            py::gil_scoped_release release;
+            // block for 100ms
+            auto events = d.getQueueEvents(queueNames, maxNumEvents, std::chrono::milliseconds(100));
+            if(!events.empty()) return events;
+        }
+        // reacquires python GIL for PyErr_CheckSignals call
+        // check if interrupt triggered in between
+        if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+    } while(unlimitedTimeout || steady_clock::now() - startTime < timeout);
+
+    return std::vector<std::string>();
+}
+
+
+template<typename D, typename ARG>
+static void bindConstructors(ARG& arg){
+    using namespace dai;
+
+    arg
+    .def(py::init([](const Pipeline& pipeline){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, dev);
+    }), py::arg("pipeline"), DOC(dai, DeviceBase, DeviceBase))
+    .def(py::init([](const Pipeline& pipeline, bool usb2Mode){
+        PyErr_WarnEx(PyExc_DeprecationWarning, "Use constructor taking 'UsbSpeed' instead", 1);
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, dev, usb2Mode);
+    }), py::arg("pipeline"), py::arg("usb2Mode"), DOC(dai, DeviceBase, DeviceBase, 2))
+    .def(py::init([](const Pipeline& pipeline, UsbSpeed maxUsbSpeed){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, dev, maxUsbSpeed);
+    }), py::arg("pipeline"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 3))
+    .def(py::init([](const Pipeline& pipeline, const dai::Path& pathToCmd){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, dev, pathToCmd);
+    }), py::arg("pipeline"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 4))
+    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, bool usb2Mode){
+        PyErr_WarnEx(PyExc_DeprecationWarning, "Use constructor taking 'UsbSpeed' instead", 1);
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, deviceInfo, usb2Mode);
+    }), py::arg("pipeline"), py::arg("devInfo"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 6))
+    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, UsbSpeed maxUsbSpeed){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, deviceInfo, maxUsbSpeed);
+    }), py::arg("pipeline"), py::arg("deviceInfo"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 7))
+    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, dai::Path pathToCmd){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(pipeline, deviceInfo, pathToCmd);
+    }), py::arg("pipeline"), py::arg("devInfo"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 8))
+
+    // DeviceBase constructor - OpenVINO version
+    .def(py::init([](OpenVINO::Version version){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, dev);
+    }), py::arg("version") = OpenVINO::VERSION_UNIVERSAL, DOC(dai, DeviceBase, DeviceBase, 10))
+    .def(py::init([](OpenVINO::Version version, bool usb2Mode){
+        PyErr_WarnEx(PyExc_DeprecationWarning, "Use constructor taking 'UsbSpeed' instead", 1);
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, dev, usb2Mode);
+    }), py::arg("version"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 11))
+    .def(py::init([](OpenVINO::Version version, UsbSpeed maxUsbSpeed){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, dev, maxUsbSpeed);
+    }), py::arg("version"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 12))
+    .def(py::init([](OpenVINO::Version version, const dai::Path& pathToCmd){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, dev, pathToCmd);
+    }), py::arg("version"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 13))
+    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, bool usb2Mode){
+        PyErr_WarnEx(PyExc_DeprecationWarning, "Use constructor taking 'UsbSpeed' instead", 1);
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, deviceInfo, usb2Mode);
+    }), py::arg("version"), py::arg("deviceInfo"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 15))
+    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, UsbSpeed maxUsbSpeed){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, deviceInfo, maxUsbSpeed);
+    }), py::arg("version"), py::arg("deviceInfo"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 16))
+    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, dai::Path pathToCmd){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(version, deviceInfo, pathToCmd);
+    }), py::arg("version"), py::arg("deviceDesc"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 17))
+    .def(py::init([](typename D::Config config){
+        auto dev = deviceSearchHelper<D>();
+        py::gil_scoped_release release;
+        return std::make_unique<D>(config, dev);
+    }), py::arg("config"), DOC(dai, DeviceBase, DeviceBase, 18))
+    .def(py::init([](typename D::Config config, const DeviceInfo& deviceInfo){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(config, deviceInfo);
+    }), py::arg("config"), py::arg("deviceInfo"), DOC(dai, DeviceBase, DeviceBase, 19))
+
+    // DeviceInfo version
+    .def(py::init([](const DeviceInfo& deviceInfo){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(deviceInfo);
+    }), py::arg("deviceInfo"), DOC(dai, DeviceBase, DeviceBase, 20))
+    .def(py::init([](const DeviceInfo& deviceInfo, UsbSpeed maxUsbSpeed){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(deviceInfo, maxUsbSpeed);
+    }), py::arg("deviceInfo"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 21))
+
+    // name or device id version
+    .def(py::init([](std::string nameOrDeviceId){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(std::move(nameOrDeviceId));
+    }), py::arg("nameOrDeviceId"), DOC(dai, DeviceBase, DeviceBase, 22))
+    .def(py::init([](std::string nameOrDeviceId, UsbSpeed maxUsbSpeed){
+        py::gil_scoped_release release;
+        return std::make_unique<D>(std::move(nameOrDeviceId), maxUsbSpeed);
+    }), py::arg("nameOrDeviceId"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 23))
+    ;
+
+}
+
+
+
+void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Type definitions
+    py::class_<DeviceBase> deviceBase(m, "DeviceBase", DOC(dai, DeviceBase));
+    py::class_<Device, DeviceBase> device(m, "Device", DOC(dai, Device));
+    py::class_<Device::Config> deviceConfig(device, "Config", DOC(dai, DeviceBase, Config));
+    py::class_<CrashDump> crashDump(m, "CrashDump", DOC(dai, CrashDump));
+    py::class_<CrashDump::CrashReport> crashReport(crashDump, "CrashReport", DOC(dai, CrashDump, CrashReport));
+    py::class_<CrashDump::CrashReport::ErrorSourceInfo> errorSourceInfo(crashReport, "ErrorSourceInfo", DOC(dai, CrashDump, CrashReport, ErrorSourceInfo));
+    py::class_<CrashDump::CrashReport::ErrorSourceInfo::AssertContext> assertContext(errorSourceInfo, "AssertContext", DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, AssertContext));
+    py::class_<CrashDump::CrashReport::ErrorSourceInfo::TrapContext> trapContext(errorSourceInfo, "TrapContext", DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, TrapContext));
+    py::class_<CrashDump::CrashReport::ThreadCallstack> threadCallstack(crashReport, "ThreadCallstack", DOC(dai, CrashDump, CrashReport, ThreadCallstack));
+    py::class_<CrashDump::CrashReport::ThreadCallstack::CallstackContext> callstackContext(threadCallstack, "CallstackContext", DOC(dai, CrashDump, CrashReport, ThreadCallstack, CallstackContext));
+    py::class_<BoardConfig> boardConfig(m, "BoardConfig", DOC(dai, BoardConfig));
+    py::class_<BoardConfig::USB> boardConfigUsb(boardConfig, "USB", DOC(dai, BoardConfig, USB));
+    py::class_<BoardConfig::Network> boardConfigNetwork(boardConfig, "Network", DOC(dai, BoardConfig, Network));
+    py::class_<BoardConfig::GPIO> boardConfigGpio(boardConfig, "GPIO", DOC(dai, BoardConfig, GPIO));
+    py::enum_<BoardConfig::GPIO::Mode> boardConfigGpioMode(boardConfigGpio, "Mode", DOC(dai, BoardConfig, GPIO, Mode));
+    py::enum_<BoardConfig::GPIO::Direction> boardConfigGpioDirection(boardConfigGpio, "Direction", DOC(dai, BoardConfig, GPIO, Direction));
+    py::enum_<BoardConfig::GPIO::Level> boardConfigGpioLevel(boardConfigGpio, "Level", DOC(dai, BoardConfig, GPIO, Level));
+    py::enum_<BoardConfig::GPIO::Pull> boardConfigGpioPull(boardConfigGpio, "Pull", DOC(dai, BoardConfig, GPIO, Pull));
+    py::enum_<BoardConfig::GPIO::Drive> boardConfigGpioDrive(boardConfigGpio, "Drive", DOC(dai, BoardConfig, GPIO, Drive));
+    py::class_<BoardConfig::UART> boardConfigUart(boardConfig, "UART", DOC(dai, BoardConfig, UART));
+    py::class_<BoardConfig::UVC> boardConfigUvc(boardConfig, "UVC", DOC(dai, BoardConfig, UVC));
+    struct PyClock{};
+    py::class_<PyClock> clock(m, "Clock");
+
+
+    py::bind_map_patched<std::unordered_map<std::int8_t, dai::BoardConfig::GPIO>>(boardConfig, "GPIOMap");
+    py::bind_map_patched<std::unordered_map<std::int8_t, dai::BoardConfig::UART>>(boardConfig, "UARTMap");
+
+
+    // pybind11 limitation of having actual classes as exceptions
+    // Possible but requires a larger workaround
+    // https://stackoverflow.com/questions/62087383/how-can-you-bind-exceptions-with-custom-fields-and-constructors-in-pybind11-and
+
+    // Bind EepromError
+    auto eepromError = py::register_exception<EepromError>(m, "EepromError", PyExc_RuntimeError);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // Bind BoardConfig::USB
+    boardConfigUsb
+        .def(py::init<>())
+        .def_readwrite("vid", &BoardConfig::USB::vid)
+        .def_readwrite("pid", &BoardConfig::USB::pid)
+        .def_readwrite("flashBootedVid", &BoardConfig::USB::flashBootedVid)
+        .def_readwrite("flashBootedPid", &BoardConfig::USB::flashBootedPid)
+        .def_readwrite("maxSpeed", &BoardConfig::USB::maxSpeed)
+        .def_readwrite("productName", &BoardConfig::USB::productName)
+        .def_readwrite("manufacturer", &BoardConfig::USB::manufacturer)
+    ;
+
+    // Bind BoardConfig::Network
+    boardConfigNetwork
+        .def(py::init<>())
+        .def_readwrite("mtu", &BoardConfig::Network::mtu)
+        .def_readwrite("xlinkTcpNoDelay", &BoardConfig::Network::xlinkTcpNoDelay)
+    ;
+
+    // GPIO Mode
+    boardConfigGpioMode
+        .value("ALT_MODE_0", BoardConfig::GPIO::ALT_MODE_0, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_0))
+        .value("ALT_MODE_1", BoardConfig::GPIO::ALT_MODE_1, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_1))
+        .value("ALT_MODE_2", BoardConfig::GPIO::ALT_MODE_2, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_2))
+        .value("ALT_MODE_3", BoardConfig::GPIO::ALT_MODE_3, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_3))
+        .value("ALT_MODE_4", BoardConfig::GPIO::ALT_MODE_4, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_4))
+        .value("ALT_MODE_5", BoardConfig::GPIO::ALT_MODE_5, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_5))
+        .value("ALT_MODE_6", BoardConfig::GPIO::ALT_MODE_6, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_6))
+        .value("DIRECT", BoardConfig::GPIO::DIRECT, DOC(dai, BoardConfig, GPIO, Mode, DIRECT))
+        .export_values()
+        ;
+
+    // GPIO Direction
+    boardConfigGpioDirection
+        .value("INPUT", BoardConfig::GPIO::INPUT, DOC(dai, BoardConfig, GPIO, Direction, INPUT))
+        .value("OUTPUT", BoardConfig::GPIO::OUTPUT, DOC(dai, BoardConfig, GPIO, Direction, OUTPUT))
+        .export_values()
+        ;
+
+    // GPIO Level
+    boardConfigGpioLevel
+        .value("LOW", BoardConfig::GPIO::LOW, DOC(dai, BoardConfig, GPIO, Level, LOW))
+        .value("HIGH", BoardConfig::GPIO::HIGH, DOC(dai, BoardConfig, GPIO, Level, HIGH))
+        .export_values()
+        ;
+
+    // GPIO Pull
+    boardConfigGpioPull
+        .value("NO_PULL", BoardConfig::GPIO::NO_PULL, DOC(dai, BoardConfig, GPIO, Pull, NO_PULL))
+        .value("PULL_UP", BoardConfig::GPIO::PULL_UP, DOC(dai, BoardConfig, GPIO, Pull, PULL_UP))
+        .value("PULL_DOWN", BoardConfig::GPIO::PULL_DOWN, DOC(dai, BoardConfig, GPIO, Pull, PULL_DOWN))
+        .value("BUS_KEEPER", BoardConfig::GPIO::BUS_KEEPER, DOC(dai, BoardConfig, GPIO, Pull, BUS_KEEPER))
+        .export_values()
+        ;
+
+    // GPIO Drive
+    boardConfigGpioDrive
+        .value("MA_2", BoardConfig::GPIO::MA_2, DOC(dai, BoardConfig, GPIO, Drive, MA_2))
+        .value("MA_4", BoardConfig::GPIO::MA_4, DOC(dai, BoardConfig, GPIO, Drive, MA_4))
+        .value("MA_8", BoardConfig::GPIO::MA_8, DOC(dai, BoardConfig, GPIO, Drive, MA_8))
+        .value("MA_12", BoardConfig::GPIO::MA_12, DOC(dai, BoardConfig, GPIO, Drive, MA_12))
+        .export_values()
+        ;
+
+    // Bind BoardConfig::GPIO
+    boardConfigGpio
+        .def(py::init<>())
+        .def(py::init<BoardConfig::GPIO::Direction>())
+        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Level>())
+        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Level, BoardConfig::GPIO::Pull>())
+        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Mode>())
+        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Mode, BoardConfig::GPIO::Pull>())
+        .def_readwrite("mode", &BoardConfig::GPIO::mode)
+        .def_readwrite("direction", &BoardConfig::GPIO::direction)
+        .def_readwrite("level", &BoardConfig::GPIO::level)
+        .def_readwrite("pull", &BoardConfig::GPIO::pull)
+        .def_readwrite("drive", &BoardConfig::GPIO::drive)
+        .def_readwrite("schmitt", &BoardConfig::GPIO::schmitt)
+        .def_readwrite("slewFast", &BoardConfig::GPIO::slewFast)
+    ;
+
+    // Bind BoardConfig::UART
+    boardConfigUart
+        .def(py::init<>())
+        .def_readwrite("tmp", &BoardConfig::UART::tmp)
+    ;
+
+    // Bind BoardConfig::UVC
+    boardConfigUvc
+        .def(py::init<>())
+        .def(py::init<uint16_t, uint16_t>())
+        .def_readwrite("cameraName", &BoardConfig::UVC::cameraName)
+        .def_readwrite("width", &BoardConfig::UVC::width)
+        .def_readwrite("height", &BoardConfig::UVC::height)
+        .def_readwrite("frameType", &BoardConfig::UVC::frameType)
+        .def_readwrite("enable", &BoardConfig::UVC::enable)
+    ;
+
+    // Bind BoardConfig
+    boardConfig
+        .def(py::init<>())
+        .def_readwrite("usb", &BoardConfig::usb, DOC(dai, BoardConfig, usb))
+        .def_readwrite("network", &BoardConfig::network, DOC(dai, BoardConfig, network))
+        .def_readwrite("sysctl", &BoardConfig::sysctl, DOC(dai, BoardConfig, sysctl))
+        .def_readwrite("watchdogTimeoutMs", &BoardConfig::watchdogTimeoutMs, DOC(dai, BoardConfig, watchdogTimeoutMs))
+        .def_readwrite("watchdogInitialDelayMs", &BoardConfig::watchdogInitialDelayMs, DOC(dai, BoardConfig, watchdogInitialDelayMs))
+        .def_readwrite("gpio", &BoardConfig::gpio, DOC(dai, BoardConfig, gpio))
+        .def_readwrite("uart", &BoardConfig::uart, DOC(dai, BoardConfig, uart))
+        .def_readwrite("pcieInternalClock", &BoardConfig::pcieInternalClock, DOC(dai, BoardConfig, pcieInternalClock))
+        .def_readwrite("usb3PhyInternalClock", &BoardConfig::usb3PhyInternalClock, DOC(dai, BoardConfig, usb3PhyInternalClock))
+        .def_readwrite("mipi4LaneRgb", &BoardConfig::mipi4LaneRgb, DOC(dai, BoardConfig, mipi4LaneRgb))
+        .def_readwrite("emmc", &BoardConfig::emmc, DOC(dai, BoardConfig, emmc))
+        .def_readwrite("logPath", &BoardConfig::logPath, DOC(dai, BoardConfig, logPath))
+        .def_readwrite("logSizeMax", &BoardConfig::logSizeMax, DOC(dai, BoardConfig, logSizeMax))
+        .def_readwrite("logVerbosity", &BoardConfig::logVerbosity, DOC(dai, BoardConfig, logVerbosity))
+        .def_readwrite("logDevicePrints", &BoardConfig::logDevicePrints, DOC(dai, BoardConfig, logDevicePrints))
+        .def_readwrite("uvc", &BoardConfig::uvc, DOC(dai, BoardConfig, uvc))
+    ;
+
+    // Bind Device::Config
+    deviceConfig
+        .def(py::init<>())
+        .def_readwrite("version", &Device::Config::version)
+        .def_readwrite("board", &Device::Config::board)
+        .def_readwrite("nonExclusiveMode", &Device::Config::nonExclusiveMode)
+        .def_readwrite("outputLogLevel", &Device::Config::outputLogLevel)
+        .def_readwrite("logLevel", &Device::Config::logLevel)
+    ;
+
+    // Bind CrashDump
+    crashDump
+        .def(py::init<>())
+        .def("serializeToJson", &CrashDump::serializeToJson, DOC(dai, CrashDump, serializeToJson))
+
+        .def_readwrite("crashReports", &CrashDump::crashReports, DOC(dai, CrashDump, crashReports))
+        .def_readwrite("depthaiCommitHash", &CrashDump::depthaiCommitHash, DOC(dai, CrashDump, depthaiCommitHash))
+        .def_readwrite("deviceId", &CrashDump::deviceId, DOC(dai, CrashDump, deviceId))
+    ;
+
+    crashReport
+        .def(py::init<>())
+        .def_readwrite("processor", &CrashDump::CrashReport::processor, DOC(dai, CrashDump, CrashReport, processor))
+        .def_readwrite("errorSource", &CrashDump::CrashReport::errorSource, DOC(dai, CrashDump, CrashReport, errorSource))
+        .def_readwrite("crashedThreadId", &CrashDump::CrashReport::crashedThreadId, DOC(dai, CrashDump, CrashReport, crashedThreadId))
+        .def_readwrite("threadCallstack", &CrashDump::CrashReport::threadCallstack, DOC(dai, CrashDump, CrashReport, threadCallstack))
+    ;
+
+    errorSourceInfo
+        .def(py::init<>())
+        .def_readwrite("assertContext", &CrashDump::CrashReport::ErrorSourceInfo::assertContext, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, assertContext))
+        .def_readwrite("trapContext", &CrashDump::CrashReport::ErrorSourceInfo::trapContext, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, trapContext))
+        .def_readwrite("errorId", &CrashDump::CrashReport::ErrorSourceInfo::errorId, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, errorId))
+    ;
+
+    assertContext
+        .def(py::init<>())
+        .def_readwrite("fileName", &CrashDump::CrashReport::ErrorSourceInfo::AssertContext::fileName, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, AssertContext, fileName))
+        .def_readwrite("functionName", &CrashDump::CrashReport::ErrorSourceInfo::AssertContext::functionName, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, AssertContext, functionName))
+        .def_readwrite("line", &CrashDump::CrashReport::ErrorSourceInfo::AssertContext::line, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, AssertContext, line))
+    ;
+
+    trapContext
+        .def(py::init<>())
+        .def_readwrite("trapNumber", &CrashDump::CrashReport::ErrorSourceInfo::TrapContext::trapNumber, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, TrapContext, trapNumber))
+        .def_readwrite("trapAddress", &CrashDump::CrashReport::ErrorSourceInfo::TrapContext::trapAddress, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, TrapContext, trapAddress))
+        .def_readwrite("trapName", &CrashDump::CrashReport::ErrorSourceInfo::TrapContext::trapName, DOC(dai, CrashDump, CrashReport, ErrorSourceInfo, TrapContext, trapName))
+    ;
+
+    threadCallstack
+        .def(py::init<>())
+        .def_readwrite("threadId", &CrashDump::CrashReport::ThreadCallstack::threadId, DOC(dai, CrashDump, CrashReport, ThreadCallstack, threadId))
+        .def_readwrite("threadName", &CrashDump::CrashReport::ThreadCallstack::threadName, DOC(dai, CrashDump, CrashReport, ThreadCallstack, threadName))
+        .def_readwrite("stackBottom", &CrashDump::CrashReport::ThreadCallstack::stackBottom, DOC(dai, CrashDump, CrashReport, ThreadCallstack, stackBottom))
+        .def_readwrite("stackTop", &CrashDump::CrashReport::ThreadCallstack::stackTop, DOC(dai, CrashDump, CrashReport, ThreadCallstack, stackTop))
+        .def_readwrite("stackPointer", &CrashDump::CrashReport::ThreadCallstack::stackPointer, DOC(dai, CrashDump, CrashReport, ThreadCallstack, stackPointer))
+        .def_readwrite("instructionPointer", &CrashDump::CrashReport::ThreadCallstack::instructionPointer, DOC(dai, CrashDump, CrashReport, ThreadCallstack, instructionPointer))
+        .def_readwrite("threadStatus", &CrashDump::CrashReport::ThreadCallstack::threadStatus, DOC(dai, CrashDump, CrashReport, ThreadCallstack, threadStatus))
+        .def_readwrite("callStack", &CrashDump::CrashReport::ThreadCallstack::callStack, DOC(dai, CrashDump, CrashReport, ThreadCallstack, callStack))
+    ;
+
+    callstackContext
+        .def(py::init<>())
+        .def_readwrite("callSite", &CrashDump::CrashReport::ThreadCallstack::CallstackContext::callSite, DOC(dai, CrashDump, CrashReport, ThreadCallstack, CallstackContext, callSite))
+        .def_readwrite("calledTarget", &CrashDump::CrashReport::ThreadCallstack::CallstackContext::calledTarget, DOC(dai, CrashDump, CrashReport, ThreadCallstack, CallstackContext, calledTarget))
+        .def_readwrite("framePointer", &CrashDump::CrashReport::ThreadCallstack::CallstackContext::framePointer, DOC(dai, CrashDump, CrashReport, ThreadCallstack, CallstackContext, framePointer))
+        .def_readwrite("context", &CrashDump::CrashReport::ThreadCallstack::CallstackContext::context, DOC(dai, CrashDump, CrashReport, ThreadCallstack, CallstackContext, context))
+    ;
+
+    // Bind constructors
+    bindConstructors<DeviceBase>(deviceBase);
+    // Bind the rest
+    deviceBase
+        // Python only methods
+        .def("__enter__", [](DeviceBase& d) -> DeviceBase& { return d; })
+        .def("__exit__", [](DeviceBase& d, py::object type, py::object value, py::object traceback) {
+            py::gil_scoped_release release;
+            d.close();
+        })
+        .def("close", [](DeviceBase& d) { py::gil_scoped_release release; d.close(); }, "Closes the connection to device. Better alternative is the usage of context manager: `with depthai.Device(pipeline) as device:`")
+        .def("isClosed", [](DeviceBase& d) { py::gil_scoped_release release; return d.isClosed(); }, DOC(dai, DeviceBase, isClosed))
+
+        //dai::Device methods
+        //static
+        .def_static("getAnyAvailableDevice", [](std::chrono::milliseconds ms){ return DeviceBase::getAnyAvailableDevice(ms); }, py::arg("timeout"), DOC(dai, DeviceBase, getAnyAvailableDevice))
+        .def_static("getAnyAvailableDevice", [](){ return DeviceBase::getAnyAvailableDevice(); }, DOC(dai, DeviceBase, getAnyAvailableDevice, 2))
+        .def_static("getFirstAvailableDevice", &DeviceBase::getFirstAvailableDevice, py::arg("skipInvalidDevices") = true, DOC(dai, DeviceBase, getFirstAvailableDevice))
+        .def_static("getAllAvailableDevices", &DeviceBase::getAllAvailableDevices, DOC(dai, DeviceBase, getAllAvailableDevices))
+        .def_static("getEmbeddedDeviceBinary", py::overload_cast<bool, OpenVINO::Version>(&DeviceBase::getEmbeddedDeviceBinary), py::arg("usb2Mode"), py::arg("version") = OpenVINO::VERSION_UNIVERSAL, DOC(dai, DeviceBase, getEmbeddedDeviceBinary))
+        .def_static("getEmbeddedDeviceBinary", py::overload_cast<DeviceBase::Config>(&DeviceBase::getEmbeddedDeviceBinary), py::arg("config"), DOC(dai, DeviceBase, getEmbeddedDeviceBinary, 2))
+        .def_static("getDeviceByMxId", &DeviceBase::getDeviceByMxId, py::arg("mxId"), DOC(dai, DeviceBase, getDeviceByMxId))
+        .def_static("getAllConnectedDevices", &DeviceBase::getAllConnectedDevices, DOC(dai, DeviceBase, getAllConnectedDevices))
+        .def_static("getGlobalProfilingData", &DeviceBase::getGlobalProfilingData, DOC(dai, DeviceBase, getGlobalProfilingData))
+
+        // methods
+        .def("getBootloaderVersion", &DeviceBase::getBootloaderVersion, DOC(dai, DeviceBase, getBootloaderVersion))
+        .def("isPipelineRunning", [](DeviceBase& d) { py::gil_scoped_release release; return d.isPipelineRunning(); }, DOC(dai, DeviceBase, isPipelineRunning))
+        .def("startPipeline", [](DeviceBase& d){
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Device(pipeline) starts the pipeline automatically. Use Device() and startPipeline(pipeline) otherwise", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            py::gil_scoped_release release;
+            d.startPipeline();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, DeviceBase, startPipeline))
+        .def("startPipeline", [](DeviceBase& d, const Pipeline& pipeline) { py::gil_scoped_release release; return d.startPipeline(pipeline); }, DOC(dai, DeviceBase, startPipeline, 2))
+
+        // Doesn't require GIL release (eg, don't do RPC or long blocking things in background)
+        .def("setLogOutputLevel", &DeviceBase::setLogOutputLevel, py::arg("level"), DOC(dai, DeviceBase, setLogOutputLevel))
+        .def("getLogOutputLevel", &DeviceBase::getLogOutputLevel, DOC(dai, DeviceBase, getLogOutputLevel))
+
+        // Requires GIL release
+        .def("setLogLevel", [](DeviceBase& d, LogLevel l) { py::gil_scoped_release release; d.setLogLevel(l); }, py::arg("level"), DOC(dai, DeviceBase, setLogLevel))
+        .def("getLogLevel", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLogLevel(); }, DOC(dai, DeviceBase, getLogLevel))
+        .def("setSystemInformationLoggingRate", [](DeviceBase& d, float hz) { py::gil_scoped_release release; d.setSystemInformationLoggingRate(hz); }, py::arg("rateHz"), DOC(dai, DeviceBase, setSystemInformationLoggingRate))
+        .def("getSystemInformationLoggingRate", [](DeviceBase& d) { py::gil_scoped_release release; return d.getSystemInformationLoggingRate(); }, DOC(dai, DeviceBase, getSystemInformationLoggingRate))
+        .def("getCrashDump", [](DeviceBase& d, bool clearCrashDump) { py::gil_scoped_release release; return d.getCrashDump(clearCrashDump); }, py::arg("clearCrashDump") = true, DOC(dai, DeviceBase, getCrashDump))
+        .def("hasCrashDump", [](DeviceBase& d) { py::gil_scoped_release release; return d.hasCrashDump(); }, DOC(dai, DeviceBase, hasCrashDump))
+        .def("getConnectedCameras", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameras(); }, DOC(dai, DeviceBase, getConnectedCameras))
+        .def("getConnectionInterfaces", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectionInterfaces(); }, DOC(dai, DeviceBase, getConnectionInterfaces))
+        .def("getConnectedCameraFeatures", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameraFeatures(); }, DOC(dai, DeviceBase, getConnectedCameraFeatures))
+        .def("getCameraSensorNames", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCameraSensorNames(); }, DOC(dai, DeviceBase, getCameraSensorNames))
+        .def("getStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getStereoPairs(); }, DOC(dai, DeviceBase, getStereoPairs))
+        .def("getAvailableStereoPairs", [](DeviceBase& d) { py::gil_scoped_release release; return d.getAvailableStereoPairs(); }, DOC(dai, DeviceBase, getAvailableStereoPairs))
+        .def("getConnectedIMU", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedIMU(); }, DOC(dai, DeviceBase, getConnectedIMU))
+        .def("getIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getIMUFirmwareVersion))
+        .def("getEmbeddedIMUFirmwareVersion", [](DeviceBase& d) { py::gil_scoped_release release; return d.getEmbeddedIMUFirmwareVersion(); }, DOC(dai, DeviceBase, getEmbeddedIMUFirmwareVersion))
+        .def("startIMUFirmwareUpdate", [](DeviceBase& d, bool forceUpdate) { py::gil_scoped_release release; return d.startIMUFirmwareUpdate(forceUpdate); }, py::arg("forceUpdate") = false, DOC(dai, DeviceBase, startIMUFirmwareUpdate))
+        .def("getIMUFirmwareUpdateStatus", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIMUFirmwareUpdateStatus(); }, DOC(dai, DeviceBase, getIMUFirmwareUpdateStatus))
+        .def("getDdrMemoryUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDdrMemoryUsage(); }, DOC(dai, DeviceBase, getDdrMemoryUsage))
+        .def("getCmxMemoryUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCmxMemoryUsage(); }, DOC(dai, DeviceBase, getCmxMemoryUsage))
+        .def("getLeonCssHeapUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonCssHeapUsage(); }, DOC(dai, DeviceBase, getLeonCssHeapUsage))
+        .def("getLeonMssHeapUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonMssHeapUsage(); }, DOC(dai, DeviceBase, getLeonMssHeapUsage))
+        .def("getChipTemperature", [](DeviceBase& d) { py::gil_scoped_release release; return d.getChipTemperature(); }, DOC(dai, DeviceBase, getChipTemperature))
+        .def("getLeonCssCpuUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonCssCpuUsage(); }, DOC(dai, DeviceBase, getLeonCssCpuUsage))
+        .def("getLeonMssCpuUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonMssCpuUsage(); }, DOC(dai, DeviceBase, getLeonMssCpuUsage))
+        .def("addLogCallback", [](DeviceBase& d, std::function<void(LogMessage)> callback) { py::gil_scoped_release release; return d.addLogCallback(callback); }, py::arg("callback"), DOC(dai, DeviceBase, addLogCallback))
+        .def("removeLogCallback", [](DeviceBase& d, int cbId) { py::gil_scoped_release release; return d.removeLogCallback(cbId); }, py::arg("callbackId"), DOC(dai, DeviceBase, removeLogCallback))
+        .def("getUsbSpeed", [](DeviceBase& d) { py::gil_scoped_release release; return d.getUsbSpeed(); }, DOC(dai, DeviceBase, getUsbSpeed))
+        .def("getDeviceInfo", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDeviceInfo(); }, DOC(dai, DeviceBase, getDeviceInfo))
+        .def("getMxId", [](DeviceBase& d) { py::gil_scoped_release release; return d.getMxId(); }, DOC(dai, DeviceBase, getMxId))
+        .def("getProfilingData", [](DeviceBase& d) { py::gil_scoped_release release; return d.getProfilingData(); }, DOC(dai, DeviceBase, getProfilingData))
+        .def("readCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibration(); }, DOC(dai, DeviceBase, readCalibration))
+        .def("flashCalibration", [](DeviceBase& d, CalibrationHandler calibrationDataHandler) { py::gil_scoped_release release; return d.flashCalibration(calibrationDataHandler); }, py::arg("calibrationDataHandler"), DOC(dai, DeviceBase, flashCalibration))
+        .def("setXLinkChunkSize", [](DeviceBase& d, int s) { py::gil_scoped_release release; d.setXLinkChunkSize(s); }, py::arg("sizeBytes"), DOC(dai, DeviceBase, setXLinkChunkSize))
+        .def("getXLinkChunkSize", [](DeviceBase& d) { py::gil_scoped_release release; return d.getXLinkChunkSize(); }, DOC(dai, DeviceBase, getXLinkChunkSize))
+        .def("setIrLaserDotProjectorBrightness", [](DeviceBase& d, float mA, int mask) { 
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use setIrLaserDotProjectorIntensity() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            py::gil_scoped_release release;
+            bool result = d.setIrLaserDotProjectorBrightness(mA, mask);
+            HEDLEY_DIAGNOSTIC_POP
+            return result;
+        }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorBrightness))
+        .def("setIrFloodLightBrightness", [](DeviceBase& d, float mA, int mask) {
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use setIrFloodLightIntensity() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            py::gil_scoped_release release;
+            bool result = d.setIrFloodLightBrightness(mA, mask);
+            HEDLEY_DIAGNOSTIC_POP
+            return result;
+        }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightBrightness))
+        .def("setIrLaserDotProjectorIntensity", [](DeviceBase& d, float intensity, int mask) { py::gil_scoped_release release; return d.setIrLaserDotProjectorIntensity(intensity, mask); }, py::arg("intensity"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorIntensity))
+        .def("setIrFloodLightIntensity", [](DeviceBase& d, float intensity, int mask) { py::gil_scoped_release release; return d.setIrFloodLightIntensity(intensity, mask); }, py::arg("intensity"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightIntensity))
+        .def("getIrDrivers", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIrDrivers(); }, DOC(dai, DeviceBase, getIrDrivers))
+        .def("isEepromAvailable", [](DeviceBase& d) { py::gil_scoped_release release; return d.isEepromAvailable(); }, DOC(dai, DeviceBase, isEepromAvailable))
+        .def("flashCalibration2", [](DeviceBase& d, CalibrationHandler ch) { py::gil_scoped_release release; return d.flashCalibration2(ch); }, DOC(dai, DeviceBase, flashCalibration2))
+        .def("readCalibration2", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibration2(); }, DOC(dai, DeviceBase, readCalibration2))
+        .def("readCalibrationOrDefault", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibrationOrDefault(); }, DOC(dai, DeviceBase, readCalibrationOrDefault))
+        .def("factoryResetCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.factoryResetCalibration(); }, DOC(dai, DeviceBase, factoryResetCalibration))
+        .def("flashFactoryCalibration", [](DeviceBase& d, CalibrationHandler ch) { py::gil_scoped_release release; return d.flashFactoryCalibration(ch); }, DOC(dai, DeviceBase, flashFactoryCalibration))
+        .def("readFactoryCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibration(); }, DOC(dai, DeviceBase, readFactoryCalibration))
+        .def("readFactoryCalibrationOrDefault", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibrationOrDefault(); }, DOC(dai, DeviceBase, readFactoryCalibrationOrDefault))
+        .def("readCalibrationRaw", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibrationRaw(); }, DOC(dai, DeviceBase, readCalibrationRaw))
+        .def("readFactoryCalibrationRaw", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibrationRaw(); }, DOC(dai, DeviceBase, readFactoryCalibrationRaw))
+        .def("flashEepromClear", [](DeviceBase& d) { py::gil_scoped_release release; d.flashEepromClear(); }, DOC(dai, DeviceBase, flashEepromClear))
+        .def("flashFactoryEepromClear", [](DeviceBase& d) { py::gil_scoped_release release; d.flashFactoryEepromClear(); }, DOC(dai, DeviceBase, flashFactoryEepromClear))
+        .def("setTimesync", [](DeviceBase& d, std::chrono::milliseconds p, int s, bool r) { py::gil_scoped_release release; return d.setTimesync(p,s,r); }, DOC(dai, DeviceBase, setTimesync))
+        .def("setTimesync", [](DeviceBase& d, bool e) { py::gil_scoped_release release; return d.setTimesync(e); }, py::arg("enable"), DOC(dai, DeviceBase, setTimesync, 2))
+        .def("getDeviceName", [](DeviceBase& d) { std::string name; { py::gil_scoped_release release; name = d.getDeviceName(); } return py::bytes(name).attr("decode")("utf-8", "replace"); }, DOC(dai, DeviceBase, getDeviceName))
+        .def("getProductName", [](DeviceBase& d) { std::string name; { py::gil_scoped_release release; name = d.getProductName(); } return py::bytes(name).attr("decode")("utf-8", "replace"); }, DOC(dai, DeviceBase, getProductName))
+    ;
+
+
+    // Bind constructors
+    bindConstructors<Device>(device);
+    // Bind the rest
+    device
+        .def("getOutputQueue", static_cast<std::shared_ptr<DataOutputQueue>(Device::*)(const std::string&)>(&Device::getOutputQueue), py::arg("name"), DOC(dai, Device, getOutputQueue))
+        .def("getOutputQueue", static_cast<std::shared_ptr<DataOutputQueue>(Device::*)(const std::string&, unsigned int, bool)>(&Device::getOutputQueue), py::arg("name"), py::arg("maxSize"), py::arg("blocking") = true, DOC(dai, Device, getOutputQueue, 2))
+        .def("getOutputQueueNames", &Device::getOutputQueueNames, DOC(dai, Device, getOutputQueueNames))
+
+        .def("getInputQueue", static_cast<std::shared_ptr<DataInputQueue>(Device::*)(const std::string&)>(&Device::getInputQueue), py::arg("name"), DOC(dai, Device, getInputQueue))
+        .def("getInputQueue", static_cast<std::shared_ptr<DataInputQueue>(Device::*)(const std::string&, unsigned int, bool)>(&Device::getInputQueue), py::arg("name"), py::arg("maxSize"), py::arg("blocking") = true, DOC(dai, Device, getInputQueue, 2))
+        .def("getInputQueueNames", &Device::getInputQueueNames, DOC(dai, Device, getInputQueueNames))
+
+        .def("getQueueEvents", [](Device& d, const std::vector<std::string>& queueNames, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
+            return deviceGetQueueEventsHelper(d, queueNames, maxNumEvents, timeout);
+        }, py::arg("queueNames"), py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents))
+        .def("getQueueEvents", [](Device& d, std::string queueName, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
+            return deviceGetQueueEventsHelper(d, std::vector<std::string>{queueName}, maxNumEvents, timeout);
+        }, py::arg("queueName"), py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents, 3))
+        .def("getQueueEvents", [](Device& d, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
+            return deviceGetQueueEventsHelper(d, d.getOutputQueueNames(), maxNumEvents, timeout);
+        }, py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents, 4))
+
+        .def("getQueueEvent", [](Device& d, const std::vector<std::string>& queueNames, std::chrono::microseconds timeout) {
+            auto events = deviceGetQueueEventsHelper(d, queueNames, std::numeric_limits<std::size_t>::max(), timeout);
+            if(events.empty()) return std::string("");
+            return events[0];
+        }, py::arg("queueNames"), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent))
+
+        .def("getQueueEvent", [](Device& d, std::string queueName, std::chrono::microseconds timeout) {
+            auto events = deviceGetQueueEventsHelper(d, std::vector<std::string>{queueName}, std::numeric_limits<std::size_t>::max(), timeout);
+            if(events.empty()) return std::string("");
+            return events[0];
+        }, py::arg("queueName"), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent, 3))
+
+        .def("getQueueEvent", [](Device& d, std::chrono::microseconds timeout) {
+            auto events = deviceGetQueueEventsHelper(d, d.getOutputQueueNames(), std::numeric_limits<std::size_t>::max(), timeout);
+            if(events.empty()) return std::string("");
+            return events[0];
+        }, py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent, 4))
+
+        //.def("setCallback", DeviceWrapper::wrap(&Device::setCallback), py::arg("name"), py::arg("callback"))
+
+    ;
+
+    clock.def("now", &Clock::now);
+
+}
diff --git a/bindings/python/src/DeviceBindings.hpp b/bindings/python/src/DeviceBindings.hpp
new file mode 100644
index 000000000..a962249d3
--- /dev/null
+++ b/bindings/python/src/DeviceBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct DeviceBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/DeviceBootloaderBindings.cpp b/bindings/python/src/DeviceBootloaderBindings.cpp
new file mode 100644
index 000000000..b862c6f80
--- /dev/null
+++ b/bindings/python/src/DeviceBootloaderBindings.cpp
@@ -0,0 +1,180 @@
+#include "DeviceBootloaderBindings.hpp"
+
+// depthai
+#include "depthai/device/DeviceBootloader.hpp"
+
+void DeviceBootloaderBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Type definitions
+    py::class_<DeviceBootloader> deviceBootloader(m, "DeviceBootloader", DOC(dai, DeviceBootloader));
+    py::enum_<DeviceBootloader::Type> deviceBootloaderType(deviceBootloader, "Type");
+    py::enum_<DeviceBootloader::Memory> deviceBootloaderMemory(deviceBootloader, "Memory");
+    py::enum_<DeviceBootloader::Section> deviceBootloaderSection(deviceBootloader, "Section");
+    py::class_<DeviceBootloader::UsbConfig> deviceBootlaoderUsbConfig(deviceBootloader, "UsbConfig");
+    py::class_<DeviceBootloader::NetworkConfig> deviceBootlaoderNetworkConfig(deviceBootloader, "NetworkConfig");
+    py::class_<DeviceBootloader::Config> deviceBootloderConfig(deviceBootloader, "Config");
+    py::class_<DeviceBootloader::ApplicationInfo> deviceBootloderApplicationInfo(deviceBootloader, "ApplicationInfo");
+    py::class_<DeviceBootloader::MemoryInfo> deviceBootloderMemoryInfo(deviceBootloader, "MemoryInfo");
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // Bind DeviceBootloader
+    deviceBootloaderType
+        .value("AUTO", DeviceBootloader::Type::AUTO)
+        .value("USB", DeviceBootloader::Type::USB)
+        .value("NETWORK", DeviceBootloader::Type::NETWORK)
+        ;
+    deviceBootloaderMemory
+        .value("AUTO", DeviceBootloader::Memory::AUTO)
+        .value("FLASH", DeviceBootloader::Memory::FLASH)
+        .value("EMMC", DeviceBootloader::Memory::EMMC)
+        ;
+    deviceBootloaderSection
+        .value("AUTO", DeviceBootloader::Section::AUTO)
+        .value("HEADER", DeviceBootloader::Section::HEADER)
+        .value("BOOTLOADER", DeviceBootloader::Section::BOOTLOADER)
+        .value("BOOTLOADER_CONFIG", DeviceBootloader::Section::BOOTLOADER_CONFIG)
+        .value("APPLICATION", DeviceBootloader::Section::APPLICATION)
+        ;
+
+    deviceBootlaoderUsbConfig
+        .def(py::init<>())
+        .def_readwrite("timeoutMs", &DeviceBootloader::UsbConfig::timeoutMs)
+        .def_readwrite("maxUsbSpeed", &DeviceBootloader::UsbConfig::maxUsbSpeed)
+        .def_readwrite("vid", &DeviceBootloader::UsbConfig::vid)
+        .def_readwrite("pid", &DeviceBootloader::UsbConfig::pid)
+    ;
+    deviceBootlaoderNetworkConfig
+        .def(py::init<>())
+        .def_readwrite("timeoutMs", &DeviceBootloader::NetworkConfig::timeoutMs)
+        .def_readwrite("ipv4", &DeviceBootloader::NetworkConfig::ipv4)
+        .def_readwrite("ipv4Mask", &DeviceBootloader::NetworkConfig::ipv4Mask)
+        .def_readwrite("ipv4Gateway", &DeviceBootloader::NetworkConfig::ipv4Gateway)
+        .def_readwrite("ipv4Dns", &DeviceBootloader::NetworkConfig::ipv4Dns)
+        .def_readwrite("ipv4DnsAlt", &DeviceBootloader::NetworkConfig::ipv4DnsAlt)
+        .def_readwrite("staticIpv4", &DeviceBootloader::NetworkConfig::staticIpv4)
+        .def_readwrite("ipv6", &DeviceBootloader::NetworkConfig::ipv6)
+        .def_readwrite("ipv6Prefix", &DeviceBootloader::NetworkConfig::ipv6Prefix)
+        .def_readwrite("ipv6Gateway", &DeviceBootloader::NetworkConfig::ipv6Gateway)
+        .def_readwrite("ipv6Dns", &DeviceBootloader::NetworkConfig::ipv6Dns)
+        .def_readwrite("ipv6DnsAlt", &DeviceBootloader::NetworkConfig::ipv6DnsAlt)
+        .def_readwrite("staticIpv6", &DeviceBootloader::NetworkConfig::staticIpv6)
+        .def_readwrite("mac", &DeviceBootloader::NetworkConfig::mac)
+    ;
+
+    deviceBootloderConfig
+        .def(py::init<>())
+        .def_readwrite("appMem", &DeviceBootloader::Config::appMem)
+        .def_readwrite("usb", &DeviceBootloader::Config::usb)
+        .def_readwrite("network", &DeviceBootloader::Config::network)
+        .def("setStaticIPv4", &DeviceBootloader::Config::setStaticIPv4)
+        .def("setDynamicIPv4", &DeviceBootloader::Config::setDynamicIPv4)
+        .def("isStaticIPV4", &DeviceBootloader::Config::isStaticIPV4)
+        .def("getIPv4", &DeviceBootloader::Config::getIPv4)
+        .def("getIPv4Mask", &DeviceBootloader::Config::getIPv4Mask)
+        .def("getIPv4Gateway", &DeviceBootloader::Config::getIPv4Gateway)
+        .def("setDnsIPv4", &DeviceBootloader::Config::setDnsIPv4)
+        .def("getDnsIPv4", &DeviceBootloader::Config::getDnsIPv4)
+        .def("getDnsAltIPv4", &DeviceBootloader::Config::getDnsAltIPv4)
+        .def("setUsbTimeout", &DeviceBootloader::Config::setUsbTimeout)
+        .def("getUsbTimeout", &DeviceBootloader::Config::getUsbTimeout)
+        .def("setNetworkTimeout", &DeviceBootloader::Config::setNetworkTimeout)
+        .def("getNetworkTimeout", &DeviceBootloader::Config::getNetworkTimeout)
+        .def("setMacAddress", &DeviceBootloader::Config::setMacAddress)
+        .def("getMacAddress", &DeviceBootloader::Config::getMacAddress)
+        .def("setUsbMaxSpeed", &DeviceBootloader::Config::setUsbMaxSpeed)
+        .def("getUsbMaxSpeed", &DeviceBootloader::Config::getUsbMaxSpeed)
+        .def("toJson", &DeviceBootloader::Config::toJson)
+        .def("fromJson", &DeviceBootloader::Config::fromJson)
+    ;
+
+    deviceBootloderApplicationInfo
+        .def(py::init<>())
+        .def_readwrite("hasApplication", &DeviceBootloader::ApplicationInfo::hasApplication)
+        .def_readwrite("firmwareVersion", &DeviceBootloader::ApplicationInfo::firmwareVersion)
+        .def_readwrite("applicationName", &DeviceBootloader::ApplicationInfo::applicationName)
+    ;
+
+    deviceBootloderMemoryInfo
+        .def(py::init<>())
+        .def_readwrite("available", &DeviceBootloader::MemoryInfo::available)
+        .def_readwrite("size", &DeviceBootloader::MemoryInfo::size)
+        .def_readwrite("info", &DeviceBootloader::MemoryInfo::info)
+    ;
+
+    deviceBootloader
+      // Python only methods
+        .def("__enter__", [](DeviceBootloader& d) -> DeviceBootloader& { return d; })
+        .def("__exit__", [](DeviceBootloader& bl, py::object type, py::object value, py::object traceback) { bl.close(); })
+        .def("close", &DeviceBootloader::close, "Closes the connection to device. Better alternative is the usage of context manager: `with depthai.DeviceBootloader(deviceInfo) as bootloader:`")
+
+        .def_static("getFirstAvailableDevice", &DeviceBootloader::getFirstAvailableDevice, DOC(dai, DeviceBootloader, getFirstAvailableDevice))
+        .def_static("getAllAvailableDevices", &DeviceBootloader::getAllAvailableDevices, DOC(dai, DeviceBootloader, getAllAvailableDevices))
+        .def_static("saveDepthaiApplicationPackage", py::overload_cast<const Path&, const Pipeline&, const Path&, bool, std::string, bool>(&DeviceBootloader::saveDepthaiApplicationPackage), py::arg("path"), py::arg("pipeline"), py::arg("pathToCmd") = Path{}, py::arg("compress") = false, py::arg("applicationName") = "", py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, saveDepthaiApplicationPackage))
+        .def_static("saveDepthaiApplicationPackage", py::overload_cast<const Path&, const Pipeline&, bool, std::string, bool>(&DeviceBootloader::saveDepthaiApplicationPackage), py::arg("path"), py::arg("pipeline"), py::arg("compress"), py::arg("applicationName") = "", py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, saveDepthaiApplicationPackage, 2))
+        .def_static("createDepthaiApplicationPackage", py::overload_cast<const Pipeline&, const Path&, bool, std::string, bool>(&DeviceBootloader::createDepthaiApplicationPackage), py::arg("pipeline"), py::arg("pathToCmd") = Path{}, py::arg("compress") = false, py::arg("applicationName") = "", py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, createDepthaiApplicationPackage))
+        .def_static("createDepthaiApplicationPackage", py::overload_cast<const Pipeline&, bool, std::string, bool>(&DeviceBootloader::createDepthaiApplicationPackage), py::arg("pipeline"), py::arg("compress"), py::arg("applicationName") = "", py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, createDepthaiApplicationPackage, 2))
+        .def_static("getEmbeddedBootloaderVersion", &DeviceBootloader::getEmbeddedBootloaderVersion, DOC(dai, DeviceBootloader, getEmbeddedBootloaderVersion))
+        .def_static("getEmbeddedBootloaderBinary", &DeviceBootloader::getEmbeddedBootloaderBinary, DOC(dai, DeviceBootloader, getEmbeddedBootloaderBinary))
+
+        .def(py::init<const DeviceInfo&, bool>(), py::arg("devInfo"), py::arg("allowFlashingBootloader") = false, DOC(dai, DeviceBootloader, DeviceBootloader, 4))
+        .def(py::init<const DeviceInfo&, const Path&, bool>(), py::arg("devInfo"), py::arg("pathToCmd"), py::arg("allowFlashingBootloader") = false, DOC(dai, DeviceBootloader, DeviceBootloader, 5))
+        .def(py::init<std::string, bool>(), py::arg("nameOrDeviceId"), py::arg("allowFlashingBootloader") = false, DOC(dai, DeviceBootloader, DeviceBootloader, 6))
+
+        .def("flash", [](DeviceBootloader& db, std::function<void(float)> progressCallback, const Pipeline& pipeline, bool compress, std::string applicationName, DeviceBootloader::Memory memory, bool checkChecksum) { py::gil_scoped_release release; return db.flash(progressCallback, pipeline, compress, applicationName, memory, checkChecksum); }, py::arg("progressCallback"), py::arg("pipeline"), py::arg("compress") = false, py::arg("applicationName") = "", py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, flash))
+        .def("flash", [](DeviceBootloader& db, const Pipeline& pipeline, bool compress, std::string applicationName, DeviceBootloader::Memory memory, bool checkChecksum) { py::gil_scoped_release release; return db.flash(pipeline, compress, applicationName, memory, checkChecksum); }, py::arg("pipeline"), py::arg("compress") = false, py::arg("applicationName") = "", py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("checkChecksum") = false, DOC(dai, DeviceBootloader, flash, 2))
+
+        .def("readApplicationInfo", [](DeviceBootloader& db, DeviceBootloader::Memory mem) { py::gil_scoped_release release; return db.readApplicationInfo(mem); }, py::arg("memory"), DOC(dai, DeviceBootloader, readApplicationInfo))
+        .def("getMemoryInfo", [](DeviceBootloader& db, DeviceBootloader::Memory memory) { py::gil_scoped_release release; return db.getMemoryInfo(memory); }, DOC(dai, DeviceBootloader, getMemoryInfo))
+        .def("isUserBootloader", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.isUserBootloader(); }, DOC(dai, DeviceBootloader, isUserBootloader))
+        .def("isUserBootloaderSupported", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.isUserBootloaderSupported(); }, DOC(dai, DeviceBootloader, isUserBootloaderSupported))
+
+        .def("flashDepthaiApplicationPackage", [](DeviceBootloader& db, std::function<void(float)> progressCallback, std::vector<uint8_t> package, DeviceBootloader::Memory memory) { py::gil_scoped_release release; return db.flashDepthaiApplicationPackage(progressCallback, package); }, py::arg("progressCallback"), py::arg("package"), py::arg("memory") = DeviceBootloader::Memory::AUTO, DOC(dai, DeviceBootloader, flashDepthaiApplicationPackage))
+        .def("flashDepthaiApplicationPackage", [](DeviceBootloader& db, std::vector<uint8_t> package, DeviceBootloader::Memory memory) { py::gil_scoped_release release; return db.flashDepthaiApplicationPackage(package); }, py::arg("package"), py::arg("memory") = DeviceBootloader::Memory::AUTO, DOC(dai, DeviceBootloader, flashDepthaiApplicationPackage, 2))
+        .def("flashBootloader", [](DeviceBootloader& db, std::function<void(float)> progressCallback, const Path& path) { py::gil_scoped_release release; return db.flashBootloader(progressCallback, path); }, py::arg("progressCallback"), py::arg("path") = "", DOC(dai, DeviceBootloader, flashBootloader))
+        .def("flashBootloader", [](DeviceBootloader& db, DeviceBootloader::Memory memory, DeviceBootloader::Type type, std::function<void(float)> progressCallback, dai::Path path) { py::gil_scoped_release release; return db.flashBootloader(memory, type, progressCallback, path); }, py::arg("memory"), py::arg("type"), py::arg("progressCallback"), py::arg("path") = "", DOC(dai, DeviceBootloader, flashBootloader, 2))
+        .def("flashUserBootloader", [](DeviceBootloader& db, std::function<void(float)> progressCallback, const Path& path) { py::gil_scoped_release release; return db.flashUserBootloader(progressCallback, path); }, py::arg("progressCallback"), py::arg("path") = "", DOC(dai, DeviceBootloader, flashUserBootloader))
+
+        .def("readConfigData", [](DeviceBootloader& db, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.readConfigData(memory, type); }, py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, readConfigData))
+        .def("flashConfigData", [](DeviceBootloader& db, nlohmann::json configData, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.flashConfigData(configData, memory, type); }, py::arg("configData"), py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, flashConfigData))
+        .def("flashConfigFile", [](DeviceBootloader& db, dai::Path configPath, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.flashConfigFile(configPath, memory, type); }, py::arg("configData"), py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, flashConfigFile))
+        .def("flashConfigClear", [](DeviceBootloader& db, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.flashConfigClear(memory, type); }, py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, flashConfigClear))
+        .def("readConfig", [](DeviceBootloader& db, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.readConfig(memory, type); }, py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, readConfig))
+        .def("flashConfig", [](DeviceBootloader& db, const DeviceBootloader::Config& config, DeviceBootloader::Memory memory, DeviceBootloader::Type type) { py::gil_scoped_release release; return db.flashConfig(config, memory, type); }, py::arg("config"), py::arg("memory") = DeviceBootloader::Memory::AUTO, py::arg("type") = DeviceBootloader::Type::AUTO, DOC(dai, DeviceBootloader, flashConfig))
+
+        .def("bootMemory", [](DeviceBootloader& db, const std::vector<uint8_t>& fw) { py::gil_scoped_release release; return db.bootMemory(fw); }, py::arg("fw"), DOC(dai, DeviceBootloader, bootMemory))
+        .def("bootUsbRomBootloader", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.bootUsbRomBootloader(); }, DOC(dai, DeviceBootloader, bootUsbRomBootloader))
+
+        //.def("flashCustom", &DeviceBootloader::flashCustom, py::arg("memory"), py::arg("offset"), py::arg("progressCallback"), py::arg("data"), DOC(dai, DeviceBootloader, flashCustom))
+        .def("getVersion", [](DeviceBootloader& db) { py::gil_scoped_release release; return db.getVersion(); }, DOC(dai, DeviceBootloader, getVersion))
+
+        .def("isEmbeddedVersion", &DeviceBootloader::isEmbeddedVersion, DOC(dai, DeviceBootloader, isEmbeddedVersion))
+        .def("getType", &DeviceBootloader::getType, DOC(dai, DeviceBootloader, getType))
+        .def("isAllowedFlashingBootloader", &DeviceBootloader::isAllowedFlashingBootloader, DOC(dai, DeviceBootloader, isAllowedFlashingBootloader))
+
+        .def("flashClear", [](DeviceBootloader& db, DeviceBootloader::Memory memory) { py::gil_scoped_release release; return db.flashClear(memory); }, py::arg("memory") = DeviceBootloader::Memory::AUTO, DOC(dai, DeviceBootloader, flashClear))
+        .def("flashGpioModeBootHeader", [](DeviceBootloader& db, DeviceBootloader::Memory memory, int mode) { py::gil_scoped_release release; return db.flashGpioModeBootHeader(memory, mode); }, py::arg("memory"), py::arg("mode"), DOC(dai, DeviceBootloader, flashGpioModeBootHeader))
+        .def("flashUsbRecoveryBootHeader", [](DeviceBootloader& db, DeviceBootloader::Memory memory) { py::gil_scoped_release release; return db.flashUsbRecoveryBootHeader(memory); }, py::arg("memory"), DOC(dai, DeviceBootloader, flashUsbRecoveryBootHeader))
+        .def("flashBootHeader", [](DeviceBootloader& db, DeviceBootloader::Memory memory, int32_t frequency, int64_t location, int32_t dummyCycles, int64_t offset) { py::gil_scoped_release release; return db.flashBootHeader(memory, frequency, location, dummyCycles, offset); }, py::arg("memory"), py::arg("frequency") = -1, py::arg("location") = -1, py::arg("dummyCycles") = -1, py::arg("offset") = -1, DOC(dai, DeviceBootloader, flashBootHeader))
+        .def("flashFastBootHeader", [](DeviceBootloader& db, DeviceBootloader::Memory memory, int32_t frequency, int64_t location, int32_t dummyCycles, int64_t offset) { py::gil_scoped_release release; return db.flashFastBootHeader(memory, frequency, location, dummyCycles, offset); }, py::arg("memory"), py::arg("frequency") = -1, py::arg("location") = -1, py::arg("dummyCycles") = -1, py::arg("offset") = -1, DOC(dai, DeviceBootloader, flashFastBootHeader))
+        .def("flashCustom", [](DeviceBootloader& db, DeviceBootloader::Memory memory, size_t offset, const std::vector<uint8_t>& data, std::function<void(float)> progressCb) { py::gil_scoped_release release; return db.flashCustom(memory, offset, data, progressCb); }, py::arg("memory"), py::arg("offset"), py::arg("data"), py::arg("progressCallback") = nullptr, DOC(dai, DeviceBootloader, flashCustom))
+        .def("flashCustom", [](DeviceBootloader& db, DeviceBootloader::Memory memory, size_t offset, std::string filename, std::function<void(float)> progressCb) { py::gil_scoped_release release; return db.flashCustom(memory, offset, filename, progressCb); }, py::arg("memory"), py::arg("offset"), py::arg("filename"), py::arg("progressCallback") = nullptr, DOC(dai, DeviceBootloader, flashCustom))
+        .def("readCustom", [](DeviceBootloader& db, DeviceBootloader::Memory memory, size_t offset, size_t size, std::string filename, std::function<void(float)> progressCb) { py::gil_scoped_release release; return db.readCustom(memory, offset, size, filename, progressCb); }, py::arg("memory"), py::arg("offset"), py::arg("size"), py::arg("filename"), py::arg("progressCallback") = nullptr, DOC(dai, DeviceBootloader, readCustom))
+        .def("readCustom", [](DeviceBootloader& db, DeviceBootloader::Memory memory, size_t offset, size_t size, std::function<void(float)> progressCb) { py::gil_scoped_release release; return db.readCustom(memory, offset, size, progressCb); }, py::arg("memory"), py::arg("offset"), py::arg("size"), py::arg("progressCallback") = nullptr, DOC(dai, DeviceBootloader, readCustom))
+        ;
+
+}
diff --git a/bindings/python/src/DeviceBootloaderBindings.hpp b/bindings/python/src/DeviceBootloaderBindings.hpp
new file mode 100644
index 000000000..636a8571d
--- /dev/null
+++ b/bindings/python/src/DeviceBootloaderBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct DeviceBootloaderBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/VersionBindings.cpp b/bindings/python/src/VersionBindings.cpp
new file mode 100644
index 000000000..d66dca0c8
--- /dev/null
+++ b/bindings/python/src/VersionBindings.cpp
@@ -0,0 +1,38 @@
+#include "VersionBindings.hpp"
+
+// depthai
+#include "depthai/device/Version.hpp"
+
+void VersionBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Type definitions
+    py::class_<Version> version(m, "Version", DOC(dai, Version));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Bind DeviceBootloader
+    version
+        .def(py::init<const std::string&>(), py::arg("v"), DOC(dai, Version, Version))
+        .def(py::init<unsigned, unsigned, unsigned>(), py::arg("major"), py::arg("minor"), py::arg("patch"), DOC(dai, Version, Version, 2))
+        .def("__str__", &Version::toString, DOC(dai, Version, toString))
+        .def("__eq__", &Version::operator==)
+        .def("__lt__", &Version::operator<)
+        .def("__gt__", &Version::operator>)
+        .def("toStringSemver", &Version::toStringSemver, DOC(dai, Version, toStringSemver))
+        .def("getBuildInfo", &Version::getBuildInfo, DOC(dai, Version, getBuildInfo))
+        .def("getSemver", &Version::getSemver, DOC(dai, Version, getSemver))
+        ;
+
+}
diff --git a/bindings/python/src/VersionBindings.hpp b/bindings/python/src/VersionBindings.hpp
new file mode 100644
index 000000000..9b8bc6617
--- /dev/null
+++ b/bindings/python/src/VersionBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct VersionBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/XLinkBindings.cpp b/bindings/python/src/XLinkBindings.cpp
new file mode 100644
index 000000000..b693a49f9
--- /dev/null
+++ b/bindings/python/src/XLinkBindings.cpp
@@ -0,0 +1,183 @@
+#include "XLinkBindings.hpp"
+
+// std
+#include <cmath>
+#include <cstring>
+
+// depthai
+#include "depthai/xlink/XLinkConnection.hpp"
+#include "depthai/xlink/XLinkStream.hpp"
+
+
+void XLinkBindings::bind(pybind11::module &m, void *pCallstack)
+{
+
+    using namespace dai;
+
+    // Type definitions
+    py::class_<DeviceInfo> deviceInfo(m, "DeviceInfo", DOC(dai, DeviceInfo));
+    py::class_<deviceDesc_t> deviceDesc(m, "DeviceDesc");
+    py::enum_<XLinkDeviceState_t> xLinkDeviceState(m, "XLinkDeviceState");
+    py::enum_<XLinkProtocol_t> xLinkProtocol(m, "XLinkProtocol");
+    py::enum_<XLinkPlatform_t> xLinkPlatform(m, "XLinkPlatform");
+    py::enum_<XLinkError_t> xLinkError(m, "XLinkError_t");
+    py::class_<XLinkConnection, std::shared_ptr<XLinkConnection> > xLinkConnection(m, "XLinkConnection", DOC(dai, XLinkConnection));
+
+    // pybind11 limitation of having actual classes as exceptions
+    // Possible but requires a larger workaround
+    // https://stackoverflow.com/questions/62087383/how-can-you-bind-exceptions-with-custom-fields-and-constructors-in-pybind11-and
+
+    // For now just create simple exceptions that will expose what() message
+    auto xlinkError = py::register_exception<XLinkError>(m, "XLinkError", PyExc_RuntimeError);
+    auto xlinkReadError = py::register_exception<XLinkReadError>(m, "XLinkReadError", xlinkError.ptr());
+    auto xlinkWriteError = py::register_exception<XLinkWriteError>(m, "XLinkWriteError", xlinkError.ptr());
+
+    //py::class_<XLinkError> xLinkError(m, "XLinkError", DOC(dai, XLinkError));
+    //py::class_<XLinkReadError, XLinkError> xLinkReadError(m, "XLinkReadError", DOC(dai, XLinkReadError));
+    //py::class_<XLinkWriteError, XLinkError> xLinkWriteError(m, "XLinkWriteError", DOC(dai, XLinkWriteError));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack *callstack = (Callstack *)pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Bindings
+    deviceInfo
+        .def(py::init<>(), DOC(dai, DeviceInfo, DeviceInfo))
+        .def(py::init<std::string, std::string, XLinkDeviceState_t, XLinkProtocol_t, XLinkPlatform_t, XLinkError_t>(), py::arg("name"), py::arg("mxid"), py::arg("state"), py::arg("protocol"), py::arg("platform"), py::arg("status"), DOC(dai, DeviceInfo, DeviceInfo, 2))
+        .def(py::init<std::string>(), py::arg("mxidOrName"), DOC(dai, DeviceInfo, DeviceInfo, 3))
+        .def(py::init<const deviceDesc_t&>(), DOC(dai, DeviceInfo, DeviceInfo, 4))
+        .def("getMxId", &DeviceInfo::getMxId)
+        .def("getXLinkDeviceDesc", &DeviceInfo::getXLinkDeviceDesc)
+        .def_readwrite("name", &DeviceInfo::name)
+        .def_readwrite("mxid", &DeviceInfo::mxid)
+        .def_readwrite("state", &DeviceInfo::state)
+        .def_readwrite("protocol", &DeviceInfo::protocol)
+        .def_readwrite("platform", &DeviceInfo::platform)
+        .def_readwrite("status", &DeviceInfo::status)
+        .def("__repr__", &DeviceInfo::toString)
+        // deprecated
+        .def_property("desc", [](py::object& self) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "desc field is deprecated, use name/mxid and others instead.", 1);
+            return self;
+        },[](DeviceInfo& i, DeviceInfo di){
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "desc field is deprecated, use name/mxid and others instead.", 1);
+            i = di;
+        })
+        ;
+
+    deviceDesc
+        .def(py::init<>())
+        .def_readwrite("protocol", &deviceDesc_t::protocol)
+        .def_readwrite("platform", &deviceDesc_t::platform)
+        .def_readwrite("state", &deviceDesc_t::state)
+        .def_readwrite("status", &deviceDesc_t::status)
+        .def_property(
+            "name",
+            [](deviceDesc_t &o)
+            { return std::string(o.name); },
+            [](deviceDesc_t &o, std::string n)
+            {
+                memset(o.name, 0, sizeof(o.name));
+                std::strncpy(o.name, n.c_str(), sizeof(o.name));
+            })
+        .def_property(
+            "mxid",
+            [](deviceDesc_t &o)
+            { return std::string(o.mxid); },
+            [](deviceDesc_t &o, std::string n)
+            {
+                memset(o.mxid, 0, sizeof(o.mxid));
+                std::strncpy(o.mxid, n.c_str(), sizeof(o.mxid));
+            })
+        ;
+
+    xLinkDeviceState
+        .value("X_LINK_ANY_STATE", X_LINK_ANY_STATE)
+        .value("X_LINK_BOOTED", X_LINK_BOOTED)
+        .value("X_LINK_UNBOOTED", X_LINK_UNBOOTED)
+        .value("X_LINK_BOOTLOADER", X_LINK_BOOTLOADER)
+        .value("X_LINK_FLASH_BOOTED", X_LINK_BOOTED_NON_EXCLUSIVE)
+        .value("X_LINK_BOOTED_NON_EXCLUSIVE", X_LINK_BOOTED_NON_EXCLUSIVE)
+        .value("X_LINK_GATE", X_LINK_GATE)
+        .value("X_LINK_GATE_BOOTED", X_LINK_GATE_BOOTED)
+        .export_values()
+        ;
+
+    xLinkProtocol
+        .value("X_LINK_USB_VSC", X_LINK_USB_VSC)
+        .value("X_LINK_USB_CDC", X_LINK_USB_CDC)
+        .value("X_LINK_PCIE", X_LINK_PCIE)
+        .value("X_LINK_TCP_IP", X_LINK_TCP_IP)
+        .value("X_LINK_IPC", X_LINK_IPC)
+        .value("X_LINK_NMB_OF_PROTOCOLS", X_LINK_NMB_OF_PROTOCOLS)
+        .value("X_LINK_ANY_PROTOCOL", X_LINK_ANY_PROTOCOL)
+        .export_values()
+        ;
+
+    xLinkPlatform
+        .value("X_LINK_ANY_PLATFORM", X_LINK_ANY_PLATFORM)
+        .value("X_LINK_MYRIAD_2", X_LINK_MYRIAD_2)
+        .value("X_LINK_MYRIAD_X", X_LINK_MYRIAD_X)
+        .value("X_LINK_RVC3", X_LINK_RVC3)
+        .export_values()
+        ;
+
+    xLinkConnection
+        .def(py::init<const DeviceInfo &, std::vector<std::uint8_t> >())
+        .def(py::init<const DeviceInfo &, std::string>())
+        .def(py::init<const DeviceInfo &>())
+        .def_static("getAllConnectedDevices", &XLinkConnection::getAllConnectedDevices, py::arg("state") = X_LINK_ANY_STATE, py::arg("skipInvalidDevices") = true)
+        .def_static("getFirstDevice", &XLinkConnection::getFirstDevice, py::arg("state") = X_LINK_ANY_STATE, py::arg("skipInvalidDevice") = true)
+        .def_static("getDeviceByMxId", &XLinkConnection::getDeviceByMxId, py::arg("mxId"), py::arg("state") = X_LINK_ANY_STATE, py::arg("skipInvalidDevice") = true)
+        .def_static("bootBootloader", &XLinkConnection::bootBootloader, py::arg("devInfo"))
+        .def_static("getGlobalProfilingData", &XLinkConnection::getGlobalProfilingData, DOC(dai, XLinkConnection, getGlobalProfilingData))
+        ;
+
+    xLinkError
+        .value("X_LINK_SUCCESS", X_LINK_SUCCESS)
+        .value("X_LINK_ALREADY_OPEN", X_LINK_ALREADY_OPEN)
+        .value("X_LINK_COMMUNICATION_NOT_OPEN", X_LINK_COMMUNICATION_NOT_OPEN)
+        .value("X_LINK_COMMUNICATION_FAIL", X_LINK_COMMUNICATION_FAIL)
+        .value("X_LINK_COMMUNICATION_UNKNOWN_ERROR", X_LINK_COMMUNICATION_UNKNOWN_ERROR)
+        .value("X_LINK_DEVICE_NOT_FOUND", X_LINK_DEVICE_NOT_FOUND)
+        .value("X_LINK_TIMEOUT", X_LINK_TIMEOUT)
+        .value("X_LINK_ERROR", X_LINK_ERROR)
+        .value("X_LINK_OUT_OF_MEMORY", X_LINK_OUT_OF_MEMORY)
+        .value("X_LINK_INSUFFICIENT_PERMISSIONS", X_LINK_INSUFFICIENT_PERMISSIONS)
+        .value("X_LINK_DEVICE_ALREADY_IN_USE", X_LINK_DEVICE_ALREADY_IN_USE)
+        .value("X_LINK_NOT_IMPLEMENTED", X_LINK_NOT_IMPLEMENTED)
+        .value("X_LINK_INIT_USB_ERROR", X_LINK_INIT_USB_ERROR)
+        .value("X_LINK_INIT_TCP_IP_ERROR", X_LINK_INIT_TCP_IP_ERROR)
+        .value("X_LINK_INIT_PCIE_ERROR", X_LINK_INIT_PCIE_ERROR)
+        .export_values()
+        ;
+
+
+    //// Exceptions
+
+    // Applicable if above pybind11 limitation is removed
+    // xLinkError
+    //     .def(py::init<XLinkError_t, const std::string &, const std::string &>())
+    //     .def_readonly("status", &XLinkError::status)
+    //     .def_readonly("streamName", &XLinkError::streamName)
+    //     .def("what", &XLinkError::what);
+    //
+    // xLinkReadError
+    //     .def(py::init<XLinkError_t, const std::string &>());
+    //
+    // xLinkWriteError
+    //     .def(py::init<XLinkError_t, const std::string &>());
+
+
+}
\ No newline at end of file
diff --git a/bindings/python/src/XLinkBindings.hpp b/bindings/python/src/XLinkBindings.hpp
new file mode 100644
index 000000000..ea360b302
--- /dev/null
+++ b/bindings/python/src/XLinkBindings.hpp
@@ -0,0 +1,9 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct XLinkBindings
+{
+    static void bind(pybind11::module &m, void *pCallstack);
+};
diff --git a/bindings/python/src/log/LogBindings.cpp b/bindings/python/src/log/LogBindings.cpp
new file mode 100644
index 000000000..8766eb6ac
--- /dev/null
+++ b/bindings/python/src/log/LogBindings.cpp
@@ -0,0 +1,49 @@
+#include "LogBindings.hpp"
+
+// depthai
+#include "depthai/log/LogLevel.hpp"
+#include "depthai/log/LogMessage.hpp"
+
+void LogBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Bind LogLevel
+    py::enum_<LogLevel> logLevel(m, "LogLevel");
+    py::class_<LogMessage> logMessage(m, "LogMessage", DOC(dai, LogMessage));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    logLevel
+        .value("TRACE", LogLevel::TRACE)
+        .value("DEBUG", LogLevel::DEBUG)
+        .value("INFO", LogLevel::INFO)
+        .value("WARN", LogLevel::WARN)
+        .value("ERR", LogLevel::ERR)
+        .value("CRITICAL", LogLevel::CRITICAL)
+        .value("OFF", LogLevel::OFF)
+    ;
+
+    logMessage
+        .def_readwrite("nodeIdName", &LogMessage::nodeIdName)
+        .def_readwrite("level", &LogMessage::level)
+        .def_readwrite("time", &LogMessage::time)
+        .def_readwrite("colorRangeStart", &LogMessage::colorRangeStart)
+        .def_readwrite("colorRangeEnd", &LogMessage::colorRangeEnd)
+        .def_readwrite("payload", &LogMessage::payload)
+    ;
+
+}
\ No newline at end of file
diff --git a/bindings/python/src/log/LogBindings.hpp b/bindings/python/src/log/LogBindings.hpp
new file mode 100644
index 000000000..06c46a5cf
--- /dev/null
+++ b/bindings/python/src/log/LogBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct LogBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/openvino/OpenVINOBindings.cpp b/bindings/python/src/openvino/OpenVINOBindings.cpp
new file mode 100644
index 000000000..a49947b16
--- /dev/null
+++ b/bindings/python/src/openvino/OpenVINOBindings.cpp
@@ -0,0 +1,84 @@
+#include "OpenVINOBindings.hpp"
+
+// depthai
+#include "depthai/openvino/OpenVINO.hpp"
+
+void OpenVINOBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<OpenVINO> openvino(m, "OpenVINO", DOC(dai, OpenVINO));
+    py::enum_<OpenVINO::Version> openvinoVersion(openvino, "Version", DOC(dai, OpenVINO, Version));
+    py::class_<OpenVINO::Blob> openvinoBlob(openvino, "Blob", DOC(dai, OpenVINO, Blob));
+    py::enum_<OpenVINO::Device> openvinoDevice(openvino, "Device", DOC(dai, OpenVINO, Device));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+
+    // Bind OpenVINO
+    openvino
+        .def_static("getVersions", &OpenVINO::getVersions, DOC(dai, OpenVINO, getVersions))
+        .def_static("getVersionName", &OpenVINO::getVersionName, py::arg("version"), DOC(dai, OpenVINO, getVersionName))
+        .def_static("parseVersionName", &OpenVINO::parseVersionName, py::arg("versionString"), DOC(dai, OpenVINO, parseVersionName))
+        .def_static("getBlobSupportedVersions", &OpenVINO::getBlobSupportedVersions, py::arg("majorVersion"), py::arg("majorVersion"), DOC(dai, OpenVINO, getBlobSupportedVersions))
+        .def_static("getBlobLatestSupportedVersion", &OpenVINO::getBlobLatestSupportedVersion, py::arg("majorVersion"), py::arg("majorVersion"), DOC(dai, OpenVINO, getBlobLatestSupportedVersion))
+        .def_static("areVersionsBlobCompatible", &OpenVINO::areVersionsBlobCompatible, py::arg("v1"), py::arg("v2"), DOC(dai, OpenVINO, areVersionsBlobCompatible))
+    ;
+
+    // not strongly typed enum OpenVINO::Version
+    // previous step defined class 'OpenVINO' (variable 'openvino')
+    // which is used in defining the following enum (its scope)
+    // and that the values are available directly under OpenVINO.VERSION_2021_4, ...
+    // they are exported
+    // By default, pybind creates strong typed enums, eg: OpenVINO::Version::VERSION_2021_4
+
+    openvinoVersion
+        .value("VERSION_2020_3", OpenVINO::Version::VERSION_2020_3)
+        .value("VERSION_2020_4", OpenVINO::Version::VERSION_2020_4)
+        .value("VERSION_2021_1", OpenVINO::Version::VERSION_2021_1)
+        .value("VERSION_2021_2", OpenVINO::Version::VERSION_2021_2)
+        .value("VERSION_2021_3", OpenVINO::Version::VERSION_2021_3)
+        .value("VERSION_2021_4", OpenVINO::Version::VERSION_2021_4)
+        .value("VERSION_2022_1", OpenVINO::Version::VERSION_2022_1)
+        .value("VERSION_UNIVERSAL", OpenVINO::Version::VERSION_UNIVERSAL)
+        .export_values()
+    ;
+    // DEFAULT_VERSION binding
+    openvino.attr("DEFAULT_VERSION") = dai::OpenVINO::DEFAULT_VERSION;
+
+    openvinoDevice
+        .value("VPU", OpenVINO::Device::VPU)
+        .value("VPUX", OpenVINO::Device::VPUX)
+    ;
+
+    // Bind OpenVINO::Blob
+    openvinoBlob
+        .def(py::init<std::vector<uint8_t>>(), DOC(dai, OpenVINO, Blob, Blob))
+        .def(py::init<dai::Path>(), DOC(dai, OpenVINO, Blob, Blob, 2))
+        .def_readwrite("version", &OpenVINO::Blob::version, DOC(dai, OpenVINO, Blob, version))
+        .def_readwrite("device", &OpenVINO::Blob::device, DOC(dai, OpenVINO, Blob, device))
+        .def_readwrite("networkInputs", &OpenVINO::Blob::networkInputs, DOC(dai, OpenVINO, Blob, networkInputs))
+        .def_readwrite("networkOutputs", &OpenVINO::Blob::networkOutputs, DOC(dai, OpenVINO, Blob, networkOutputs))
+        .def_readwrite("stageCount", &OpenVINO::Blob::stageCount, DOC(dai, OpenVINO, Blob, stageCount))
+        .def_readwrite("numShaves", &OpenVINO::Blob::numShaves, DOC(dai, OpenVINO, Blob, numShaves))
+        .def_readwrite("numSlices", &OpenVINO::Blob::numSlices, DOC(dai, OpenVINO, Blob, numSlices))
+        .def_readwrite("data", &OpenVINO::Blob::data, DOC(dai, OpenVINO, Blob, data))
+    ;
+
+}
+
+
+
diff --git a/bindings/python/src/openvino/OpenVINOBindings.hpp b/bindings/python/src/openvino/OpenVINOBindings.hpp
new file mode 100644
index 000000000..61e5585a4
--- /dev/null
+++ b/bindings/python/src/openvino/OpenVINOBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct OpenVINOBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
\ No newline at end of file
diff --git a/bindings/python/src/pipeline/AssetManagerBindings.cpp b/bindings/python/src/pipeline/AssetManagerBindings.cpp
new file mode 100644
index 000000000..9a8c26d3e
--- /dev/null
+++ b/bindings/python/src/pipeline/AssetManagerBindings.cpp
@@ -0,0 +1,64 @@
+#include "AssetManagerBindings.hpp"
+
+// depthai
+#include "depthai/pipeline/AssetManager.hpp"
+
+void AssetManagerBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+
+    // Type definitions
+    py::class_<Asset, std::shared_ptr<Asset>> asset(m, "Asset", DOC(dai, Asset));
+    py::class_<AssetManager> assetManager(m, "AssetManager", DOC(dai, AssetManager));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // Bind Asset
+    asset
+        .def(py::init<>())
+        .def(py::init<std::string>())
+        .def_readonly("key", &Asset::key)
+        // numpy array access - zero copy on access
+        .def_property("data", [](py::object &obj){
+            dai::Asset &a = obj.cast<dai::Asset&>();
+            return py::array_t<std::uint8_t>(a.data.size(), a.data.data(), obj);
+        }, [](py::object &obj, py::array_t<std::uint8_t, py::array::c_style> array){
+            dai::Asset &a = obj.cast<dai::Asset&>();
+            a.data = {array.data(), array.data() + array.size()};
+        })
+        .def_readwrite("alignment", &Asset::alignment)
+    ;
+
+    // Bind AssetManager
+    assetManager
+        .def(py::init<>())
+        .def(py::init<std::string>())
+        .def("addExisting", &AssetManager::addExisting, py::arg("assets"), DOC(dai, AssetManager, addExisting))
+        .def("set", static_cast<std::shared_ptr<dai::Asset> (AssetManager::*)(Asset)>(&AssetManager::set), py::arg("asset"), DOC(dai, AssetManager, set))
+        .def("set", static_cast<std::shared_ptr<dai::Asset> (AssetManager::*)(const std::string&, Asset)>(&AssetManager::set), py::arg("key"), py::arg("asset"), DOC(dai, AssetManager, set, 2))
+        .def("set", static_cast<std::shared_ptr<dai::Asset> (AssetManager::*)(const std::string& key, const dai::Path& path, int alignment)>(&AssetManager::set), py::arg("key"), py::arg("path"), py::arg("alignment") = 64, DOC(dai, AssetManager, set, 3))
+        .def("set", static_cast<std::shared_ptr<dai::Asset> (AssetManager::*)(const std::string& key, const std::vector<std::uint8_t>& data, int alignment)>(&AssetManager::set), py::arg("key"), py::arg("data"), py::arg("alignment") = 64, DOC(dai, AssetManager, set, 4))
+        .def("get", static_cast<std::shared_ptr<const Asset> (AssetManager::*)(const std::string&) const>(&AssetManager::get), py::arg("key"), DOC(dai, AssetManager, get))
+        .def("get", static_cast<std::shared_ptr<Asset> (AssetManager::*)(const std::string&)>(&AssetManager::get), py::arg("key"), DOC(dai, AssetManager, get, 2))
+        .def("getAll", static_cast<std::vector<std::shared_ptr<const Asset>> (AssetManager::*)() const>(&AssetManager::getAll), DOC(dai, AssetManager, getAll))
+        .def("getAll", static_cast<std::vector<std::shared_ptr<Asset>> (AssetManager::*)()>(&AssetManager::getAll), DOC(dai, AssetManager, getAll, 2))
+        .def("size", &AssetManager::size, DOC(dai, AssetManager, size))
+        .def("remove", &AssetManager::remove, py::arg("key"), DOC(dai, AssetManager, remove))
+        .def("getRootPath", &AssetManager::getRootPath, DOC(dai, AssetManager, getRootPath))
+    ;
+
+}
diff --git a/bindings/python/src/pipeline/AssetManagerBindings.hpp b/bindings/python/src/pipeline/AssetManagerBindings.hpp
new file mode 100644
index 000000000..c46eaf769
--- /dev/null
+++ b/bindings/python/src/pipeline/AssetManagerBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct AssetManagerBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/pipeline/CommonBindings.cpp b/bindings/python/src/pipeline/CommonBindings.cpp
new file mode 100644
index 000000000..d092742e0
--- /dev/null
+++ b/bindings/python/src/pipeline/CommonBindings.cpp
@@ -0,0 +1,447 @@
+#include "CommonBindings.hpp"
+
+// Libraries
+#include "hedley/hedley.h"
+
+// depthai/
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraFeatures.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/common/CameraSensorType.hpp"
+#include "depthai/common/ChipTemperature.hpp"
+#include "depthai/common/ChipTemperatureS3.hpp"
+#include "depthai/common/Colormap.hpp"
+#include "depthai/common/ConnectionInterface.hpp"
+#include "depthai/common/CpuUsage.hpp"
+#include "depthai/common/DetectionNetworkType.hpp"
+#include "depthai/common/DetectionParserOptions.hpp"
+#include "depthai/common/EepromData.hpp"
+#include "depthai/common/FrameEvent.hpp"
+#include "depthai/common/Interpolation.hpp"
+#include "depthai/common/MemoryInfo.hpp"
+#include "depthai/common/Point2f.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/Rect.hpp"
+#include "depthai/common/RotatedRect.hpp"
+#include "depthai/common/Size2f.hpp"
+#include "depthai/common/Timestamp.hpp"
+#include "depthai/common/UsbSpeed.hpp"
+#include "depthai/common/StereoPair.hpp"
+
+// depthai
+#include "depthai/common/CameraFeatures.hpp"
+#include "depthai/common/CameraExposureOffset.hpp"
+#include "depthai/common/StereoPair.hpp"
+#include "depthai/utility/ProfilingData.hpp"
+
+void CommonBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<Timestamp> timestamp(m, "Timestamp", DOC(dai, Timestamp));
+    py::class_<Point2f> point2f(m, "Point2f", DOC(dai, Point2f));
+    py::class_<Point3f> point3f(m, "Point3f", DOC(dai, Point3f));
+    py::class_<Size2f> size2f(m, "Size2f", DOC(dai, Size2f));
+    py::enum_<CameraBoardSocket> cameraBoardSocket(m, "CameraBoardSocket", DOC(dai, CameraBoardSocket));
+    py::enum_<ConnectionInterface> connectionInterface(m, "connectionInterface", DOC(dai, ConnectionInterface));
+    py::enum_<CameraSensorType> cameraSensorType(m, "CameraSensorType", DOC(dai, CameraSensorType));
+    py::enum_<CameraImageOrientation> cameraImageOrientation(m, "CameraImageOrientation", DOC(dai, CameraImageOrientation));
+    py::class_<CameraSensorConfig> cameraSensorConfig(m, "CameraSensorConfig", DOC(dai, CameraSensorConfig));
+    py::class_<CameraFeatures> cameraFeatures(m, "CameraFeatures", DOC(dai, CameraFeatures));
+    py::class_<MemoryInfo> memoryInfo(m, "MemoryInfo", DOC(dai, MemoryInfo));
+    py::class_<ChipTemperature> chipTemperature(m, "ChipTemperature", DOC(dai, ChipTemperature));
+    py::class_<ChipTemperatureS3> chipTemperatureS3(m, "ChipTemperatureS3", DOC(dai, ChipTemperatureS3));
+    py::class_<CpuUsage> cpuUsage(m, "CpuUsage", DOC(dai, CpuUsage));
+    py::enum_<CameraModel> cameraModel(m, "CameraModel", DOC(dai, CameraModel));
+    py::class_<StereoRectification> stereoRectification(m, "StereoRectification", DOC(dai, StereoRectification));
+    py::class_<Extrinsics> extrinsics(m, "Extrinsics", DOC(dai, Extrinsics));
+    py::class_<CameraInfo> cameraInfo(m, "CameraInfo", DOC(dai, CameraInfo));
+    py::class_<EepromData> eepromData(m, "EepromData", DOC(dai, EepromData));
+    py::enum_<UsbSpeed> usbSpeed(m, "UsbSpeed", DOC(dai, UsbSpeed));
+    py::enum_<ProcessorType> processorType(m, "ProcessorType");
+    py::enum_<DetectionNetworkType> detectionNetworkType(m, "DetectionNetworkType");
+    py::enum_<SerializationType> serializationType(m, "SerializationType");
+    py::class_<DetectionParserOptions> detectionParserOptions(m, "DetectionParserOptions", DOC(dai, DetectionParserOptions));
+    py::class_<RotatedRect> rotatedRect(m, "RotatedRect", DOC(dai, RotatedRect));
+    py::class_<Rect> rect(m, "Rect", DOC(dai, Rect));
+    py::class_<StereoPair> stereoPair(m, "StereoPair", DOC(dai, StereoPair));
+    py::enum_<CameraExposureOffset> cameraExposureOffset(m, "CameraExposureOffset");
+    py::enum_<Colormap> colormap(m, "Colormap", DOC(dai, Colormap));
+    py::enum_<FrameEvent> frameEvent(m, "FrameEvent", DOC(dai, FrameEvent));
+    py::class_<ProfilingData> profilingData(m, "ProfilingData", DOC(dai, ProfilingData));
+    py::enum_<Interpolation> interpolation(m, "Interpolation", DOC(dai, Interpolation));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    rotatedRect
+        .def(py::init<>())
+        .def_readwrite("center", &RotatedRect::center)
+        .def_readwrite("size", &RotatedRect::size)
+        .def_readwrite("angle", &RotatedRect::angle)
+        ;
+
+    rect
+        .def(py::init<>())
+        .def(py::init<float, float, float, float>())
+        .def(py::init<Point2f, Point2f>())
+        .def(py::init<Point2f, Size2f>())
+
+        .def("topLeft", &Rect::topLeft, DOC(dai, Rect, topLeft))
+        .def("bottomRight", &Rect::bottomRight, DOC(dai, Rect, bottomRight))
+        .def("size", &Rect::size, DOC(dai, Rect, size))
+        .def("area", &Rect::area, DOC(dai, Rect, area))
+        .def("empty", &Rect::empty, DOC(dai, Rect, empty))
+        .def("contains", &Rect::contains, DOC(dai, Rect, contains))
+        .def("isNormalized", &Rect::isNormalized, DOC(dai, Rect, isNormalized))
+        .def("denormalize", &Rect::denormalize, py::arg("width"), py::arg("height"), DOC(dai, Rect, denormalize))
+        .def("normalize", &Rect::normalize, py::arg("width"), py::arg("height"), DOC(dai, Rect, normalize))
+        .def_readwrite("x", &Rect::x)
+        .def_readwrite("y", &Rect::y)
+        .def_readwrite("width", &Rect::width)
+        .def_readwrite("height", &Rect::height)
+        ;
+
+    stereoPair
+        .def(py::init<>())
+        .def_readwrite("left", &StereoPair::left)
+        .def_readwrite("right", &StereoPair::right)
+        .def_readwrite("baseline", &StereoPair::baseline)
+        .def_readwrite("isVertical", &StereoPair::isVertical)
+        .def("__repr__", [](StereoPair& stereoPair) {
+            std::stringstream stream;
+            stream << stereoPair;
+            return stream.str();
+        })
+        ;
+
+    timestamp
+        .def(py::init<>())
+        .def_readwrite("sec", &Timestamp::sec)
+        .def_readwrite("nsec", &Timestamp::nsec)
+        .def("get", &Timestamp::get)
+        ;
+
+    point2f
+        .def(py::init<>())
+        .def(py::init<float, float>())
+        .def_readwrite("x", &Point2f::x)
+        .def_readwrite("y", &Point2f::y)
+        ;
+
+    point3f
+        .def(py::init<>())
+        .def(py::init<float, float, float>())
+        .def_readwrite("x", &Point3f::x)
+        .def_readwrite("y", &Point3f::y)
+        .def_readwrite("z", &Point3f::z)
+        ;
+
+    size2f
+        .def(py::init<>())
+        .def(py::init<float, float>())
+        .def_readwrite("width", &Size2f::width)
+        .def_readwrite("height", &Size2f::height)
+        ;
+
+    // CameraBoardSocket enum bindings
+
+    // Deprecated
+    HEDLEY_DIAGNOSTIC_PUSH
+    HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+    cameraBoardSocket
+        .value("AUTO", CameraBoardSocket::AUTO)
+        .value("CAM_A", CameraBoardSocket::CAM_A)
+        .value("CAM_B", CameraBoardSocket::CAM_B)
+        .value("CAM_C", CameraBoardSocket::CAM_C)
+        .value("CAM_D", CameraBoardSocket::CAM_D)
+        .value("VERTICAL", CameraBoardSocket::VERTICAL)
+        .value("CAM_E", CameraBoardSocket::CAM_E)
+        .value("CAM_F", CameraBoardSocket::CAM_F)
+        .value("CAM_G", CameraBoardSocket::CAM_G)
+        .value("CAM_H", CameraBoardSocket::CAM_H)
+
+        .value("RGB", CameraBoardSocket::RGB, "**Deprecated:** Use CAM_A or address camera by name instead")
+        .value("LEFT", CameraBoardSocket::LEFT, "**Deprecated:** Use CAM_B or address camera by name instead")
+        .value("RIGHT", CameraBoardSocket::RIGHT, "**Deprecated:** Use CAM_C or address camera by name instead")
+        .value("CENTER", CameraBoardSocket::CENTER, "**Deprecated:** Use CAM_A or address camera by name instead")
+
+        // Deprecated overriden
+        .def_property_readonly_static("RGB", [](py::object){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "RGB is deprecated, use CAM_A or address camera by name instead.", 1);
+            return CameraBoardSocket::CAM_A;
+        })
+        .def_property_readonly_static("CENTER", [](py::object){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "CENTER is deprecated, use CAM_A or address camera by name  instead.", 1);
+            return CameraBoardSocket::CAM_A;
+        })
+        .def_property_readonly_static("LEFT", [](py::object){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "LEFT is deprecated, use CAM_B or address camera by name  instead.", 1);
+            return CameraBoardSocket::CAM_B;
+        })
+        .def_property_readonly_static("RIGHT", [](py::object){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "RIGHT is deprecated, use CAM_C or address camera by name  instead.", 1);
+            return CameraBoardSocket::CAM_C;
+        })
+    ;
+    HEDLEY_DIAGNOSTIC_POP
+
+    // CameraSensorType enum bindings
+    cameraSensorType
+        .value("COLOR", CameraSensorType::COLOR)
+        .value("MONO", CameraSensorType::MONO)
+        .value("TOF", CameraSensorType::TOF)
+        .value("THERMAL", CameraSensorType::THERMAL)
+    ;
+    // ConnectionInterface enum bindings
+    connectionInterface
+        .value("USB", ConnectionInterface::USB)
+        .value("ETHERNET", ConnectionInterface::ETHERNET)
+        .value("WIFI", ConnectionInterface::WIFI)
+    ;
+    // CameraImageOrientation enum bindings
+    cameraImageOrientation
+        .value("AUTO", CameraImageOrientation::AUTO)
+        .value("NORMAL", CameraImageOrientation::NORMAL)
+        .value("HORIZONTAL_MIRROR", CameraImageOrientation::HORIZONTAL_MIRROR)
+        .value("VERTICAL_FLIP", CameraImageOrientation::VERTICAL_FLIP)
+        .value("ROTATE_180_DEG", CameraImageOrientation::ROTATE_180_DEG)
+    ;
+
+    // CameraFeatures
+    cameraFeatures
+        .def(py::init<>())
+        .def_readwrite("socket", &CameraFeatures::socket)
+        .def_readwrite("sensorName", &CameraFeatures::sensorName)
+        .def_readwrite("width", &CameraFeatures::width)
+        .def_readwrite("height", &CameraFeatures::height)
+        .def_readwrite("orientation", &CameraFeatures::orientation)
+        .def_readwrite("supportedTypes", &CameraFeatures::supportedTypes)
+        .def_readwrite("hasAutofocus", &CameraFeatures::hasAutofocus)
+        .def_readwrite("hasAutofocusIC", &CameraFeatures::hasAutofocusIC)
+        .def_readwrite("name", &CameraFeatures::name)
+        .def_readwrite("configs", &CameraFeatures::configs)
+        .def_readwrite("calibrationResolution", &CameraFeatures::calibrationResolution)
+        .def("__repr__", [](CameraFeatures& camera) {
+            std::stringstream stream;
+            stream << camera;
+            return stream.str();
+        });
+    ;
+
+    // CameraSensorConfig
+    cameraSensorConfig
+        .def(py::init<>())
+        .def_readwrite("width", &CameraSensorConfig::width)
+        .def_readwrite("height", &CameraSensorConfig::height)
+        .def_readwrite("minFps", &CameraSensorConfig::minFps)
+        .def_readwrite("maxFps", &CameraSensorConfig::maxFps)
+        .def_readwrite("type", &CameraSensorConfig::type)
+        .def_readwrite("fov", &CameraSensorConfig::fov)
+        .def("__repr__", [](CameraSensorConfig& config) {
+            std::stringstream stream;
+            stream << config;
+            return stream.str();
+        })
+    ;
+
+    // MemoryInfo
+    memoryInfo
+        .def(py::init<>())
+        .def_readwrite("remaining", &MemoryInfo::remaining)
+        .def_readwrite("used", &MemoryInfo::used)
+        .def_readwrite("total", &MemoryInfo::total)
+    ;
+
+    // ChipTemperature
+    chipTemperature
+        .def(py::init<>())
+        .def_readwrite("css", &ChipTemperature::css)
+        .def_readwrite("mss", &ChipTemperature::mss)
+        .def_readwrite("upa", &ChipTemperature::upa)
+        .def_readwrite("dss", &ChipTemperature::dss)
+        .def_readwrite("average", &ChipTemperature::average)
+    ;
+
+    // ChipTemperatureS3
+    chipTemperatureS3
+        .def(py::init<>())
+        .def_readwrite("css", &ChipTemperatureS3::css)
+        .def_readwrite("mss", &ChipTemperatureS3::mss)
+        .def_readwrite("nce", &ChipTemperatureS3::nce)
+        .def_readwrite("soc", &ChipTemperatureS3::soc)
+        .def_readwrite("average", &ChipTemperatureS3::average);
+
+    // CpuUsage
+    cpuUsage
+        .def(py::init<>())
+        .def_readwrite("average", &CpuUsage::average)
+        .def_readwrite("msTime", &CpuUsage::msTime)
+    ;
+    // CameraModel enum bindings
+    cameraModel
+        .value("Perspective", CameraModel::Perspective)
+        .value("Fisheye", CameraModel::Fisheye)
+        .value("Equirectangular", CameraModel::Equirectangular)
+        .value("RadialDivision", CameraModel::RadialDivision)
+    ;
+
+    // StereoRectification
+    stereoRectification
+        .def(py::init<>())
+        .def_readwrite("rectifiedRotationLeft", &StereoRectification::rectifiedRotationLeft)
+        .def_readwrite("rectifiedRotationRight", &StereoRectification::rectifiedRotationRight)
+        .def_readwrite("leftCameraSocket", &StereoRectification::leftCameraSocket)
+        .def_readwrite("rightCameraSocket", &StereoRectification::rightCameraSocket)
+        ;
+
+    // Extrinsics
+    extrinsics
+        .def(py::init<>())
+        .def_readwrite("rotationMatrix", &Extrinsics::rotationMatrix)
+        .def_readwrite("translation", &Extrinsics::translation)
+        .def_readwrite("specTranslation", &Extrinsics::specTranslation)
+        .def_readwrite("toCameraSocket", &Extrinsics::toCameraSocket)
+        ;
+
+    // CameraInfo
+    cameraInfo
+        .def(py::init<>())
+        .def_readwrite("width", &CameraInfo::width)
+        .def_readwrite("height", &CameraInfo::height)
+        .def_readwrite("intrinsicMatrix", &CameraInfo::intrinsicMatrix)
+        .def_readwrite("distortionCoeff", &CameraInfo::distortionCoeff)
+        .def_readwrite("extrinsics", &CameraInfo::extrinsics)
+        .def_readwrite("cameraType", &CameraInfo::cameraType)
+        .def_readwrite("specHfovDeg", &CameraInfo::specHfovDeg)
+        ;
+
+    // EepromData
+    eepromData
+        .def(py::init<>())
+        .def_readwrite("version", &EepromData::version)
+        .def_readwrite("boardCustom", &EepromData::boardCustom)
+        .def_readwrite("boardName", &EepromData::boardName)
+        .def_readwrite("boardRev", &EepromData::boardRev)
+        .def_readwrite("boardConf", &EepromData::boardConf)
+        .def_readwrite("hardwareConf", &EepromData::hardwareConf)
+        .def_readwrite("productName", &EepromData::productName)
+        .def_readwrite("batchName", &EepromData::batchName)
+        .def_readwrite("deviceName", &EepromData::deviceName)
+        .def_readwrite("batchTime", &EepromData::batchTime)
+        .def_readwrite("boardOptions", &EepromData::boardOptions)
+        .def_readwrite("cameraData", &EepromData::cameraData)
+        .def_readwrite("stereoRectificationData", &EepromData::stereoRectificationData)
+        .def_readwrite("imuExtrinsics", &EepromData::imuExtrinsics)
+        .def_readwrite("miscellaneousData", &EepromData::miscellaneousData)
+        .def_readwrite("housingExtrinsics", &EepromData::housingExtrinsics)
+        .def_readwrite("stereoUseSpecTranslation", &EepromData::stereoUseSpecTranslation)
+        .def_readwrite("stereoEnableDistortionCorrection", &EepromData::stereoEnableDistortionCorrection)
+        .def_readwrite("verticalCameraSocket", &EepromData::verticalCameraSocket)
+        ;
+    // UsbSpeed
+    usbSpeed
+        .value("UNKNOWN", UsbSpeed::UNKNOWN)
+        .value("LOW", UsbSpeed::LOW)
+        .value("FULL", UsbSpeed::FULL)
+        .value("HIGH", UsbSpeed::HIGH)
+        .value("SUPER", UsbSpeed::SUPER)
+        .value("SUPER_PLUS", UsbSpeed::SUPER_PLUS)
+    ;
+
+    // ProcessorType
+    processorType
+        .value("LEON_CSS", ProcessorType::LEON_CSS)
+        .value("LEON_MSS", ProcessorType::LEON_MSS)
+    ;
+
+    detectionNetworkType
+        .value("YOLO", DetectionNetworkType::YOLO)
+        .value("MOBILENET", DetectionNetworkType::MOBILENET)
+    ;
+
+    serializationType
+        .value("LIBNOP", SerializationType::LIBNOP)
+        .value("JSON", SerializationType::JSON)
+        .value("JSON_MSGPACK", SerializationType::JSON_MSGPACK)
+    ;
+
+    detectionParserOptions
+        .def_readwrite("nnFamily", &DetectionParserOptions::nnFamily)
+        .def_readwrite("confidenceThreshold", &DetectionParserOptions::confidenceThreshold)
+        .def_readwrite("classes", &DetectionParserOptions::classes)
+        .def_readwrite("coordinates", &DetectionParserOptions::coordinates)
+        .def_readwrite("anchors", &DetectionParserOptions::anchors)
+        .def_readwrite("anchorMasks", &DetectionParserOptions::anchorMasks)
+        .def_readwrite("iouThreshold", &DetectionParserOptions::iouThreshold)
+        ;
+
+    cameraExposureOffset
+        .value("START", CameraExposureOffset::START)
+        .value("MIDDLE", CameraExposureOffset::MIDDLE)
+        .value("END", CameraExposureOffset::END)
+    ;
+
+    colormap
+        .value("NONE", Colormap::NONE)
+        .value("JET", Colormap::JET)
+        .value("TURBO", Colormap::TURBO)
+        .value("STEREO_JET", Colormap::STEREO_JET)
+        .value("STEREO_TURBO", Colormap::STEREO_TURBO)
+        // .value("AUTUMN", Colormap::AUTUMN)
+        // .value("BONE", Colormap::BONE)
+        // .value("WINTER", Colormap::WINTER)
+        // .value("RAINBOW", Colormap::RAINBOW)
+        // .value("OCEAN", Colormap::OCEAN)
+        // .value("SUMMER", Colormap::SUMMER)
+        // .value("SPRING", Colormap::SPRING)
+        // .value("COOL", Colormap::COOL)
+        // .value("HSV", Colormap::HSV)
+        // .value("PINK", Colormap::PINK)
+        // .value("HOT", Colormap::HOT)
+        // .value("PARULA", Colormap::PARULA)
+        // .value("MAGMA", Colormap::MAGMA)
+        // .value("INFERNO", Colormap::INFERNO)
+        // .value("PLASMA", Colormap::PLASMA)
+        // .value("VIRIDIS", Colormap::VIRIDIS)
+        // .value("CIVIDIS", Colormap::CIVIDIS)
+        // .value("TWILIGHT", Colormap::TWILIGHT)
+        // .value("TWILIGHT_SHIFTED", Colormap::TWILIGHT_SHIFTED)
+        // .value("DEEPGREEN", Colormap::DEEPGREEN)
+    ;
+
+    frameEvent
+        .value("NONE", FrameEvent::NONE)
+        .value("READOUT_START", FrameEvent::READOUT_START)
+        .value("READOUT_END", FrameEvent::READOUT_END)
+    ;
+
+    interpolation
+        .value("BILINEAR", Interpolation::BILINEAR)
+        .value("BICUBIC", Interpolation::BICUBIC)
+        .value("NEAREST_NEIGHBOR", Interpolation::NEAREST_NEIGHBOR)
+        .value("BYPASS", Interpolation::BYPASS)
+        .value("DEFAULT", Interpolation::DEFAULT)
+        .value("DEFAULT_DISPARITY_DEPTH", Interpolation::DEFAULT_DISPARITY_DEPTH)
+    ;
+
+    //backward compatibility
+    m.attr("node").attr("Warp").attr("Properties").attr("Interpolation") = interpolation;
+
+    profilingData
+        .def_readwrite("numBytesWritten", &ProfilingData::numBytesWritten, DOC(dai, ProfilingData, numBytesWritten))
+        .def_readwrite("numBytesRead", &ProfilingData::numBytesRead, DOC(dai, ProfilingData, numBytesRead))
+    ;
+
+}
diff --git a/bindings/python/src/pipeline/CommonBindings.hpp b/bindings/python/src/pipeline/CommonBindings.hpp
new file mode 100644
index 000000000..333b6c112
--- /dev/null
+++ b/bindings/python/src/pipeline/CommonBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct CommonBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/pipeline/PipelineBindings.cpp b/bindings/python/src/pipeline/PipelineBindings.cpp
new file mode 100644
index 000000000..ae192603d
--- /dev/null
+++ b/bindings/python/src/pipeline/PipelineBindings.cpp
@@ -0,0 +1,156 @@
+
+#include "PipelineBindings.hpp"
+#include "node/NodeBindings.hpp"
+
+// depthai
+#include "depthai/pipeline/Pipeline.hpp"
+
+// depthai - nodes
+#include "depthai/pipeline/node/XLinkIn.hpp"
+#include "depthai/pipeline/node/XLinkOut.hpp"
+#include "depthai/pipeline/node/BenchmarkOut.hpp"
+#include "depthai/pipeline/node/BenchmarkIn.hpp"
+#include "depthai/pipeline/node/NeuralNetwork.hpp"
+#include "depthai/pipeline/node/ColorCamera.hpp"
+#include "depthai/pipeline/node/Camera.hpp"
+#include "depthai/pipeline/node/VideoEncoder.hpp"
+#include "depthai/pipeline/node/SPIOut.hpp"
+#include "depthai/pipeline/node/SPIIn.hpp"
+#include "depthai/pipeline/node/ImageManip.hpp"
+#include "depthai/pipeline/node/MonoCamera.hpp"
+#include "depthai/pipeline/node/StereoDepth.hpp"
+#include "depthai/pipeline/node/DetectionNetwork.hpp"
+#include "depthai/pipeline/node/Script.hpp"
+#include "depthai/pipeline/node/SystemLogger.hpp"
+#include "depthai/pipeline/node/SpatialLocationCalculator.hpp"
+#include "depthai/pipeline/node/SpatialDetectionNetwork.hpp"
+#include "depthai/pipeline/node/ObjectTracker.hpp"
+#include "depthai/pipeline/node/IMU.hpp"
+#include "depthai/pipeline/node/EdgeDetector.hpp"
+#include "depthai/pipeline/node/FeatureTracker.hpp"
+#include "depthai/pipeline/node/AprilTag.hpp"
+#include "depthai/pipeline/node/DetectionParser.hpp"
+#include "depthai/pipeline/node/UVC.hpp"
+#include "depthai/pipeline/node/Warp.hpp"
+
+// depthai/
+#include "depthai/properties/GlobalProperties.hpp"
+
+std::shared_ptr<dai::Node> createNode(dai::Pipeline& p, py::object class_){
+    auto nodeCreateMap = NodeBindings::getNodeCreateMap();
+    for(auto& kv : nodeCreateMap){
+        auto& node = kv.first;
+        auto& create = kv.second;
+        if(node.is(class_)){
+            return create(p, class_);
+        }
+    }
+    return nullptr;
+}
+
+void PipelineBindings::bind(pybind11::module& m, void* pCallstack){
+    using namespace dai;
+
+    // Type definitions
+    py::class_<GlobalProperties> globalProperties(m, "GlobalProperties", DOC(dai, GlobalProperties));
+    py::class_<Pipeline> pipeline(m, "Pipeline", DOC(dai, Pipeline, 2));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // Bind global properties
+    globalProperties
+        .def_readwrite("leonOsFrequencyHz", &GlobalProperties::leonCssFrequencyHz)
+        .def_readwrite("leonRtFrequencyHz", &GlobalProperties::leonMssFrequencyHz)
+        .def_readwrite("pipelineName", &GlobalProperties::pipelineName)
+        .def_readwrite("pipelineVersion", &GlobalProperties::pipelineVersion)
+        .def_readwrite("cameraTuningBlobSize", &GlobalProperties::cameraTuningBlobSize, DOC(dai, GlobalProperties, cameraTuningBlobSize))
+        .def_readwrite("cameraTuningBlobUri", &GlobalProperties::cameraTuningBlobUri, DOC(dai, GlobalProperties, cameraTuningBlobUri))
+        .def_readwrite("xlinkChunkSize", &GlobalProperties::xlinkChunkSize, DOC(dai, GlobalProperties, xlinkChunkSize))
+        .def_readwrite("sippBufferSize", &GlobalProperties::sippBufferSize, DOC(dai, GlobalProperties, sippBufferSize))
+        .def_readwrite("sippDmaBufferSize", &GlobalProperties::sippDmaBufferSize, DOC(dai, GlobalProperties, sippDmaBufferSize))
+        ;
+
+    // bind pipeline
+    pipeline
+        .def(py::init<>(), DOC(dai, Pipeline, Pipeline))
+        //.def(py::init<const Pipeline&>())
+        .def("getGlobalProperties", &Pipeline::getGlobalProperties, DOC(dai, Pipeline, getGlobalProperties))
+        //.def("create", &Pipeline::create<node::XLinkIn>)
+        .def("remove", &Pipeline::remove, py::arg("node"), DOC(dai, Pipeline, remove))
+        .def("getAllNodes", static_cast<std::vector<std::shared_ptr<Node>> (Pipeline::*)() const>(&Pipeline::getAllNodes), DOC(dai, Pipeline, getAllNodes))
+        // .def("getAllNodes", static_cast<std::vector<std::shared_ptr< Node>> (Pipeline::*)()>(&Pipeline::getAllNodes), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getAllNodes))
+        .def("getNode", static_cast<std::shared_ptr<Node> (Pipeline::*)(Node::Id)>(&Pipeline::getNode), DOC(dai, Pipeline, getNode))
+        // .def("getNode", static_cast<std::shared_ptr<Node> (Pipeline::*)(Node::Id) const>(&Pipeline::getNode), DOC(dai, Pipeline, getNode))
+        // .def("getNode", static_cast<std::shared_ptr<Node> (Pipeline::*)(Node::Id)>(&Pipeline::getNode), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getNode))
+        // .def("getConnections", &Pipeline::getConnections, DOC(dai, Pipeline, getConnections), DOC(dai, Pipeline, getConnections))
+        // .def("getConnectionMap", &Pipeline::getConnectionMap, DOC(dai, Pipeline, getConnectionMap), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getConnectionMap))
+        // .def("getNodeMap", &Pipeline::getNodeMap, DOC(dai, Pipeline, getNodeMap), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getNodeMap))
+        // .def("link", &Pipeline::link, DOC(dai, Pipeline, link), DOC(dai, Pipeline, link))
+        // .def("unlink", &Pipeline::unlink, DOC(dai, Pipeline, unlink), DOC(dai, Pipeline, unlink))
+        .def("getAssetManager", static_cast<const AssetManager& (Pipeline::*)() const>(&Pipeline::getAssetManager), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getAssetManager))
+        .def("getAssetManager", static_cast<AssetManager& (Pipeline::*)()>(&Pipeline::getAssetManager), py::return_value_policy::reference_internal, DOC(dai, Pipeline, getAssetManager))
+        .def("setOpenVINOVersion", &Pipeline::setOpenVINOVersion, py::arg("version"), DOC(dai, Pipeline, setOpenVINOVersion))
+        .def("getOpenVINOVersion", &Pipeline::getOpenVINOVersion, DOC(dai, Pipeline, getOpenVINOVersion))
+        .def("getRequiredOpenVINOVersion", &Pipeline::getRequiredOpenVINOVersion, DOC(dai, Pipeline, getRequiredOpenVINOVersion))
+        .def("setCameraTuningBlobPath", &Pipeline::setCameraTuningBlobPath, py::arg("path"), DOC(dai, Pipeline, setCameraTuningBlobPath))
+        .def("setXLinkChunkSize", &Pipeline::setXLinkChunkSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setXLinkChunkSize))
+        .def("setSippBufferSize", &Pipeline::setSippBufferSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setSippBufferSize))
+        .def("setSippDmaBufferSize", &Pipeline::setSippDmaBufferSize, py::arg("sizeBytes"), DOC(dai, Pipeline, setSippDmaBufferSize))
+        .def("setCalibrationData", &Pipeline::setCalibrationData, py::arg("calibrationDataHandler"), DOC(dai, Pipeline, setCalibrationData))
+        .def("getCalibrationData", &Pipeline::getCalibrationData, DOC(dai, Pipeline, getCalibrationData))
+        .def("getDeviceConfig", &Pipeline::getDeviceConfig, DOC(dai, Pipeline, getDeviceConfig))
+        .def("serializeToJson", &Pipeline::serializeToJson, DOC(dai, Pipeline, serializeToJson))
+        .def("setBoardConfig", &Pipeline::setBoardConfig, DOC(dai, Pipeline, setBoardConfig))
+        .def("getBoardConfig", &Pipeline::getBoardConfig, DOC(dai, Pipeline, getBoardConfig))
+        // 'Template' create function
+        .def("create", [](dai::Pipeline& p, py::object class_) {
+            auto node = createNode(p, class_);
+            if(node == nullptr){
+                throw std::invalid_argument(std::string(py::str(class_)) + " is not a subclass of depthai.node");
+            }
+            return node;
+        })
+        // TODO(themarpe) DEPRECATE, use pipeline.create([class name])
+        // templated create<NODE> function
+        .def("createXLinkIn", &Pipeline::create<node::XLinkIn>)
+        .def("createXLinkOut", &Pipeline::create<node::XLinkOut>)
+        .def("createNeuralNetwork", &Pipeline::create<node::NeuralNetwork>)
+        .def("createColorCamera", &Pipeline::create<node::ColorCamera>)
+        .def("createVideoEncoder", &Pipeline::create<node::VideoEncoder>)
+        .def("createScript", &Pipeline::create<node::Script>)
+        .def("createSPIOut", &Pipeline::create<node::SPIOut>)
+        .def("createSPIIn", &Pipeline::create<node::SPIIn>)
+        .def("createImageManip", &Pipeline::create<node::ImageManip>)
+        .def("createMonoCamera", &Pipeline::create<node::MonoCamera>)
+        .def("createStereoDepth", &Pipeline::create<node::StereoDepth>)
+        .def("createMobileNetDetectionNetwork", &Pipeline::create<node::MobileNetDetectionNetwork>)
+        .def("createYoloDetectionNetwork", &Pipeline::create<node::YoloDetectionNetwork>)
+        .def("createSystemLogger", &Pipeline::create<node::SystemLogger>)
+        .def("createSpatialLocationCalculator", &Pipeline::create<node::SpatialLocationCalculator>)
+        .def("createMobileNetSpatialDetectionNetwork", &Pipeline::create<node::MobileNetSpatialDetectionNetwork>)
+        .def("createYoloSpatialDetectionNetwork", &Pipeline::create<node::YoloSpatialDetectionNetwork>)
+        .def("createObjectTracker", &Pipeline::create<node::ObjectTracker>)
+        .def("createIMU", &Pipeline::create<node::IMU>)
+        .def("createEdgeDetector", &Pipeline::create<node::EdgeDetector>)
+        .def("createFeatureTracker", &Pipeline::create<node::FeatureTracker>)
+        .def("createAprilTag", &Pipeline::create<node::AprilTag>)
+        .def("createDetectionParser", &Pipeline::create<node::DetectionParser>)
+        .def("createUVC", &Pipeline::create<node::UVC>)
+        .def("createCamera", &Pipeline::create<node::Camera>)
+        .def("createWarp", &Pipeline::create<node::Warp>)
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/PipelineBindings.hpp b/bindings/python/src/pipeline/PipelineBindings.hpp
new file mode 100644
index 000000000..3e759ddd8
--- /dev/null
+++ b/bindings/python/src/pipeline/PipelineBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct PipelineBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/pipeline/datatype/ADatatypeBindings.cpp b/bindings/python/src/pipeline/datatype/ADatatypeBindings.cpp
new file mode 100644
index 000000000..e59754535
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/ADatatypeBindings.cpp
@@ -0,0 +1,38 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_adatatype(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<ADatatype, std::shared_ptr<ADatatype>> adatatype(m, "ADatatype", DOC(dai, ADatatype));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Message
+    // adatatype
+        // .def("getRaw", &ADatatype::getRaw);
+
+}
diff --git a/bindings/python/src/pipeline/datatype/AprilTagConfigBindings.cpp b/bindings/python/src/pipeline/datatype/AprilTagConfigBindings.cpp
new file mode 100644
index 000000000..fe488f2db
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/AprilTagConfigBindings.cpp
@@ -0,0 +1,80 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/AprilTagConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_apriltagconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<AprilTagConfig, RawBuffer, std::shared_ptr<RawAprilTagConfig>>
+    //     rawAprilTagConfig(m, "RawAprilTagConfig", DOC(dai, RawAprilTagConfig));
+    py::class_<AprilTagConfig, Buffer, std::shared_ptr<AprilTagConfig>> aprilTagConfig(m, "AprilTagConfig", DOC(dai, AprilTagConfig));
+    py::enum_<AprilTagConfig::Family> aprilTagFamily(aprilTagConfig, "Family", DOC(dai, AprilTagConfig, Family));
+    py::class_<AprilTagConfig::QuadThresholds> quadThresholds(aprilTagConfig, "QuadThresholds", DOC(dai, AprilTagConfig, QuadThresholds));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    aprilTagFamily
+        .value("TAG_36H11", AprilTagConfig::Family::TAG_36H11)
+        .value("TAG_36H10", AprilTagConfig::Family::TAG_36H10)
+        .value("TAG_25H9", AprilTagConfig::Family::TAG_25H9)
+        .value("TAG_16H5", AprilTagConfig::Family::TAG_16H5)
+        .value("TAG_CIR21H7", AprilTagConfig::Family::TAG_CIR21H7)
+        .value("TAG_STAND41H12", AprilTagConfig::Family::TAG_STAND41H12)
+        ;
+
+    quadThresholds
+        .def(py::init<>())
+        .def_readwrite("minClusterPixels", &AprilTagConfig::QuadThresholds::minClusterPixels, DOC(dai, AprilTagConfig, QuadThresholds, minClusterPixels))
+        .def_readwrite("maxNmaxima", &AprilTagConfig::QuadThresholds::maxNmaxima, DOC(dai, AprilTagConfig, QuadThresholds, maxNmaxima))
+        .def_readwrite("criticalDegree", &AprilTagConfig::QuadThresholds::criticalDegree, DOC(dai, AprilTagConfig, QuadThresholds, criticalDegree))
+        .def_readwrite("maxLineFitMse", &AprilTagConfig::QuadThresholds::maxLineFitMse, DOC(dai, AprilTagConfig, QuadThresholds, maxLineFitMse))
+        .def_readwrite("minWhiteBlackDiff", &AprilTagConfig::QuadThresholds::minWhiteBlackDiff, DOC(dai, AprilTagConfig, QuadThresholds, minWhiteBlackDiff))
+        .def_readwrite("deglitch", &AprilTagConfig::QuadThresholds::deglitch, DOC(dai, AprilTagConfig, QuadThresholds, deglitch))
+        ;
+
+
+    aprilTagConfig
+        .def(py::init<>())
+        .def_readwrite("family", &AprilTagConfig::family, DOC(dai, AprilTagConfig, family))
+        .def_readwrite("quadDecimate", &AprilTagConfig::quadDecimate, DOC(dai, AprilTagConfig, quadDecimate))
+        .def_readwrite("quadSigma", &AprilTagConfig::quadSigma, DOC(dai, AprilTagConfig, quadSigma))
+        .def_readwrite("refineEdges", &AprilTagConfig::refineEdges, DOC(dai, AprilTagConfig, refineEdges))
+        .def_readwrite("decodeSharpening", &AprilTagConfig::decodeSharpening, DOC(dai, AprilTagConfig, decodeSharpening))
+        .def_readwrite("maxHammingDistance", &AprilTagConfig::maxHammingDistance, DOC(dai, AprilTagConfig, maxHammingDistance))
+        .def_readwrite("quadThresholds", &AprilTagConfig::quadThresholds, DOC(dai, AprilTagConfig, quadThresholds))
+        ;
+
+    // Message
+    aprilTagConfig
+        .def(py::init<>())
+        .def("setFamily", &AprilTagConfig::setFamily, py::arg("family"), DOC(dai, AprilTagConfig, setFamily))
+        // .def("set", &AprilTagConfig::set, DOC(dai, AprilTagConfig, set))
+        // .def("get", &AprilTagConfig::get, DOC(dai, AprilTagConfig, get))
+        ;
+    m.attr("AprilTagConfig").attr("Family") = m.attr("AprilTagConfig").attr("Family");
+    m.attr("AprilTagConfig").attr("QuadThresholds") = m.attr("AprilTagConfig").attr("QuadThresholds");
+
+}
diff --git a/bindings/python/src/pipeline/datatype/AprilTagsBindings.cpp b/bindings/python/src/pipeline/datatype/AprilTagsBindings.cpp
new file mode 100644
index 000000000..d697b74aa
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/AprilTagsBindings.cpp
@@ -0,0 +1,59 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/AprilTags.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_apriltags(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<AprilTag> aprilTag(m, "AprilTag", DOC(dai, AprilTag));
+    py::class_<AprilTags, Buffer, std::shared_ptr<AprilTags>> aprilTags(m, "AprilTags", DOC(dai, AprilTags));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    aprilTag
+        .def(py::init<>())
+        .def_readwrite("id", &AprilTag::id, DOC(dai, AprilTag, id))
+        .def_readwrite("hamming", &AprilTag::hamming, DOC(dai, AprilTag, hamming))
+        .def_readwrite("decisionMargin", &AprilTag::decisionMargin, DOC(dai, AprilTag, decisionMargin))
+        .def_readwrite("topLeft", &AprilTag::topLeft, DOC(dai, AprilTag, topLeft))
+        .def_readwrite("topRight", &AprilTag::topRight, DOC(dai, AprilTag, topRight))
+        .def_readwrite("bottomRight", &AprilTag::bottomRight, DOC(dai, AprilTag, bottomRight))
+        .def_readwrite("bottomLeft", &AprilTag::bottomLeft, DOC(dai, AprilTag, bottomLeft))
+        ;
+
+    // Message
+    aprilTags
+        .def(py::init<>())
+        .def_property("aprilTags", [](AprilTags& det) { return &det.aprilTags; }, [](AprilTags& det, std::vector<AprilTag> val) { det.aprilTags = val; })
+        .def("getTimestamp", &AprilTags::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &AprilTags::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &AprilTags::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &AprilTags::setTimestamp, DOC(dai, Buffer, setTimestamp))
+        // .def("setTimestampDevice", &AprilTags::setTimestampDevice, DOC(dai, Buffer, setTimestampDevice))
+        // .def("setSequenceNum", &AprilTags::setSequenceNum, DOC(dai, Buffer, setSequenceNum))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/BenchmarkReportBindings.cpp b/bindings/python/src/pipeline/datatype/BenchmarkReportBindings.cpp
new file mode 100644
index 000000000..931073c0f
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/BenchmarkReportBindings.cpp
@@ -0,0 +1,35 @@
+#include <memory>
+
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+
+// depthai
+#include "depthai/pipeline/datatype/BenchmarkReport.hpp"
+
+void bind_benchmarkreport(pybind11::module& m, void* pCallstack) {
+    using namespace dai;
+
+    // py::class_<RawBenchmarkReport, RawBuffer, std::shared_ptr<RawBenchmarkReport>> rawBenchmarkReport(m, "RawBenchmarkReport", DOC(dai, RawBenchmarkReport));
+    py::class_<BenchmarkReport, Buffer, std::shared_ptr<BenchmarkReport>> benchmarkReport(m, "BenchmarkReport", DOC(dai, BenchmarkReport));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*)pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Message
+    benchmarkReport.def(py::init<>())
+        .def_property_readonly("fps", [](BenchmarkReport& i) { return &i.fps; })
+        .def_property_readonly("timeTotal", [](BenchmarkReport& i) { return &i.timeTotal; })
+        .def_property_readonly("numMessagesReceived", [](BenchmarkReport& i) { return &i.numMessagesReceived; })
+        .def_property_readonly("latencies", [](BenchmarkReport& i) { return &i.latencies; })
+        .def_property_readonly("averageLatency", [](BenchmarkReport& i) { return &i.averageLatency; });
+}
diff --git a/bindings/python/src/pipeline/datatype/BufferBindings.cpp b/bindings/python/src/pipeline/datatype/BufferBindings.cpp
new file mode 100644
index 000000000..89c1892d0
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/BufferBindings.cpp
@@ -0,0 +1,96 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/Buffer.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_buffer(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawBuffer, std::shared_ptr<RawBuffer>> rawBuffer(m, "RawBuffer", DOC(dai, RawBuffer));
+    py::class_<Buffer, ADatatype, std::shared_ptr<Buffer>> buffer(m, "Buffer", DOC(dai, Buffer));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawBuffer
+    //     .def(py::init<>())
+    //     // .def_property("data", [](py::object &obj){
+    //     //     dai::RawBuffer &a = obj.cast<dai::RawBuffer&>();
+    //     //     return py::array_t<uint8_t>(a.data.size(), a.data.data(), obj);
+    //     // }, [](py::object &obj, py::array_t<std::uint8_t, py::array::c_style> array){
+    //     //     dai::RawBuffer &a = obj.cast<dai::RawBuffer&>();
+    //     //     a.data = {array.data(), array.data() + array.size()};
+    //     // })
+    //     .def_property("ts",
+    //         [](const RawBuffer& o){
+    //             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawBuffer& o, double ts){
+    //             o.ts.sec = ts;
+    //             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_property("tsDevice",
+    //         [](const RawBuffer& o){
+    //             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawBuffer& o, double ts){
+    //             o.tsDevice.sec = ts;
+    //             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_readwrite("sequenceNum", &RawBuffer::sequenceNum)
+    //     ;
+
+    // Message
+    buffer
+        .def(py::init<>(), DOC(dai, Buffer, Buffer))
+        .def(py::init<size_t>(), DOC(dai, Buffer, Buffer, 2))
+
+        // obj is "Python" object, which we used then to bind the numpy arrays lifespan to
+        .def("getData", [](py::object &obj){
+            // creates numpy array (zero-copy) which holds correct information such as shape, ...
+            dai::Buffer &a = obj.cast<dai::Buffer&>();
+            return py::array_t<uint8_t>(a.getData().size(), a.getData().data(), obj);
+        }, DOC(dai, Buffer, getData))
+        .def("setData", py::overload_cast<const std::vector<std::uint8_t>&>(&Buffer::setData), DOC(dai, Buffer, setData))
+        .def("setData", [](Buffer& buffer, py::array_t<std::uint8_t, py::array::c_style | py::array::forcecast> array){
+            buffer.setData({array.data(), array.data() + array.nbytes()});
+        }, DOC(dai, Buffer, setData))
+        .def("setData", [](Buffer& buffer, py::buffer data){
+            std::string str = data.cast<std::string>();
+            buffer.setData({str.data(), str.data() + str.size()});
+        }, DOC(dai, Buffer, setData))
+        .def("getTimestamp", &Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        .def("setTimestamp", &Buffer::setTimestamp, DOC(dai, Buffer, setTimestamp))
+        .def("setTimestampDevice", &Buffer::setTimestampDevice, DOC(dai, Buffer, setTimestampDevice))
+        .def("setSequenceNum", &Buffer::setSequenceNum, DOC(dai, Buffer, setSequenceNum))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/CameraControlBindings.cpp b/bindings/python/src/pipeline/datatype/CameraControlBindings.cpp
new file mode 100644
index 000000000..dbcf4dac7
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/CameraControlBindings.cpp
@@ -0,0 +1,265 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/CameraControl.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_cameracontrol(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawCameraControl, RawBuffer, std::shared_ptr<RawCameraControl>> rawCameraControl(m, "RawCameraControl", DOC(dai, RawCameraControl));
+    py::class_<CameraControl, Buffer, std::shared_ptr<CameraControl>> cameraControl(m, "CameraControl", DOC(dai, CameraControl));
+    py::enum_<CameraControl::Command> cameraControlCommand(cameraControl, "Command", DOC(dai, CameraControl, Command));
+    py::enum_<CameraControl::AutoFocusMode> cameraControlAutoFocusMode(cameraControl, "AutoFocusMode", DOC(dai, CameraControl, AutoFocusMode));
+    py::enum_<CameraControl::AutoWhiteBalanceMode> cameraControlAutoWhiteBalanceMode(cameraControl, "AutoWhiteBalanceMode", DOC(dai, CameraControl, AutoWhiteBalanceMode));
+    py::enum_<CameraControl::SceneMode> cameraControlSceneMode(cameraControl, "SceneMode", DOC(dai, CameraControl, SceneMode));
+    py::enum_<CameraControl::ControlMode> cameraControlControlMode(cameraControl, "ControlMode", DOC(dai, CameraControl, ControlMode));
+    py::enum_<CameraControl::CaptureIntent> cameraControlCaptureIntent(cameraControl, "CaptureIntent", DOC(dai, CameraControl, CaptureIntent));
+    py::enum_<CameraControl::AntiBandingMode> cameraControlAntiBandingMode(cameraControl, "AntiBandingMode", DOC(dai, CameraControl, AntiBandingMode));
+    py::enum_<CameraControl::EffectMode> cameraControlEffectMode(cameraControl, "EffectMode", DOC(dai, CameraControl, EffectMode));
+    py::enum_<CameraControl::FrameSyncMode> cameraControlFrameSyncMode(cameraControl, "FrameSyncMode", DOC(dai, CameraControl, FrameSyncMode));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+std::vector<const char *> camCtrlAttr;
+    camCtrlAttr.push_back("Command");
+    cameraControlCommand
+        .value("START_STREAM", CameraControl::Command::START_STREAM)
+        .value("STOP_STREAM", CameraControl::Command::STOP_STREAM)
+        .value("STILL_CAPTURE", CameraControl::Command::STILL_CAPTURE)
+        .value("MOVE_LENS", CameraControl::Command::MOVE_LENS)
+        .value("AF_TRIGGER", CameraControl::Command::AF_TRIGGER)
+        .value("AE_MANUAL", CameraControl::Command::AE_MANUAL)
+        .value("AE_AUTO", CameraControl::Command::AE_AUTO)
+        .value("AWB_MODE", CameraControl::Command::AWB_MODE)
+        .value("SCENE_MODE", CameraControl::Command::SCENE_MODE)
+        .value("ANTIBANDING_MODE", CameraControl::Command::ANTIBANDING_MODE)
+        .value("EXPOSURE_COMPENSATION", CameraControl::Command::EXPOSURE_COMPENSATION)
+        .value("AE_LOCK", CameraControl::Command::AE_LOCK)
+        .value("AE_TARGET_FPS_RANGE", CameraControl::Command::AE_TARGET_FPS_RANGE)
+        .value("AWB_LOCK", CameraControl::Command::AWB_LOCK)
+        .value("CAPTURE_INTENT", CameraControl::Command::CAPTURE_INTENT)
+        .value("CONTROL_MODE", CameraControl::Command::CONTROL_MODE)
+        .value("FRAME_DURATION", CameraControl::Command::FRAME_DURATION)
+        .value("SENSITIVITY", CameraControl::Command::SENSITIVITY)
+        .value("EFFECT_MODE", CameraControl::Command::EFFECT_MODE)
+        .value("AF_MODE", CameraControl::Command::AF_MODE)
+        .value("NOISE_REDUCTION_STRENGTH", CameraControl::Command::NOISE_REDUCTION_STRENGTH)
+        .value("SATURATION", CameraControl::Command::SATURATION)
+        .value("BRIGHTNESS", CameraControl::Command::BRIGHTNESS)
+        .value("STREAM_FORMAT", CameraControl::Command::STREAM_FORMAT)
+        .value("RESOLUTION", CameraControl::Command::RESOLUTION)
+        .value("SHARPNESS", CameraControl::Command::SHARPNESS)
+        .value("CUSTOM_USECASE", CameraControl::Command::CUSTOM_USECASE)
+        .value("CUSTOM_CAPT_MODE", CameraControl::Command::CUSTOM_CAPT_MODE)
+        .value("CUSTOM_EXP_BRACKETS", CameraControl::Command::CUSTOM_EXP_BRACKETS)
+        .value("CUSTOM_CAPTURE", CameraControl::Command::CUSTOM_CAPTURE)
+        .value("CONTRAST", CameraControl::Command::CONTRAST)
+        .value("AE_REGION", CameraControl::Command::AE_REGION)
+        .value("AF_REGION", CameraControl::Command::AF_REGION)
+        .value("LUMA_DENOISE", CameraControl::Command::LUMA_DENOISE)
+        .value("CHROMA_DENOISE", CameraControl::Command::CHROMA_DENOISE)
+        .value("WB_COLOR_TEMP", CameraControl::Command::WB_COLOR_TEMP)
+        ;
+
+    camCtrlAttr.push_back("AutoFocusMode");
+    cameraControlAutoFocusMode
+        .value("OFF", CameraControl::AutoFocusMode::OFF)
+        .value("AUTO", CameraControl::AutoFocusMode::AUTO)
+        .value("MACRO", CameraControl::AutoFocusMode::MACRO)
+        .value("CONTINUOUS_VIDEO", CameraControl::AutoFocusMode::CONTINUOUS_VIDEO)
+        .value("CONTINUOUS_PICTURE", CameraControl::AutoFocusMode::CONTINUOUS_PICTURE)
+        .value("EDOF", CameraControl::AutoFocusMode::EDOF)
+    ;
+
+    camCtrlAttr.push_back("AutoWhiteBalanceMode");
+    cameraControlAutoWhiteBalanceMode
+        .value("OFF", CameraControl::AutoWhiteBalanceMode::OFF)
+        .value("AUTO", CameraControl::AutoWhiteBalanceMode::AUTO)
+        .value("INCANDESCENT", CameraControl::AutoWhiteBalanceMode::INCANDESCENT)
+        .value("FLUORESCENT", CameraControl::AutoWhiteBalanceMode::FLUORESCENT)
+        .value("WARM_FLUORESCENT", CameraControl::AutoWhiteBalanceMode::WARM_FLUORESCENT)
+        .value("DAYLIGHT", CameraControl::AutoWhiteBalanceMode::DAYLIGHT)
+        .value("CLOUDY_DAYLIGHT", CameraControl::AutoWhiteBalanceMode::CLOUDY_DAYLIGHT)
+        .value("TWILIGHT", CameraControl::AutoWhiteBalanceMode::TWILIGHT)
+        .value("SHADE", CameraControl::AutoWhiteBalanceMode::SHADE)
+    ;
+
+    camCtrlAttr.push_back("SceneMode");
+    cameraControlSceneMode
+        .value("UNSUPPORTED", CameraControl::SceneMode::UNSUPPORTED)
+        .value("FACE_PRIORITY", CameraControl::SceneMode::FACE_PRIORITY)
+        .value("ACTION", CameraControl::SceneMode::ACTION)
+        .value("PORTRAIT", CameraControl::SceneMode::PORTRAIT)
+        .value("LANDSCAPE", CameraControl::SceneMode::LANDSCAPE)
+        .value("NIGHT", CameraControl::SceneMode::NIGHT)
+        .value("NIGHT_PORTRAIT", CameraControl::SceneMode::NIGHT_PORTRAIT)
+        .value("THEATRE", CameraControl::SceneMode::THEATRE)
+        .value("BEACH", CameraControl::SceneMode::BEACH)
+        .value("SNOW", CameraControl::SceneMode::SNOW)
+        .value("SUNSET", CameraControl::SceneMode::SUNSET)
+        .value("STEADYPHOTO", CameraControl::SceneMode::STEADYPHOTO)
+        .value("FIREWORKS", CameraControl::SceneMode::FIREWORKS)
+        .value("SPORTS", CameraControl::SceneMode::SPORTS)
+        .value("PARTY", CameraControl::SceneMode::PARTY)
+        .value("CANDLELIGHT", CameraControl::SceneMode::CANDLELIGHT)
+        .value("BARCODE", CameraControl::SceneMode::BARCODE)
+    ;
+
+    camCtrlAttr.push_back("ControlMode");
+    cameraControlControlMode
+        .value("OFF", CameraControl::ControlMode::OFF)
+        .value("AUTO", CameraControl::ControlMode::AUTO)
+        .value("USE_SCENE_MODE", CameraControl::ControlMode::USE_SCENE_MODE)
+    ;
+
+    camCtrlAttr.push_back("CaptureIntent");
+    cameraControlCaptureIntent
+        .value("CUSTOM", CameraControl::CaptureIntent::CUSTOM)
+        .value("PREVIEW", CameraControl::CaptureIntent::PREVIEW)
+        .value("STILL_CAPTURE", CameraControl::CaptureIntent::STILL_CAPTURE)
+        .value("VIDEO_RECORD", CameraControl::CaptureIntent::VIDEO_RECORD)
+        .value("VIDEO_SNAPSHOT", CameraControl::CaptureIntent::VIDEO_SNAPSHOT)
+        .value("ZERO_SHUTTER_LAG", CameraControl::CaptureIntent::ZERO_SHUTTER_LAG)
+    ;
+
+    camCtrlAttr.push_back("AntiBandingMode");
+    cameraControlAntiBandingMode
+        .value("OFF", CameraControl::AntiBandingMode::OFF)
+        .value("MAINS_50_HZ", CameraControl::AntiBandingMode::MAINS_50_HZ)
+        .value("MAINS_60_HZ", CameraControl::AntiBandingMode::MAINS_60_HZ)
+        .value("AUTO", CameraControl::AntiBandingMode::AUTO)
+    ;
+
+    camCtrlAttr.push_back("EffectMode");
+    cameraControlEffectMode
+        .value("OFF", CameraControl::EffectMode::OFF)
+        .value("MONO", CameraControl::EffectMode::MONO)
+        .value("NEGATIVE", CameraControl::EffectMode::NEGATIVE)
+        .value("SOLARIZE", CameraControl::EffectMode::SOLARIZE)
+        .value("SEPIA", CameraControl::EffectMode::SEPIA)
+        .value("POSTERIZE", CameraControl::EffectMode::POSTERIZE)
+        .value("WHITEBOARD", CameraControl::EffectMode::WHITEBOARD)
+        .value("BLACKBOARD", CameraControl::EffectMode::BLACKBOARD)
+        .value("AQUA", CameraControl::EffectMode::AQUA)
+    ;
+
+    camCtrlAttr.push_back("FrameSyncMode");
+    cameraControlFrameSyncMode
+        .value("OFF", CameraControl::FrameSyncMode::OFF)
+        .value("OUTPUT", CameraControl::FrameSyncMode::OUTPUT)
+        .value("INPUT", CameraControl::FrameSyncMode::INPUT)
+    ;
+
+    cameraControl
+        .def(py::init<>())
+        .def_readwrite("cmdMask", &CameraControl::cmdMask)
+        .def_readwrite("autoFocusMode", &CameraControl::autoFocusMode)
+        .def_readwrite("lensPosition", &CameraControl::lensPosition)
+        .def_readwrite("expManual", &CameraControl::expManual)
+        .def_readwrite("afRegion", &CameraControl::afRegion)
+        .def_readwrite("awbMode", &CameraControl::awbMode)
+        .def_readwrite("sceneMode", &CameraControl::sceneMode)
+        .def_readwrite("antiBandingMode", &CameraControl::antiBandingMode)
+        .def_readwrite("captureIntent", &CameraControl::captureIntent)
+        .def_readwrite("controlMode", &CameraControl::controlMode)
+        .def_readwrite("effectMode", &CameraControl::effectMode)
+        .def_readwrite("aeMaxExposureTimeUs", &CameraControl::aeMaxExposureTimeUs)
+        .def_readwrite("aeLockMode", &CameraControl::aeLockMode)
+        .def_readwrite("awbLockMode", &CameraControl::awbLockMode)
+        .def_readwrite("expCompensation", &CameraControl::expCompensation)
+        .def_readwrite("brightness", &CameraControl::brightness)
+        .def_readwrite("contrast", &CameraControl::contrast)
+        .def_readwrite("saturation", &CameraControl::saturation)
+        .def_readwrite("sharpness", &CameraControl::sharpness)
+        .def_readwrite("lumaDenoise", &CameraControl::lumaDenoise)
+        .def_readwrite("chromaDenoise", &CameraControl::chromaDenoise)
+        .def_readwrite("wbColorTemp", &CameraControl::wbColorTemp)
+        .def("setCommand", &CameraControl::setCommand)
+        .def("clearCommand", &CameraControl::clearCommand)
+        .def("getCommand", &CameraControl::getCommand)
+        ;
+
+    // Message
+    cameraControl
+        .def(py::init<>(), DOC(dai, CameraControl, CameraControl))
+        // setters
+        .def("setCaptureStill", &CameraControl::setCaptureStill, py::arg("capture"), DOC(dai, CameraControl, setCaptureStill))
+        .def("setStartStreaming", &CameraControl::setStartStreaming, DOC(dai, CameraControl, setStartStreaming))
+        .def("setStopStreaming", &CameraControl::setStopStreaming, DOC(dai, CameraControl, setStopStreaming))
+        .def("setExternalTrigger", &CameraControl::setExternalTrigger, py::arg("numFramesBurst"), py::arg("numFramesDiscard"), DOC(dai, CameraControl, setExternalTrigger))
+        .def("setFrameSyncMode", &CameraControl::setFrameSyncMode, py::arg("mode"), DOC(dai, CameraControl, setFrameSyncMode))
+        .def("setStrobeSensor", &CameraControl::setStrobeSensor, py::arg("activeLevel"), DOC(dai, CameraControl, setStrobeSensor))
+        .def("setStrobeExternal", &CameraControl::setStrobeExternal, py::arg("gpioNumber"), py::arg("activeLevel"), DOC(dai, CameraControl, setStrobeExternal))
+        .def("setStrobeDisable", &CameraControl::setStrobeDisable, DOC(dai, CameraControl, setStrobeDisable))
+        .def("setAutoFocusMode", &CameraControl::setAutoFocusMode, py::arg("mode"), DOC(dai, CameraControl, setAutoFocusMode))
+        .def("setAutoFocusTrigger", &CameraControl::setAutoFocusTrigger, DOC(dai, CameraControl, setAutoFocusTrigger))
+        .def("setAutoFocusLensRange", &CameraControl::setAutoFocusLensRange, py::arg("infinityPosition"), py::arg("macroPosition"), DOC(dai, CameraControl, setAutoFocusLensRange))
+        .def("setAutoFocusRegion", &CameraControl::setAutoFocusRegion, py::arg("startX"), py::arg("startY"), py::arg("width"), py::arg("height"), DOC(dai, CameraControl, setAutoFocusRegion))
+        .def("setManualFocus", &CameraControl::setManualFocus, py::arg("lensPosition"), DOC(dai, CameraControl, setManualFocus))
+        .def("setManualFocusRaw", &CameraControl::setManualFocusRaw, py::arg("lensPositionRaw"), DOC(dai, CameraControl, setManualFocusRaw))
+        .def("setAutoExposureEnable", &CameraControl::setAutoExposureEnable, DOC(dai, CameraControl, setAutoExposureEnable))
+        .def("setAutoExposureLock", &CameraControl::setAutoExposureLock, py::arg("lock"), DOC(dai, CameraControl, setAutoExposureLock))
+        .def("setAutoExposureRegion", &CameraControl::setAutoExposureRegion, py::arg("startX"), py::arg("startY"), py::arg("width"), py::arg("height"), DOC(dai, CameraControl, setAutoExposureRegion))
+        .def("setAutoExposureCompensation", &CameraControl::setAutoExposureCompensation, py::arg("compensation"), DOC(dai, CameraControl, setAutoExposureCompensation))
+        .def("setAutoExposureLimit", py::overload_cast<uint32_t>(&CameraControl::setAutoExposureLimit), py::arg("maxExposureTimeUs"), DOC(dai, CameraControl, setAutoExposureLimit))
+        .def("setAutoExposureLimit", py::overload_cast<std::chrono::microseconds>(&CameraControl::setAutoExposureLimit), py::arg("maxExposureTime"), DOC(dai, CameraControl, setAutoExposureLimit, 2))
+        .def("setAntiBandingMode", &CameraControl::setAntiBandingMode, py::arg("mode"), DOC(dai, CameraControl, setAntiBandingMode))
+        .def("setManualExposure", py::overload_cast<uint32_t, uint32_t>(&CameraControl::setManualExposure), py::arg("exposureTimeUs"), py::arg("sensitivityIso"), DOC(dai, CameraControl, setManualExposure))
+        .def("setManualExposure", py::overload_cast<std::chrono::microseconds, uint32_t>(&CameraControl::setManualExposure), py::arg("exposureTime"), py::arg("sensitivityIso"), DOC(dai, CameraControl, setManualExposure, 2))
+        .def("setAutoWhiteBalanceMode", &CameraControl::setAutoWhiteBalanceMode, py::arg("mode"), DOC(dai, CameraControl, setAutoWhiteBalanceMode))
+        .def("setAutoWhiteBalanceLock", &CameraControl::setAutoWhiteBalanceLock, py::arg("lock"), DOC(dai, CameraControl, setAutoWhiteBalanceLock))
+        .def("setManualWhiteBalance", &CameraControl::setManualWhiteBalance, py::arg("colorTemperatureK"), DOC(dai, CameraControl, setManualWhiteBalance))
+        .def("setBrightness", &CameraControl::setBrightness, py::arg("value"), DOC(dai, CameraControl, setBrightness))
+        .def("setContrast", &CameraControl::setContrast, py::arg("value"), DOC(dai, CameraControl, setContrast))
+        .def("setSaturation", &CameraControl::setSaturation, py::arg("value"), DOC(dai, CameraControl, setSaturation))
+        .def("setSharpness", &CameraControl::setSharpness, py::arg("value"), DOC(dai, CameraControl, setSharpness))
+        .def("setLumaDenoise", &CameraControl::setLumaDenoise, py::arg("value"), DOC(dai, CameraControl, setLumaDenoise))
+        .def("setChromaDenoise", &CameraControl::setChromaDenoise, py::arg("value"), DOC(dai, CameraControl, setChromaDenoise))
+        .def("setSceneMode", &CameraControl::setSceneMode, py::arg("mode"), DOC(dai, CameraControl, setSceneMode))
+        .def("setEffectMode", &CameraControl::setEffectMode, py::arg("mode"), DOC(dai, CameraControl, setEffectMode))
+        .def("setMisc", py::overload_cast<std::string, std::string>(&CameraControl::setMisc), py::arg("control"), py::arg("value"), DOC(dai, CameraControl, setMisc))
+        .def("setMisc", py::overload_cast<std::string, int>(&CameraControl::setMisc), py::arg("control"), py::arg("value"), DOC(dai, CameraControl, setMisc, 2))
+        .def("setMisc", py::overload_cast<std::string, float>(&CameraControl::setMisc), py::arg("control"), py::arg("value"), DOC(dai, CameraControl, setMisc, 3))
+        .def("clearMiscControls", &CameraControl::clearMiscControls, DOC(dai, CameraControl, clearMiscControls))
+        .def("setControlMode", &CameraControl::setControlMode, py::arg("mode"), DOC(dai, CameraControl, setControlMode))
+        .def("setCaptureIntent", &CameraControl::setCaptureIntent, py::arg("mode"), DOC(dai, CameraControl, setCaptureIntent))
+        // .def("set",         &CameraControl::set, py::arg("config"), DOC(dai, CameraControl, set))
+        // getters
+        .def("getMiscControls", &CameraControl::getMiscControls, DOC(dai, CameraControl, getMiscControls))
+        .def("getCaptureStill", &CameraControl::getCaptureStill, DOC(dai, CameraControl, getCaptureStill))
+        .def("getExposureTime", &CameraControl::getExposureTime, DOC(dai, CameraControl, getExposureTime))
+        .def("getSensitivity", &CameraControl::getSensitivity, DOC(dai, CameraControl, getSensitivity))
+        .def("getLensPosition", &CameraControl::getLensPosition, DOC(dai, CameraControl, getLensPosition))
+        .def("getLensPositionRaw", &CameraControl::getLensPositionRaw, DOC(dai, CameraControl, getLensPositionRaw))
+
+        // .def("get",         &CameraControl::get, DOC(dai, CameraControl, get))
+        ;
+    // Add also enum attributes from CameraControl
+    for (const auto& a : camCtrlAttr) {
+        m.attr("CameraControl").attr(a) = m.attr("CameraControl").attr(a);
+    }
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/EdgeDetectorConfigBindings.cpp b/bindings/python/src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
new file mode 100644
index 000000000..04c9cee07
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
@@ -0,0 +1,57 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_edgedetectorconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<EdgeDetectorConfig::EdgeDetectorConfigData> edgeDetectorConfigData(m, "EdgeDetectorConfigData", DOC(dai, EdgeDetectorConfig, EdgeDetectorConfigData));
+    // py::class_<RawEdgeDetectorConfig, RawBuffer, std::shared_ptr<RawEdgeDetectorConfig>> rawEdgeDetectorConfig(m, "RawEdgeDetectorConfig", DOC(dai, RawEdgeDetectorConfig));
+    py::class_<EdgeDetectorConfig, Buffer, std::shared_ptr<EdgeDetectorConfig>> edgeDetectorConfig(m, "EdgeDetectorConfig", DOC(dai, EdgeDetectorConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    edgeDetectorConfigData
+        .def(py::init<>())
+        .def_readwrite("sobelFilterHorizontalKernel", &EdgeDetectorConfig::EdgeDetectorConfigData::sobelFilterHorizontalKernel, DOC(dai, EdgeDetectorConfig, EdgeDetectorConfigData, sobelFilterHorizontalKernel))
+        .def_readwrite("sobelFilterVerticalKernel", &EdgeDetectorConfig::EdgeDetectorConfigData::sobelFilterVerticalKernel, DOC(dai, EdgeDetectorConfig, EdgeDetectorConfigData, sobelFilterVerticalKernel))
+        ;
+
+    // rawEdgeDetectorConfig
+    //     .def(py::init<>())
+    //     .def_readwrite("config", &RawEdgeDetectorConfig::config)
+    //     ;
+
+    // Message
+    edgeDetectorConfig
+        .def(py::init<>())
+        .def("setSobelFilterKernels",  &EdgeDetectorConfig::setSobelFilterKernels, py::arg("horizontalKernel"), py::arg("verticalKernel"), DOC(dai, EdgeDetectorConfig, setSobelFilterKernels))
+        .def("getConfigData",         &EdgeDetectorConfig::getConfigData, DOC(dai, EdgeDetectorConfig, getConfigData))
+        // .def("get",         &EdgeDetectorConfig::get, DOC(dai, EdgeDetectorConfig, get))
+        // .def("set",         &EdgeDetectorConfig::set, py::arg("config"), DOC(dai, EdgeDetectorConfig, set))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/EncodedFrameBindings.cpp b/bindings/python/src/pipeline/datatype/EncodedFrameBindings.cpp
new file mode 100644
index 000000000..63610daea
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/EncodedFrameBindings.cpp
@@ -0,0 +1,135 @@
+#include "DatatypeBindings.hpp"
+#include "depthai/pipeline/datatype/EncodedFrame.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <memory>
+#include <unordered_map>
+
+// depthai
+#include "depthai/pipeline/datatype/EncodedFrame.hpp"
+
+// pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+void bind_encodedframe(pybind11::module &m, void *pCallstack) {
+
+  using namespace dai;
+
+  py::class_<EncodedFrame, Buffer, std::shared_ptr<EncodedFrame>> encodedFrame(
+      m, "EncodedFrame", DOC(dai, EncodedFrame));
+  py::enum_<EncodedFrame::Profile> encodedFrameProfile(encodedFrame,
+                                                             "Profile");
+  py::enum_<EncodedFrame::FrameType> encodedFrameType(
+      encodedFrame, "FrameType", DOC(dai, EncodedFrame, FrameType));
+
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  // Call the rest of the type defines, then perform the actual bindings
+  Callstack *callstack = (Callstack *)pCallstack;
+  auto cb = callstack->top();
+  callstack->pop();
+  cb(m, pCallstack);
+  // Actual bindings
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+
+  // Metadata / raw
+
+//   rawEncodedFrame.def(py::init<>())
+//       .def_readwrite("quality", &RawEncodedFrame::quality)
+//       .def_readwrite("bitrate", &RawEncodedFrame::bitrate)
+//       .def_readwrite("profile", &RawEncodedFrame::profile)
+//       .def_readwrite("lossless", &RawEncodedFrame::lossless)
+//       .def_readwrite("type", &RawEncodedFrame::type)
+//       .def_readwrite("instanceNum", &RawEncodedFrame::instanceNum)
+//       .def_readwrite("sequenceNum", &RawEncodedFrame::sequenceNum)
+//       .def_property(
+//           "ts",
+//           [](const RawEncodedFrame &o) {
+//             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+//             return ts;
+//           },
+//           [](RawEncodedFrame &o, double ts) {
+//             o.ts.sec = ts;
+//             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+//           })
+//       .def_property(
+//           "tsDevice",
+//           [](const RawEncodedFrame &o) {
+//             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+//             return ts;
+//           },
+//           [](RawEncodedFrame &o, double ts) {
+//             o.tsDevice.sec = ts;
+//             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+//           });
+
+  encodedFrameProfile.value("JPEG", EncodedFrame::Profile::JPEG)
+      .value("AVC", EncodedFrame::Profile::AVC)
+      .value("HEVC", EncodedFrame::Profile::HEVC);
+
+  encodedFrameType.value("I", EncodedFrame::FrameType::I)
+      .value("P", EncodedFrame::FrameType::P)
+      .value("B", EncodedFrame::FrameType::B)
+      .value("Unknown", EncodedFrame::FrameType::Unknown);
+
+  // Message
+  encodedFrame
+      .def(py::init<>())
+      // getters
+      .def("getTimestamp",
+           py::overload_cast<>(&EncodedFrame::Buffer::getTimestamp, py::const_),
+           DOC(dai, Buffer, getTimestamp))
+      .def("getTimestampDevice",
+           py::overload_cast<>(&EncodedFrame::Buffer::getTimestampDevice, py::const_),
+           DOC(dai, Buffer, getTimestampDevice))
+      .def("getInstanceNum", &EncodedFrame::getInstanceNum,
+           DOC(dai, EncodedFrame, getInstanceNum))
+      .def("getSequenceNum", &EncodedFrame::Buffer::getSequenceNum,
+           DOC(dai, Buffer, getSequenceNum))
+      .def("getExposureTime", &EncodedFrame::getExposureTime,
+           DOC(dai, EncodedFrame, getExposureTime))
+      .def("getSensitivity", &EncodedFrame::getSensitivity,
+           DOC(dai, EncodedFrame, getSensitivity))
+      .def("getColorTemperature", &EncodedFrame::getColorTemperature,
+           DOC(dai, EncodedFrame, getColorTemperature))
+      .def("getLensPosition", &EncodedFrame::getLensPosition,
+           DOC(dai, EncodedFrame, getLensPosition))
+      .def("getLensPositionRaw", &EncodedFrame::getLensPositionRaw, 
+           DOC(dai, EncodedFrame, getLensPositionRaw))
+      .def("getQuality", &EncodedFrame::getQuality,
+           DOC(dai, EncodedFrame, getQuality))
+      .def("getBitrate", &EncodedFrame::getBitrate,
+           DOC(dai, EncodedFrame, getBitrate))
+      .def("getFrameType", &EncodedFrame::getFrameType,
+           DOC(dai, EncodedFrame, getFrameType))
+      .def("getLossless", &EncodedFrame::getLossless,
+           DOC(dai, EncodedFrame, getLossless))
+      .def("getProfile", &EncodedFrame::getProfile,
+           DOC(dai, EncodedFrame, getProfile))
+
+     //  // setters
+     //  .def("setTimestamp", &EncodedFrame::setTimestamp,
+     //       DOC(dai, EncodedFrame, setTimestamp))
+     //  .def("setTimestampDevice", &EncodedFrame::setTimestampDevice,
+     //       DOC(dai, EncodedFrame, setTimestampDevice))
+     //  .def("setSequenceNum", &EncodedFrame::setSequenceNum,
+     //       DOC(dai, EncodedFrame, setSequenceNum))
+      .def("setQuality", &EncodedFrame::setQuality,
+           DOC(dai, EncodedFrame, getQuality))
+      .def("setBitrate", &EncodedFrame::setBitrate,
+           DOC(dai, EncodedFrame, getBitrate))
+      .def("setFrameType", &EncodedFrame::setFrameType,
+           DOC(dai, EncodedFrame, getFrameType))
+      .def("setLossless", &EncodedFrame::setLossless,
+           DOC(dai, EncodedFrame, getLossless))
+      .def("setProfile", &EncodedFrame::setProfile,
+           DOC(dai, EncodedFrame, getProfile));
+//   // add aliases dai.ImgFrame.Type and dai.ImgFrame.Specs
+//   m.attr("EncodedFrame").attr("FrameType") =
+//       m.attr("RawEncodedFrame").attr("FrameType");
+//   m.attr("EncodedFrame").attr("Profile") =
+//       m.attr("RawEncodedFrame").attr("Profile");
+}
diff --git a/bindings/python/src/pipeline/datatype/FeatureTrackerConfigBindings.cpp b/bindings/python/src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
new file mode 100644
index 000000000..a305c2007
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
@@ -0,0 +1,129 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_featuretrackerconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawFeatureTrackerConfig, RawBuffer, std::shared_ptr<RawFeatureTrackerConfig>> rawFeatureTrackerConfig(m, "RawFeatureTrackerConfig", DOC(dai, RawFeatureTrackerConfig));
+    py::class_<FeatureTrackerConfig, Buffer, std::shared_ptr<FeatureTrackerConfig>> featureTrackerConfig(m, "FeatureTrackerConfig", DOC(dai, FeatureTrackerConfig));
+    py::class_<FeatureTrackerConfig::CornerDetector> cornerDetector(featureTrackerConfig, "CornerDetector", DOC(dai, FeatureTrackerConfig, CornerDetector));
+    py::enum_<FeatureTrackerConfig::CornerDetector::Type> cornerDetectorType(cornerDetector, "Type", DOC(dai, FeatureTrackerConfig, CornerDetector, Type));
+    py::class_<FeatureTrackerConfig::CornerDetector::Thresholds> cornerDetectorThresholds(cornerDetector, "Thresholds", DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds));
+    py::class_<FeatureTrackerConfig::MotionEstimator> motionEstimator(featureTrackerConfig, "MotionEstimator", DOC(dai, FeatureTrackerConfig, MotionEstimator));
+    py::enum_<FeatureTrackerConfig::MotionEstimator::Type> motionEstimatorType(motionEstimator, "Type", DOC(dai, FeatureTrackerConfig, MotionEstimator, Type));
+    py::class_<FeatureTrackerConfig::MotionEstimator::OpticalFlow> motionEstimatorOpticalFlow(motionEstimator, "OpticalFlow", DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow));
+    py::class_<FeatureTrackerConfig::FeatureMaintainer> featureMaintainer(featureTrackerConfig, "FeatureMaintainer", DOC(dai, FeatureTrackerConfig, FeatureMaintainer));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawFeatureTrackerConfig
+    //     .def(py::init<>())
+    //     .def_readwrite("cornerDetector", &FeatureTrackerConfig::cornerDetector, DOC(dai, FeatureTrackerConfig, cornerDetector))
+    //     .def_readwrite("motionEstimator", &FeatureTrackerConfig::motionEstimator, DOC(dai, FeatureTrackerConfig, motionEstimator))
+    //     .def_readwrite("featureMaintainer", &FeatureTrackerConfig::featureMaintainer, DOC(dai, FeatureTrackerConfig, featureMaintainer))
+    //     ;
+
+    cornerDetectorType
+        .value("HARRIS", FeatureTrackerConfig::CornerDetector::Type::HARRIS)
+        .value("SHI_THOMASI", FeatureTrackerConfig::CornerDetector::Type::SHI_THOMASI)
+    ;
+
+    cornerDetectorThresholds
+        .def(py::init<>())
+        .def_readwrite("initialValue", &FeatureTrackerConfig::CornerDetector::Thresholds::initialValue, DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds, initialValue))
+        .def_readwrite("min", &FeatureTrackerConfig::CornerDetector::Thresholds::min, DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds, min))
+        .def_readwrite("max", &FeatureTrackerConfig::CornerDetector::Thresholds::max, DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds, max))
+        .def_readwrite("decreaseFactor", &FeatureTrackerConfig::CornerDetector::Thresholds::decreaseFactor, DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds, decreaseFactor))
+        .def_readwrite("increaseFactor", &FeatureTrackerConfig::CornerDetector::Thresholds::increaseFactor, DOC(dai, FeatureTrackerConfig, CornerDetector, Thresholds, increaseFactor))
+        ;
+
+    cornerDetector
+        .def(py::init<>())
+        .def_readwrite("type", &FeatureTrackerConfig::CornerDetector::type, DOC(dai, FeatureTrackerConfig, CornerDetector, type))
+        .def_readwrite("cellGridDimension", &FeatureTrackerConfig::CornerDetector::cellGridDimension, DOC(dai, FeatureTrackerConfig, CornerDetector, cellGridDimension))
+        .def_readwrite("numTargetFeatures", &FeatureTrackerConfig::CornerDetector::numTargetFeatures, DOC(dai, FeatureTrackerConfig, CornerDetector, numTargetFeatures))
+        .def_readwrite("numMaxFeatures", &FeatureTrackerConfig::CornerDetector::numMaxFeatures, DOC(dai, FeatureTrackerConfig, CornerDetector, numMaxFeatures))
+        .def_readwrite("enableSobel", &FeatureTrackerConfig::CornerDetector::enableSobel, DOC(dai, FeatureTrackerConfig, CornerDetector, enableSobel))
+        .def_readwrite("enableSorting", &FeatureTrackerConfig::CornerDetector::enableSorting, DOC(dai, FeatureTrackerConfig, CornerDetector, enableSorting))
+        .def_readwrite("thresholds", &FeatureTrackerConfig::CornerDetector::thresholds, DOC(dai, FeatureTrackerConfig, CornerDetector, thresholds))
+        ;
+
+    motionEstimatorType
+        .value("LUCAS_KANADE_OPTICAL_FLOW", FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW)
+        .value("HW_MOTION_ESTIMATION", FeatureTrackerConfig::MotionEstimator::Type::HW_MOTION_ESTIMATION)
+    ;
+
+    motionEstimatorOpticalFlow
+        .def(py::init<>())
+        .def_readwrite("pyramidLevels", &FeatureTrackerConfig::MotionEstimator::OpticalFlow::pyramidLevels, DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow, pyramidLevels))
+        .def_readwrite("searchWindowWidth", &FeatureTrackerConfig::MotionEstimator::OpticalFlow::searchWindowWidth, DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow, searchWindowWidth))
+        .def_readwrite("searchWindowHeight", &FeatureTrackerConfig::MotionEstimator::OpticalFlow::searchWindowHeight, DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow, searchWindowHeight))
+        .def_readwrite("epsilon", &FeatureTrackerConfig::MotionEstimator::OpticalFlow::epsilon, DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow, epsilon))
+        .def_readwrite("maxIterations", &FeatureTrackerConfig::MotionEstimator::OpticalFlow::maxIterations, DOC(dai, FeatureTrackerConfig, MotionEstimator, OpticalFlow, maxIterations))
+        ;
+
+    motionEstimator
+        .def(py::init<>())
+        .def_readwrite("enable", &FeatureTrackerConfig::MotionEstimator::enable, DOC(dai, FeatureTrackerConfig, MotionEstimator, enable))
+        .def_readwrite("type", &FeatureTrackerConfig::MotionEstimator::type, DOC(dai, FeatureTrackerConfig, MotionEstimator, type))
+        .def_readwrite("opticalFlow", &FeatureTrackerConfig::MotionEstimator::opticalFlow, DOC(dai, FeatureTrackerConfig, MotionEstimator, opticalFlow))
+        ;
+
+    featureMaintainer
+        .def(py::init<>())
+        .def_readwrite("enable", &FeatureTrackerConfig::FeatureMaintainer::enable, DOC(dai, FeatureTrackerConfig, FeatureMaintainer, enable))
+        .def_readwrite("minimumDistanceBetweenFeatures", &FeatureTrackerConfig::FeatureMaintainer::minimumDistanceBetweenFeatures, DOC(dai, FeatureTrackerConfig, FeatureMaintainer, minimumDistanceBetweenFeatures))
+        .def_readwrite("lostFeatureErrorThreshold", &FeatureTrackerConfig::FeatureMaintainer::lostFeatureErrorThreshold, DOC(dai, FeatureTrackerConfig, FeatureMaintainer, lostFeatureErrorThreshold))
+        .def_readwrite("trackedFeatureThreshold", &FeatureTrackerConfig::FeatureMaintainer::trackedFeatureThreshold, DOC(dai, FeatureTrackerConfig, FeatureMaintainer, trackedFeatureThreshold))
+        ;
+
+    // Message
+    featureTrackerConfig
+        .def(py::init<>())
+        // .def(py::init<std::shared_ptr<FeatureTrackerConfig>>())
+
+        .def("setCornerDetector", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(dai::FeatureTrackerConfig::CornerDetector::Type)>(&FeatureTrackerConfig::setCornerDetector), py::arg("cornerDetector"), DOC(dai, FeatureTrackerConfig, setCornerDetector))
+        .def("setCornerDetector", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(dai::FeatureTrackerConfig::CornerDetector)>(&FeatureTrackerConfig::setCornerDetector), py::arg("config"), DOC(dai, FeatureTrackerConfig, setCornerDetector, 2))
+        .def("setMotionEstimator", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(bool)>(&FeatureTrackerConfig::setMotionEstimator), py::arg("enable"), DOC(dai, FeatureTrackerConfig, setMotionEstimator))
+        .def("setMotionEstimator", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(dai::FeatureTrackerConfig::MotionEstimator)>(&FeatureTrackerConfig::setMotionEstimator), py::arg("config"), DOC(dai, FeatureTrackerConfig, setMotionEstimator, 2))
+        .def("setOpticalFlow", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)()>(&FeatureTrackerConfig::setOpticalFlow), DOC(dai, FeatureTrackerConfig, setOpticalFlow))
+        .def("setOpticalFlow", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow)>(&FeatureTrackerConfig::setOpticalFlow), py::arg("config"), DOC(dai, FeatureTrackerConfig, setOpticalFlow, 2))
+        .def("setHwMotionEstimation", &FeatureTrackerConfig::setHwMotionEstimation, DOC(dai, FeatureTrackerConfig, setHwMotionEstimation))
+        .def("setFeatureMaintainer", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(bool)>(&FeatureTrackerConfig::setFeatureMaintainer), py::arg("enable"), DOC(dai, FeatureTrackerConfig, setFeatureMaintainer))
+        .def("setFeatureMaintainer", static_cast<FeatureTrackerConfig&(FeatureTrackerConfig::*)(dai::FeatureTrackerConfig::FeatureMaintainer)>(&FeatureTrackerConfig::setFeatureMaintainer), py::arg("config"), DOC(dai, FeatureTrackerConfig, setFeatureMaintainer, 2))
+        .def("setNumTargetFeatures", &FeatureTrackerConfig::setNumTargetFeatures, py::arg("numTargetFeatures"), DOC(dai, FeatureTrackerConfig, setNumTargetFeatures))
+
+        // .def("set", &FeatureTrackerConfig::set, py::arg("config"), DOC(dai, FeatureTrackerConfig, set))
+        // .def("get", &FeatureTrackerConfig::get, DOC(dai, FeatureTrackerConfig, get))
+        ;
+
+    // add aliases
+    m.attr("FeatureTrackerConfig").attr("CornerDetector") = m.attr("FeatureTrackerConfig").attr("CornerDetector");
+    m.attr("FeatureTrackerConfig").attr("MotionEstimator") = m.attr("FeatureTrackerConfig").attr("MotionEstimator");
+    m.attr("FeatureTrackerConfig").attr("FeatureMaintainer") = m.attr("FeatureTrackerConfig").attr("FeatureMaintainer");
+
+}
diff --git a/bindings/python/src/pipeline/datatype/IMUDataBindings.cpp b/bindings/python/src/pipeline/datatype/IMUDataBindings.cpp
new file mode 100644
index 000000000..2c9b227ae
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/IMUDataBindings.cpp
@@ -0,0 +1,166 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/IMUData.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_imudata(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<IMUReport, std::shared_ptr<IMUReport>> imuReport(m, "IMUReport", DOC(dai, IMUReport));
+    py::enum_<IMUReport::Accuracy> imuReportAccuracy(imuReport, "Accuracy");
+    py::class_<IMUReportAccelerometer, IMUReport, std::shared_ptr<IMUReportAccelerometer>> imuReportAccelerometer(m, "IMUReportAccelerometer", DOC(dai, IMUReportAccelerometer));
+    py::class_<IMUReportGyroscope, IMUReport, std::shared_ptr<IMUReportGyroscope>> imuReportGyroscope(m, "IMUReportGyroscope", DOC(dai, IMUReportGyroscope));
+    py::class_<IMUReportMagneticField, IMUReport, std::shared_ptr<IMUReportMagneticField>> imuReportMagneticField(m, "IMUReportMagneticField", DOC(dai, IMUReportMagneticField));
+    py::class_<IMUReportRotationVectorWAcc, IMUReport, std::shared_ptr<IMUReportRotationVectorWAcc>> imuReportRotationVectorWAcc(m, "IMUReportRotationVectorWAcc", DOC(dai, IMUReportRotationVectorWAcc));
+    py::class_<IMUPacket> imuPacket(m, "IMUPacket", DOC(dai, IMUPacket));
+    // py::class_<RawIMUData, RawBuffer, std::shared_ptr<RawIMUData>> rawIMUPackets(m, "RawIMUData", DOC(dai, RawIMUData));
+    py::class_<IMUData, Buffer, std::shared_ptr<IMUData>> imuData(m, "IMUData", DOC(dai, IMUData));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    imuReport
+        .def(py::init<>())
+        .def_readwrite("sequence", &IMUReport::sequence)
+        .def_readwrite("accuracy", &IMUReport::accuracy)
+        .def_readwrite("timestamp", &IMUReport::timestamp)
+        .def_readwrite("tsDevice", &IMUReport::tsDevice)
+        .def("getTimestamp", &IMUReport::getTimestamp, DOC(dai, IMUReport, getTimestamp))
+        .def("getTimestampDevice", &IMUReport::getTimestampDevice, DOC(dai, IMUReport, getTimestampDevice))
+        .def("getSequenceNum", &IMUReport::getSequenceNum, DOC(dai, IMUReport, getSequenceNum))
+        ;
+
+    imuReportAccuracy
+        .value("UNRELIABLE", IMUReport::Accuracy::UNRELIABLE)
+        .value("LOW", IMUReport::Accuracy::LOW)
+        .value("MEDIUM", IMUReport::Accuracy::MEDIUM)
+        .value("HIGH", IMUReport::Accuracy::HIGH)
+        ;
+
+    imuReportAccelerometer
+        .def(py::init<>())
+        .def_readwrite("x", &IMUReportAccelerometer::x)
+        .def_readwrite("y", &IMUReportAccelerometer::y)
+        .def_readwrite("z", &IMUReportAccelerometer::z)
+        ;
+
+    imuReportGyroscope
+        .def(py::init<>())
+        .def_readwrite("x", &IMUReportGyroscope::x)
+        .def_readwrite("y", &IMUReportGyroscope::y)
+        .def_readwrite("z", &IMUReportGyroscope::z)
+        ;
+
+    imuReportMagneticField
+        .def(py::init<>())
+        .def_readwrite("x", &IMUReportMagneticField::x)
+        .def_readwrite("y", &IMUReportMagneticField::y)
+        .def_readwrite("z", &IMUReportMagneticField::z)
+        ;
+
+    imuReportRotationVectorWAcc
+        .def(py::init<>())
+        .def_readwrite("i", &IMUReportRotationVectorWAcc::i)
+        .def_readwrite("j", &IMUReportRotationVectorWAcc::j)
+        .def_readwrite("k", &IMUReportRotationVectorWAcc::k)
+        .def_readwrite("real", &IMUReportRotationVectorWAcc::real)
+        .def_readwrite("rotationVectorAccuracy", &IMUReportRotationVectorWAcc::rotationVectorAccuracy)
+        ;
+
+#if 0
+    py::class_<IMUReportRotationVector, IMUReport, std::shared_ptr<IMUReportRotationVector>>(m, "IMUReportRotationVector", DOC(dai, IMUReportRotationVector))
+        .def(py::init<>())
+        .def_readwrite("i", &IMUReportRotationVector::i)
+        .def_readwrite("j", &IMUReportRotationVector::j)
+        .def_readwrite("k", &IMUReportRotationVector::k)
+        .def_readwrite("real", &IMUReportRotationVector::real)
+        ;
+
+    py::class_<IMUReportGyroscopeUncalibrated, IMUReport, std::shared_ptr<IMUReportGyroscopeUncalibrated>>(m, "IMUReportGyroscopeUncalibrated", DOC(dai, IMUReportGyroscopeUncalibrated))
+        .def(py::init<>())
+        .def_readwrite("x", &IMUReportGyroscopeUncalibrated::x)
+        .def_readwrite("y", &IMUReportGyroscopeUncalibrated::y)
+        .def_readwrite("z", &IMUReportGyroscopeUncalibrated::z)
+        .def_readwrite("biasX", &IMUReportGyroscopeUncalibrated::biasX)
+        .def_readwrite("biasY", &IMUReportGyroscopeUncalibrated::biasY)
+        .def_readwrite("biasZ", &IMUReportGyroscopeUncalibrated::biasZ)
+        ;
+
+    py::class_<IMUReportMagneticFieldUncalibrated, IMUReport, std::shared_ptr<IMUReportMagneticFieldUncalibrated>>(m, "IMUReportMagneticFieldUncalibrated", DOC(dai, IMUReportMagneticFieldUncalibrated))
+        .def(py::init<>())
+        .def_readwrite("x", &IMUReportMagneticFieldUncalibrated::x)
+        .def_readwrite("y", &IMUReportMagneticFieldUncalibrated::y)
+        .def_readwrite("z", &IMUReportMagneticFieldUncalibrated::z)
+        .def_readwrite("biasX", &IMUReportMagneticFieldUncalibrated::biasX)
+        .def_readwrite("biasY", &IMUReportMagneticFieldUncalibrated::biasY)
+        .def_readwrite("biasZ", &IMUReportMagneticFieldUncalibrated::biasZ)
+        ;
+
+    py::class_<IMUReportGyroIntegratedRV, IMUReport, std::shared_ptr<IMUReportGyroIntegratedRV>>(m, "IMUReportGyroIntegratedRV", DOC(dai, IMUReportGyroIntegratedRV))
+        .def(py::init<>())
+        .def_readwrite("i", &IMUReportGyroIntegratedRV::i)
+        .def_readwrite("j", &IMUReportGyroIntegratedRV::j)
+        .def_readwrite("k", &IMUReportGyroIntegratedRV::k)
+        .def_readwrite("real", &IMUReportGyroIntegratedRV::real)
+        .def_readwrite("angVelX", &IMUReportGyroIntegratedRV::angVelX)
+        .def_readwrite("angVelY", &IMUReportGyroIntegratedRV::angVelY)
+        .def_readwrite("angVelZ", &IMUReportGyroIntegratedRV::angVelZ)
+        ;
+
+#endif
+
+    imuPacket
+        .def(py::init<>())
+        .def_readwrite("acceleroMeter", &IMUPacket::acceleroMeter)
+        .def_readwrite("gyroscope", &IMUPacket::gyroscope)
+        .def_readwrite("magneticField", &IMUPacket::magneticField)
+        .def_readwrite("rotationVector", &IMUPacket::rotationVector)
+#if 0
+        .def_readwrite("rawAcceleroMeter", &IMUPacket::rawAcceleroMeter)
+        .def_readwrite("linearAcceleroMeter", &IMUPacket::linearAcceleroMeter)
+        .def_readwrite("gravity", &IMUPacket::gravity)
+        .def_readwrite("rawGyroscope", &IMUPacket::rawGyroscope)
+        .def_readwrite("gyroscopeUncalibrated", &IMUPacket::gyroscopeUncalibrated)
+        .def_readwrite("rawMagneticField", &IMUPacket::rawMagneticField)
+        .def_readwrite("magneticFieldUncalibrated", &IMUPacket::magneticFieldUncalibrated)
+        .def_readwrite("gameRotationVector", &IMUPacket::gameRotationVector)
+        .def_readwrite("geoMagRotationVector", &IMUPacket::geoMagRotationVector)
+        .def_readwrite("arvrStabilizedRotationVector", &IMUPacket::arvrStabilizedRotationVector)
+        .def_readwrite("arvrStabilizedGameRotationVector", &IMUPacket::arvrStabilizedGameRotationVector)
+        .def_readwrite("gyroIntegratedRotationVector", &IMUPacket::gyroIntegratedRotationVector)
+#endif
+        ;
+
+    // rawIMUPackets
+    //     .def(py::init<>())
+    //     .def_readwrite("packets", &RawIMUData::packets)
+    //     ;
+
+    // Message
+    imuData
+        .def(py::init<>())
+        .def_property("packets", [](IMUData& imuDta) { return &imuDta.packets; }, [](IMUData& imuDta, std::vector<IMUPacket> val) { imuDta.packets = val; }, DOC(dai, IMUData, packets))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/ImageManipConfigBindings.cpp b/bindings/python/src/pipeline/datatype/ImageManipConfigBindings.cpp
new file mode 100644
index 000000000..28312c211
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/ImageManipConfigBindings.cpp
@@ -0,0 +1,144 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ImageManipConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_imagemanipconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawImageManipConfig, RawBuffer, std::shared_ptr<RawImageManipConfig>> rawImageManipConfig(m, "RawImageManipConfig", DOC(dai, RawImageManipConfig));
+    py::class_<ImageManipConfig, Buffer, std::shared_ptr<ImageManipConfig>> imageManipConfig(m, "ImageManipConfig", DOC(dai, ImageManipConfig));
+    py::class_<ImageManipConfig::CropRect> imageManipConfigCropRect(imageManipConfig, "CropRect", DOC(dai, ImageManipConfig, CropRect));
+    py::class_<ImageManipConfig::CropConfig> imageManipConfigCrop(imageManipConfig, "CropConfig", DOC(dai, ImageManipConfig, CropConfig));
+    py::class_<ImageManipConfig::ResizeConfig>imageManipConfigResizeConfig(imageManipConfig, "ResizeConfig", DOC(dai, ImageManipConfig, ResizeConfig));
+    py::class_<ImageManipConfig::FormatConfig> imageManipConfigFormatConfig(imageManipConfig, "FormatConfig", DOC(dai, ImageManipConfig, FormatConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    imageManipConfig
+        .def(py::init<>())
+        .def_readwrite("enableFormat", &ImageManipConfig::enableFormat)
+        .def_readwrite("enableResize", &ImageManipConfig::enableResize)
+        .def_readwrite("enableCrop", &ImageManipConfig::enableCrop)
+        .def_readwrite("cropConfig", &ImageManipConfig::cropConfig)
+        .def_readwrite("resizeConfig", &ImageManipConfig::resizeConfig)
+        .def_readwrite("formatConfig", &ImageManipConfig::formatConfig)
+        .def_readwrite("interpolation", &ImageManipConfig::interpolation)
+        ;
+
+    imageManipConfigCropRect
+        .def(py::init<>())
+        .def_readwrite("xmin", &ImageManipConfig::CropRect::xmin)
+        .def_readwrite("ymin", &ImageManipConfig::CropRect::ymin)
+        .def_readwrite("xmax", &ImageManipConfig::CropRect::xmax)
+        .def_readwrite("ymax", &ImageManipConfig::CropRect::ymax)
+        ;
+
+    imageManipConfigCrop
+        .def(py::init<>())
+        .def_readwrite("cropRect", &ImageManipConfig::CropConfig::cropRect)
+        .def_readwrite("cropRotatedRect", &ImageManipConfig::CropConfig::cropRotatedRect)
+        .def_readwrite("enableCenterCropRectangle", &ImageManipConfig::CropConfig::enableCenterCropRectangle)
+        .def_readwrite("cropRatio", &ImageManipConfig::CropConfig::cropRatio)
+        .def_readwrite("widthHeightAspectRatio", &ImageManipConfig::CropConfig::widthHeightAspectRatio)
+        .def_readwrite("enableRotatedRect", &ImageManipConfig::CropConfig::enableRotatedRect)
+        .def_readwrite("normalizedCoords", &ImageManipConfig::CropConfig::normalizedCoords)
+        ;
+
+    imageManipConfigResizeConfig
+        .def(py::init<>())
+        .def_readwrite("width", &ImageManipConfig::ResizeConfig::width)
+        .def_readwrite("height", &ImageManipConfig::ResizeConfig::height)
+        .def_readwrite("lockAspectRatioFill", &ImageManipConfig::ResizeConfig::lockAspectRatioFill)
+        .def_readwrite("bgRed", &ImageManipConfig::ResizeConfig::bgRed)
+        .def_readwrite("bgGreen", &ImageManipConfig::ResizeConfig::bgGreen)
+        .def_readwrite("bgBlue", &ImageManipConfig::ResizeConfig::bgBlue)
+        .def_readwrite("warpFourPoints", &ImageManipConfig::ResizeConfig::warpFourPoints)
+        .def_readwrite("normalizedCoords", &ImageManipConfig::ResizeConfig::normalizedCoords)
+        .def_readwrite("enableWarp4pt", &ImageManipConfig::ResizeConfig::enableWarp4pt)
+        .def_readwrite("warpMatrix3x3", &ImageManipConfig::ResizeConfig::warpMatrix3x3)
+        .def_readwrite("enableWarpMatrix", &ImageManipConfig::ResizeConfig::enableWarpMatrix)
+        .def_readwrite("warpBorderReplicate", &ImageManipConfig::ResizeConfig::warpBorderReplicate)
+        .def_readwrite("rotationAngleDeg", &ImageManipConfig::ResizeConfig::rotationAngleDeg)
+        .def_readwrite("enableRotation", &ImageManipConfig::ResizeConfig::enableRotation)
+        .def_readwrite("keepAspectRatio", &ImageManipConfig::ResizeConfig::keepAspectRatio)
+        ;
+
+    imageManipConfigFormatConfig
+        .def(py::init<>())
+        .def_readwrite("type", &ImageManipConfig::FormatConfig::type)
+        .def_readwrite("flipHorizontal", &ImageManipConfig::FormatConfig::flipHorizontal)
+        .def_readwrite("flipVertical", &ImageManipConfig::FormatConfig::flipVertical)
+        ;
+
+    // Message
+
+    imageManipConfig
+        .def(py::init<>())
+        // setters
+        .def("setCropRect", static_cast<ImageManipConfig&(ImageManipConfig::*)(float, float, float, float)>(&ImageManipConfig::setCropRect), py::arg("xmin"), py::arg("ymin"), py::arg("xmax"), py::arg("ymax"), DOC(dai, ImageManipConfig, setCropRect))
+        .def("setCropRect", static_cast<ImageManipConfig&(ImageManipConfig::*)(std::tuple<float, float, float, float>)>(&ImageManipConfig::setCropRect), py::arg("coordinates"), DOC(dai, ImageManipConfig, setCropRect, 2))
+        .def("setCropRotatedRect", &ImageManipConfig::setCropRotatedRect, py::arg("rr"), py::arg("normalizedCoords") = true, DOC(dai, ImageManipConfig, setCropRotatedRect))
+        .def("setCenterCrop", &ImageManipConfig::setCenterCrop, py::arg("ratio"), py::arg("whRatio")=1.0f, DOC(dai, ImageManipConfig, setCenterCrop))
+        .def("setWarpTransformFourPoints", &ImageManipConfig::setWarpTransformFourPoints, py::arg("pt"), py::arg("normalizedCoords"), DOC(dai, ImageManipConfig, setWarpTransformFourPoints))
+        .def("setWarpTransformMatrix3x3", &ImageManipConfig::setWarpTransformMatrix3x3, py::arg("mat"), DOC(dai, ImageManipConfig, setWarpTransformMatrix3x3))
+        .def("setWarpBorderReplicatePixels", &ImageManipConfig::setWarpBorderReplicatePixels, DOC(dai, ImageManipConfig, setWarpBorderReplicatePixels))
+        .def("setWarpBorderFillColor", &ImageManipConfig::setWarpBorderFillColor, py::arg("red"), py::arg("green"), py::arg("blue"), DOC(dai, ImageManipConfig, setWarpBorderFillColor))
+        .def("setRotationDegrees", &ImageManipConfig::setRotationDegrees, py::arg("deg"), DOC(dai, ImageManipConfig, setRotationDegrees))
+        .def("setRotationRadians", &ImageManipConfig::setRotationRadians, py::arg("rad"), DOC(dai, ImageManipConfig, setRotationRadians))
+        .def("setResize", static_cast<ImageManipConfig&(ImageManipConfig::*)(int, int)>(&ImageManipConfig::setResize), py::arg("w"), py::arg("h"), DOC(dai, ImageManipConfig, setResize))
+        .def("setResize", static_cast<ImageManipConfig&(ImageManipConfig::*)(std::tuple<int, int>)>(&ImageManipConfig::setResize), py::arg("size"), DOC(dai, ImageManipConfig, setResize, 2))
+        .def("setResizeThumbnail", static_cast<ImageManipConfig&(ImageManipConfig::*)(int, int, int, int, int)>(&ImageManipConfig::setResizeThumbnail), py::arg("w"), py::arg("h"), py::arg("bgRed")=0, py::arg("bgGreen")=0, py::arg("bgBlue")=0, DOC(dai, ImageManipConfig, setResizeThumbnail))
+        .def("setResizeThumbnail", static_cast<ImageManipConfig&(ImageManipConfig::*)(std::tuple<int, int>, int, int, int)>(&ImageManipConfig::setResizeThumbnail), py::arg("size"), py::arg("bgRed")=0, py::arg("bgGreen")=0, py::arg("bgBlue")=0, DOC(dai, ImageManipConfig, setResizeThumbnail, 2))
+        .def("setFrameType", &ImageManipConfig::setFrameType, py::arg("type"), DOC(dai, ImageManipConfig, setFrameType))
+        .def("setColormap", static_cast<ImageManipConfig&(ImageManipConfig::*)(Colormap, int, int)>(&ImageManipConfig::setColormap), py::arg("colormap"), py::arg("min"), py::arg("max"), DOC(dai, ImageManipConfig, setColormap))
+        .def("setColormap", static_cast<ImageManipConfig&(ImageManipConfig::*)(Colormap, int)>(&ImageManipConfig::setColormap), py::arg("colormap"), py::arg("max") = 255, DOC(dai, ImageManipConfig, setColormap))
+        .def("setColormap", static_cast<ImageManipConfig&(ImageManipConfig::*)(Colormap, float)>(&ImageManipConfig::setColormap), py::arg("colormap"), py::arg("max") = 255.0f, DOC(dai, ImageManipConfig, setColormap))
+        .def("setHorizontalFlip", &ImageManipConfig::setHorizontalFlip, py::arg("flip"), DOC(dai, ImageManipConfig, setHorizontalFlip))
+        .def("setVerticalFlip", &ImageManipConfig::setVerticalFlip, py::arg("flip"), DOC(dai, ImageManipConfig, setVerticalFlip))
+        .def("setReusePreviousImage", &ImageManipConfig::setReusePreviousImage, py::arg("reuse"), DOC(dai, ImageManipConfig, setReusePreviousImage))
+        .def("setSkipCurrentImage", &ImageManipConfig::setSkipCurrentImage, py::arg("skip"), DOC(dai, ImageManipConfig, setSkipCurrentImage))
+        .def("setKeepAspectRatio", &ImageManipConfig::setKeepAspectRatio, py::arg("keep"), DOC(dai, ImageManipConfig, setKeepAspectRatio))
+        // .def("set", &ImageManipConfig::set, py::arg("config"), DOC(dai, ImageManipConfig, set))
+        .def("setInterpolation", &ImageManipConfig::setInterpolation, py::arg("interpolation"), DOC(dai, ImageManipConfig, setInterpolation))
+
+        // getters
+        .def("getCropXMin", &ImageManipConfig::getCropXMin, DOC(dai, ImageManipConfig, getCropXMin))
+        .def("getCropYMin", &ImageManipConfig::getCropYMin, DOC(dai, ImageManipConfig, getCropYMin))
+        .def("getCropXMax", &ImageManipConfig::getCropXMax, DOC(dai, ImageManipConfig, getCropXMax))
+        .def("getCropYMax", &ImageManipConfig::getCropYMax, DOC(dai, ImageManipConfig, getCropYMax))
+        .def("getResizeWidth", &ImageManipConfig::getResizeWidth, DOC(dai, ImageManipConfig, getResizeWidth))
+        .def("getResizeHeight", &ImageManipConfig::getResizeHeight, DOC(dai, ImageManipConfig, getResizeHeight))
+        .def("getCropConfig", &ImageManipConfig::getCropConfig, DOC(dai, ImageManipConfig, getCropConfig))
+        .def("getResizeConfig", &ImageManipConfig::getResizeConfig, DOC(dai, ImageManipConfig, getResizeConfig))
+        .def("getFormatConfig", &ImageManipConfig::getFormatConfig, DOC(dai, ImageManipConfig, getFormatConfig))
+        .def("isResizeThumbnail", &ImageManipConfig::isResizeThumbnail, DOC(dai, ImageManipConfig, isResizeThumbnail))
+        .def("getColormap", &ImageManipConfig::getColormap, DOC(dai, ImageManipConfig, getColormap))
+        // .def("get", &ImageManipConfig::get, DOC(dai, ImageManipConfig, get))
+        .def("getInterpolation", &ImageManipConfig::getInterpolation, DOC(dai, ImageManipConfig, getInterpolation))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/ImgDetectionsBindings.cpp b/bindings/python/src/pipeline/datatype/ImgDetectionsBindings.cpp
new file mode 100644
index 000000000..0d6ac2611
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/ImgDetectionsBindings.cpp
@@ -0,0 +1,86 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ImgDetections.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_imgdetections(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawImgDetections, RawBuffer, std::shared_ptr<RawImgDetections>> rawImgDetections(m, "RawImgDetections", DOC(dai, RawImgDetections));
+    py::class_<ImgDetections, Buffer, std::shared_ptr<ImgDetections>> imgDetections(m, "ImgDetections", DOC(dai, ImgDetections));
+    py::class_<ImgDetection> imgDetection(m, "ImgDetection", DOC(dai, ImgDetection));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    imgDetection
+        .def(py::init<>())
+        .def_readwrite("label", &ImgDetection::label)
+        .def_readwrite("confidence", &ImgDetection::confidence)
+        .def_readwrite("xmin", &ImgDetection::xmin)
+        .def_readwrite("ymin", &ImgDetection::ymin)
+        .def_readwrite("xmax", &ImgDetection::xmax)
+        .def_readwrite("ymax", &ImgDetection::ymax)
+        ;
+
+    // rawImgDetections
+    //     .def(py::init<>())
+    //     .def_readwrite("detections", &RawImgDetections::detections)
+    //     .def_property("ts",
+    //         [](const RawImgDetections& o){
+    //             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawImgDetections& o, double ts){
+    //             o.ts.sec = ts;
+    //             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_property("tsDevice",
+    //         [](const RawImgDetections& o){
+    //             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawImgDetections& o, double ts){
+    //             o.tsDevice.sec = ts;
+    //             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_readwrite("sequenceNum", &RawImgDetections::sequenceNum)
+    //     ;
+
+    // Message
+    imgDetections
+        .def(py::init<>(), DOC(dai, ImgDetections, ImgDetections))
+        .def_property("detections", [](ImgDetections& det) { return &det.detections; }, [](ImgDetections& det, std::vector<ImgDetection> val) { det.detections = val; }, DOC(dai, ImgDetections, detections))
+        .def("getTimestamp", &ImgDetections::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &ImgDetections::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &ImgDetections::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &ImgDetections::setTimestamp, DOC(dai, Buffer, setTimestamp))
+        // .def("setTimestampDevice", &ImgDetections::setTimestampDevice, DOC(dai, Buffer, setTimestampDevice))
+        // .def("setSequenceNum", &ImgDetections::setSequenceNum, DOC(dai, ImgDetections, setSequenceNum))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/ImgFrameBindings.cpp b/bindings/python/src/pipeline/datatype/ImgFrameBindings.cpp
new file mode 100644
index 000000000..f1c53dc94
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/ImgFrameBindings.cpp
@@ -0,0 +1,360 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ImgFrame.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+void bind_imgframe(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawImgFrame, RawBuffer, std::shared_ptr<RawImgFrame>> rawImgFrame(m, "RawImgFrame", DOC(dai, RawImgFrame));
+    py::class_<ImgFrame, Buffer, std::shared_ptr<ImgFrame>> imgFrame(m, "ImgFrame", DOC(dai, ImgFrame));
+    py::enum_<ImgFrame::Type> imgFrameType(imgFrame, "Type");
+    py::class_<ImgFrame::Specs> imgFrameSpecs(imgFrame, "Specs", DOC(dai, ImgFrame, Specs));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+
+    // rawImgFrame
+    //     .def(py::init<>())
+    //     .def_readwrite("fb", &RawImgFrame::fb)
+    //     .def_readwrite("category", &RawImgFrame::category)
+    //     .def_readwrite("instanceNum", &RawImgFrame::instanceNum)
+    //     .def_readwrite("sequenceNum", &RawImgFrame::sequenceNum)
+    //     .def_property("ts",
+    //         [](const RawImgFrame& o){
+    //             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawImgFrame& o, double ts){
+    //             o.ts.sec = ts;
+    //             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_property("tsDevice",
+    //         [](const RawImgFrame& o){
+    //             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawImgFrame& o, double ts){
+    //             o.tsDevice.sec = ts;
+    //             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     ;
+
+
+    imgFrameType
+        .value("YUV422i", ImgFrame::Type::YUV422i)
+        .value("YUV444p", ImgFrame::Type::YUV444p)
+        .value("YUV420p", ImgFrame::Type::YUV420p)
+        .value("YUV422p", ImgFrame::Type::YUV422p)
+        .value("YUV400p", ImgFrame::Type::YUV400p)
+        .value("RGBA8888", ImgFrame::Type::RGBA8888)
+        .value("RGB161616", ImgFrame::Type::RGB161616)
+        .value("RGB888p", ImgFrame::Type::RGB888p)
+        .value("BGR888p", ImgFrame::Type::BGR888p)
+        .value("RGB888i", ImgFrame::Type::RGB888i)
+        .value("BGR888i", ImgFrame::Type::BGR888i)
+        .value("RGBF16F16F16p", ImgFrame::Type::RGBF16F16F16p)
+        .value("BGRF16F16F16p", ImgFrame::Type::BGRF16F16F16p)
+        .value("RGBF16F16F16i", ImgFrame::Type::RGBF16F16F16i)
+        .value("BGRF16F16F16i", ImgFrame::Type::BGRF16F16F16i)
+        .value("GRAY8", ImgFrame::Type::GRAY8)
+        .value("GRAYF16", ImgFrame::Type::GRAYF16)
+        .value("LUT2", ImgFrame::Type::LUT2)
+        .value("LUT4", ImgFrame::Type::LUT4)
+        .value("LUT16", ImgFrame::Type::LUT16)
+        .value("RAW16", ImgFrame::Type::RAW16)
+        .value("RAW14", ImgFrame::Type::RAW14)
+        .value("RAW12", ImgFrame::Type::RAW12)
+        .value("RAW10", ImgFrame::Type::RAW10)
+        .value("RAW8", ImgFrame::Type::RAW8)
+        .value("PACK10", ImgFrame::Type::PACK10)
+        .value("PACK12", ImgFrame::Type::PACK12)
+        .value("YUV444i", ImgFrame::Type::YUV444i)
+        .value("NV12", ImgFrame::Type::NV12)
+        .value("NV21", ImgFrame::Type::NV21)
+        .value("BITSTREAM", ImgFrame::Type::BITSTREAM)
+        .value("HDR", ImgFrame::Type::HDR)
+        .value("RAW32", ImgFrame::Type::RAW32)
+        .value("NONE", ImgFrame::Type::NONE)
+        ;
+
+    imgFrameSpecs
+        .def(py::init<>())
+        .def_readwrite("type", &ImgFrame::Specs::type)
+        .def_readwrite("width", &ImgFrame::Specs::width)
+        .def_readwrite("height", &ImgFrame::Specs::height)
+        .def_readwrite("stride", &ImgFrame::Specs::stride)
+        .def_readwrite("bytesPP", &ImgFrame::Specs::bytesPP)
+        .def_readwrite("p1Offset", &ImgFrame::Specs::p1Offset)
+        .def_readwrite("p2Offset", &ImgFrame::Specs::p2Offset)
+        .def_readwrite("p3Offset", &ImgFrame::Specs::p3Offset)
+        ;
+
+    // TODO add RawImgFrame::CameraSettings
+
+    // Message
+        imgFrame
+        .def(py::init<>())
+        .def(py::init<size_t>())
+        // getters
+        .def("getTimestamp", py::overload_cast<>(&ImgFrame::Buffer::getTimestamp, py::const_), DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", py::overload_cast<>(&ImgFrame::Buffer::getTimestampDevice, py::const_), DOC(dai, Buffer, getTimestampDevice))
+        .def("getTimestamp", py::overload_cast<CameraExposureOffset>(&ImgFrame::getTimestamp, py::const_), py::arg("offset"), DOC(dai, ImgFrame, getTimestamp))
+        .def("getTimestampDevice", py::overload_cast<CameraExposureOffset>(&ImgFrame::getTimestampDevice, py::const_), py::arg("offset"), DOC(dai, ImgFrame, getTimestampDevice))
+        .def("getSequenceNum", &ImgFrame::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        .def("getInstanceNum", &ImgFrame::getInstanceNum, DOC(dai, ImgFrame, getInstanceNum))
+        .def("getCategory", &ImgFrame::getCategory, DOC(dai, ImgFrame, getCategory))
+        .def("getWidth", &ImgFrame::getWidth, DOC(dai, ImgFrame, getWidth))
+        .def("getStride", &ImgFrame::getStride, DOC(dai, ImgFrame, getStride))
+        .def("getHeight", &ImgFrame::getHeight, DOC(dai, ImgFrame, getHeight))
+        .def("getPlaneStride", &ImgFrame::getPlaneStride, DOC(dai, ImgFrame, getPlaneStride))
+        .def("getPlaneHeight", &ImgFrame::getPlaneHeight, DOC(dai, ImgFrame, getPlaneHeight))
+        .def("getType", &ImgFrame::getType, DOC(dai, ImgFrame, getType))
+        .def("getBytesPerPixel", &ImgFrame::getBytesPerPixel, DOC(dai, ImgFrame, getBytesPerPixel))
+        .def("getExposureTime", &ImgFrame::getExposureTime, DOC(dai, ImgFrame, getExposureTime))
+        .def("getSensitivity", &ImgFrame::getSensitivity, DOC(dai, ImgFrame, getSensitivity))
+        .def("getColorTemperature", &ImgFrame::getColorTemperature, DOC(dai, ImgFrame, getColorTemperature))
+        .def("getLensPosition", &ImgFrame::getLensPosition, DOC(dai, ImgFrame, getLensPosition))
+        .def("getLensPositionRaw", &ImgFrame::getLensPositionRaw, DOC(dai, ImgFrame, getLensPositionRaw))
+
+        // OpenCV Support section
+        .def("setFrame", [](dai::ImgFrame& frm, py::array arr){
+             // Try importing 'numpy' module
+            py::module numpy;
+            try {
+                numpy = py::module::import("numpy");
+            } catch (const py::error_already_set& err){
+                throw std::runtime_error("Function 'setFrame' requires 'numpy' module");
+            }
+
+            py::array contiguous = numpy.attr("ascontiguousarray")(arr);
+            frm.setData({(uint8_t*) contiguous.data(), (uint8_t*) contiguous.data() + contiguous.nbytes()});
+            // frm.getData().resize(contiguous.nbytes());
+            // memcpy(frm.getData().data(), contiguous.data(), contiguous.nbytes());
+
+        }, py::arg("array"), "Copies array bytes to ImgFrame buffer")
+        .def("getFrame", [](py::object &obj, bool copy){
+
+            // Try importing 'numpy' module
+            py::module numpy;
+            try {
+                numpy = py::module::import("numpy");
+            } catch (const py::error_already_set& err){
+                throw std::runtime_error("Function 'getFrame' requires 'numpy' module");
+            }
+
+            // obj is "Python" object, which we used then to bind the numpy view lifespan to
+            // creates numpy array (zero-copy) which holds correct information such as shape, ...
+            auto& img = obj.cast<dai::ImgFrame&>();
+
+            // shape
+            bool valid = img.getWidth() > 0 && img.getHeight() > 0;
+            std::vector<std::size_t> shape = {img.getData().size()};
+            std::vector<std::size_t> strides = {};
+            py::dtype dtype = py::dtype::of<uint8_t>();
+
+            switch(img.getType()){
+
+                case ImgFrame::Type::RGB888i :
+                case ImgFrame::Type::BGR888i :
+                    // HWC
+                    shape = {img.getHeight(), img.getWidth(), 3};
+                    dtype = py::dtype::of<uint8_t>();
+                break;
+
+                case ImgFrame::Type::RGB888p :
+                case ImgFrame::Type::BGR888p :
+                    // CHW
+                    shape = {3, img.getHeight(), img.getWidth()};
+                    dtype = py::dtype::of<uint8_t>();
+                break;
+
+                case ImgFrame::Type::YUV420p:
+                case ImgFrame::Type::NV12:
+                case ImgFrame::Type::NV21:
+                    // Height 1.5x actual size
+                    shape = {img.getPlaneHeight() * 3 / 2, img.getWidth()};
+                    strides = {img.getStride(), 1};
+                    dtype = py::dtype::of<uint8_t>();
+                break;
+
+                case ImgFrame::Type::RAW8:
+                case ImgFrame::Type::GRAY8:
+                    shape = {img.getHeight(), img.getWidth()};
+                    dtype = py::dtype::of<uint8_t>();
+                break;
+
+                case ImgFrame::Type::GRAYF16:
+                    shape = {img.getHeight(), img.getWidth()};
+                    dtype = py::dtype("half");
+                break;
+
+                case ImgFrame::Type::RAW16:
+                case ImgFrame::Type::RAW14:
+                case ImgFrame::Type::RAW12:
+                case ImgFrame::Type::RAW10:
+                    shape = {img.getHeight(), img.getWidth()};
+                    dtype = py::dtype::of<uint16_t>();
+                break;
+
+                case ImgFrame::Type::RGBF16F16F16i:
+                case ImgFrame::Type::BGRF16F16F16i:
+                    shape = {img.getHeight(), img.getWidth(), 3};
+                    dtype = py::dtype("half");
+                break;
+
+                case ImgFrame::Type::RGBF16F16F16p:
+                case ImgFrame::Type::BGRF16F16F16p:
+                    shape = {3, img.getHeight(), img.getWidth()};
+                    dtype = py::dtype("half");
+                break;
+
+                case ImgFrame::Type::BITSTREAM :
+                default:
+                    shape = {img.getData().size()};
+                    dtype = py::dtype::of<uint8_t>();
+                    break;
+            }
+
+            // Check if enough data
+            long actualSize = img.getData().size();
+            long requiredSize = dtype.itemsize();
+            for(const auto& dim : shape) requiredSize *= dim;
+            if(actualSize < requiredSize){
+                throw std::runtime_error("ImgFrame doesn't have enough data to encode specified frame, required " + std::to_string(requiredSize)
+                        + ", actual " + std::to_string(actualSize) + ". Maybe metadataOnly transfer was made?");
+            } else if(actualSize > requiredSize) {
+                // FIXME check build on Windows
+                // logger::warn("ImgFrame has excess data: actual {}, expected {}", actualSize, requiredSize);
+            }
+            if(img.getWidth() <= 0 || img.getHeight() <= 0){
+                throw std::runtime_error("ImgFrame size invalid (width: " + std::to_string(img.getWidth()) + ", height: " + std::to_string(img.getHeight()) + ")");
+            }
+
+            if(copy){
+                py::array a(dtype, shape);
+                std::memcpy(a.mutable_data(), img.getData().data(), std::min( (long) (img.getData().size()), (long) (a.nbytes())));
+                // TODO handle strides
+                return a;
+            } else {
+                return py::array(dtype, shape, strides, img.getData().data(), obj);
+            }
+
+        }, py::arg("copy") = false, "Returns numpy array with shape as specified by width, height and type")
+
+        .def("getCvFrame", [](py::object &obj){
+            using namespace pybind11::literals;
+
+            // Try importing 'cv2' module
+            py::module cv2;
+            py::module numpy;
+            try {
+                cv2 = py::module::import("cv2");
+                numpy = py::module::import("numpy");
+            } catch (const py::error_already_set& err){
+                throw std::runtime_error("Function 'getCvFrame' requires 'cv2' module (opencv-python package)");
+            }
+
+            // ImgFrame
+            auto& img = obj.cast<dai::ImgFrame&>();
+
+            // Get numpy frame (python object) by calling getFrame
+            auto frame = obj.attr("getFrame")();
+
+            // Convert numpy array to bgr frame using cv2 module
+            switch(img.getType()) {
+
+                case ImgFrame::Type::BGR888p:
+                    return numpy.attr("ascontiguousarray")(frame.attr("transpose")(1, 2, 0));
+                    break;
+
+                case ImgFrame::Type::BGR888i:
+                    return frame.attr("copy")();
+                    break;
+
+                case ImgFrame::Type::RGB888p:
+                    // Transpose to RGB888i then convert to BGR
+                    return cv2.attr("cvtColor")(frame.attr("transpose")(1, 2, 0), cv2.attr("COLOR_RGB2BGR"));
+                    break;
+
+                case ImgFrame::Type::RGB888i:
+                    return cv2.attr("cvtColor")(frame, cv2.attr("COLOR_RGB2BGR"));
+                    break;
+
+                case ImgFrame::Type::YUV420p:
+                    return cv2.attr("cvtColor")(frame, cv2.attr("COLOR_YUV2BGR_IYUV"));
+                    break;
+
+                case ImgFrame::Type::NV12:
+                case ImgFrame::Type::NV21: {
+                    auto code = (img.getType() == ImgFrame::Type::NV12) ? cv2.attr("COLOR_YUV2BGR_NV12") : cv2.attr("COLOR_YUV2BGR_NV21");
+                    if(img.getPlaneHeight() <= img.getHeight()) {
+                        return cv2.attr("cvtColor")(frame, code);
+                    } else {
+                        py::dtype dtype = py::dtype::of<uint8_t>();
+                        std::vector<std::size_t> shapeY = {img.getHeight(), img.getWidth()};
+                        std::vector<std::size_t> shapeUV = {img.getHeight() / 2, img.getWidth() / 2};
+                        std::vector<std::size_t> strides = {img.getStride(), 1};
+                        auto frameY = py::array(dtype, shapeY, strides, img.getData().data(), obj);
+                        auto frameUV = py::array(dtype, shapeUV, strides, img.getData().data() + img.getPlaneStride(), obj);
+                        return cv2.attr("cvtColorTwoPlane")(frameY, frameUV, code);
+                    }
+                } break;
+
+                case ImgFrame::Type::RAW8:
+                case ImgFrame::Type::RAW16:
+                case ImgFrame::Type::RAW14:
+                case ImgFrame::Type::RAW12:
+                case ImgFrame::Type::RAW10:
+                case ImgFrame::Type::GRAY8:
+                case ImgFrame::Type::GRAYF16:
+                default:
+                    return frame.attr("copy")();
+                    break;
+            }
+
+            // Default case
+            return frame.attr("copy")();
+
+        }, "Returns BGR or grayscale frame compatible with use in other opencv functions")
+
+        // setters
+        // .def("setTimestamp", &ImgFrame::setTimestamp, py::arg("timestamp"), DOC(dai, ImgFrame, setTimestamp))
+        // .def("setTimestampDevice", &ImgFrame::setTimestampDevice, DOC(dai, ImgFrame, setTimestampDevice))
+        .def("setInstanceNum", &ImgFrame::setInstanceNum, py::arg("instance"), DOC(dai, ImgFrame, setInstanceNum))
+        .def("setCategory", &ImgFrame::setCategory, py::arg("category"), DOC(dai, ImgFrame, setCategory))
+        // .def("setSequenceNum", &ImgFrame::setSequenceNum, py::arg("seq"), DOC(dai, ImgFrame, setSequenceNum))
+        .def("setWidth", &ImgFrame::setWidth, py::arg("width"), DOC(dai, ImgFrame, setWidth))
+        .def("setHeight", &ImgFrame::setHeight, py::arg("height"), DOC(dai, ImgFrame, setHeight))
+        .def("setSize", static_cast<ImgFrame&(ImgFrame::*)(unsigned int, unsigned int)>(&ImgFrame::setSize), py::arg("width"), py::arg("height"), DOC(dai, ImgFrame, setSize))
+        .def("setSize", static_cast<ImgFrame&(ImgFrame::*)(std::tuple<unsigned int, unsigned int>)>(&ImgFrame::setSize), py::arg("sizer"), DOC(dai, ImgFrame, setSize, 2))
+        .def("setType", &ImgFrame::setType, py::arg("type"), DOC(dai, ImgFrame, setType))
+        // .def("set", &ImgFrame::set, py::arg("type"), DOC(dai, ImgFrame, set))
+        ;
+    // add aliases dai.ImgFrame.Type and dai.ImgFrame.Specs
+    // m.attr("ImgFrame").attr("Type") = m.attr("RawImgFrame").attr("Type");
+    // m.attr("ImgFrame").attr("Specs") = m.attr("RawImgFrame").attr("Specs");
+
+}
diff --git a/bindings/python/src/pipeline/datatype/MessageGroupBindings.cpp b/bindings/python/src/pipeline/datatype/MessageGroupBindings.cpp
new file mode 100644
index 000000000..bca49e311
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/MessageGroupBindings.cpp
@@ -0,0 +1,64 @@
+#include "DatatypeBindings.hpp"
+#include "depthai/pipeline/datatype/MessageGroup.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <memory>
+#include <unordered_map>
+
+// depthai
+#include "depthai/pipeline/datatype/MessageGroup.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_message_group(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<MessageGroup, Buffer, std::shared_ptr<MessageGroup>> messageGroup(m, "MessageGroup", DOC(dai, MessageGroup));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawMessageGroup
+    //     .def(py::init<>())
+    //     .def_readwrite("group", &RawMessageGroup::group)
+    //     ;
+
+    // Message
+    messageGroup
+        .def(py::init<>())
+        .def("__getitem__", [](MessageGroup& msg, const std::string& name) {
+            return msg[name];
+        })
+        .def("__setitem__", [](MessageGroup& msg, const std::string& name, std::shared_ptr<ADatatype> data) {
+            return msg.add(name, data);
+        })
+        .def("__iter__", [](MessageGroup& msg) { return py::make_iterator(msg.begin(), msg.end()); },
+                         py::keep_alive<0, 1>() /* Essential: keep object alive while iterator exists */)
+        .def("isSynced", &MessageGroup::isSynced, DOC(dai, MessageGroup, isSynced))
+        .def("getIntervalNs", &MessageGroup::getIntervalNs, DOC(dai, MessageGroup, getIntervalNs))
+        .def("getNumMessages", &MessageGroup::getNumMessages, DOC(dai, MessageGroup, getNumMessages))
+        .def("getMessageNames", &MessageGroup::getMessageNames, DOC(dai, MessageGroup, getMessageNames))
+        .def("getTimestamp", &MessageGroup::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &MessageGroup::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &MessageGroup::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &MessageGroup::setTimestamp, DOC(dai, MessageGroup, setTimestamp))
+        // .def("setTimestampDevice", &MessageGroup::setTimestampDevice, DOC(dai, MessageGroup, setTimestampDevice))
+        // .def("setSequenceNum", &MessageGroup::setSequenceNum, DOC(dai, MessageGroup, setSequenceNum))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/NNDataBindings.cpp b/bindings/python/src/pipeline/datatype/NNDataBindings.cpp
new file mode 100644
index 000000000..fd187770b
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/NNDataBindings.cpp
@@ -0,0 +1,202 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/NNData.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+//xtensor
+#define FORCE_IMPORT_ARRAY
+#include <xtensor-python/pyarray.hpp>
+
+// #include "spdlog/spdlog.h"
+
+void bind_nndata(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawNNData, RawBuffer, std::shared_ptr<RawNNData>> rawNnData(m, "RawNNData", DOC(dai, RawNNData));
+    py::class_<TensorInfo> tensorInfo(m, "TensorInfo", DOC(dai, TensorInfo));
+    py::enum_<TensorInfo::DataType>tensorInfoDataType(tensorInfo, "DataType");
+    py::enum_<TensorInfo::StorageOrder>tensorInfoStorageOrder(tensorInfo, "StorageOrder");
+    py::class_<NNData, Buffer, std::shared_ptr<NNData>> nnData(m, "NNData", DOC(dai, NNData));
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+
+    // rawNnData
+    //     .def(py::init<>())
+    //     .def_readwrite("tensors", &RawNNData::tensors)
+    //     .def_readwrite("batchSize", &RawNNData::batchSize)
+    //     .def_property("ts",
+    //         [](const RawNNData& o){
+    //             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawNNData& o, double ts){
+    //             o.ts.sec = ts;
+    //             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_property("tsDevice",
+    //         [](const RawNNData& o){
+    //             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawNNData& o, double ts){
+    //             o.tsDevice.sec = ts;
+    //             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_readwrite("sequenceNum", &RawNNData::sequenceNum)
+    //     ;
+
+    tensorInfo
+        .def(py::init<>())
+        .def_readwrite("order", &TensorInfo::order)
+        .def_readwrite("dataType", &TensorInfo::dataType)
+        .def_readwrite("numDimensions", &TensorInfo::numDimensions)
+        .def_readwrite("dims", &TensorInfo::dims)
+        .def_readwrite("strides", &TensorInfo::strides)
+        .def_readwrite("name", &TensorInfo::name)
+        .def_readwrite("offset", &TensorInfo::offset)
+        ;
+
+    tensorInfoDataType
+        .value("FP16", TensorInfo::DataType::FP16)
+        .value("U8F", TensorInfo::DataType::U8F)
+        .value("INT", TensorInfo::DataType::INT)
+        .value("FP32", TensorInfo::DataType::FP32)
+        .value("I8", TensorInfo::DataType::I8)
+        ;
+
+    tensorInfoStorageOrder
+        .value("NHWC", TensorInfo::StorageOrder::NHWC)
+        .value("NHCW", TensorInfo::StorageOrder::NHCW)
+        .value("NCHW", TensorInfo::StorageOrder::NCHW)
+        .value("HWC", TensorInfo::StorageOrder::HWC)
+        .value("CHW", TensorInfo::StorageOrder::CHW)
+        .value("WHC", TensorInfo::StorageOrder::WHC)
+        .value("HCW", TensorInfo::StorageOrder::HCW)
+        .value("WCH", TensorInfo::StorageOrder::WCH)
+        .value("CWH", TensorInfo::StorageOrder::CWH)
+        .value("NC", TensorInfo::StorageOrder::NC)
+        .value("CN", TensorInfo::StorageOrder::CN)
+        .value("C", TensorInfo::StorageOrder::C)
+        .value("H", TensorInfo::StorageOrder::H)
+        .value("W", TensorInfo::StorageOrder::W)
+        ;
+
+
+    // Message
+
+    nnData.def(py::init<>(), DOC(dai, NNData, NNData))
+        .def(py::init<size_t>(), DOC(dai, NNData, NNData, 2))
+        // // setters
+        // .def("setLayer", [](NNData& obj, const std::string& name,
+        // py::array_t<std::uint8_t, py::array::c_style | py::array::forcecast>
+        // data){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'addTensor()'
+        //     instead", 1); std::vector<std::uint8_t> vec(data.data(),
+        //     data.data() + data.size()); obj.setLayer(name, std::move(vec));
+        // }, py::arg("name"), py::arg("data"), DOC(dai, NNData, setLayer))
+        // .def("setLayer", [](NNData& obj, const std::string& name, const
+        // std::vector<int>& data){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'addTensor()'
+        //     instead", 1); return obj.setLayer(name, data);
+        // }, py::arg("name"), py::arg("data"), DOC(dai, NNData, setLayer, 2))
+        // .def("setLayer", [](NNData& obj, const std::string& name,
+        // std::vector<float> data){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'addTensor()'
+        //     instead", 1); return obj.setLayer(name, data);
+        // }, py::arg("name"), py::arg("data"), DOC(dai, NNData, setLayer, 3))
+        // .def("setLayer", [](NNData& obj, const std::string& name,
+        // std::vector<double> data){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'addTensor()'
+        //     instead", 1); return obj.setLayer(name, data);
+        // }, py::arg("name"), py::arg("data"), DOC(dai, NNData, setLayer, 4))
+        // .def("getLayer", [](NNData& obj, const std::string& name, TensorInfo&
+        // tensor){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getLayer(name, tensor);
+        // }, py::arg("name"), py::arg("tensor"), DOC(dai, NNData, getLayer))
+        .def("hasLayer", &NNData::hasLayer, py::arg("name"),
+             DOC(dai, NNData, hasLayer))
+        .def("getAllLayerNames", &NNData::getAllLayerNames,
+             DOC(dai, NNData, getAllLayerNames))
+        .def("getAllLayers", &NNData::getAllLayers,
+             DOC(dai, NNData, getAllLayers))
+        .def("getLayerDatatype", &NNData::getLayerDatatype, py::arg("name"),
+             py::arg("datatype"), DOC(dai, NNData, getLayerDatatype))
+        // .def("getLayerUInt8", [](NNData& obj, const std::string& name){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getLayerUInt8(name);
+        // }, py::arg("name"), DOC(dai, NNData, getLayerUInt8))
+        // .def("getLayerFp16", [](NNData& obj, const std::string& name){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getLayerFp16(name);
+        // }, py::arg("name"), DOC(dai, NNData, getLayerFp16))
+        // .def("getLayerInt32", [](NNData& obj, const std::string& name){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getLayerInt32(name);
+        // }, py::arg("name"), DOC(dai, NNData, getLayerInt32))
+        // .def("getFirstLayerUInt8", [](NNData& obj){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getFirstLayerUInt8();
+        // }, DOC(dai, NNData, getFirstLayerUInt8))
+        // .def("getFirstLayerFp16", [](NNData& obj){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getFirstLayerFp16();
+        // }, DOC(dai, NNData, getFirstLayerFp16))
+        // .def("getFirstLayerInt32", [](NNData& obj){
+        //     PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'getTensor()'
+        //     instead", 1); return obj.getFirstLayerInt32();
+        // }, DOC(dai, NNData, getFirstLayerInt32))
+        // TODO(Morato) - is this needed - doesn't get inherited from Buffer?
+        .def("getTimestamp", &NNData::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &NNData::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &NNData::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &NNData::setTimestamp, DOC(dai, NNData, setTimestamp))
+        // .def("setTimestampDevice", &NNData::setTimestampDevice, DOC(dai, NNData, setTimestampDevice))
+        // .def("setSequenceNum", &NNData::setSequenceNum, DOC(dai, NNData, setSequenceNum))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const std::vector<int>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const std::vector<float>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const std::vector<double>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const xt::xarray<int>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor, 2))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const xt::xarray<float>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor, 2))
+        .def("addTensor", static_cast<NNData&(NNData::*)(const std::string&, const xt::xarray<double>&)>(&NNData::addTensor), py::arg("name"), py::arg("tensor"), DOC(dai, NNData, addTensor, 2))
+        .def("getTensor", [](NNData& obj, const std::string& name) -> py::object {
+            const auto datatype = obj.getTensorDatatype(name);
+            if(datatype == dai::TensorInfo::DataType::U8F) {
+                return py::cast(obj.getTensor<int>(name));
+            }
+            else {
+                return py::cast(obj.getTensor<float>(name));
+            }
+        }, py::arg("name"), DOC(dai, NNData, getTensor))
+        // .def("getTensor", static_cast<xt::xarray<double>(NNData::*)(const std::string&)>(&NNData::getTensor<double>), py::arg("name"), DOC(dai, NNData, getTensor))
+        // .def("getTensor", static_cast<xt::xarray<float>(NNData::*)(const std::string&)>(&NNData::getTensor<float>), py::arg("name"), DOC(dai, NNData, getTensor, 2))
+        // .def("getTensor", static_cast<xt::xarray<int>(NNData::*)(const std::string&)>(&NNData::getTensor<int>), py::arg("name"), DOC(dai, NNData, getTensor, 3))
+        .def("getTensorDatatype", &NNData::getTensorDatatype, py::arg("name"), DOC(dai, NNData, getTensorDatatype))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/PointCloudConfigBindings.cpp b/bindings/python/src/pipeline/datatype/PointCloudConfigBindings.cpp
new file mode 100644
index 000000000..87afe4972
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/PointCloudConfigBindings.cpp
@@ -0,0 +1,63 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_pointcloudconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawPointCloudConfig, RawBuffer, std::shared_ptr<RawPointCloudConfig>> rawConfig(m, "RawPointCloudConfig", DOC(dai, RawPointCloudConfig));
+    py::class_<PointCloudConfig, Buffer, std::shared_ptr<PointCloudConfig>> config(m, "PointCloudConfig", DOC(dai, PointCloudConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawConfig
+    //     .def(py::init<>())
+    //     .def_readwrite("sparse", &RawPointCloudConfig::sparse, DOC(dai, RawPointCloudConfig, sparse))
+    //     .def_readwrite("transformationMatrix", &RawPointCloudConfig::transformationMatrix, DOC(dai, RawPointCloudConfig, transformationMatrix))
+    //     ;
+
+    // Message
+    config
+        .def(py::init<>())
+        // .def(py::init<std::shared_ptr<RawPointCloudConfig>>())
+
+        // .def("set", &PointCloudConfig::set, py::arg("config"), DOC(dai, PointCloudConfig, set))
+        // .def("get", &PointCloudConfig::get, DOC(dai, PointCloudConfig, get))
+        .def("getSparse", &PointCloudConfig::getSparse, DOC(dai, PointCloudConfig, getSparse))
+        .def("getTransformationMatrix", &PointCloudConfig::getTransformationMatrix, DOC(dai, PointCloudConfig, getTransformationMatrix))
+        .def("setSparse", &PointCloudConfig::setSparse, DOC(dai, PointCloudConfig, setSparse))
+        .def("setTransformationMatrix", [](PointCloudConfig& cfg, std::array<std::array<float, 3>, 3> mat) {
+            return cfg.setTransformationMatrix(mat);
+        }, DOC(dai, PointCloudConfig, setTransformationMatrix))
+
+        .def("setTransformationMatrix", [](PointCloudConfig& cfg, std::array<std::array<float, 4>, 4> mat) {
+            return cfg.setTransformationMatrix(mat);
+        }, DOC(dai, PointCloudConfig, setTransformationMatrix))
+        ;
+
+    // add aliases
+
+}
diff --git a/bindings/python/src/pipeline/datatype/PointCloudDataBindings.cpp b/bindings/python/src/pipeline/datatype/PointCloudDataBindings.cpp
new file mode 100644
index 000000000..0aa3d7889
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/PointCloudDataBindings.cpp
@@ -0,0 +1,93 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/PointCloudData.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_pointclouddata(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawPointCloudData, RawBuffer, std::shared_ptr<RawPointCloudData>> rawPointCloudData(m, "RawPointCloudData", DOC(dai, RawPointCloudData));
+    py::class_<PointCloudData, Buffer, std::shared_ptr<PointCloudData>> pointCloudData(m, "PointCloudData", DOC(dai, PointCloudData));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawPointCloudData
+    //     .def(py::init<>())
+    //     .def_readwrite("width", &RawPointCloudData::width)
+    //     .def_readwrite("height", &RawPointCloudData::height)
+    //     .def_readwrite("sparse", &RawPointCloudData::sparse)
+    //     .def_readwrite("instanceNum", &RawPointCloudData::instanceNum)
+    //     .def_readwrite("minx", &RawPointCloudData::minx)
+    //     .def_readwrite("miny", &RawPointCloudData::miny)
+    //     .def_readwrite("minz", &RawPointCloudData::minz)
+    //     .def_readwrite("maxx", &RawPointCloudData::maxx)
+    //     .def_readwrite("maxy", &RawPointCloudData::maxy)
+    //     .def_readwrite("maxz", &RawPointCloudData::maxz)
+    //     ;
+
+    // Message
+    pointCloudData
+        .def(py::init<>())
+        // .def_property("points", [](PointCloudData& data) { return &data.getPoints(); }, [](PointCloudData& data, std::vector<Point3f> points) {data.getPoints() = points;})
+        .def("getPoints", [](py::object &obj){
+            dai::PointCloudData& data = obj.cast<dai::PointCloudData&>();
+            Point3f* points = (Point3f*)data.getData().data();
+            unsigned long size = data.getData().size() / sizeof(Point3f);
+            py::array_t<float> arr({size, 3UL});
+            auto ra = arr.mutable_unchecked();
+            for (int i = 0; i < size; i++) {
+                ra(i, 0) = points[i].x;
+                ra(i, 1) = points[i].y;
+                ra(i, 2) = points[i].z;
+            }
+            return arr;
+        })
+        .def("getWidth", &PointCloudData::getWidth, DOC(dai, PointCloudData, getWidth))
+        .def("getHeight", &PointCloudData::getHeight, DOC(dai, PointCloudData, getHeight))
+        .def("isSparse", &PointCloudData::isSparse, DOC(dai, PointCloudData, isSparse))
+        .def("getMinX", &PointCloudData::getMinX, DOC(dai, PointCloudData, getMinX))
+        .def("getMinY", &PointCloudData::getMinY, DOC(dai, PointCloudData, getMinY))
+        .def("getMinZ", &PointCloudData::getMinZ, DOC(dai, PointCloudData, getMinZ))
+        .def("getMaxX", &PointCloudData::getMaxX, DOC(dai, PointCloudData, getMaxX))
+        .def("getMaxY", &PointCloudData::getMaxY, DOC(dai, PointCloudData, getMaxY))
+        .def("getMaxZ", &PointCloudData::getMaxZ, DOC(dai, PointCloudData, getMaxZ))
+        .def("getInstanceNum", &PointCloudData::getInstanceNum, DOC(dai, PointCloudData, getInstanceNum))
+        .def("getTimestamp", &PointCloudData::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &PointCloudData::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &PointCloudData::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        .def("setWidth", &PointCloudData::setWidth, DOC(dai, PointCloudData, setWidth))
+        .def("setHeight", &PointCloudData::setHeight, DOC(dai, PointCloudData, setHeight))
+        .def("setSize", static_cast<PointCloudData&(PointCloudData::*)(unsigned int, unsigned int)>(&PointCloudData::setSize), py::arg("width"), py::arg("height"), DOC(dai, PointCloudData, setSize))
+        .def("setSize", static_cast<PointCloudData&(PointCloudData::*)(std::tuple<unsigned int, unsigned int>)>(&PointCloudData::setSize), py::arg("size"), DOC(dai, PointCloudData, setSize, 2))
+        .def("setMinX", &PointCloudData::setMinX, DOC(dai, PointCloudData, setMinX))
+        .def("setMinY", &PointCloudData::setMinY, DOC(dai, PointCloudData, setMinY))
+        .def("setMinZ", &PointCloudData::setMinZ, DOC(dai, PointCloudData, setMinZ))
+        .def("setMaxX", &PointCloudData::setMaxX, DOC(dai, PointCloudData, setMaxX))
+        .def("setMaxY", &PointCloudData::setMaxY, DOC(dai, PointCloudData, setMaxY))
+        .def("setMaxZ", &PointCloudData::setMaxZ, DOC(dai, PointCloudData, setMaxZ))
+        .def("setInstanceNum", &PointCloudData::setInstanceNum, DOC(dai, PointCloudData, setInstanceNum))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/SpatialImgDetectionsBindings.cpp b/bindings/python/src/pipeline/datatype/SpatialImgDetectionsBindings.cpp
new file mode 100644
index 000000000..3a65cf59d
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/SpatialImgDetectionsBindings.cpp
@@ -0,0 +1,83 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/SpatialImgDetections.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_spatialimgdetections(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawSpatialImgDetections, RawBuffer, std::shared_ptr<RawSpatialImgDetections>> rawSpatialImgDetections(m, "RawSpatialImgDetections", DOC(dai, RawSpatialImgDetections));
+    py::class_<SpatialImgDetection, ImgDetection> spatialImgDetection(m, "SpatialImgDetection", DOC(dai, SpatialImgDetection));
+    py::class_<SpatialImgDetections, Buffer, std::shared_ptr<SpatialImgDetections>> spatialImgDetections(m, "SpatialImgDetections", DOC(dai, SpatialImgDetections));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    spatialImgDetection
+        .def(py::init<>())
+        .def_readwrite("spatialCoordinates", &SpatialImgDetection::spatialCoordinates)
+        .def_readwrite("boundingBoxMapping", &SpatialImgDetection::boundingBoxMapping)
+        ;
+
+    // rawSpatialImgDetections
+    //     .def(py::init<>())
+    //     .def_readwrite("detections", &RawSpatialImgDetections::detections)
+    //     .def_property("ts",
+    //         [](const RawSpatialImgDetections& o){
+    //             double ts = o.ts.sec + o.ts.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawSpatialImgDetections& o, double ts){
+    //             o.ts.sec = ts;
+    //             o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_property("tsDevice",
+    //         [](const RawSpatialImgDetections& o){
+    //             double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+    //             return ts;
+    //         },
+    //         [](RawSpatialImgDetections& o, double ts){
+    //             o.tsDevice.sec = ts;
+    //             o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+    //         }
+    //     )
+    //     .def_readwrite("sequenceNum", &RawSpatialImgDetections::sequenceNum)
+    //     ;
+
+    // Message
+    spatialImgDetections
+        .def(py::init<>())
+        .def_property("detections", [](SpatialImgDetections& det) { return &det.detections; }, [](SpatialImgDetections& det, std::vector<SpatialImgDetection> val) { det.detections = val; })
+        .def("getTimestamp", &SpatialImgDetections::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &SpatialImgDetections::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &SpatialImgDetections::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &SpatialImgDetections::setTimestamp, DOC(dai, SpatialImgDetections, setTimestamp))
+        // .def("setTimestampDevice", &SpatialImgDetections::setTimestampDevice, DOC(dai, SpatialImgDetections, setTimestampDevice))
+        // .def("setSequenceNum", &SpatialImgDetections::setSequenceNum, DOC(dai, SpatialImgDetections, setSequenceNum))
+        ;
+
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp b/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp
new file mode 100644
index 000000000..15a2a453a
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp
@@ -0,0 +1,71 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_spatiallocationcalculatorconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<SpatialLocationCalculatorConfigThresholds> spatialLocationCalculatorConfigThresholds(m, "SpatialLocationCalculatorConfigThresholds", DOC(dai, SpatialLocationCalculatorConfigThresholds));
+    py::enum_<SpatialLocationCalculatorAlgorithm> spatialLocationCalculatorAlgorithm(m, "SpatialLocationCalculatorAlgorithm", DOC(dai, SpatialLocationCalculatorAlgorithm));
+    py::class_<SpatialLocationCalculatorConfigData> spatialLocationCalculatorConfigData(m, "SpatialLocationCalculatorConfigData", DOC(dai, SpatialLocationCalculatorConfigData));
+    py::class_<SpatialLocationCalculatorConfig, Buffer, std::shared_ptr<SpatialLocationCalculatorConfig>> spatialLocationCalculatorConfig(m, "SpatialLocationCalculatorConfig", DOC(dai, SpatialLocationCalculatorConfig));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    spatialLocationCalculatorConfigThresholds
+        .def(py::init<>())
+        .def_readwrite("lowerThreshold", &SpatialLocationCalculatorConfigThresholds::lowerThreshold)
+        .def_readwrite("upperThreshold", &SpatialLocationCalculatorConfigThresholds::upperThreshold)
+        ;
+
+    spatialLocationCalculatorAlgorithm
+        .value("AVERAGE", SpatialLocationCalculatorAlgorithm::AVERAGE)
+        .value("MEAN", SpatialLocationCalculatorAlgorithm::MEAN)
+        .value("MIN", SpatialLocationCalculatorAlgorithm::MIN)
+        .value("MAX", SpatialLocationCalculatorAlgorithm::MAX)
+        .value("MODE", SpatialLocationCalculatorAlgorithm::MODE)
+        .value("MEDIAN", SpatialLocationCalculatorAlgorithm::MEDIAN)
+        ;
+
+    spatialLocationCalculatorConfigData
+        .def(py::init<>())
+        .def_readwrite("roi", &SpatialLocationCalculatorConfigData::roi, DOC(dai, SpatialLocationCalculatorConfigData, roi))
+        .def_readwrite("depthThresholds", &SpatialLocationCalculatorConfigData::depthThresholds, DOC(dai, SpatialLocationCalculatorConfigData, depthThresholds))
+        .def_readwrite("calculationAlgorithm", &SpatialLocationCalculatorConfigData::calculationAlgorithm, DOC(dai, SpatialLocationCalculatorConfigData, calculationAlgorithm))
+        ;
+
+    // Message
+    spatialLocationCalculatorConfig
+        .def(py::init<>())
+        // setters
+        .def("setROIs", &SpatialLocationCalculatorConfig::setROIs, py::arg("ROIs"), DOC(dai, SpatialLocationCalculatorConfig, setROIs))
+        .def("addROI", &SpatialLocationCalculatorConfig::addROI, py::arg("ROI"), DOC(dai, SpatialLocationCalculatorConfig, addROI))
+        .def("getConfigData", &SpatialLocationCalculatorConfig::getConfigData, DOC(dai, SpatialLocationCalculatorConfig, getConfigData))
+        // .def("set",         &SpatialLocationCalculatorConfig::set, py::arg("config"), DOC(dai, SpatialLocationCalculatorConfig, set))
+        // .def("get",         &SpatialLocationCalculatorConfig::get, DOC(dai, SpatialLocationCalculatorConfig, get))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp b/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp
new file mode 100644
index 000000000..470d5b570
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp
@@ -0,0 +1,62 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_spatiallocationcalculatordata(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    py::class_<SpatialLocationCalculatorData, Buffer, std::shared_ptr<SpatialLocationCalculatorData>> spatialLocationCalculatorData(m, "SpatialLocationCalculatorData", DOC(dai, SpatialLocationCalculatorData));
+    py::class_<SpatialLocations> spatialLocations(m, "SpatialLocations", DOC(dai, SpatialLocations));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    spatialLocations
+        .def(py::init<>())
+        .def_readwrite("config", &SpatialLocations::config, DOC(dai, SpatialLocations, config))
+        .def_readwrite("depthAverage", &SpatialLocations::depthAverage, DOC(dai, SpatialLocations, depthAverage))
+        .def_readwrite("depthMode", &SpatialLocations::depthMode, DOC(dai, SpatialLocations, depthMode))
+        .def_readwrite("depthMedian", &SpatialLocations::depthMedian, DOC(dai, SpatialLocations, depthMedian))
+        .def_readwrite("depthMin", &SpatialLocations::depthMin, DOC(dai, SpatialLocations, depthMin))
+        .def_readwrite("depthMax", &SpatialLocations::depthMax, DOC(dai, SpatialLocations, depthMax))
+        .def_readwrite("depthAveragePixelCount", &SpatialLocations::depthAveragePixelCount, DOC(dai, SpatialLocations, depthAveragePixelCount))
+        .def_readwrite("spatialCoordinates", &SpatialLocations::spatialCoordinates, DOC(dai, SpatialLocations, spatialCoordinates))
+        ;
+
+    // Message
+    spatialLocationCalculatorData
+        .def(py::init<>())
+        .def("getSpatialLocations", &SpatialLocationCalculatorData::getSpatialLocations, DOC(dai, SpatialLocationCalculatorData, getSpatialLocations))
+        .def_property("spatialLocations", [](SpatialLocationCalculatorData& loc) { return &loc.spatialLocations; }, [](SpatialLocationCalculatorData& loc, std::vector<SpatialLocations> val) { loc.spatialLocations = val; }, DOC(dai, SpatialLocationCalculatorData, spatialLocations))
+        .def("getTimestamp", &SpatialLocationCalculatorData::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &SpatialLocationCalculatorData::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &SpatialLocationCalculatorData::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &SpatialLocationCalculatorData::setTimestamp, DOC(dai, SpatialLocationCalculatorData, setTimestamp))
+        // .def("setTimestampDevice", &SpatialLocationCalculatorData::setTimestampDevice, DOC(dai, SpatialLocationCalculatorData, setTimestampDevice))
+        // .def("setSequenceNum", &SpatialLocationCalculatorData::setSequenceNum, DOC(dai, SpatialLocationCalculatorData, setSequenceNum))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/StereoDepthConfigBindings.cpp b/bindings/python/src/pipeline/datatype/StereoDepthConfigBindings.cpp
new file mode 100644
index 000000000..fbf6a2029
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/StereoDepthConfigBindings.cpp
@@ -0,0 +1,270 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_stereodepthconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawStereoDepthConfig, RawBuffer, std::shared_ptr<RawStereoDepthConfig>> rawStereoDepthConfig(m, "RawStereoDepthConfig", DOC(dai, RawStereoDepthConfig));
+    py::class_<StereoDepthConfig, Buffer, std::shared_ptr<StereoDepthConfig>> stereoDepthConfig(m, "StereoDepthConfig", DOC(dai, StereoDepthConfig));
+    py::enum_<StereoDepthConfig::MedianFilter> medianFilter(m, "MedianFilter", DOC(dai, MedianFilter));
+    py::class_<StereoDepthConfig::AlgorithmControl> algorithmControl(stereoDepthConfig, "AlgorithmControl", DOC(dai, StereoDepthConfig, AlgorithmControl));
+    py::enum_<StereoDepthConfig::AlgorithmControl::DepthAlign> depthAlign(algorithmControl, "DepthAlign", DOC(dai, StereoDepthConfig, AlgorithmControl, DepthAlign));
+    py::enum_<StereoDepthConfig::AlgorithmControl::DepthUnit> depthUnit(algorithmControl, "DepthUnit", DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit));
+    py::class_<StereoDepthConfig::PostProcessing> postProcessing(stereoDepthConfig, "PostProcessing", DOC(dai, StereoDepthConfig, PostProcessing));
+    py::class_<StereoDepthConfig::PostProcessing::SpatialFilter> spatialFilter(postProcessing, "SpatialFilter", DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter));
+    py::class_<StereoDepthConfig::PostProcessing::TemporalFilter> temporalFilter(postProcessing, "TemporalFilter", DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter));
+    py::enum_<StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode> persistencyMode(temporalFilter, "PersistencyMode", DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode));
+    py::class_<StereoDepthConfig::PostProcessing::ThresholdFilter> thresholdFilter(postProcessing, "ThresholdFilter", DOC(dai, StereoDepthConfig, PostProcessing, ThresholdFilter));
+    py::class_<StereoDepthConfig::PostProcessing::BrightnessFilter> brightnessFilter(postProcessing, "BrightnessFilter", DOC(dai, StereoDepthConfig, PostProcessing, BrightnessFilter));
+    py::class_<StereoDepthConfig::PostProcessing::SpeckleFilter> speckleFilter(postProcessing, "SpeckleFilter", DOC(dai, StereoDepthConfig, PostProcessing, SpeckleFilter));
+    py::class_<StereoDepthConfig::PostProcessing::DecimationFilter> decimationFilter(postProcessing, "DecimationFilter", DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter));
+    py::enum_<StereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode> decimationMode(decimationFilter, "DecimationMode", DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, DecimationMode));
+    py::class_<StereoDepthConfig::CostAggregation> costAggregation(stereoDepthConfig, "CostAggregation", DOC(dai, StereoDepthConfig, CostAggregation));
+    py::enum_<StereoDepthConfig::CostAggregation::LocalAggregationMode> localAggregationMode(costAggregation, "LocalAggregationMode", DOC(dai, StereoDepthConfig, CostAggregation, LocalAggregationMode));
+    py::class_<StereoDepthConfig::CostMatching> costMatching(stereoDepthConfig, "CostMatching", DOC(dai, StereoDepthConfig, CostMatching));
+    py::class_<StereoDepthConfig::CostMatching::LinearEquationParameters> costMatchingLinearEquationParameters(costMatching, "LinearEquationParameters", DOC(dai, StereoDepthConfig, CostMatching, LinearEquationParameters));
+    py::enum_<StereoDepthConfig::CostMatching::DisparityWidth> costMatchingDisparityWidth(costMatching, "DisparityWidth", DOC(dai, StereoDepthConfig, CostMatching, DisparityWidth));
+    py::class_<StereoDepthConfig::CensusTransform> censusTransform(stereoDepthConfig, "CensusTransform", DOC(dai, StereoDepthConfig, CensusTransform));
+    py::enum_<StereoDepthConfig::CensusTransform::KernelSize> censusTransformKernelSize(censusTransform, "KernelSize", DOC(dai, StereoDepthConfig, CensusTransform, KernelSize));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    medianFilter
+        .value("MEDIAN_OFF", StereoDepthConfig::MedianFilter::MEDIAN_OFF)
+        .value("KERNEL_3x3", StereoDepthConfig::MedianFilter::KERNEL_3x3)
+        .value("KERNEL_5x5", StereoDepthConfig::MedianFilter::KERNEL_5x5)
+        .value("KERNEL_7x7", StereoDepthConfig::MedianFilter::KERNEL_7x7)
+        ;
+    m.attr("StereoDepthProperties").attr("MedianFilter") = medianFilter;
+
+
+    depthAlign
+        .value("RECTIFIED_RIGHT", StereoDepthConfig::AlgorithmControl::DepthAlign::RECTIFIED_RIGHT, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthAlign, RECTIFIED_RIGHT))
+        .value("RECTIFIED_LEFT", StereoDepthConfig::AlgorithmControl::DepthAlign::RECTIFIED_LEFT, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthAlign, RECTIFIED_LEFT))
+        .value("CENTER", StereoDepthConfig::AlgorithmControl::DepthAlign::CENTER, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthAlign, CENTER));
+
+    m.attr("StereoDepthProperties").attr("DepthAlign") = depthAlign;
+
+    depthUnit
+        .value("METER", StereoDepthConfig::AlgorithmControl::DepthUnit::METER, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, METER))
+        .value("CENTIMETER", StereoDepthConfig::AlgorithmControl::DepthUnit::CENTIMETER, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, CENTIMETER))
+        .value("MILLIMETER", StereoDepthConfig::AlgorithmControl::DepthUnit::MILLIMETER, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, MILLIMETER))
+        .value("INCH", StereoDepthConfig::AlgorithmControl::DepthUnit::INCH, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, INCH))
+        .value("FOOT", StereoDepthConfig::AlgorithmControl::DepthUnit::FOOT, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, FOOT))
+        .value("CUSTOM", StereoDepthConfig::AlgorithmControl::DepthUnit::CUSTOM, DOC(dai, StereoDepthConfig, AlgorithmControl, DepthUnit, CUSTOM))
+        ;
+
+    algorithmControl
+        .def(py::init<>())
+        .def_readwrite("depthAlign", &StereoDepthConfig::AlgorithmControl::depthAlign, DOC(dai, StereoDepthConfig, AlgorithmControl, depthAlign))
+        .def_readwrite("depthUnit", &StereoDepthConfig::AlgorithmControl::depthUnit, DOC(dai, StereoDepthConfig, AlgorithmControl, depthUnit))
+        .def_readwrite("customDepthUnitMultiplier", &StereoDepthConfig::AlgorithmControl::customDepthUnitMultiplier, DOC(dai, StereoDepthConfig, AlgorithmControl, customDepthUnitMultiplier))
+        .def_readwrite("enableLeftRightCheck", &StereoDepthConfig::AlgorithmControl::enableLeftRightCheck, DOC(dai, StereoDepthConfig, AlgorithmControl, enableLeftRightCheck))
+        .def_readwrite("enableExtended", &StereoDepthConfig::AlgorithmControl::enableExtended, DOC(dai, StereoDepthConfig, AlgorithmControl, enableExtended))
+        .def_readwrite("enableSubpixel", &StereoDepthConfig::AlgorithmControl::enableSubpixel, DOC(dai, StereoDepthConfig, AlgorithmControl, enableSubpixel))
+        .def_readwrite("leftRightCheckThreshold", &StereoDepthConfig::AlgorithmControl::leftRightCheckThreshold, DOC(dai, StereoDepthConfig, AlgorithmControl, leftRightCheckThreshold))
+        .def_readwrite("subpixelFractionalBits", &StereoDepthConfig::AlgorithmControl::subpixelFractionalBits, DOC(dai, StereoDepthConfig, AlgorithmControl, subpixelFractionalBits))
+        .def_readwrite("disparityShift", &StereoDepthConfig::AlgorithmControl::disparityShift, DOC(dai, StereoDepthConfig, AlgorithmControl, disparityShift))
+        .def_readwrite("replaceInvalidDisparity", &StereoDepthConfig::AlgorithmControl::replaceInvalidDisparity, DOC(dai, StereoDepthConfig, AlgorithmControl, replaceInvalidDisparity))
+        .def_readwrite("outlierRemoveThreshold", &StereoDepthConfig::AlgorithmControl::outlierRemoveThreshold, DOC(dai, StereoDepthConfig, AlgorithmControl, outlierRemoveThreshold))
+        .def_readwrite("outlierCensusThreshold", &StereoDepthConfig::AlgorithmControl::outlierCensusThreshold, DOC(dai, StereoDepthConfig, AlgorithmControl, outlierCensusThreshold))
+        .def_readwrite("outlierDiffThreshold", &StereoDepthConfig::AlgorithmControl::outlierDiffThreshold, DOC(dai, StereoDepthConfig, AlgorithmControl, outlierDiffThreshold))
+        .def_readwrite("centerAlignmentShiftFactor", &StereoDepthConfig::AlgorithmControl::centerAlignmentShiftFactor, DOC(dai, StereoDepthConfig, AlgorithmControl, centerAlignmentShiftFactor))
+        .def_readwrite("numInvalidateEdgePixels", &StereoDepthConfig::AlgorithmControl::numInvalidateEdgePixels, DOC(dai, StereoDepthConfig, AlgorithmControl, numInvalidateEdgePixels))
+        ;
+
+    spatialFilter
+        .def(py::init<>())
+        .def_readwrite("enable", &StereoDepthConfig::PostProcessing::SpatialFilter::enable, DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter, enable))
+        .def_readwrite("holeFillingRadius", &StereoDepthConfig::PostProcessing::SpatialFilter::holeFillingRadius, DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter, holeFillingRadius))
+        .def_readwrite("alpha", &StereoDepthConfig::PostProcessing::SpatialFilter::alpha, DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter, alpha))
+        .def_readwrite("delta", &StereoDepthConfig::PostProcessing::SpatialFilter::delta, DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter, delta))
+        .def_readwrite("numIterations", &StereoDepthConfig::PostProcessing::SpatialFilter::numIterations, DOC(dai, StereoDepthConfig, PostProcessing, SpatialFilter, numIterations))
+        ;
+
+    persistencyMode
+        .value("PERSISTENCY_OFF", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::PERSISTENCY_OFF, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, PERSISTENCY_OFF))
+        .value("VALID_8_OUT_OF_8", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_8_OUT_OF_8, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_8_OUT_OF_8))
+        .value("VALID_2_IN_LAST_3", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_2_IN_LAST_3, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_2_IN_LAST_3))
+        .value("VALID_2_IN_LAST_4", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_2_IN_LAST_4, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_2_IN_LAST_4))
+        .value("VALID_2_OUT_OF_8", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_2_OUT_OF_8, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_2_OUT_OF_8))
+        .value("VALID_1_IN_LAST_2", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_1_IN_LAST_2, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_1_IN_LAST_2))
+        .value("VALID_1_IN_LAST_5", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_1_IN_LAST_5, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_1_IN_LAST_5))
+        .value("VALID_1_IN_LAST_8", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_1_IN_LAST_8, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, VALID_1_IN_LAST_8))
+        .value("PERSISTENCY_INDEFINITELY", StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::PERSISTENCY_INDEFINITELY, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, PersistencyMode, PERSISTENCY_INDEFINITELY))
+        ;
+
+    temporalFilter
+        .def(py::init<>())
+        .def_readwrite("enable", &StereoDepthConfig::PostProcessing::TemporalFilter::enable, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, enable))
+        .def_readwrite("persistencyMode", &StereoDepthConfig::PostProcessing::TemporalFilter::persistencyMode, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, persistencyMode))
+        .def_readwrite("alpha", &StereoDepthConfig::PostProcessing::TemporalFilter::alpha, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, alpha))
+        .def_readwrite("delta", &StereoDepthConfig::PostProcessing::TemporalFilter::delta, DOC(dai, StereoDepthConfig, PostProcessing, TemporalFilter, delta))
+        ;
+
+    thresholdFilter
+        .def(py::init<>())
+        .def_readwrite("minRange", &StereoDepthConfig::PostProcessing::ThresholdFilter::minRange, DOC(dai, StereoDepthConfig, PostProcessing, ThresholdFilter, minRange))
+        .def_readwrite("maxRange", &StereoDepthConfig::PostProcessing::ThresholdFilter::maxRange, DOC(dai, StereoDepthConfig, PostProcessing, ThresholdFilter, maxRange))
+        ;
+
+    brightnessFilter
+        .def(py::init<>())
+        .def_readwrite("minBrightness", &StereoDepthConfig::PostProcessing::BrightnessFilter::minBrightness, DOC(dai, StereoDepthConfig, PostProcessing, BrightnessFilter, minBrightness))
+        .def_readwrite("maxBrightness", &StereoDepthConfig::PostProcessing::BrightnessFilter::maxBrightness, DOC(dai, StereoDepthConfig, PostProcessing, BrightnessFilter, maxBrightness))
+        ;
+
+    speckleFilter
+        .def(py::init<>())
+        .def_readwrite("enable", &StereoDepthConfig::PostProcessing::SpeckleFilter::enable, DOC(dai, StereoDepthConfig, PostProcessing, SpeckleFilter, enable))
+        .def_readwrite("speckleRange", &StereoDepthConfig::PostProcessing::SpeckleFilter::speckleRange, DOC(dai, StereoDepthConfig, PostProcessing, SpeckleFilter, speckleRange))
+        ;
+
+    decimationMode
+        .value("PIXEL_SKIPPING", StereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::PIXEL_SKIPPING, DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, DecimationMode, PIXEL_SKIPPING))
+        .value("NON_ZERO_MEDIAN", StereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEDIAN, DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, DecimationMode, NON_ZERO_MEDIAN))
+        .value("NON_ZERO_MEAN", StereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN, DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, DecimationMode, NON_ZERO_MEAN))
+        ;
+
+    decimationFilter
+        .def(py::init<>())
+        .def_readwrite("decimationFactor", &StereoDepthConfig::PostProcessing::DecimationFilter::decimationFactor, DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, decimationFactor))
+        .def_readwrite("decimationMode", &StereoDepthConfig::PostProcessing::DecimationFilter::decimationMode, DOC(dai, StereoDepthConfig, PostProcessing, DecimationFilter, decimationMode))
+        ;
+
+    postProcessing
+        .def(py::init<>())
+        .def_readwrite("median", &StereoDepthConfig::PostProcessing::median, DOC(dai, StereoDepthConfig, PostProcessing, median))
+        .def_readwrite("bilateralSigmaValue", &StereoDepthConfig::PostProcessing::bilateralSigmaValue, DOC(dai, StereoDepthConfig, PostProcessing, bilateralSigmaValue))
+        .def_readwrite("spatialFilter", &StereoDepthConfig::PostProcessing::spatialFilter, DOC(dai, StereoDepthConfig, PostProcessing, spatialFilter))
+        .def_readwrite("temporalFilter", &StereoDepthConfig::PostProcessing::temporalFilter, DOC(dai, StereoDepthConfig, PostProcessing, temporalFilter))
+        .def_readwrite("thresholdFilter", &StereoDepthConfig::PostProcessing::thresholdFilter, DOC(dai, StereoDepthConfig, PostProcessing, thresholdFilter))
+        .def_readwrite("brightnessFilter", &StereoDepthConfig::PostProcessing::brightnessFilter, DOC(dai, StereoDepthConfig, PostProcessing, brightnessFilter))
+        .def_readwrite("speckleFilter", &StereoDepthConfig::PostProcessing::speckleFilter, DOC(dai, StereoDepthConfig, PostProcessing, speckleFilter))
+        .def_readwrite("decimationFilter", &StereoDepthConfig::PostProcessing::decimationFilter, DOC(dai, StereoDepthConfig, PostProcessing, decimationFilter))
+        ;
+
+    // KernelSize
+    censusTransformKernelSize
+        .value("AUTO", StereoDepthConfig::CensusTransform::KernelSize::AUTO, DOC(dai, StereoDepthConfig, CensusTransform, KernelSize, AUTO))
+        .value("KERNEL_5x5", StereoDepthConfig::CensusTransform::KernelSize::KERNEL_5x5, DOC(dai, StereoDepthConfig, CensusTransform, KernelSize, KERNEL_5x5))
+        .value("KERNEL_7x7", StereoDepthConfig::CensusTransform::KernelSize::KERNEL_7x7, DOC(dai, StereoDepthConfig, CensusTransform, KernelSize, KERNEL_7x7))
+        .value("KERNEL_7x9", StereoDepthConfig::CensusTransform::KernelSize::KERNEL_7x9, DOC(dai, StereoDepthConfig, CensusTransform, KernelSize, KERNEL_7x9))
+        ;
+
+    censusTransform
+        .def(py::init<>())
+        .def_readwrite("kernelSize", &StereoDepthConfig::CensusTransform::kernelSize, DOC(dai, StereoDepthConfig, CensusTransform, kernelSize))
+        .def_readwrite("kernelMask", &StereoDepthConfig::CensusTransform::kernelMask, DOC(dai, StereoDepthConfig, CensusTransform, kernelMask))
+        .def_readwrite("enableMeanMode", &StereoDepthConfig::CensusTransform::enableMeanMode, DOC(dai, StereoDepthConfig, CensusTransform, enableMeanMode))
+        .def_readwrite("threshold", &StereoDepthConfig::CensusTransform::threshold, DOC(dai, StereoDepthConfig, CensusTransform, threshold))
+        ;
+
+    costMatchingLinearEquationParameters
+        .def(py::init<>())
+        .def_readwrite("alpha", &StereoDepthConfig::CostMatching::LinearEquationParameters::alpha, DOC(dai, StereoDepthConfig, CostMatching, LinearEquationParameters, alpha))
+        .def_readwrite("beta", &StereoDepthConfig::CostMatching::LinearEquationParameters::beta, DOC(dai, StereoDepthConfig, CostMatching, LinearEquationParameters, beta))
+        .def_readwrite("threshold", &StereoDepthConfig::CostMatching::LinearEquationParameters::threshold, DOC(dai, StereoDepthConfig, CostMatching, LinearEquationParameters, threshold))
+        ;
+
+    // Disparity width
+    costMatchingDisparityWidth
+        .value("DISPARITY_64", StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64, DOC(dai, StereoDepthConfig, CostMatching, DisparityWidth, DISPARITY_64))
+        .value("DISPARITY_96", StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_96, DOC(dai, StereoDepthConfig, CostMatching, DisparityWidth, DISPARITY_96))
+        ;
+
+    costMatching
+        .def(py::init<>())
+        .def_readwrite("disparityWidth", &StereoDepthConfig::CostMatching::disparityWidth, DOC(dai, StereoDepthConfig, CostMatching, disparityWidth))
+        .def_readwrite("enableCompanding", &StereoDepthConfig::CostMatching::enableCompanding, DOC(dai, StereoDepthConfig, CostMatching, enableCompanding))
+        .def_readwrite("invalidDisparityValue", &StereoDepthConfig::CostMatching::invalidDisparityValue, DOC(dai, StereoDepthConfig, CostMatching, invalidDisparityValue))
+        .def_readwrite("confidenceThreshold", &StereoDepthConfig::CostMatching::confidenceThreshold, DOC(dai, StereoDepthConfig, CostMatching, confidenceThreshold))
+        .def_readwrite("linearEquationParameters", &StereoDepthConfig::CostMatching::linearEquationParameters, DOC(dai, StereoDepthConfig, CostMatching, linearEquationParameters))
+        ;
+
+    // KernelSize
+    localAggregationMode
+        .value("AVG3x3", StereoDepthConfig::CostAggregation::LocalAggregationMode::AVG3x3, DOC(dai, StereoDepthConfig, CostAggregation, LocalAggregationMode, AVG3x3))
+        .value("CLAMP3x3", StereoDepthConfig::CostAggregation::LocalAggregationMode::CLAMP3x3, DOC(dai, StereoDepthConfig, CostAggregation, LocalAggregationMode, CLAMP3x3))
+        .value("PASS3x3", StereoDepthConfig::CostAggregation::LocalAggregationMode::PASS3x3, DOC(dai, StereoDepthConfig, CostAggregation, LocalAggregationMode, PASS3x3))
+        ;
+
+    costAggregation
+        .def(py::init<>())
+        .def_readwrite("divisionFactor", &StereoDepthConfig::CostAggregation::divisionFactor, DOC(dai, StereoDepthConfig, CostAggregation, divisionFactor))
+        .def_readwrite("horizontalPenaltyCostP1", &StereoDepthConfig::CostAggregation::horizontalPenaltyCostP1, DOC(dai, StereoDepthConfig, CostAggregation, horizontalPenaltyCostP1))
+        .def_readwrite("horizontalPenaltyCostP2", &StereoDepthConfig::CostAggregation::horizontalPenaltyCostP2, DOC(dai, StereoDepthConfig, CostAggregation, horizontalPenaltyCostP2))
+        .def_readwrite("verticalPenaltyCostP1", &StereoDepthConfig::CostAggregation::verticalPenaltyCostP1, DOC(dai, StereoDepthConfig, CostAggregation, verticalPenaltyCostP1))
+        .def_readwrite("verticalPenaltyCostP2", &StereoDepthConfig::CostAggregation::verticalPenaltyCostP2, DOC(dai, StereoDepthConfig, CostAggregation, verticalPenaltyCostP2))
+        .def_readwrite("localAggregationMode", &StereoDepthConfig::CostAggregation::localAggregationMode, DOC(dai, StereoDepthConfig, CostAggregation, localAggregationMode))
+        ;
+
+    stereoDepthConfig
+        .def(py::init<>())
+        .def_readwrite("algorithmControl", &StereoDepthConfig::algorithmControl,  DOC(dai, StereoDepthConfig, algorithmControl))
+        .def_readwrite("postProcessing", &StereoDepthConfig::postProcessing,  DOC(dai, StereoDepthConfig, postProcessing))
+        .def_readwrite("censusTransform", &StereoDepthConfig::censusTransform,  DOC(dai, StereoDepthConfig, censusTransform))
+        .def_readwrite("costMatching", &StereoDepthConfig::costMatching,  DOC(dai, StereoDepthConfig, costMatching))
+        .def_readwrite("costAggregation", &StereoDepthConfig::costAggregation,  DOC(dai, StereoDepthConfig, costAggregation))
+        ;
+    // legacy
+    m.attr("StereoDepthConfig").attr("MedianFilter") = medianFilter;
+
+
+    // Message
+    stereoDepthConfig
+        .def(py::init<>())
+        .def("setDepthAlign", &StereoDepthConfig::setDepthAlign, py::arg("align"), DOC(dai, StereoDepthConfig, setDepthAlign))
+        .def("setConfidenceThreshold",  &StereoDepthConfig::setConfidenceThreshold, py::arg("confThr"), DOC(dai, StereoDepthConfig, setConfidenceThreshold))
+        .def("setMedianFilter",         &StereoDepthConfig::setMedianFilter, py::arg("median"), DOC(dai, StereoDepthConfig, setMedianFilter))
+        .def("setBilateralFilterSigma", &StereoDepthConfig::setBilateralFilterSigma, py::arg("sigma"), DOC(dai, StereoDepthConfig, setBilateralFilterSigma))
+        .def("setLeftRightCheckThreshold", &StereoDepthConfig::setLeftRightCheckThreshold, py::arg("sigma"), DOC(dai, StereoDepthConfig, setLeftRightCheckThreshold))
+        .def("getConfidenceThreshold",  &StereoDepthConfig::getConfidenceThreshold, DOC(dai, StereoDepthConfig, getConfidenceThreshold))
+        .def("getMedianFilter",         &StereoDepthConfig::getMedianFilter, DOC(dai, StereoDepthConfig, getMedianFilter))
+        .def("getBilateralFilterSigma", &StereoDepthConfig::getBilateralFilterSigma, DOC(dai, StereoDepthConfig, getBilateralFilterSigma))
+        .def("getLeftRightCheckThreshold",         &StereoDepthConfig::getLeftRightCheckThreshold, DOC(dai, StereoDepthConfig, getLeftRightCheckThreshold))
+        .def("setLeftRightCheck",       &StereoDepthConfig::setLeftRightCheck, py::arg("enable"), DOC(dai, StereoDepthConfig, setLeftRightCheck))
+        .def("setExtendedDisparity",    &StereoDepthConfig::setExtendedDisparity, py::arg("enable"), DOC(dai, StereoDepthConfig, setExtendedDisparity))
+        .def("setSubpixel",             &StereoDepthConfig::setSubpixel, py::arg("enable"), DOC(dai, StereoDepthConfig, setSubpixel))
+        .def("setSubpixelFractionalBits", &StereoDepthConfig::setSubpixelFractionalBits, py::arg("subpixelFractionalBits"), DOC(dai, StereoDepthConfig, setSubpixelFractionalBits))
+        .def("getMaxDisparity",         &StereoDepthConfig::getMaxDisparity, DOC(dai, StereoDepthConfig, getMaxDisparity))
+        .def("setDepthUnit",            &StereoDepthConfig::setDepthUnit, DOC(dai, StereoDepthConfig, setDepthUnit))
+        .def("getDepthUnit",            &StereoDepthConfig::getDepthUnit, DOC(dai, StereoDepthConfig, getDepthUnit))
+        .def("setDisparityShift",       &StereoDepthConfig::setDisparityShift, DOC(dai, StereoDepthConfig, setDisparityShift))
+        .def("setNumInvalidateEdgePixels",       &StereoDepthConfig::setNumInvalidateEdgePixels, DOC(dai, StereoDepthConfig, setNumInvalidateEdgePixels))
+        // .def("set",                     &StereoDepthConfig::set, py::arg("config"), DOC(dai, StereoDepthConfig, set))
+        // .def("get",                     &StereoDepthConfig::get, DOC(dai, StereoDepthConfig, get))
+        ;
+    m.attr("StereoDepthConfig").attr("MedianFilter") = medianFilter;
+    m.attr("StereoDepthConfig").attr("AlgorithmControl") = algorithmControl;
+    m.attr("StereoDepthConfig").attr("PostProcessing") = postProcessing;
+    m.attr("StereoDepthConfig").attr("CensusTransform") = censusTransform;
+    m.attr("StereoDepthConfig").attr("CostMatching") = costMatching;
+    m.attr("StereoDepthConfig").attr("CostAggregation") = costAggregation;
+
+
+}
diff --git a/bindings/python/src/pipeline/datatype/SystemInformationBindings.cpp b/bindings/python/src/pipeline/datatype/SystemInformationBindings.cpp
new file mode 100644
index 000000000..b37969536
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/SystemInformationBindings.cpp
@@ -0,0 +1,100 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/SystemInformation.hpp"
+#include "depthai/pipeline/datatype/SystemInformationS3.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_systeminformation(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawSystemInformation, RawBuffer, std::shared_ptr<RawSystemInformation>> rawSystemInformation(m, "RawSystemInformation", DOC(dai, RawSystemInformation));
+    py::class_<SystemInformation, Buffer, std::shared_ptr<SystemInformation>> systemInformation(m, "SystemInformation", DOC(dai, SystemInformation));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawSystemInformation
+    //     .def(py::init<>())
+    //     .def_readwrite("ddrMemoryUsage", &RawSystemInformation::ddrMemoryUsage)
+    //     .def_readwrite("cmxMemoryUsage", &RawSystemInformation::cmxMemoryUsage)
+    //     .def_readwrite("leonCssMemoryUsage", &RawSystemInformation::leonCssMemoryUsage)
+    //     .def_readwrite("leonMssMemoryUsage", &RawSystemInformation::leonMssMemoryUsage)
+    //     .def_readwrite("leonCssCpuUsage", &RawSystemInformation::leonCssCpuUsage)
+    //     .def_readwrite("leonMssCpuUsage", &RawSystemInformation::leonMssCpuUsage)
+    //     .def_readwrite("chipTemperature", &RawSystemInformation::chipTemperature)
+    //     ;
+
+    // Message
+    systemInformation
+        .def(py::init<>())
+        .def_property("ddrMemoryUsage", [](SystemInformation& i) { return &i.ddrMemoryUsage; }, [](SystemInformation& i, MemoryInfo val) { i.ddrMemoryUsage = val; } )
+        .def_property("cmxMemoryUsage", [](SystemInformation& i) { return &i.cmxMemoryUsage; }, [](SystemInformation& i, MemoryInfo val) { i.cmxMemoryUsage = val; } )
+        .def_property("leonCssMemoryUsage", [](SystemInformation& i) { return &i.leonCssMemoryUsage; }, [](SystemInformation& i, MemoryInfo val) { i.leonCssMemoryUsage = val; } )
+        .def_property("leonMssMemoryUsage", [](SystemInformation& i) { return &i.leonMssMemoryUsage; }, [](SystemInformation& i, MemoryInfo val) { i.leonMssMemoryUsage = val; } )
+        .def_property("leonCssCpuUsage", [](SystemInformation& i) { return &i.leonCssCpuUsage; }, [](SystemInformation& i, CpuUsage val) { i.leonCssCpuUsage = val; } )
+        .def_property("leonMssCpuUsage", [](SystemInformation& i) { return &i.leonMssCpuUsage; }, [](SystemInformation& i, CpuUsage val) { i.leonMssCpuUsage = val; } )
+        .def_property("chipTemperature", [](SystemInformation& i) { return &i.chipTemperature; }, [](SystemInformation& i, ChipTemperature val) { i.chipTemperature = val; } )
+        ;
+
+}
+
+void bind_systeminformationS3(pybind11::module& m, void* pCallstack) {
+    using namespace dai;
+
+    // py::class_<RawSystemInformationS3, RawBuffer, std::shared_ptr<RawSystemInformationS3>> rawSystemInformationS3(
+        // m, "RawSystemInformationS3", DOC(dai, RawSystemInformationS3));
+    py::class_<SystemInformationS3, Buffer, std::shared_ptr<SystemInformationS3>> systemInformationS3(m, "SystemInformationS3", DOC(dai, SystemInformationS3));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*)pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // rawSystemInformationS3.def(py::init<>())
+    //     .def_readwrite("ddrMemoryUsage", &RawSystemInformationS3::ddrMemoryUsage)
+    //     .def_readwrite("cpuAvgUsage", &RawSystemInformationS3::cpuAvgUsage)
+    //     .def_readwrite("chipTemperature", &RawSystemInformationS3::chipTemperature)
+    //     .def_readwrite("cpuUsages", &RawSystemInformationS3::cpuUsages);
+
+    // Message
+    systemInformationS3.def(py::init<>())
+        .def_property(
+            "ddrMemoryUsage", [](SystemInformationS3& i) { return &i.ddrMemoryUsage; }, [](SystemInformationS3& i, MemoryInfo val) { i.ddrMemoryUsage = val; })
+        .def_property(
+            "cpuAvgUsage", [](SystemInformationS3& i) { return &i.cpuAvgUsage; }, [](SystemInformationS3& i, CpuUsage val) { i.cpuAvgUsage = val; })
+        .def_property("cpuUsages", [](SystemInformationS3& i) { return &i.cpuUsages; }, [](SystemInformationS3& i, std::vector<CpuUsage> val) { i.cpuUsages = val; })
+        .def_property(
+            "chipTemperature",
+            [](SystemInformationS3& i) { return &i.chipTemperature; },
+            [](SystemInformationS3& i, ChipTemperatureS3 val) { i.chipTemperature = val; });
+}
diff --git a/bindings/python/src/pipeline/datatype/ToFConfigBindings.cpp b/bindings/python/src/pipeline/datatype/ToFConfigBindings.cpp
new file mode 100644
index 000000000..b0539b077
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/ToFConfigBindings.cpp
@@ -0,0 +1,75 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/ToFConfig.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_tofconfig(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawToFConfig, RawBuffer, std::shared_ptr<RawToFConfig>> rawToFConfig(m, "RawToFConfig", DOC(dai, RawToFConfig));
+    py::class_<ToFConfig, Buffer, std::shared_ptr<ToFConfig>> toFConfig(m, "ToFConfig", DOC(dai, ToFConfig));
+    py::class_<ToFConfig::DepthParams> depthParams(toFConfig, "DepthParams", DOC(dai, ToFConfig, DepthParams));
+    py::enum_<ToFConfig::DepthParams::TypeFMod> depthParamsTypeFMod(depthParams, "TypeFMod", DOC(dai, ToFConfig, DepthParams, TypeFMod));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Metadata / raw
+    // toFConfig
+    //     .def(py::init<>())
+    //     .def_readwrite("depthParams", &ToFConfig::depthParams, DOC(dai, ToFConfig, depthParams))
+    //     ;
+
+    depthParamsTypeFMod
+        .value("ALL", ToFConfig::DepthParams::TypeFMod::F_MOD_ALL)
+        .value("MIN", ToFConfig::DepthParams::TypeFMod::F_MOD_MIN)
+        .value("MAX", ToFConfig::DepthParams::TypeFMod::F_MOD_MAX)
+    ;
+
+    depthParams
+        .def(py::init<>())
+        .def_readwrite("freqModUsed", &ToFConfig::DepthParams::freqModUsed, DOC(dai, ToFConfig, DepthParams, freqModUsed))
+        .def_readwrite("avgPhaseShuffle", &ToFConfig::DepthParams::avgPhaseShuffle, DOC(dai, ToFConfig, DepthParams, avgPhaseShuffle))
+        .def_readwrite("minimumAmplitude", &ToFConfig::DepthParams::minimumAmplitude, DOC(dai, ToFConfig, DepthParams, minimumAmplitude))
+        .def_readwrite("median", &ToFConfig::DepthParams::median, DOC(dai, ToFConfig, DepthParams, median))
+        ;
+
+    // Message
+    toFConfig
+        .def(py::init<>())
+        // .def(py::init<std::shared_ptr<ToFConfig>>())
+        
+        .def("setDepthParams", static_cast<ToFConfig&(ToFConfig::*)(dai::ToFConfig::DepthParams)>(&ToFConfig::setDepthParams), py::arg("config"), DOC(dai, ToFConfig, setDepthParams))
+        .def("setFreqModUsed", static_cast<ToFConfig&(ToFConfig::*)(dai::ToFConfig::DepthParams::TypeFMod)>(&ToFConfig::setFreqModUsed), DOC(dai, ToFConfig, setFreqModUsed))
+        .def("setAvgPhaseShuffle", &ToFConfig::setAvgPhaseShuffle, DOC(dai, ToFConfig, setAvgPhaseShuffle))
+        .def("setMinAmplitude", &ToFConfig::setMinAmplitude, DOC(dai, ToFConfig, setMinAmplitude))
+        .def("setMedianFilter", &ToFConfig::setMedianFilter, DOC(dai, ToFConfig, setMedianFilter))
+
+        // .def("set", &ToFConfig::set, py::arg("config"), DOC(dai, ToFConfig, set))
+        // .def("get", &ToFConfig::get, DOC(dai, ToFConfig, get))
+        ;
+
+    // add aliases
+    // m.attr("ToFConfig").attr("DepthParams") = m.attr("ToFConfig").attr("DepthParams");
+
+}
diff --git a/bindings/python/src/pipeline/datatype/TrackedFeaturesBindings.cpp b/bindings/python/src/pipeline/datatype/TrackedFeaturesBindings.cpp
new file mode 100644
index 000000000..d2bfba66e
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/TrackedFeaturesBindings.cpp
@@ -0,0 +1,64 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/TrackedFeatures.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_trackedfeatures(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawTrackedFeatures, RawBuffer, std::shared_ptr<RawTrackedFeatures>> rawTrackedFeatures(m, "RawTrackedFeatures", DOC(dai, RawTrackedFeatures));
+    py::class_<TrackedFeature> trackedFeature(m, "TrackedFeature", DOC(dai, TrackedFeature));
+    py::class_<TrackedFeatures, Buffer, std::shared_ptr<TrackedFeatures>> trackedFeatures(m, "TrackedFeatures", DOC(dai, TrackedFeatures));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    // rawTrackedFeatures
+    //     .def(py::init<>())
+    //     .def_readwrite("trackedFeatures", &RawTrackedFeatures::trackedFeatures)
+    //     ;
+
+    trackedFeature
+        .def(py::init<>())
+        .def_readwrite("position", &TrackedFeature::position, DOC(dai, TrackedFeature, position))
+        .def_readwrite("id", &TrackedFeature::id, DOC(dai, TrackedFeature, id))
+        .def_readwrite("age", &TrackedFeature::age, DOC(dai, TrackedFeature, age))
+        .def_readwrite("harrisScore", &TrackedFeature::harrisScore, DOC(dai, TrackedFeature, harrisScore))
+        .def_readwrite("trackingError", &TrackedFeature::trackingError, DOC(dai, TrackedFeature, trackingError))
+        ;
+
+
+    // Message
+    trackedFeatures
+        .def(py::init<>())
+        .def_property("trackedFeatures", [](TrackedFeatures& feat) { return &feat.trackedFeatures; }, [](TrackedFeatures& feat, std::vector<TrackedFeature> val) { feat.trackedFeatures = val; }, DOC(dai, TrackedFeatures, trackedFeatures))
+        .def("getTimestamp", &TrackedFeatures::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &TrackedFeatures::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &TrackedFeatures::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &TrackedFeatures::setTimestamp, DOC(dai, TrackedFeatures, setTimestamp))
+        // .def("setTimestampDevice", &TrackedFeatures::setTimestampDevice, DOC(dai, TrackedFeatures, setTimestampDevice))
+        // .def("setSequenceNum", &TrackedFeatures::setSequenceNum, DOC(dai, TrackedFeatures, setSequenceNum))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/datatype/TrackletsBindings.cpp b/bindings/python/src/pipeline/datatype/TrackletsBindings.cpp
new file mode 100644
index 000000000..73b181716
--- /dev/null
+++ b/bindings/python/src/pipeline/datatype/TrackletsBindings.cpp
@@ -0,0 +1,73 @@
+#include "DatatypeBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include <unordered_map>
+#include <memory>
+
+// depthai
+#include "depthai/pipeline/datatype/Tracklets.hpp"
+
+//pybind
+#include <pybind11/chrono.h>
+#include <pybind11/numpy.h>
+
+// #include "spdlog/spdlog.h"
+
+void bind_tracklets(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // py::class_<RawTracklets, RawBuffer, std::shared_ptr<RawTracklets>> rawTacklets(m, "RawTracklets", DOC(dai, RawTracklets));
+    py::class_<Tracklet> tracklet(m, "Tracklet", DOC(dai, Tracklet));
+    py::enum_<Tracklet::TrackingStatus> trackletTrackingStatus(tracklet, "TrackingStatus", DOC(dai, Tracklet, TrackingStatus));
+    py::class_<Tracklets, Buffer, std::shared_ptr<Tracklets>> tracklets(m, "Tracklets", DOC(dai, Tracklets));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Metadata / raw
+    tracklet
+        .def(py::init<>())
+        .def_readwrite("roi", &Tracklet::roi)
+        .def_readwrite("id", &Tracklet::id)
+        .def_readwrite("label", &Tracklet::label)
+        .def_readwrite("age", &Tracklet::age)
+        .def_readwrite("status", &Tracklet::status)
+        .def_readwrite("srcImgDetection", &Tracklet::srcImgDetection)
+        .def_readwrite("spatialCoordinates", &Tracklet::spatialCoordinates)
+        ;
+
+    trackletTrackingStatus
+        .value("NEW", Tracklet::TrackingStatus::NEW)
+        .value("TRACKED", Tracklet::TrackingStatus::TRACKED)
+        .value("LOST", Tracklet::TrackingStatus::LOST)
+        .value("REMOVED", Tracklet::TrackingStatus::REMOVED)
+        ;
+
+    // rawTacklets
+    //     .def(py::init<>())
+    //     .def_readwrite("tracklets", &RawTracklets::tracklets)
+    //     ;
+
+    // Message
+    tracklets
+        .def(py::init<>())
+        .def_property("tracklets", [](Tracklets& track) { return &track.tracklets; }, [](Tracklets& track, std::vector<Tracklet> val) { track.tracklets = val; }, DOC(dai, Tracklets, tracklets))
+        .def("getTimestamp", &Tracklets::Buffer::getTimestamp, DOC(dai, Buffer, getTimestamp))
+        .def("getTimestampDevice", &Tracklets::Buffer::getTimestampDevice, DOC(dai, Buffer, getTimestampDevice))
+        .def("getSequenceNum", &Tracklets::Buffer::getSequenceNum, DOC(dai, Buffer, getSequenceNum))
+        // .def("setTimestamp", &Tracklets::setTimestamp, DOC(dai, Tracklets, setTimestamp))
+        // .def("setTimestampDevice", &Tracklets::setTimestampDevice, DOC(dai, Tracklets, setTimestampDevice))
+        // .def("setSequenceNum", &Tracklets::setSequenceNum, DOC(dai, Tracklets, setSequenceNum))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/node/AprilTagBindings.cpp b/bindings/python/src/pipeline/node/AprilTagBindings.cpp
new file mode 100644
index 000000000..5b125a389
--- /dev/null
+++ b/bindings/python/src/pipeline/node/AprilTagBindings.cpp
@@ -0,0 +1,46 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/AprilTag.hpp"
+
+void bind_apriltag(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<AprilTagProperties> aprilTagProperties(m, "AprilTagProperties", DOC(dai, AprilTagProperties));
+    auto aprilTag = ADD_NODE(AprilTag);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    aprilTagProperties
+        .def_readwrite("initialConfig", &AprilTagProperties::initialConfig, DOC(dai, AprilTagProperties, initialConfig))
+        .def_readwrite("inputConfigSync", &AprilTagProperties::inputConfigSync, DOC(dai, AprilTagProperties, inputConfigSync))
+    ;
+    // Node
+    aprilTag
+        .def_readonly("inputConfig", &AprilTag::inputConfig, DOC(dai, node, AprilTag, inputConfig))
+        .def_readonly("inputImage", &AprilTag::inputImage, DOC(dai, node, AprilTag, inputImage))
+        .def_readonly("out", &AprilTag::out, DOC(dai, node, AprilTag, out))
+        .def_readonly("passthroughInputImage", &AprilTag::passthroughInputImage, DOC(dai, node, AprilTag, passthroughInputImage))
+        .def_readonly("initialConfig", &AprilTag::initialConfig, DOC(dai, node, AprilTag, initialConfig))
+        .def("setWaitForConfigInput", &AprilTag::setWaitForConfigInput, py::arg("wait"), DOC(dai, node, AprilTag, setWaitForConfigInput))
+        ;
+	daiNodeModule.attr("AprilTag").attr("Properties") = aprilTagProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/BenchmarkBindings.cpp b/bindings/python/src/pipeline/node/BenchmarkBindings.cpp
new file mode 100644
index 000000000..781fbc1bc
--- /dev/null
+++ b/bindings/python/src/pipeline/node/BenchmarkBindings.cpp
@@ -0,0 +1,38 @@
+#include "Common.hpp"
+#include "NodeBindings.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/node/BenchmarkIn.hpp"
+#include "depthai/pipeline/node/BenchmarkOut.hpp"
+
+void bind_benchmark(pybind11::module& m, void* pCallstack) {
+    using namespace dai;
+    using namespace dai::node;
+
+    // Declare node upfront
+    auto benchmarkOut = ADD_NODE(BenchmarkOut);
+    auto benchmarkIn = ADD_NODE(BenchmarkIn);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*)pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Nodes
+    benchmarkOut.def_readonly("out", &BenchmarkOut::out, DOC(dai, node, BenchmarkOut, out))
+        .def_readonly("input", &BenchmarkOut::input, DOC(dai, node, BenchmarkOut, input))
+        .def("setNumMessagesToSend", &BenchmarkOut::setNumMessagesToSend, py::arg("num"), DOC(dai, node, BenchmarkOut, setNumMessagesToSend))
+        .def("setFps", &BenchmarkOut::setFps, py::arg("fps"), DOC(dai, node, BenchmarkOut, setFps));
+    benchmarkIn.def_readonly("input", &BenchmarkIn::input, DOC(dai, node, BenchmarkIn, input))
+        .def_readonly("report", &BenchmarkIn::report, DOC(dai, node, BenchmarkIn, report))
+        .def_readonly("passthrough", &BenchmarkIn::passthrough, DOC(dai, node, BenchmarkIn, passthrough))
+        .def("setNumMessagesToGet", &BenchmarkIn::setNumMessagesToGet, py::arg("num"), DOC(dai, node, BenchmarkIn, setNumMessagesToGet));
+}
diff --git a/bindings/python/src/pipeline/node/CameraBindings.cpp b/bindings/python/src/pipeline/node/CameraBindings.cpp
new file mode 100644
index 000000000..f8adc2922
--- /dev/null
+++ b/bindings/python/src/pipeline/node/CameraBindings.cpp
@@ -0,0 +1,173 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/Camera.hpp"
+
+void bind_camera(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<CameraProperties> cameraProperties(m, "CameraProperties", DOC(dai, CameraProperties));
+    py::enum_<CameraProperties::WarpMeshSource> cameraPropertiesWarpMeshSource(cameraProperties, "WarpMeshSource", DOC(dai, CameraProperties, WarpMeshSource));
+    py::enum_<CameraProperties::ColorOrder> cameraPropertiesColorOrder(cameraProperties, "ColorOrder", DOC(dai, CameraProperties, ColorOrder));
+    auto camera = ADD_NODE(Camera);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // // Camera Properties
+    // cameraPropertiesSensorResolution
+    //     .value("THE_1080_P", CameraProperties::SensorResolution::THE_1080_P)
+    //     .value("THE_1200_P", CameraProperties::SensorResolution::THE_1200_P)
+    //     .value("THE_4_K", CameraProperties::SensorResolution::THE_4_K)
+    //     .value("THE_5_MP", CameraProperties::SensorResolution::THE_5_MP)
+    //     .value("THE_12_MP", CameraProperties::SensorResolution::THE_12_MP)
+    //     .value("THE_4000X3000", CameraProperties::SensorResolution::THE_4000X3000)
+    //     .value("THE_13_MP", CameraProperties::SensorResolution::THE_13_MP)
+    //     .value("THE_5312X6000", CameraProperties::SensorResolution::THE_5312X6000)
+    //     .value("THE_48_MP", CameraProperties::SensorResolution::THE_48_MP)
+    //     .value("THE_720_P", CameraProperties::SensorResolution::THE_720_P)
+    //     .value("THE_800_P", CameraProperties::SensorResolution::THE_800_P)
+    //     ;
+
+    // Camera Properties - WarpMeshSource
+    cameraPropertiesWarpMeshSource
+        .value("AUTO", CameraProperties::WarpMeshSource::AUTO)
+        .value("NONE", CameraProperties::WarpMeshSource::NONE)
+        .value("CALIBRATION", CameraProperties::WarpMeshSource::CALIBRATION)
+        .value("URI", CameraProperties::WarpMeshSource::URI)
+        ;
+
+    cameraPropertiesColorOrder
+        .value("BGR", CameraProperties::ColorOrder::BGR)
+        .value("RGB", CameraProperties::ColorOrder::RGB)
+        ;
+
+    cameraProperties
+        .def_readwrite("initialControl", &CameraProperties::initialControl)
+        .def_readwrite("boardSocket", &CameraProperties::boardSocket)
+        .def_readwrite("cameraName", &CameraProperties::cameraName)
+        .def_readwrite("imageOrientation", &CameraProperties::imageOrientation)
+        .def_readwrite("colorOrder", &CameraProperties::colorOrder)
+        .def_readwrite("interleaved", &CameraProperties::interleaved)
+        .def_readwrite("fp16", &CameraProperties::fp16)
+
+        .def_readwrite("previewHeight", &CameraProperties::previewHeight)
+        .def_readwrite("previewWidth", &CameraProperties::previewWidth)
+        .def_readwrite("videoHeight", &CameraProperties::videoHeight)
+        .def_readwrite("videoWidth", &CameraProperties::videoWidth)
+        .def_readwrite("stillHeight", &CameraProperties::stillHeight)
+        .def_readwrite("stillWidth", &CameraProperties::stillWidth)
+        .def_readwrite("resolutionHeight", &CameraProperties::resolutionHeight)
+        .def_readwrite("resolutionWidth", &CameraProperties::resolutionWidth)
+
+        .def_readwrite("fps", &CameraProperties::fps)
+        .def_readwrite("isp3aFps", &CameraProperties::isp3aFps)
+        .def_readwrite("sensorCropX", &CameraProperties::sensorCropX)
+        .def_readwrite("sensorCropY", &CameraProperties::sensorCropY)
+        .def_readwrite("previewKeepAspectRatio", &CameraProperties::previewKeepAspectRatio)
+        .def_readwrite("ispScale", &CameraProperties::ispScale)
+        .def_readwrite("sensorType", &CameraProperties::sensorType)
+
+        .def_readwrite("numFramesPoolRaw", &CameraProperties::numFramesPoolRaw)
+        .def_readwrite("numFramesPoolIsp", &CameraProperties::numFramesPoolIsp)
+        .def_readwrite("numFramesPoolVideo", &CameraProperties::numFramesPoolVideo)
+        .def_readwrite("numFramesPoolPreview", &CameraProperties::numFramesPoolPreview)
+        .def_readwrite("numFramesPoolStill", &CameraProperties::numFramesPoolStill)
+
+        .def_readwrite("warpMeshSource", &CameraProperties::warpMeshSource)
+        .def_readwrite("warpMeshUri", &CameraProperties::warpMeshUri)
+        .def_readwrite("warpMeshWidth", &CameraProperties::warpMeshWidth)
+        .def_readwrite("warpMeshHeight", &CameraProperties::warpMeshHeight)
+        .def_readwrite("calibAlpha", &CameraProperties::calibAlpha)
+        .def_readwrite("warpMeshStepWidth", &CameraProperties::warpMeshStepWidth)
+        .def_readwrite("warpMeshStepHeight", &CameraProperties::warpMeshStepHeight)
+        .def_readwrite("rawPacked", &CameraProperties::rawPacked)
+    ;
+
+    // Camera node
+    camera
+        .def_readonly("inputConfig", &Camera::inputConfig, DOC(dai, node, Camera, inputConfig))
+        .def_readonly("inputControl", &Camera::inputControl, DOC(dai, node, Camera, inputControl))
+        .def_readonly("initialControl", &Camera::initialControl, DOC(dai, node, Camera, initialControl))
+        .def_readonly("video", &Camera::video, DOC(dai, node, Camera, video))
+        .def_readonly("preview", &Camera::preview, DOC(dai, node, Camera, preview))
+        .def_readonly("still", &Camera::still, DOC(dai, node, Camera, still))
+        .def_readonly("isp", &Camera::isp, DOC(dai, node, Camera, isp))
+        .def_readonly("raw", &Camera::raw, DOC(dai, node, Camera, raw))
+        .def_readonly("frameEvent",  &Camera::frameEvent, DOC(dai, node, Camera, frameEvent))
+        // .def_readonly("mockIsp",  &Camera::mockIsp, DOC(dai, node, Camera, mockIsp))
+        .def("setBoardSocket", &Camera::setBoardSocket, py::arg("boardSocket"), DOC(dai, node, Camera, setBoardSocket))
+        .def("getBoardSocket", &Camera::getBoardSocket, DOC(dai, node, Camera, getBoardSocket))
+        .def("setImageOrientation", &Camera::setImageOrientation, py::arg("imageOrientation"), DOC(dai, node, Camera, setImageOrientation))
+        .def("getImageOrientation", &Camera::getImageOrientation, DOC(dai, node, Camera, getImageOrientation))
+        .def("setPreviewSize", static_cast<void(Camera::*)(int,int)>(&Camera::setPreviewSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setPreviewSize))
+        .def("setPreviewSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setPreviewSize), py::arg("size"), DOC(dai, node, Camera, setPreviewSize, 2))
+        .def("setVideoSize", static_cast<void(Camera::*)(int,int)>(&Camera::setVideoSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setVideoSize))
+        .def("setVideoSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setVideoSize), py::arg("size"), DOC(dai, node, Camera, setVideoSize, 2))
+        .def("setStillSize", static_cast<void(Camera::*)(int,int)>(&Camera::setStillSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setStillSize))
+        .def("setStillSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setStillSize), py::arg("size"), DOC(dai, node, Camera, setStillSize, 2))
+        // .def("setResolution", &Camera::setResolution, py::arg("resolution"), DOC(dai, node, Camera, setResolution))
+        // .def("getResolution", &Camera::getResolution, DOC(dai, node, Camera, getResolution))
+        .def("setFps", &Camera::setFps, py::arg("fps"), DOC(dai, node, Camera, setFps))
+        .def("setIsp3aFps", &Camera::setIsp3aFps, DOC(dai, node, Camera, setIsp3aFps))
+        .def("getFps", &Camera::getFps, DOC(dai, node, Camera, getFps))
+        .def("getPreviewSize", &Camera::getPreviewSize, DOC(dai, node, Camera, getPreviewSize))
+        .def("getPreviewWidth", &Camera::getPreviewWidth, DOC(dai, node, Camera, getPreviewWidth))
+        .def("getPreviewHeight", &Camera::getPreviewHeight, DOC(dai, node, Camera, getPreviewHeight))
+        .def("getVideoSize", &Camera::getVideoSize, DOC(dai, node, Camera, getVideoSize))
+        .def("getVideoWidth", &Camera::getVideoWidth, DOC(dai, node, Camera, getVideoWidth))
+        .def("getVideoHeight", &Camera::getVideoHeight, DOC(dai, node, Camera, getVideoHeight))
+        .def("getStillSize", &Camera::getStillSize, DOC(dai, node, Camera, getStillSize))
+        .def("getStillWidth", &Camera::getStillWidth, DOC(dai, node, Camera, getStillWidth))
+        .def("getStillHeight", &Camera::getStillHeight, DOC(dai, node, Camera, getStillHeight))
+        .def("getSize", &Camera::getSize, DOC(dai, node, Camera, getSize))
+        .def("getWidth", &Camera::getWidth, DOC(dai, node, Camera, getWidth))
+        .def("getHeight", &Camera::getHeight, DOC(dai, node, Camera, getHeight))
+        // .def("sensorCenterCrop", &Camera::sensorCenterCrop, DOC(dai, node, Camera, sensorCenterCrop))
+        // .def("setSensorCrop", &Camera::setSensorCrop, py::arg("x"), py::arg("y"), DOC(dai, node, Camera, setSensorCrop))
+        // .def("getSensorCrop", &Camera::getSensorCrop, DOC(dai, node, Camera, getSensorCrop))
+        // .def("getSensorCropX", &Camera::getSensorCropX, DOC(dai, node, Camera, getSensorCropX))
+        // .def("getSensorCropY", &Camera::getSensorCropY, DOC(dai, node, Camera, getSensorCropY))
+
+        // .def("setIspScale", static_cast<void(Camera::*)(int,int)>(&Camera::setIspScale), py::arg("numerator"), py::arg("denominator"), DOC(dai, node, Camera, setIspScale))
+        // .def("setIspScale", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setIspScale), py::arg("scale"), DOC(dai, node, Camera, setIspScale, 2))
+        // .def("setIspScale", static_cast<void(Camera::*)(int,int,int,int)>(&Camera::setIspScale), py::arg("horizNum"), py::arg("horizDenom"), py::arg("vertNum"), py::arg("vertDenom"), DOC(dai, node, Camera, setIspScale, 3))
+        // .def("setIspScale", static_cast<void(Camera::*)(std::tuple<int,int>,std::tuple<int,int>)>(&Camera::setIspScale), py::arg("horizScale"), py::arg("vertScale"), DOC(dai, node, Camera, setIspScale, 4))
+
+        .def("setCamera", &Camera::setCamera, py::arg("name"), DOC(dai, node, Camera, setCamera))
+        .def("getCamera", &Camera::getCamera, DOC(dai, node, Camera, getCamera))
+
+        .def("setSize", static_cast<void(Camera::*)(int,int)>(&Camera::setSize), py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setSize))
+        .def("setSize", static_cast<void(Camera::*)(std::tuple<int,int>)>(&Camera::setSize), py::arg("size"), DOC(dai, node, Camera, setSize, 2))
+
+
+        .def("setMeshSource", &Camera::setMeshSource, py::arg("source"), DOC(dai, node, Camera, setMeshSource))
+        .def("getMeshSource", &Camera::getMeshSource, DOC(dai, node, Camera, getMeshSource))
+        .def("loadMeshFile", &Camera::loadMeshFile, py::arg("warpMesh"), DOC(dai, node, Camera, loadMeshFile))
+        .def("loadMeshData", &Camera::loadMeshData, py::arg("warpMesh"), DOC(dai, node, Camera, loadMeshData))
+        .def("setMeshStep", &Camera::setMeshStep, py::arg("width"), py::arg("height"), DOC(dai, node, Camera, setMeshStep))
+        .def("getMeshStep", &Camera::getMeshStep, DOC(dai, node, Camera, getMeshStep))
+        .def("setCalibrationAlpha", &Camera::setCalibrationAlpha, py::arg("alpha"), DOC(dai, node, Camera, setCalibrationAlpha))
+        .def("getCalibrationAlpha", &Camera::getCalibrationAlpha, DOC(dai, node, Camera, getCalibrationAlpha))
+
+        .def("setRawOutputPacked", &Camera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, Camera, setRawOutputPacked))
+        ;
+    // ALIAS
+    daiNodeModule.attr("Camera").attr("Properties") = cameraProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/ColorCameraBindings.cpp b/bindings/python/src/pipeline/node/ColorCameraBindings.cpp
new file mode 100644
index 000000000..54df3d270
--- /dev/null
+++ b/bindings/python/src/pipeline/node/ColorCameraBindings.cpp
@@ -0,0 +1,228 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/ColorCamera.hpp"
+
+void bind_colorcamera(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<ColorCameraProperties> colorCameraProperties(m, "ColorCameraProperties", DOC(dai, ColorCameraProperties));
+    py::enum_<ColorCameraProperties::SensorResolution> colorCameraPropertiesSensorResolution(colorCameraProperties, "SensorResolution", DOC(dai, ColorCameraProperties, SensorResolution));
+    py::enum_<ColorCameraProperties::ColorOrder> colorCameraPropertiesColorOrder(colorCameraProperties, "ColorOrder", DOC(dai, ColorCameraProperties, ColorOrder));
+    py::enum_<ColorCameraProperties::WarpMeshSource> colorCameraPropertiesWarpMeshSource(colorCameraProperties, "WarpMeshSource", DOC(dai, ColorCameraProperties, WarpMeshSource));
+    auto colorCamera = ADD_NODE(ColorCamera);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // ColorCamera Properties
+    colorCameraPropertiesSensorResolution
+        .value("THE_1080_P", ColorCameraProperties::SensorResolution::THE_1080_P)
+        .value("THE_1200_P", ColorCameraProperties::SensorResolution::THE_1200_P)
+        .value("THE_4_K", ColorCameraProperties::SensorResolution::THE_4_K)
+        .value("THE_5_MP", ColorCameraProperties::SensorResolution::THE_5_MP)
+        .value("THE_12_MP", ColorCameraProperties::SensorResolution::THE_12_MP)
+        .value("THE_4000X3000", ColorCameraProperties::SensorResolution::THE_4000X3000)
+        .value("THE_13_MP", ColorCameraProperties::SensorResolution::THE_13_MP)
+        .value("THE_5312X6000", ColorCameraProperties::SensorResolution::THE_5312X6000)
+        .value("THE_48_MP", ColorCameraProperties::SensorResolution::THE_48_MP)
+        .value("THE_720_P", ColorCameraProperties::SensorResolution::THE_720_P)
+        .value("THE_800_P", ColorCameraProperties::SensorResolution::THE_800_P)
+        .value("THE_240X180", ColorCameraProperties::SensorResolution::THE_240X180)
+        .value("THE_1280X962", ColorCameraProperties::SensorResolution::THE_1280X962)
+        .value("THE_2000X1500", ColorCameraProperties::SensorResolution::THE_2000X1500)
+        .value("THE_2028X1520", ColorCameraProperties::SensorResolution::THE_2028X1520)
+        .value("THE_2104X1560", ColorCameraProperties::SensorResolution::THE_2104X1560)
+        .value("THE_1440X1080", ColorCameraProperties::SensorResolution::THE_1440X1080)
+        .value("THE_1352X1012", ColorCameraProperties::SensorResolution::THE_1352X1012)
+        .value("THE_2024X1520", ColorCameraProperties::SensorResolution::THE_2024X1520)
+        ;
+
+    colorCameraPropertiesColorOrder
+        .value("BGR", ColorCameraProperties::ColorOrder::BGR)
+        .value("RGB", ColorCameraProperties::ColorOrder::RGB)
+        ;
+
+    colorCameraPropertiesWarpMeshSource
+        .value("AUTO", ColorCameraProperties::WarpMeshSource::AUTO)
+        .value("NONE", ColorCameraProperties::WarpMeshSource::NONE)
+        .value("CALIBRATION", ColorCameraProperties::WarpMeshSource::CALIBRATION)
+        .value("URI", ColorCameraProperties::WarpMeshSource::URI)
+        ;
+
+    colorCameraProperties
+        .def_readwrite("initialControl", &ColorCameraProperties::initialControl)
+        .def_readwrite("boardSocket", &ColorCameraProperties::boardSocket)
+        .def_readwrite("imageOrientation", &ColorCameraProperties::imageOrientation)
+        .def_readwrite("previewHeight", &ColorCameraProperties::previewHeight)
+        .def_readwrite("previewWidth", &ColorCameraProperties::previewWidth)
+        .def_readwrite("videoHeight", &ColorCameraProperties::videoHeight)
+        .def_readwrite("videoWidth", &ColorCameraProperties::videoWidth)
+        .def_readwrite("stillHeight", &ColorCameraProperties::stillHeight)
+        .def_readwrite("stillWidth", &ColorCameraProperties::stillWidth)
+        .def_readwrite("resolution", &ColorCameraProperties::resolution)
+        .def_readwrite("fps", &ColorCameraProperties::fps)
+        .def_readwrite("isp3aFps", &ColorCameraProperties::isp3aFps)
+        .def_readwrite("sensorCropX", &ColorCameraProperties::sensorCropX)
+        .def_readwrite("sensorCropY", &ColorCameraProperties::sensorCropY)
+        .def_readwrite("previewKeepAspectRatio", &ColorCameraProperties::previewKeepAspectRatio)
+        .def_readwrite("ispScale", &ColorCameraProperties::ispScale)
+        .def_readwrite("numFramesPoolRaw", &ColorCameraProperties::numFramesPoolRaw)
+        .def_readwrite("numFramesPoolIsp", &ColorCameraProperties::numFramesPoolIsp)
+        .def_readwrite("numFramesPoolVideo", &ColorCameraProperties::numFramesPoolVideo)
+        .def_readwrite("numFramesPoolPreview", &ColorCameraProperties::numFramesPoolPreview)
+        .def_readwrite("numFramesPoolStill", &ColorCameraProperties::numFramesPoolStill)
+        .def_readwrite("warpMeshSource", &ColorCameraProperties::warpMeshSource)
+        .def_readwrite("warpMeshUri", &ColorCameraProperties::warpMeshUri)
+        .def_readwrite("warpMeshWidth", &ColorCameraProperties::warpMeshWidth)
+        .def_readwrite("warpMeshHeight", &ColorCameraProperties::warpMeshHeight)
+        .def_readwrite("calibAlpha", &ColorCameraProperties::calibAlpha)
+        .def_readwrite("warpMeshStepWidth", &ColorCameraProperties::warpMeshStepWidth)
+        .def_readwrite("warpMeshStepHeight", &ColorCameraProperties::warpMeshStepHeight)
+        .def_readwrite("eventFilter", &ColorCameraProperties::eventFilter)
+    ;
+
+    // ColorCamera node
+    colorCamera
+        .def_readonly("inputConfig", &ColorCamera::inputConfig, DOC(dai, node, ColorCamera, inputConfig))
+        .def_readonly("inputControl", &ColorCamera::inputControl, DOC(dai, node, ColorCamera, inputControl))
+        .def_readonly("initialControl", &ColorCamera::initialControl, DOC(dai, node, ColorCamera, initialControl))
+        .def_readonly("video", &ColorCamera::video, DOC(dai, node, ColorCamera, video))
+        .def_readonly("preview", &ColorCamera::preview, DOC(dai, node, ColorCamera, preview))
+        .def_readonly("still", &ColorCamera::still, DOC(dai, node, ColorCamera, still))
+        .def_readonly("isp", &ColorCamera::isp, DOC(dai, node, ColorCamera, isp))
+        .def_readonly("raw", &ColorCamera::raw, DOC(dai, node, ColorCamera, raw))
+        .def_readonly("frameEvent",  &ColorCamera::frameEvent, DOC(dai, node, ColorCamera, frameEvent))
+        .def("setCamId", [](ColorCamera& c, int64_t id) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setCamId() is deprecated, use setBoardSocket() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            c.setCamId(id);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("getCamId", [](ColorCamera& c) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "getCamId() is deprecated, use getBoardSocket() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return c.getCamId();
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("setBoardSocket", &ColorCamera::setBoardSocket, py::arg("boardSocket"), DOC(dai, node, ColorCamera, setBoardSocket))
+        .def("getBoardSocket", &ColorCamera::getBoardSocket, DOC(dai, node, ColorCamera, getBoardSocket))
+        .def("setImageOrientation", &ColorCamera::setImageOrientation, py::arg("imageOrientation"), DOC(dai, node, ColorCamera, setImageOrientation))
+        .def("getImageOrientation", &ColorCamera::getImageOrientation, DOC(dai, node, ColorCamera, getImageOrientation))
+        .def("setColorOrder", &ColorCamera::setColorOrder, py::arg("colorOrder"), DOC(dai, node, ColorCamera, setColorOrder))
+        .def("getColorOrder", &ColorCamera::getColorOrder, DOC(dai, node, ColorCamera, getColorOrder))
+        .def("setInterleaved", &ColorCamera::setInterleaved, py::arg("interleaved"), DOC(dai, node, ColorCamera, setInterleaved))
+        .def("getInterleaved", &ColorCamera::getInterleaved, DOC(dai, node, ColorCamera, getInterleaved))
+        .def("setFp16", &ColorCamera::setFp16, py::arg("fp16"), DOC(dai, node, ColorCamera, setFp16))
+        .def("getFp16", &ColorCamera::getFp16, DOC(dai, node, ColorCamera, getFp16))
+        .def("setPreviewSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setPreviewSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setPreviewSize))
+        .def("setPreviewSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setPreviewSize), py::arg("size"), DOC(dai, node, ColorCamera, setPreviewSize, 2))
+        .def("setVideoSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setVideoSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setVideoSize))
+        .def("setVideoSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setVideoSize), py::arg("size"), DOC(dai, node, ColorCamera, setVideoSize, 2))
+        .def("setStillSize", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setStillSize), py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setStillSize))
+        .def("setStillSize", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setStillSize), py::arg("size"), DOC(dai, node, ColorCamera, setStillSize, 2))
+        .def("setResolution", &ColorCamera::setResolution, py::arg("resolution"), DOC(dai, node, ColorCamera, setResolution))
+        .def("getResolution", &ColorCamera::getResolution, DOC(dai, node, ColorCamera, getResolution))
+        .def("setFps", &ColorCamera::setFps, py::arg("fps"), DOC(dai, node, ColorCamera, setFps))
+        .def("setIsp3aFps", &ColorCamera::setIsp3aFps, DOC(dai, node, ColorCamera, setIsp3aFps))
+        .def("getFps", &ColorCamera::getFps, DOC(dai, node, ColorCamera, getFps))
+        .def("setFrameEventFilter", &ColorCamera::setFrameEventFilter, py::arg("events"), DOC(dai, node, ColorCamera, setFrameEventFilter))
+        .def("getFrameEventFilter", &ColorCamera::getFrameEventFilter, DOC(dai, node, ColorCamera, getFrameEventFilter))
+        .def("getPreviewSize", &ColorCamera::getPreviewSize, DOC(dai, node, ColorCamera, getPreviewSize))
+        .def("getPreviewWidth", &ColorCamera::getPreviewWidth, DOC(dai, node, ColorCamera, getPreviewWidth))
+        .def("getPreviewHeight", &ColorCamera::getPreviewHeight, DOC(dai, node, ColorCamera, getPreviewHeight))
+        .def("getVideoSize", &ColorCamera::getVideoSize, DOC(dai, node, ColorCamera, getVideoSize))
+        .def("getVideoWidth", &ColorCamera::getVideoWidth, DOC(dai, node, ColorCamera, getVideoWidth))
+        .def("getVideoHeight", &ColorCamera::getVideoHeight, DOC(dai, node, ColorCamera, getVideoHeight))
+        .def("getStillSize", &ColorCamera::getStillSize, DOC(dai, node, ColorCamera, getStillSize))
+        .def("getStillWidth", &ColorCamera::getStillWidth, DOC(dai, node, ColorCamera, getStillWidth))
+        .def("getStillHeight", &ColorCamera::getStillHeight, DOC(dai, node, ColorCamera, getStillHeight))
+        .def("getResolutionSize", &ColorCamera::getResolutionSize, DOC(dai, node, ColorCamera, getResolutionSize))
+        .def("getResolutionWidth", &ColorCamera::getResolutionWidth, DOC(dai, node, ColorCamera, getResolutionWidth))
+        .def("getResolutionHeight", &ColorCamera::getResolutionHeight, DOC(dai, node, ColorCamera, getResolutionHeight))
+        .def("sensorCenterCrop", &ColorCamera::sensorCenterCrop, DOC(dai, node, ColorCamera, sensorCenterCrop))
+        .def("setSensorCrop", &ColorCamera::setSensorCrop, py::arg("x"), py::arg("y"), DOC(dai, node, ColorCamera, setSensorCrop))
+        .def("getSensorCrop", &ColorCamera::getSensorCrop, DOC(dai, node, ColorCamera, getSensorCrop))
+        .def("getSensorCropX", &ColorCamera::getSensorCropX, DOC(dai, node, ColorCamera, getSensorCropX))
+        .def("getSensorCropY", &ColorCamera::getSensorCropY, DOC(dai, node, ColorCamera, getSensorCropY))
+
+        .def("setWaitForConfigInput", [](ColorCamera& cam, bool wait){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            cam.setWaitForConfigInput(wait);
+            HEDLEY_DIAGNOSTIC_POP
+        }, py::arg("wait"), DOC(dai, node, ColorCamera, setWaitForConfigInput))
+
+        .def("getWaitForConfigInput", [](ColorCamera& cam){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return cam.getWaitForConfigInput();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, ColorCamera, getWaitForConfigInput))
+
+        .def("setPreviewKeepAspectRatio", &ColorCamera::setPreviewKeepAspectRatio, py::arg("keep"), DOC(dai, node, ColorCamera, setPreviewKeepAspectRatio))
+        .def("getPreviewKeepAspectRatio", &ColorCamera::getPreviewKeepAspectRatio, DOC(dai, node, ColorCamera, getPreviewKeepAspectRatio))
+        .def("setIspScale", static_cast<void(ColorCamera::*)(int,int)>(&ColorCamera::setIspScale), py::arg("numerator"), py::arg("denominator"), DOC(dai, node, ColorCamera, setIspScale))
+        .def("setIspScale", static_cast<void(ColorCamera::*)(std::tuple<int,int>)>(&ColorCamera::setIspScale), py::arg("scale"), DOC(dai, node, ColorCamera, setIspScale, 2))
+        .def("setIspScale", static_cast<void(ColorCamera::*)(int,int,int,int)>(&ColorCamera::setIspScale), py::arg("horizNum"), py::arg("horizDenom"), py::arg("vertNum"), py::arg("vertDenom"), DOC(dai, node, ColorCamera, setIspScale, 3))
+        .def("setIspScale", static_cast<void(ColorCamera::*)(std::tuple<int,int>,std::tuple<int,int>)>(&ColorCamera::setIspScale), py::arg("horizScale"), py::arg("vertScale"), DOC(dai, node, ColorCamera, setIspScale, 4))
+        .def("getIspSize", &ColorCamera::getIspSize, DOC(dai, node, ColorCamera, getIspSize))
+        .def("getIspWidth", &ColorCamera::getIspWidth, DOC(dai, node, ColorCamera, getIspWidth))
+        .def("getIspHeight", &ColorCamera::getIspHeight, DOC(dai, node, ColorCamera, getIspHeight))
+
+        .def("setPreviewNumFramesPool", &ColorCamera::setPreviewNumFramesPool, DOC(dai, node, ColorCamera, setPreviewNumFramesPool))
+        .def("setVideoNumFramesPool", &ColorCamera::setVideoNumFramesPool, DOC(dai, node, ColorCamera, setVideoNumFramesPool))
+        .def("setStillNumFramesPool", &ColorCamera::setStillNumFramesPool, DOC(dai, node, ColorCamera, setStillNumFramesPool))
+        .def("setRawNumFramesPool", &ColorCamera::setRawNumFramesPool, DOC(dai, node, ColorCamera, setRawNumFramesPool))
+        .def("setIspNumFramesPool", &ColorCamera::setIspNumFramesPool, DOC(dai, node, ColorCamera, setIspNumFramesPool))
+        .def("setNumFramesPool", &ColorCamera::setNumFramesPool, py::arg("raw"), py::arg("isp"), py::arg("preview"), py::arg("video"), py::arg("still"), DOC(dai, node, ColorCamera, setNumFramesPool))
+
+        .def("getPreviewNumFramesPool", &ColorCamera::getPreviewNumFramesPool, DOC(dai, node, ColorCamera, getPreviewNumFramesPool))
+        .def("getVideoNumFramesPool", &ColorCamera::getVideoNumFramesPool, DOC(dai, node, ColorCamera, getVideoNumFramesPool))
+        .def("getStillNumFramesPool", &ColorCamera::getStillNumFramesPool, DOC(dai, node, ColorCamera, getStillNumFramesPool))
+        .def("getRawNumFramesPool", &ColorCamera::getRawNumFramesPool, DOC(dai, node, ColorCamera, getRawNumFramesPool))
+        .def("getIspNumFramesPool", &ColorCamera::getIspNumFramesPool, DOC(dai, node, ColorCamera, getIspNumFramesPool))
+        .def("setCamera", &ColorCamera::setCamera, py::arg("name"), DOC(dai, node, ColorCamera, setCamera))
+        .def("getCamera", &ColorCamera::getCamera, DOC(dai, node, ColorCamera, getCamera))
+        
+        .def("setMeshSource", &ColorCamera::setMeshSource, py::arg("source"), DOC(dai, node, ColorCamera, setMeshSource))
+        .def("getMeshSource", &ColorCamera::getMeshSource, DOC(dai, node, ColorCamera, getMeshSource))
+        // .def("loadMeshFile", &ColorCamera::loadMeshFile, py::arg("warpMesh"), DOC(dai, node, ColorCamera, loadMeshFile))
+        .def("loadMeshData", &ColorCamera::loadMeshData, py::arg("warpMesh"), DOC(dai, node, ColorCamera, loadMeshData))
+        .def("setMeshStep", &ColorCamera::setMeshStep, py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setMeshStep))
+        .def("getMeshStep", &ColorCamera::getMeshStep, DOC(dai, node, ColorCamera, getMeshStep))
+        .def("setMeshSize", &ColorCamera::setMeshSize, py::arg("width"), py::arg("height"), DOC(dai, node, ColorCamera, setMeshSize))
+        .def("getMeshSize", &ColorCamera::getMeshSize, DOC(dai, node, ColorCamera, getMeshSize))
+        .def("setCalibrationAlpha", &ColorCamera::setCalibrationAlpha, py::arg("alpha"), DOC(dai, node, ColorCamera, setCalibrationAlpha))
+        .def("getCalibrationAlpha", &ColorCamera::getCalibrationAlpha, DOC(dai, node, ColorCamera, getCalibrationAlpha))
+        
+
+        .def("setRawOutputPacked", &ColorCamera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, ColorCamera, setRawOutputPacked))
+        ;
+    // ALIAS
+    daiNodeModule.attr("ColorCamera").attr("Properties") = colorCameraProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/Common.hpp b/bindings/python/src/pipeline/node/Common.hpp
new file mode 100644
index 000000000..1c0f2f434
--- /dev/null
+++ b/bindings/python/src/pipeline/node/Common.hpp
@@ -0,0 +1,45 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+// Libraries
+#include "hedley/hedley.h"
+
+// pybind11
+#include "pybind11/stl_bind.h"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/DeviceNode.hpp"
+
+// Map of python node classes and call to pipeline to create it
+extern std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> pyNodeCreateMap;
+extern py::handle daiNodeModule;
+
+template<typename T, typename DERIVED = dai::DeviceNode>
+py::class_<T> addNode(const char* name, const char* docstring = nullptr){
+    auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeModule, name, docstring);
+    pyNodeCreateMap.push_back(std::make_pair(node, [](dai::Pipeline& p, py::object class_){
+        return p.create<T>();
+    }));
+    return node;
+}
+
+template<typename T, typename DERIVED = dai::DeviceNode>
+py::class_<T> addNodeAbstract(const char* name, const char* docstring = nullptr){
+    auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeModule, name, docstring);
+    pyNodeCreateMap.push_back(std::make_pair(node, [](dai::Pipeline& p, py::object class_) -> std::shared_ptr<dai::Node> {
+        throw std::invalid_argument(std::string(py::str(class_)) + " is an abstract node. Choose an appropriate derived node instead");
+        return nullptr;
+    }));
+    return node;
+}
+
+// Macro helpers
+#define ADD_NODE(NodeName) addNode<NodeName>(#NodeName, DOC(dai, node, NodeName))
+#define ADD_NODE_DERIVED(NodeName, Derived) addNode<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
+#define ADD_NODE_ABSTRACT(NodeName) addNodeAbstract<NodeName>(#NodeName, DOC(dai, node, NodeName))
+#define ADD_NODE_DERIVED_ABSTRACT(NodeName, Derived) addNodeAbstract<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
+#define ADD_NODE_DOC(NodeName, docstring) addNode<NodeName>(#NodeName, docstring)
+#define ADD_NODE_DERIVED_DOC(NodeName, Derived, docstring) addNode<NodeName, Derived>(#NodeName, docstring)
diff --git a/bindings/python/src/pipeline/node/DetectionNetworkBindings.cpp b/bindings/python/src/pipeline/node/DetectionNetworkBindings.cpp
new file mode 100644
index 000000000..6a7d0f6a9
--- /dev/null
+++ b/bindings/python/src/pipeline/node/DetectionNetworkBindings.cpp
@@ -0,0 +1,97 @@
+#include "Common.hpp"
+#include "NodeBindings.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/NodeGroup.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/node/DetectionNetwork.hpp"
+
+void bind_detectionnetwork(pybind11::module& m, void* pCallstack) {
+    using namespace dai;
+    using namespace dai::node;
+
+    auto detectionNetwork = ADD_NODE_DERIVED_ABSTRACT(DetectionNetwork, NodeGroup);
+    auto mobileNetDetectionNetwork = ADD_NODE_DERIVED(MobileNetDetectionNetwork, DetectionNetwork);
+    auto yoloDetectionNetwork = ADD_NODE_DERIVED(YoloDetectionNetwork, DetectionNetwork);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*)pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // DetectionNetwork Properties
+    // detectionNetworkProperties.def_readwrite("parser", &DetectionNetworkProperties::parser);
+
+    // DetectionNetwork Node
+    detectionNetwork
+        // Copied from NN node
+        .def("setBlobPath", &DetectionNetwork::setBlobPath, py::arg("path"), DOC(dai, node, DetectionNetwork, setBlobPath))
+        .def("setNumPoolFrames", &DetectionNetwork::setNumPoolFrames, py::arg("numFrames"), DOC(dai, node, DetectionNetwork, setNumPoolFrames))
+        .def("setNumInferenceThreads", &DetectionNetwork::setNumInferenceThreads, py::arg("numThreads"), DOC(dai, node, DetectionNetwork, setNumInferenceThreads))
+        .def("setNumNCEPerInferenceThread", &DetectionNetwork::setNumNCEPerInferenceThread, py::arg("numNCEPerThread"), DOC(dai, node, DetectionNetwork, setNumNCEPerInferenceThread))
+        .def("getNumInferenceThreads", &DetectionNetwork::getNumInferenceThreads, DOC(dai, node, DetectionNetwork, getNumInferenceThreads))
+        .def("setBlob", py::overload_cast<dai::OpenVINO::Blob>(&DetectionNetwork::setBlob), py::arg("blob"), DOC(dai, node, DetectionNetwork, setBlob))
+        .def("setBlob", py::overload_cast<const dai::Path&>(&DetectionNetwork::setBlob), py::arg("path"), DOC(dai, node, DetectionNetwork, setBlob, 2))
+        .def("setXmlModelPath", &DetectionNetwork::setXmlModelPath, py::arg("xmlModelPath"), py::arg("binModelPath") = Path{""}, DOC(dai, node, DetectionNetwork, setXmlModelPath))
+        .def("setNumShavesPerInferenceThread", &DetectionNetwork::setNumShavesPerInferenceThread, py::arg("numShavesPerInferenceThread"), DOC(dai, node, DetectionNetwork, setNumShavesPerInferenceThread))
+        .def("setBackend", &DetectionNetwork::setBackend, py::arg("setBackend"), DOC(dai, node, DetectionNetwork, setBackend))
+        .def("setBackendProperties",
+             &DetectionNetwork::setBackendProperties,
+             py::arg("setBackendProperties"),
+             DOC(dai, node, DetectionNetwork, setBackendProperties))
+
+        // Detection specific properties
+        .def_property_readonly(
+            "input",
+            [](const DetectionNetwork& n) { return &n.neuralNetwork->input; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, NeuralNetwork, input))
+        .def_property_readonly(
+            "out",
+            [](const DetectionNetwork& n) { return &n.detectionParser->out; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, DetectionNetwork, out))
+        .def_property_readonly(
+            "outNetwork",
+            [](const DetectionNetwork& n) { return &n.neuralNetwork->out; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, DetectionNetwork, outNetwork))
+        .def_property_readonly(
+            "passthrough",
+            [](const DetectionNetwork& n) { return &n.neuralNetwork->passthrough; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, NeuralNetwork, passthrough))
+        .def("setConfidenceThreshold",
+             &DetectionNetwork::setConfidenceThreshold,
+             py::arg("thresh"),
+             DOC(dai, node, DetectionNetwork, setConfidenceThreshold))
+        .def("getConfidenceThreshold", &DetectionNetwork::getConfidenceThreshold, DOC(dai, node, DetectionNetwork, getConfidenceThreshold));
+    // ALIAS
+    // daiNodeModule.attr("DetectionNetwork").attr("Properties") = detectionNetworkProperties;
+
+    // YoloDetectionNetwork node
+    yoloDetectionNetwork
+        .def("setNumClasses", &YoloDetectionNetwork::setNumClasses, py::arg("numClasses"), DOC(dai, node, YoloDetectionNetwork, setNumClasses))
+        .def("setCoordinateSize",
+             &YoloDetectionNetwork::setCoordinateSize,
+             py::arg("coordinates"),
+             DOC(dai, node, YoloDetectionNetwork, setCoordinateSize))
+        /*
+        .def("setAnchors", py::overload_cast<const std::vector<std::vector<std::vector<float>>>&>(&YoloDetectionNetwork::setAnchors), py::arg("anchors"), DOC(dai, node, YoloDetectionNetwork, setAnchors))
+        .def("setAnchors", py::overload_cast<std::vector<float>>(&YoloDetectionNetwork::setAnchors), py::arg("anchors"), DOC(dai, node, YoloDetectionNetwork, setAnchors, 2))
+        */
+        .def("setAnchorMasks", &YoloDetectionNetwork::setAnchorMasks, py::arg("anchorMasks"), DOC(dai, node, YoloDetectionNetwork, setAnchorMasks))
+        .def("setIouThreshold", &YoloDetectionNetwork::setIouThreshold, py::arg("thresh"), DOC(dai, node, YoloDetectionNetwork, setIouThreshold))
+        .def("getNumClasses", &YoloDetectionNetwork::getNumClasses, DOC(dai, node, YoloDetectionNetwork, getNumClasses))
+        .def("getCoordinateSize", &YoloDetectionNetwork::getCoordinateSize, DOC(dai, node, YoloDetectionNetwork, getCoordinateSize))
+        .def("getAnchors", &YoloDetectionNetwork::getAnchors, DOC(dai, node, YoloDetectionNetwork, getAnchors))
+        .def("getAnchorMasks", &YoloDetectionNetwork::getAnchorMasks, DOC(dai, node, YoloDetectionNetwork, getAnchorMasks))
+        .def("getIouThreshold", &YoloDetectionNetwork::getIouThreshold, DOC(dai, node, YoloDetectionNetwork, getIouThreshold));
+}
diff --git a/bindings/python/src/pipeline/node/DetectionParserBindings.cpp b/bindings/python/src/pipeline/node/DetectionParserBindings.cpp
new file mode 100644
index 000000000..335c7ee6d
--- /dev/null
+++ b/bindings/python/src/pipeline/node/DetectionParserBindings.cpp
@@ -0,0 +1,64 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/DetectionParser.hpp"
+
+
+void bind_detectionparser(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<DetectionParserProperties> detectionParserProperties(m, "DetectionParserProperties", DOC(dai, DetectionParserProperties));
+    auto detectionParser = ADD_NODE(DetectionParser);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    detectionParserProperties
+        .def_readwrite("parser", &DetectionParserProperties::parser, DOC(dai, DetectionParserProperties, parser))
+    ;
+    // Node
+    detectionParser
+        .def_readonly("input", &DetectionParser::input, DOC(dai, node, DetectionParser, input))
+        .def_readonly("out", &DetectionParser::out, DOC(dai, node, DetectionParser, out))
+        .def("setBlobPath", &DetectionParser::setBlobPath, py::arg("path"), DOC(dai, node, DetectionParser, setBlobPath))
+        .def("setNumFramesPool", &DetectionParser::setNumFramesPool, py::arg("numFramesPool"), DOC(dai, node, DetectionParser, setNumFramesPool))
+        .def("getNumFramesPool", &DetectionParser::getNumFramesPool, DOC(dai, node, DetectionParser, getNumFramesPool))
+        .def("setBlob", py::overload_cast<dai::OpenVINO::Blob>(&DetectionParser::setBlob), py::arg("blob"), DOC(dai, node, DetectionParser, setBlob))
+        .def("setBlob", py::overload_cast<const dai::Path&>(&DetectionParser::setBlob), py::arg("path"), DOC(dai, node, DetectionParser, setBlob, 2))
+        .def("setInputImageSize", static_cast<void(DetectionParser::*)(int,int)>(&DetectionParser::setInputImageSize), py::arg("width"), py::arg("height"), DOC(dai, node, DetectionParser, setInputImageSize))
+        .def("setInputImageSize", static_cast<void(DetectionParser::*)(std::tuple<int,int>)>(&DetectionParser::setInputImageSize), py::arg("size"), DOC(dai, node, DetectionParser, setInputImageSize, 2))
+        .def("setNNFamily", &DetectionParser::setNNFamily, py::arg("type"), DOC(dai, node, DetectionParser, setNNFamily))
+        .def("getNNFamily", &DetectionParser::getNNFamily, DOC(dai, node, DetectionParser, getNNFamily))
+        .def("setConfidenceThreshold", &DetectionParser::setConfidenceThreshold, py::arg("thresh"), DOC(dai, node, DetectionParser, setConfidenceThreshold))
+        .def("getConfidenceThreshold", &DetectionParser::getConfidenceThreshold, DOC(dai, node, DetectionParser, getConfidenceThreshold))
+        .def("setNumClasses", &DetectionParser::setNumClasses, py::arg("numClasses"), DOC(dai, node, DetectionParser, setNumClasses))
+        .def("setCoordinateSize", &DetectionParser::setCoordinateSize, py::arg("coordinates"), DOC(dai, node, DetectionParser, setCoordinateSize))
+        .def("setAnchors", py::overload_cast<const std::vector<std::vector<std::vector<float>>>&>(&DetectionParser::setAnchors), py::arg("anchors"), DOC(dai, node, DetectionParser, setAnchors))
+        .def("setAnchors", py::overload_cast<std::vector<float>>(&DetectionParser::setAnchors), py::arg("anchors"), DOC(dai, node, DetectionParser, setAnchors, 2))
+        .def("setAnchorMasks", &DetectionParser::setAnchorMasks, py::arg("anchorMasks"), DOC(dai, node, DetectionParser, setAnchorMasks))
+        .def("setIouThreshold", &DetectionParser::setIouThreshold, py::arg("thresh"), DOC(dai, node, DetectionParser, setIouThreshold))
+        .def("getNumClasses", &DetectionParser::getNumClasses, DOC(dai, node, DetectionParser, getNumClasses))
+        .def("getCoordinateSize", &DetectionParser::getCoordinateSize, DOC(dai, node, DetectionParser, getCoordinateSize))
+        .def("getAnchors", &DetectionParser::getAnchors, DOC(dai, node, DetectionParser, getAnchors))
+        .def("getAnchorMasks", &DetectionParser::getAnchorMasks, DOC(dai, node, DetectionParser, getAnchorMasks))
+        .def("getIouThreshold", &DetectionParser::getIouThreshold, DOC(dai, node, DetectionParser, getIouThreshold))
+        ;
+    daiNodeModule.attr("DetectionParser").attr("Properties") = detectionParserProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/EdgeDetectorBindings.cpp b/bindings/python/src/pipeline/node/EdgeDetectorBindings.cpp
new file mode 100644
index 000000000..0c6f167b4
--- /dev/null
+++ b/bindings/python/src/pipeline/node/EdgeDetectorBindings.cpp
@@ -0,0 +1,67 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/EdgeDetector.hpp"
+
+void bind_edgedetector(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<EdgeDetectorProperties> edgeDetectorProperties(m, "EdgeDetectorProperties", DOC(dai, EdgeDetectorProperties));
+    auto edgeDetector = ADD_NODE(EdgeDetector);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    edgeDetectorProperties
+        .def_readwrite("initialConfig", &EdgeDetectorProperties::initialConfig, DOC(dai, EdgeDetectorProperties, initialConfig))
+        .def_readwrite("outputFrameSize", &EdgeDetectorProperties::outputFrameSize, DOC(dai, EdgeDetectorProperties, outputFrameSize))
+        .def_readwrite("numFramesPool", &EdgeDetectorProperties::numFramesPool, DOC(dai, EdgeDetectorProperties, numFramesPool))
+    ;
+
+    // Node
+    edgeDetector
+        .def_readonly("initialConfig", &EdgeDetector::initialConfig, DOC(dai, node, EdgeDetector, initialConfig))
+        .def_readonly("inputConfig", &EdgeDetector::inputConfig, DOC(dai, node, EdgeDetector, inputConfig))
+        .def_readonly("inputImage", &EdgeDetector::inputImage, DOC(dai, node, EdgeDetector, inputImage))
+        .def_readonly("outputImage", &EdgeDetector::outputImage, DOC(dai, node, EdgeDetector, outputImage))
+
+        .def("setWaitForConfigInput", [](EdgeDetector& obj, bool wait){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            obj.setWaitForConfigInput(wait);
+            HEDLEY_DIAGNOSTIC_POP
+        }, py::arg("wait"), DOC(dai, node, EdgeDetector, setWaitForConfigInput))
+
+        .def("getWaitForConfigInput", [](EdgeDetector& obj){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return obj.getWaitForConfigInput();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, EdgeDetector, getWaitForConfigInput))
+
+        .def("setNumFramesPool", &EdgeDetector::setNumFramesPool, DOC(dai, node, EdgeDetector, setNumFramesPool))
+        .def("setMaxOutputFrameSize", &EdgeDetector::setMaxOutputFrameSize, DOC(dai, node, EdgeDetector, setMaxOutputFrameSize))
+        ;
+    daiNodeModule.attr("EdgeDetector").attr("Properties") = edgeDetectorProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/FeatureTrackerBindings.cpp b/bindings/python/src/pipeline/node/FeatureTrackerBindings.cpp
new file mode 100644
index 000000000..5ef2c4130
--- /dev/null
+++ b/bindings/python/src/pipeline/node/FeatureTrackerBindings.cpp
@@ -0,0 +1,68 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/FeatureTracker.hpp"
+
+
+void bind_featuretracker(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<FeatureTrackerProperties> featureTrackerProperties(m, "FeatureTrackerProperties", DOC(dai, FeatureTrackerProperties));
+    auto featureTracker = ADD_NODE(FeatureTracker);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // FeatureTracker properties
+    featureTrackerProperties
+        .def_readwrite("initialConfig", &FeatureTrackerProperties::initialConfig, DOC(dai, FeatureTrackerProperties, initialConfig))
+        .def_readwrite("numShaves", &FeatureTrackerProperties::numShaves, DOC(dai, FeatureTrackerProperties, numShaves))
+        .def_readwrite("numMemorySlices", &FeatureTrackerProperties::numMemorySlices, DOC(dai, FeatureTrackerProperties, numMemorySlices))
+        ;
+
+    // FeatureTracker Node
+    featureTracker
+        .def_readonly("inputConfig", &FeatureTracker::inputConfig, DOC(dai, node, FeatureTracker, inputConfig))
+        .def_readonly("inputImage", &FeatureTracker::inputImage, DOC(dai, node, FeatureTracker, inputImage))
+        .def_readonly("outputFeatures", &FeatureTracker::outputFeatures, DOC(dai, node, FeatureTracker, outputFeatures))
+        .def_readonly("passthroughInputImage", &FeatureTracker::passthroughInputImage, DOC(dai, node, FeatureTracker, passthroughInputImage))
+        .def_readonly("initialConfig", &FeatureTracker::initialConfig, DOC(dai, node, FeatureTracker, initialConfig))
+
+        .def("setWaitForConfigInput", [](FeatureTracker& obj, bool wait){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            obj.setWaitForConfigInput(wait);
+            HEDLEY_DIAGNOSTIC_POP
+        }, py::arg("wait"), DOC(dai, node, FeatureTracker, setWaitForConfigInput))
+
+        .def("getWaitForConfigInput", [](FeatureTracker& obj){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return obj.getWaitForConfigInput();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, FeatureTracker, getWaitForConfigInput))
+
+        .def("setHardwareResources", &FeatureTracker::setHardwareResources, py::arg("numShaves"), py::arg("numMemorySlices"), DOC(dai, node, FeatureTracker, setHardwareResources))
+        ;
+    daiNodeModule.attr("FeatureTracker").attr("Properties") = featureTrackerProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/IMUBindings.cpp b/bindings/python/src/pipeline/node/IMUBindings.cpp
new file mode 100644
index 000000000..ff1665c4f
--- /dev/null
+++ b/bindings/python/src/pipeline/node/IMUBindings.cpp
@@ -0,0 +1,83 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/IMU.hpp"
+
+void bind_imu(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::enum_<IMUSensor> imuSensor(m, "IMUSensor", DOC(dai, IMUSensor));
+    py::class_<IMUSensorConfig, std::shared_ptr<IMUSensorConfig>> imuSensorConfig(m, "IMUSensorConfig", DOC(dai, IMUSensorConfig));
+    py::class_<IMUProperties> imuProperties(m, "IMUProperties", DOC(dai, IMUProperties));
+    auto imu = ADD_NODE(IMU);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    imuSensor
+        .value("ACCELEROMETER_RAW", IMUSensor::ACCELEROMETER_RAW, DOC(dai, IMUSensor, ACCELEROMETER_RAW))
+        .value("ACCELEROMETER", IMUSensor::ACCELEROMETER, DOC(dai, IMUSensor, ACCELEROMETER))
+        .value("LINEAR_ACCELERATION", IMUSensor::LINEAR_ACCELERATION, DOC(dai, IMUSensor, LINEAR_ACCELERATION))
+        .value("GRAVITY", IMUSensor::GRAVITY, DOC(dai, IMUSensor, GRAVITY))
+        .value("GYROSCOPE_RAW", IMUSensor::GYROSCOPE_RAW, DOC(dai, IMUSensor, GYROSCOPE_RAW))
+        .value("GYROSCOPE_CALIBRATED", IMUSensor::GYROSCOPE_CALIBRATED, DOC(dai, IMUSensor, GYROSCOPE_CALIBRATED))
+        .value("GYROSCOPE_UNCALIBRATED", IMUSensor::GYROSCOPE_UNCALIBRATED, DOC(dai, IMUSensor, GYROSCOPE_UNCALIBRATED))
+        .value("MAGNETOMETER_RAW", IMUSensor::MAGNETOMETER_RAW, DOC(dai, IMUSensor, MAGNETOMETER_RAW))
+        .value("MAGNETOMETER_CALIBRATED", IMUSensor::MAGNETOMETER_CALIBRATED, DOC(dai, IMUSensor, MAGNETOMETER_CALIBRATED))
+        .value("MAGNETOMETER_UNCALIBRATED", IMUSensor::MAGNETOMETER_UNCALIBRATED, DOC(dai, IMUSensor, MAGNETOMETER_UNCALIBRATED))
+        .value("ROTATION_VECTOR", IMUSensor::ROTATION_VECTOR, DOC(dai, IMUSensor, ROTATION_VECTOR))
+        .value("GAME_ROTATION_VECTOR", IMUSensor::GAME_ROTATION_VECTOR, DOC(dai, IMUSensor, GAME_ROTATION_VECTOR))
+        .value("GEOMAGNETIC_ROTATION_VECTOR", IMUSensor::GEOMAGNETIC_ROTATION_VECTOR, DOC(dai, IMUSensor, GEOMAGNETIC_ROTATION_VECTOR))
+        .value("ARVR_STABILIZED_ROTATION_VECTOR", IMUSensor::ARVR_STABILIZED_ROTATION_VECTOR, DOC(dai, IMUSensor, ARVR_STABILIZED_ROTATION_VECTOR))
+        .value("ARVR_STABILIZED_GAME_ROTATION_VECTOR", IMUSensor::ARVR_STABILIZED_GAME_ROTATION_VECTOR, DOC(dai, IMUSensor, ARVR_STABILIZED_GAME_ROTATION_VECTOR))
+        // .value("GYRO_INTEGRATED_ROTATION_VECTOR", IMUSensor::GYRO_INTEGRATED_ROTATION_VECTOR)
+    ;
+
+    imuSensorConfig
+        .def(py::init<>())
+        .def_readwrite("sensitivityEnabled", &IMUSensorConfig::sensitivityEnabled)
+        .def_readwrite("sensitivityRelative", &IMUSensorConfig::sensitivityRelative)
+        .def_readwrite("changeSensitivity", &IMUSensorConfig::changeSensitivity)
+        .def_readwrite("reportRate", &IMUSensorConfig::reportRate)
+        .def_readwrite("sensorId", &IMUSensorConfig::sensorId)
+        ;
+
+    imuProperties
+        .def_readwrite("imuSensors", &IMUProperties::imuSensors, DOC(dai, IMUProperties, imuSensors))
+        .def_readwrite("batchReportThreshold", &IMUProperties::batchReportThreshold, DOC(dai, IMUProperties, batchReportThreshold))
+        .def_readwrite("maxBatchReports", &IMUProperties::maxBatchReports, DOC(dai, IMUProperties, maxBatchReports))
+        .def_readwrite("enableFirmwareUpdate", &IMUProperties::enableFirmwareUpdate, DOC(dai, IMUProperties, enableFirmwareUpdate))
+    ;
+
+    // Node
+    imu
+        .def_readonly("out", &IMU::out, DOC(dai, node, IMU, out))
+        .def("enableIMUSensor", static_cast<void(IMU::*)(IMUSensorConfig imuSensor)>(&IMU::enableIMUSensor), py::arg("sensorConfig"), DOC(dai, node, IMU, enableIMUSensor))
+        .def("enableIMUSensor", static_cast<void(IMU::*)(const std::vector<IMUSensorConfig>& imuSensors)>(&IMU::enableIMUSensor), py::arg("sensorConfigs"), DOC(dai, node, IMU, enableIMUSensor, 2))
+        .def("enableIMUSensor", static_cast<void(IMU::*)(IMUSensor sensor, uint32_t reportRate)>(&IMU::enableIMUSensor), py::arg("sensor"), py::arg("reportRate"), DOC(dai, node, IMU, enableIMUSensor, 3))
+        .def("enableIMUSensor", static_cast<void(IMU::*)(const std::vector<IMUSensor>& sensors, uint32_t reportRate)>(&IMU::enableIMUSensor), py::arg("sensors"), py::arg("reportRate"), DOC(dai, node, IMU, enableIMUSensor, 4))
+        .def("setBatchReportThreshold", &IMU::setBatchReportThreshold, py::arg("batchReportThreshold"), DOC(dai, node, IMU, setBatchReportThreshold))
+        .def("getBatchReportThreshold", &IMU::getBatchReportThreshold, DOC(dai, node, IMU, getBatchReportThreshold))
+        .def("setMaxBatchReports", &IMU::setMaxBatchReports, py::arg("maxBatchReports"), DOC(dai, node, IMU, setMaxBatchReports))
+        .def("getMaxBatchReports", &IMU::getMaxBatchReports, DOC(dai, node, IMU, getMaxBatchReports))
+        .def("enableFirmwareUpdate", &IMU::enableFirmwareUpdate, DOC(dai, node, IMU, enableFirmwareUpdate))
+        ;
+    daiNodeModule.attr("IMU").attr("Properties") = imuProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/ImageManipBindings.cpp b/bindings/python/src/pipeline/node/ImageManipBindings.cpp
new file mode 100644
index 000000000..faa4651ff
--- /dev/null
+++ b/bindings/python/src/pipeline/node/ImageManipBindings.cpp
@@ -0,0 +1,117 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/ImageManip.hpp"
+
+void bind_imagemanip(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    // TODO(themarpe) - properties
+    auto imageManip = ADD_NODE(ImageManip);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // ImageManip Node
+    imageManip
+        .def_readonly("inputConfig", &ImageManip::inputConfig, DOC(dai, node, ImageManip, inputConfig))
+        .def_readonly("inputImage", &ImageManip::inputImage, DOC(dai, node, ImageManip, inputImage))
+        .def_readonly("out", &ImageManip::out, DOC(dai, node, ImageManip, out))
+        .def_readonly("initialConfig", &ImageManip::initialConfig, DOC(dai, node, ImageManip, initialConfig))
+        // setters
+
+        .def("setCropRect", [](ImageManip& im, float xmin, float ymin, float xmax, float ymax) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setCropRect() is deprecated, use initialConfig.setCropRect() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setCropRect(xmin, ymin, xmax, ymax);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("setCenterCrop", [](ImageManip& im, float ratio, float whRatio = 1.0f) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setCenterCrop() is deprecated, use initialConfig.setCenterCrop() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setCenterCrop(ratio, whRatio);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+
+        .def("setResize", [](ImageManip& im, int w, int h) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setResize() is deprecated, use initialConfig.setResize() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setResize(w, h);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+
+        .def("setResizeThumbnail", [](ImageManip& im, int w, int h, int bgRed = 0, int bgGreen = 0, int bgBlue = 0) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setResizeThumbnail() is deprecated, use initialConfig.setResizeThumbnail() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setResizeThumbnail(w, h, bgRed, bgGreen, bgBlue);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+
+        .def("setFrameType", [](ImageManip& im, dai::ImgFrame::Type name) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setFrameType() is deprecated, use initialConfig.setFrameType() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setFrameType(name);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+
+        .def("setHorizontalFlip", [](ImageManip& im, bool flip) {
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setHorizontalFlip() is deprecated, use initialConfig.setHorizontalFlip() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            im.setHorizontalFlip(flip);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+
+        .def("setKeepAspectRatio", &ImageManip::setKeepAspectRatio, DOC(dai, node, ImageManip, setKeepAspectRatio))
+
+        .def("setWaitForConfigInput", [](ImageManip& obj, bool wait){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            obj.setWaitForConfigInput(wait);
+            HEDLEY_DIAGNOSTIC_POP
+        }, py::arg("wait"), DOC(dai, node, ImageManip, setWaitForConfigInput))
+
+        .def("getWaitForConfigInput", [](ImageManip& obj){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return obj.getWaitForConfigInput();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, ImageManip, getWaitForConfigInput))
+
+        .def("setNumFramesPool", &ImageManip::setNumFramesPool, DOC(dai, node, ImageManip, setNumFramesPool))
+        .def("setMaxOutputFrameSize", &ImageManip::setMaxOutputFrameSize, DOC(dai, node, ImageManip, setMaxOutputFrameSize))
+
+        .def("setWarpMesh", py::overload_cast<const std::vector<Point2f>&, int, int>(&ImageManip::setWarpMesh), DOC(dai, node, ImageManip, setWarpMesh))
+        .def("setWarpMesh", py::overload_cast<const std::vector<std::pair<float,float>>&, int, int>(&ImageManip::setWarpMesh), DOC(dai, node, ImageManip, setWarpMesh))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/node/MessageDemuxBindings.cpp b/bindings/python/src/pipeline/node/MessageDemuxBindings.cpp
new file mode 100644
index 000000000..9accb8962
--- /dev/null
+++ b/bindings/python/src/pipeline/node/MessageDemuxBindings.cpp
@@ -0,0 +1,42 @@
+#include "Common.hpp"
+#include "NodeBindings.hpp"
+
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/node/MessageDemux.hpp"
+#include "depthai/properties/MessageDemuxProperties.hpp"
+
+void bind_messagedemux(pybind11::module &m, void *pCallstack) {
+
+  using namespace dai;
+  using namespace dai::node;
+
+  // Node and Properties declare upfront
+  py::class_<MessageDemuxProperties> messageDemuxProperties(
+      m, "MessageDemuxProperties", DOC(dai, MessageDemuxProperties));
+  auto messageDemux = ADD_NODE(MessageDemux);
+
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  // Call the rest of the type defines, then perform the actual bindings
+  Callstack *callstack = (Callstack *)pCallstack;
+  auto cb = callstack->top();
+  callstack->pop();
+  cb(m, pCallstack);
+  // Actual bindings
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+  ///////////////////////////////////////////////////////////////////////
+
+  // Properties
+
+  // Node
+  messageDemux
+      .def_readonly("outputs", &MessageDemux::outputs,
+                    DOC(dai, node, MessageDemux, outputs))
+      .def_readonly("input", &MessageDemux::input,
+                    DOC(dai, node, MessageDemux, input));
+  daiNodeModule.attr("MessageDemux").attr("Properties") =
+      messageDemuxProperties;
+}
diff --git a/bindings/python/src/pipeline/node/MonoCameraBindings.cpp b/bindings/python/src/pipeline/node/MonoCameraBindings.cpp
new file mode 100644
index 000000000..4e6765eb4
--- /dev/null
+++ b/bindings/python/src/pipeline/node/MonoCameraBindings.cpp
@@ -0,0 +1,103 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/MonoCamera.hpp"
+
+void bind_monocamera(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<MonoCameraProperties> monoCameraProperties(m, "MonoCameraProperties", DOC(dai, MonoCameraProperties));
+    py::enum_<MonoCameraProperties::SensorResolution> monoCameraPropertiesSensorResolution(monoCameraProperties, "SensorResolution", DOC(dai, MonoCameraProperties, SensorResolution));
+    auto monoCamera = ADD_NODE(MonoCamera);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    // Properties
+    monoCameraPropertiesSensorResolution
+        .value("THE_720_P", MonoCameraProperties::SensorResolution::THE_720_P)
+        .value("THE_800_P", MonoCameraProperties::SensorResolution::THE_800_P)
+        .value("THE_400_P", MonoCameraProperties::SensorResolution::THE_400_P)
+        .value("THE_480_P", MonoCameraProperties::SensorResolution::THE_480_P)
+        .value("THE_1200_P", MonoCameraProperties::SensorResolution::THE_1200_P)
+        .value("THE_4000X3000", MonoCameraProperties::SensorResolution::THE_4000X3000)
+        .value("THE_4224X3136", MonoCameraProperties::SensorResolution::THE_4224X3136)
+        ;
+
+    monoCameraProperties
+        .def_readwrite("initialControl", &MonoCameraProperties::initialControl)
+        .def_readwrite("boardSocket", &MonoCameraProperties::boardSocket)
+        .def_readwrite("resolution", &MonoCameraProperties::resolution)
+        .def_readwrite("fps", &MonoCameraProperties::fps)
+        .def_readwrite("isp3aFps", &MonoCameraProperties::isp3aFps)
+        .def_readwrite("numFramesPool", &MonoCameraProperties::numFramesPool)
+        .def_readwrite("numFramesPoolRaw", &MonoCameraProperties::numFramesPoolRaw)
+        .def_readwrite("eventFilter", &MonoCameraProperties::eventFilter)
+        ;
+
+    // Node
+    monoCamera
+        .def_readonly("inputControl", &MonoCamera::inputControl, DOC(dai, node, MonoCamera, inputControl))
+        .def_readonly("out",  &MonoCamera::out, DOC(dai, node, MonoCamera, out))
+        .def_readonly("raw",  &MonoCamera::raw, DOC(dai, node, MonoCamera, raw))
+        .def_readonly("frameEvent",  &MonoCamera::frameEvent, DOC(dai, node, MonoCamera, frameEvent))
+        .def_readonly("initialControl",  &MonoCamera::initialControl, DOC(dai, node, MonoCamera, initialControl))
+        .def("setCamId", [](MonoCamera& c, int64_t id) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setCamId() is deprecated, use setBoardSocket() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            c.setCamId(id);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("getCamId", [](MonoCamera& c) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "getCamId() is deprecated, use getBoardSocket() instead.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return c.getCamId();
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("setBoardSocket", &MonoCamera::setBoardSocket, py::arg("boardSocket"), DOC(dai, node, MonoCamera, setBoardSocket))
+        .def("getBoardSocket", &MonoCamera::getBoardSocket, DOC(dai, node, MonoCamera, getBoardSocket))
+        .def("setImageOrientation", &MonoCamera::setImageOrientation, py::arg("imageOrientation"), DOC(dai, node, MonoCamera, setImageOrientation))
+        .def("getImageOrientation", &MonoCamera::getImageOrientation, DOC(dai, node, MonoCamera, getImageOrientation))
+        .def("setResolution", &MonoCamera::setResolution, py::arg("resolution"), DOC(dai, node, MonoCamera, setResolution))
+        .def("getResolution", &MonoCamera::getResolution, DOC(dai, node, MonoCamera, getResolution))
+        .def("setFrameEventFilter", &MonoCamera::setFrameEventFilter, py::arg("events"), DOC(dai, node, MonoCamera, setFrameEventFilter))
+        .def("getFrameEventFilter", &MonoCamera::getFrameEventFilter, DOC(dai, node, MonoCamera, getFrameEventFilter))
+        .def("setFps",        &MonoCamera::setFps, py::arg("fps"), DOC(dai, node, MonoCamera, setFps))
+        .def("setIsp3aFps", &MonoCamera::setIsp3aFps, DOC(dai, node, MonoCamera, setIsp3aFps))
+        .def("getFps",        &MonoCamera::getFps, DOC(dai, node, MonoCamera, getFps))
+        .def("getResolutionSize", &MonoCamera::getResolutionSize, DOC(dai, node, MonoCamera, getResolutionSize))
+        .def("getResolutionWidth", &MonoCamera::getResolutionWidth, DOC(dai, node, MonoCamera, getResolutionWidth))
+        .def("getResolutionHeight", &MonoCamera::getResolutionHeight, DOC(dai, node, MonoCamera, getResolutionHeight))
+        .def("setNumFramesPool", &MonoCamera::setNumFramesPool, DOC(dai, node, MonoCamera, setNumFramesPool))
+        .def("getNumFramesPool", &MonoCamera::getNumFramesPool, DOC(dai, node, MonoCamera, getNumFramesPool))
+        .def("setRawNumFramesPool", &MonoCamera::setRawNumFramesPool, DOC(dai, node, MonoCamera, setRawNumFramesPool))
+        .def("getRawNumFramesPool", &MonoCamera::getRawNumFramesPool, DOC(dai, node, MonoCamera, getRawNumFramesPool))
+        .def("setCamera", &MonoCamera::setCamera, py::arg("name"), DOC(dai, node, MonoCamera, setCamera))
+        .def("getCamera", &MonoCamera::getCamera, DOC(dai, node, MonoCamera, getCamera))
+
+        .def("setRawOutputPacked", &MonoCamera::setRawOutputPacked, py::arg("packed"), DOC(dai, node, MonoCamera, setRawOutputPacked))
+        ;
+    // ALIAS
+    daiNodeModule.attr("MonoCamera").attr("Properties") = monoCameraProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/NeuralNetworkBindings.cpp b/bindings/python/src/pipeline/node/NeuralNetworkBindings.cpp
new file mode 100644
index 000000000..b6d38c78e
--- /dev/null
+++ b/bindings/python/src/pipeline/node/NeuralNetworkBindings.cpp
@@ -0,0 +1,73 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/NeuralNetwork.hpp"
+
+
+void bind_neuralnetwork(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<NeuralNetworkProperties, std::shared_ptr<NeuralNetworkProperties>> neuralNetworkProperties(m, "NeuralNetworkProperties", DOC(dai, NeuralNetworkProperties));
+    auto neuralNetwork = ADD_NODE(NeuralNetwork);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    neuralNetworkProperties
+        .def_readwrite("blobSize", &NeuralNetworkProperties::blobSize)
+        .def_readwrite("blobUri", &NeuralNetworkProperties::blobUri)
+        .def_readwrite("numFrames", &NeuralNetworkProperties::numFrames)
+        .def_readwrite("numThreads", &NeuralNetworkProperties::numThreads)
+        .def_readwrite("numNCEPerThread", &NeuralNetworkProperties::numNCEPerThread)
+        ;
+
+    // Node
+    neuralNetwork.def_readonly("input", &NeuralNetwork::input, DOC(dai, node, NeuralNetwork, input))
+        .def_readonly("out", &NeuralNetwork::out, DOC(dai, node, NeuralNetwork, out))
+        .def_readonly("passthrough", &NeuralNetwork::passthrough, DOC(dai, node, NeuralNetwork, passthrough))
+        .def("setBlobPath", &NeuralNetwork::setBlobPath, py::arg("path"), DOC(dai, node, NeuralNetwork, setBlobPath))
+        .def("setNumPoolFrames", &NeuralNetwork::setNumPoolFrames, py::arg("numFrames"), DOC(dai, node, NeuralNetwork, setNumPoolFrames))
+        .def("setNumInferenceThreads", &NeuralNetwork::setNumInferenceThreads, py::arg("numThreads"), DOC(dai, node, NeuralNetwork, setNumInferenceThreads))
+        .def("setNumNCEPerInferenceThread",
+             &NeuralNetwork::setNumNCEPerInferenceThread,
+             py::arg("numNCEPerThread"),
+             DOC(dai, node, NeuralNetwork, setNumNCEPerInferenceThread))
+        .def("getNumInferenceThreads", &NeuralNetwork::getNumInferenceThreads, DOC(dai, node, NeuralNetwork, getNumInferenceThreads))
+        .def("setBlob", py::overload_cast<dai::OpenVINO::Blob>(&NeuralNetwork::setBlob), py::arg("blob"), DOC(dai, node, NeuralNetwork, setBlob))
+        .def("setBlob", py::overload_cast<const dai::Path&>(&NeuralNetwork::setBlob), py::arg("path"), DOC(dai, node, NeuralNetwork, setBlob, 2))
+        .def("setXmlModelPath",
+             &NeuralNetwork::setXmlModelPath,
+             py::arg("xmlModelPath"),
+             py::arg("binModelPath") = Path{""},
+             DOC(dai, node, NeuralNetwork, setXmlModelPath))
+        .def("setNumShavesPerInferenceThread",
+             &NeuralNetwork::setNumShavesPerInferenceThread,
+             py::arg("numShavesPerInferenceThread"),
+             DOC(dai, node, NeuralNetwork, setNumShavesPerInferenceThread))
+        .def("setBackend", &NeuralNetwork::setBackend, py::arg("setBackend"), DOC(dai, node, NeuralNetwork, setBackend))
+        .def("setBackendProperties", &NeuralNetwork::setBackendProperties, py::arg("setBackendProperties"), DOC(dai, node, NeuralNetwork, setBackendProperties))
+
+        .def_readonly("inputs", &NeuralNetwork::inputs, DOC(dai, node, NeuralNetwork, inputs))
+        .def_readonly("passthroughs", &NeuralNetwork::passthroughs, DOC(dai, node, NeuralNetwork, passthroughs))
+
+        ;
+    // Properties alias
+    daiNodeModule.attr("NeuralNetwork").attr("Properties") = neuralNetworkProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/NodeBindings.cpp b/bindings/python/src/pipeline/node/NodeBindings.cpp
new file mode 100644
index 000000000..2518b668e
--- /dev/null
+++ b/bindings/python/src/pipeline/node/NodeBindings.cpp
@@ -0,0 +1,404 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/ThreadedNode.hpp"
+#include "depthai/pipeline/DeviceNode.hpp"
+#include "depthai/pipeline/NodeGroup.hpp"
+
+// Libraries
+#include "hedley/hedley.h"
+
+// pybind11
+#include "pybind11/stl_bind.h"
+
+// Map of python node classes and call to pipeline to create it
+std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> pyNodeCreateMap;
+py::handle daiNodeModule;
+
+std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> NodeBindings::getNodeCreateMap(){
+    return pyNodeCreateMap;
+}
+
+// Bind map - without init method
+template <typename Map, typename holder_type = std::unique_ptr<Map>, typename... Args>
+py::class_<Map, holder_type> bindNodeMap(py::handle scope, const std::string &name, Args&&... args) {
+    using namespace py;
+    using KeyType = typename Map::key_type;
+    using MappedType = typename Map::mapped_type;
+    using Class_ = class_<Map, holder_type>;
+
+    // If either type is a non-module-local bound type then make the map binding non-local as well;
+    // otherwise (e.g. both types are either module-local or converting) the map will be
+    // module-local.
+    auto tinfo = py::detail::get_type_info(typeid(MappedType));
+    bool local = !tinfo || tinfo->module_local;
+    if (local) {
+        tinfo = py::detail::get_type_info(typeid(KeyType));
+        local = !tinfo || tinfo->module_local;
+    }
+
+    Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
+
+    // Register stream insertion operator (if possible)
+    detail::map_if_insertion_operator<Map, Class_>(cl, name);
+
+    cl.def("__bool__",
+        [](const Map &m) -> bool { return !m.empty(); },
+        "Check whether the map is nonempty"
+    );
+
+    cl.def("__iter__",
+           [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+
+    cl.def("items",
+           [](Map &m) { return make_iterator(m.begin(), m.end()); },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+
+    // Warning - overload order matters!
+   // Modified __getitem__. Uses operator[string] underneath
+    cl.def("__getitem__",
+        [](Map &m, const std::string &k) -> MappedType & {
+            return m[k];
+        },
+        return_value_policy::reference_internal // ref + keepalive
+    );
+    // Modified __getitem__. Uses operator[pair<string,string>] underneath
+    cl.def("__getitem__",
+        [](Map &m, const KeyType &k) -> MappedType & {
+            return m[k];
+        },
+        return_value_policy::reference_internal // ref + keepalive
+    );
+
+    // Warning - overload order matters!
+    cl.def("__contains__",
+        [](Map &m, const std::string &k) -> bool {
+            auto it = m.find({m.name, k});
+            if (it == m.end())
+              return false;
+           return true;
+        }
+    );
+    cl.def("__contains__",
+        [](Map &m, const KeyType &k) -> bool {
+            auto it = m.find(k);
+            if (it == m.end())
+              return false;
+           return true;
+        }
+    );
+
+    // Assignment provided only if the type is copyable
+    detail::map_assignment<Map, Class_>(cl);
+
+    // Warning - overload order matters!
+    cl.def("__delitem__",
+           [](Map &m, const std::string &k) {
+               auto it = m.find({m.name, k});
+               if (it == m.end())
+                   throw key_error();
+               m.erase(it);
+           }
+    );
+    cl.def("__delitem__",
+           [](Map &m, const KeyType &k) {
+               auto it = m.find(k);
+               if (it == m.end())
+                   throw key_error();
+               m.erase(it);
+           }
+    );
+
+    cl.def("__len__", &Map::size);
+
+    return cl;
+}
+
+
+void bind_xlinkin(pybind11::module& m, void* pCallstack);
+void bind_xlinkout(pybind11::module& m, void* pCallstack);
+void bind_benchmark(pybind11::module& m, void* pCallstack);
+void bind_colorcamera(pybind11::module& m, void* pCallstack);
+void bind_camera(pybind11::module& m, void* pCallstack);
+void bind_monocamera(pybind11::module& m, void* pCallstack);
+void bind_stereodepth(pybind11::module& m, void* pCallstack);
+void bind_neuralnetwork(pybind11::module& m, void* pCallstack);
+void bind_videoencoder(pybind11::module& m, void* pCallstack);
+void bind_imagemanip(pybind11::module& m, void* pCallstack);
+void bind_warp(pybind11::module& m, void* pCallstack);
+void bind_spiout(pybind11::module& m, void* pCallstack);
+void bind_spiin(pybind11::module& m, void* pCallstack);
+void bind_detectionnetwork(pybind11::module& m, void* pCallstack);
+void bind_systemlogger(pybind11::module& m, void* pCallstack);
+void bind_script(pybind11::module& m, void* pCallstack);
+void bind_spatiallocationcalculator(pybind11::module& m, void* pCallstack);
+void bind_spatialdetectionnetwork(pybind11::module& m, void* pCallstack);
+void bind_objecttracker(pybind11::module& m, void* pCallstack);
+void bind_imu(pybind11::module& m, void* pCallstack);
+void bind_edgedetector(pybind11::module& m, void* pCallstack);
+void bind_featuretracker(pybind11::module& m, void* pCallstack);
+void bind_apriltag(pybind11::module& m, void* pCallstack);
+void bind_detectionparser(pybind11::module& m, void* pCallstack);
+void bind_uvc(pybind11::module& m, void* pCallstack);
+void bind_tof(pybind11::module& m, void* pCallstack);
+void bind_pointcloud(pybind11::module& m, void* pCallstack);
+void bind_sync(pybind11::module& m, void* pCallstack);
+void bind_messagedemux(pybind11::module& m, void* pCallstack);
+
+void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
+    // Bind Node et al
+    callstack.push_front(NodeBindings::bind);
+
+    // Bind all other nodes
+    callstack.push_front(bind_xlinkin);
+    callstack.push_front(bind_xlinkout);
+    callstack.push_front(bind_benchmark);
+    callstack.push_front(bind_colorcamera);
+    callstack.push_front(bind_camera);
+    callstack.push_front(bind_monocamera);
+    callstack.push_front(bind_stereodepth);
+    callstack.push_front(bind_neuralnetwork);
+    callstack.push_front(bind_videoencoder);
+    callstack.push_front(bind_imagemanip);
+    callstack.push_front(bind_warp);
+    callstack.push_front(bind_spiout);
+    callstack.push_front(bind_spiin);
+    callstack.push_front(bind_detectionnetwork);
+    callstack.push_front(bind_systemlogger);
+    callstack.push_front(bind_script);
+    callstack.push_front(bind_spatiallocationcalculator);
+    callstack.push_front(bind_spatialdetectionnetwork);
+    callstack.push_front(bind_objecttracker);
+    callstack.push_front(bind_imu);
+    callstack.push_front(bind_edgedetector);
+    callstack.push_front(bind_featuretracker);
+    callstack.push_front(bind_apriltag);
+    callstack.push_front(bind_detectionparser);
+    callstack.push_front(bind_uvc);
+    callstack.push_front(bind_tof);
+    callstack.push_front(bind_pointcloud);
+    callstack.push_front(bind_sync);
+    callstack.push_front(bind_messagedemux);
+}
+
+void NodeBindings::bind(pybind11::module& m, void* pCallstack){
+    using namespace dai;
+    using namespace std::chrono;
+
+    //// Bindings for actual nodes
+    // Move properties into nodes and nodes under 'node' submodule
+    daiNodeModule = m.def_submodule("node");
+
+    // Properties
+    py::class_<Node, std::shared_ptr<Node>> pyNode(m, "Node", DOC(dai, Node));
+    py::class_<Node::Input> pyInput(pyNode, "Input", DOC(dai, Node, Input));
+    py::enum_<Node::Input::Type> nodeInputType(pyInput, "Type");
+    py::class_<Node::Output> pyOutput(pyNode, "Output", DOC(dai, Node, Output));
+    py::enum_<Node::Output::Type> nodeOutputType(pyOutput, "Type");
+    py::class_<Properties, std::shared_ptr<Properties>> pyProperties(m, "Properties", DOC(dai, Properties));
+    py::class_<Node::DatatypeHierarchy> nodeDatatypeHierarchy(pyNode, "DatatypeHierarchy", DOC(dai, Node, DatatypeHierarchy));
+
+    // Node::Id bindings
+    py::class_<Node::Id>(pyNode, "Id", "Node identificator. Unique for every node on a single Pipeline");
+    // Node::Connection bindings
+    py::class_<Node::Connection> nodeConnection(pyNode, "Connection", DOC(dai, Node, Connection));
+    // Node::InputMap bindings
+    bindNodeMap<Node::InputMap>(pyNode, "InputMap");
+    // Node::OutputMap bindings
+    bindNodeMap<Node::OutputMap>(pyNode, "OutputMap");
+
+    // NodeGroup
+    py::class_<NodeGroup, Node, std::shared_ptr<NodeGroup>> pyNodeGroup(m, "NodeGroup", DOC(dai, NodeGroup));
+
+    // Threaded & Device nodes
+    py::class_<ThreadedNode, Node, std::shared_ptr<ThreadedNode>> pyThreadedNode(m, "ThreadedNode", DOC(dai, ThreadedNode));
+    py::class_<DeviceNode, ThreadedNode, std::shared_ptr<DeviceNode>> pyDeviceNode(m, "DeviceNode", DOC(dai, DeviceNode));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+
+    ////////////////////////////////////////////////////////////////////////////////////////
+    ////////////////////////////////////////////////////////////////////////////////////////
+    // Node Bindings after properties, so types are resolved
+    ////////////////////////////////////////////////////////////////////////////////////////
+    ////////////////////////////////////////////////////////////////////////////////////////
+
+    // Base 'Node' class binding
+
+    nodeDatatypeHierarchy
+        .def(py::init<DatatypeEnum, bool>())
+        .def_readwrite("datatype", &Node::DatatypeHierarchy::datatype)
+        .def_readwrite("descendants", &Node::DatatypeHierarchy::descendants)
+    ;
+
+    // Node::Input bindings
+    nodeInputType
+        .value("SReceiver", Node::Input::Type::SReceiver)
+        .value("MReceiver", Node::Input::Type::MReceiver)
+    ;
+    pyInput
+        .def_readwrite("group", &Node::Input::group, DOC(dai, Node, Input, group))
+        .def_readwrite("name", &Node::Input::name, DOC(dai, Node, Input, name))
+        .def_readwrite("type", &Node::Input::type, DOC(dai, Node, Input, type))
+        .def_readwrite("possibleDatatypes", &Node::Input::possibleDatatypes, DOC(dai, Node, Input, possibleDatatypes))
+        .def("getParent", static_cast<const Node& (Node::Input::*)() const>(&Node::Input::getParent), py::return_value_policy::reference_internal, DOC(dai, Node, Input, getParent))
+        .def("getParent", static_cast<Node& (Node::Input::*)()>(&Node::Input::getParent), py::return_value_policy::reference_internal, DOC(dai, Node, Input, getParent))
+        .def("setBlocking", &Node::Input::setBlocking, py::arg("blocking"), DOC(dai, Node, Input, setBlocking))
+        .def("getBlocking", &Node::Input::getBlocking, DOC(dai, Node, Input, getBlocking))
+        .def("setQueueSize", &Node::Input::setQueueSize, py::arg("size"), DOC(dai, Node, Input, setQueueSize))
+        .def("getQueueSize", &Node::Input::getQueueSize, DOC(dai, Node, Input, getQueueSize))
+        .def_readwrite("waitForMessage", &Node::Input::waitForMessage, DOC(dai, Node, Input, waitForMessage))
+        .def("setWaitForMessage", &Node::Input::setWaitForMessage, py::arg("waitForMessage"), DOC(dai, Node, Input, setWaitForMessage))
+        .def("getWaitForMessage", &Node::Input::getWaitForMessage, DOC(dai, Node, Input, getWaitForMessage))
+        .def("setReusePreviousMessage", &Node::Input::setReusePreviousMessage, py::arg("reusePreviousMessage"), DOC(dai, Node, Input, setReusePreviousMessage))
+        .def("getReusePreviousMessage", &Node::Input::getReusePreviousMessage, DOC(dai, Node, Input, getReusePreviousMessage))
+
+
+        // TODO(themarpe) - refactor
+        .def("getAll", [](Node::Input& obj){
+            std::vector<std::shared_ptr<ADatatype>> messages;
+            bool timedout = true;
+            do {
+                {
+                    // releases python GIL
+                    py::gil_scoped_release release;
+
+                    // block for 100ms
+                    messages = obj.getAll(milliseconds(100), timedout);
+                }
+
+                // reacquires python GIL for PyErr_CheckSignals call
+
+                // check if interrupt triggered in between
+                if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+
+            } while(timedout); // Keep reiterating until a message is received (not timedout)
+
+            return messages;
+        }, DOC(dai, Node, Input, getAll, 2))
+        .def("get", [](Node::Input& obj){
+            std::shared_ptr<ADatatype> d = nullptr;
+            bool timedout = true;
+            do {
+                {
+                    // releases python GIL
+                    py::gil_scoped_release release;
+
+                    // block for 100ms
+                    d = obj.get(milliseconds(100), timedout);
+                }
+
+                // reacquires python GIL for PyErr_CheckSignals call
+
+                // check if interrupt triggered in between
+                if (PyErr_CheckSignals() != 0) throw py::error_already_set();
+
+            } while(timedout);
+
+            return d;
+        }, DOC(dai, Node, Input, get, 2))
+        .def("has", static_cast<bool(Node::Input::*)()>(&Node::Input::has), DOC(dai, Node, Input, has, 2))
+        .def("tryGet", static_cast<std::shared_ptr<ADatatype>(Node::Input::*)()>(&Node::Input::tryGet), DOC(dai, Node, Input, tryGet, 2))
+        .def("tryGetAll", static_cast<std::vector<std::shared_ptr<ADatatype>>(Node::Input::*)()>(&Node::Input::tryGetAll), DOC(dai, Node, Input, tryGetAll, 2))
+    ;
+
+    // Node::Output bindings
+    nodeOutputType
+        .value("MSender", Node::Output::Type::MSender)
+        .value("SSender", Node::Output::Type::SSender)
+    ;
+    pyOutput
+        .def_readwrite("group", &Node::Output::group, DOC(dai, Node, Output, group))
+        .def_readwrite("name", &Node::Output::name, DOC(dai, Node, Output, name))
+        .def_readwrite("type", &Node::Output::type, DOC(dai, Node, Output, type))
+        .def_readwrite("possibleDatatypes", &Node::Output::possibleDatatypes, DOC(dai, Node, Output, possibleDatatypes))
+        .def("getParent", static_cast<const Node& (Node::Output::*)() const>(&Node::Output::getParent), py::return_value_policy::reference_internal, DOC(dai, Node, Output, getParent))
+        .def("getParent", static_cast<Node& (Node::Output::*)()>(&Node::Output::getParent), py::return_value_policy::reference_internal, DOC(dai, Node, Output, getParent))
+        .def("isSamePipeline", &Node::Output::isSamePipeline, py::arg("input"), DOC(dai, Node, Output, isSamePipeline))
+        .def("canConnect", &Node::Output::canConnect, py::arg("input"), DOC(dai, Node, Output, canConnect))
+        .def("link", &Node::Output::link, py::arg("input"), DOC(dai, Node, Output, link))
+        .def("unlink", &Node::Output::unlink, py::arg("input"), DOC(dai, Node, Output, unlink))
+        // .def("getConnections", &Node::Output::getConnections, DOC(dai, Node, Output, getConnections))
+        .def("send", &Node::Output::send, py::arg("msg"), DOC(dai, Node, Output, send))
+        .def("trySend", &Node::Output::trySend, py::arg("msg"), DOC(dai, Node, Output, trySend))
+    ;
+
+    nodeConnection
+        .def_readwrite("outputId", &Node::Connection::outputId, DOC(dai, Node, Connection, outputId))
+        .def_readwrite("outputName", &Node::Connection::outputName, DOC(dai, Node, Connection, outputName))
+        .def_readwrite("outputGroup", &Node::Connection::outputGroup, DOC(dai, Node, Connection, outputGroup))
+        .def_readwrite("inputId", &Node::Connection::inputId, DOC(dai, Node, Connection, inputId))
+        .def_readwrite("inputName", &Node::Connection::inputName, DOC(dai, Node, Connection, inputName))
+        .def_readwrite("inputGroup", &Node::Connection::inputGroup, DOC(dai, Node, Connection, inputGroup))
+    ;
+
+    pyNode
+        .def_readonly("id", &Node::id, DOC(dai, Node, id))
+        .def("getName", &Node::getName, DOC(dai, Node, getName))
+        .def("getOutputs", &Node::getOutputs, DOC(dai, Node, getOutputs))
+        .def("getInputs", &Node::getInputs, DOC(dai, Node, getInputs))
+        .def("getOutputRefs", static_cast<std::vector< Node::Output*> (Node::*)()>(&Node::getOutputRefs), DOC(dai, Node, getOutputRefs), py::return_value_policy::reference_internal)
+        .def("getInputRefs", static_cast<std::vector<Node::Input*> (Node::*)()>(&Node::getInputRefs), DOC(dai, Node, getInputRefs), py::return_value_policy::reference_internal)
+        .def("getOutputRefs", static_cast<std::vector<const Node::Output*> (Node::*)() const>(&Node::getOutputRefs), DOC(dai, Node, getOutputRefs), py::return_value_policy::reference_internal)
+        .def("getInputRefs", static_cast<std::vector<const Node::Input*> (Node::*)() const>(&Node::getInputRefs), DOC(dai, Node, getInputRefs), py::return_value_policy::reference_internal)
+        .def("getInputMapRefs", static_cast<std::vector<Node::InputMap*> (Node::*)()>(&Node::getInputMapRefs), DOC(dai, Node, getInputMapRefs), py::return_value_policy::reference_internal)
+        .def("getOutputMapRefs", static_cast<std::vector<Node::OutputMap*> (Node::*)()>(&Node::getOutputMapRefs), DOC(dai, Node, getOutputMapRefs), py::return_value_policy::reference_internal)
+        .def("getParentPipeline", py::overload_cast<>(&Node::getParentPipeline), DOC(dai, Node, getParentPipeline))
+        .def("getParentPipeline", py::overload_cast<>(&Node::getParentPipeline, py::const_), DOC(dai, Node, getParentPipeline))
+        .def("getAssetManager", static_cast<const AssetManager& (Node::*)() const>(&Node::getAssetManager), py::return_value_policy::reference_internal, DOC(dai, Node, getAssetManager))
+        .def("getAssetManager", static_cast<AssetManager& (Node::*)()>(&Node::getAssetManager), py::return_value_policy::reference_internal, DOC(dai, Node, getAssetManager))
+        .def_property_readonly( // TODO - This casting of the inputs/outputs might be illegal / cause bad behavior
+            "io",
+            [](Node& n) -> py::object {
+                auto dict = py::dict();
+                for(auto& output : n.getOutputRefs()) {
+                    // TODO - Revisit, pybind might try to release the output when refcount goes to zero
+                    dict[py::str(output->name)] = output;
+                }
+                for(auto& input : n.getInputRefs()) {
+                    // TODO - Revisit, pybind might try to release the input when refcount goes to zero
+                    dict[py::str(input->name)] = input;
+                }
+                return dict;
+            },
+            py::return_value_policy::reference_internal)
+    ;
+
+    // TODO(themarpe) - refactor, threaded node could be separate from Node
+    pyThreadedNode
+        .def("trace", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->trace(msg);
+        })
+        .def("debug", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->debug(msg);
+        })
+        .def("info", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->info(msg);
+        })
+        .def("warn", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->warn(msg);
+        })
+        .def("error", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->error(msg);
+        })
+        .def("critical", [](dai::ThreadedNode& node, const std::string& msg) {
+            node.logger->critical(msg);
+        });
+}
+
diff --git a/bindings/python/src/pipeline/node/NodeBindings.hpp b/bindings/python/src/pipeline/node/NodeBindings.hpp
new file mode 100644
index 000000000..c7bb933a8
--- /dev/null
+++ b/bindings/python/src/pipeline/node/NodeBindings.hpp
@@ -0,0 +1,14 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+// depthai
+#include "depthai/pipeline/Node.hpp"
+
+struct NodeBindings {
+    static void addToCallstack(std::deque<StackFunction>& callstack);
+    static std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> getNodeCreateMap();
+ private:
+    static void bind(pybind11::module& m, void* pCallstack);
+};
diff --git a/bindings/python/src/pipeline/node/ObjectTrackerBindings.cpp b/bindings/python/src/pipeline/node/ObjectTrackerBindings.cpp
new file mode 100644
index 000000000..b2b2b76a3
--- /dev/null
+++ b/bindings/python/src/pipeline/node/ObjectTrackerBindings.cpp
@@ -0,0 +1,72 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/ObjectTracker.hpp"
+
+void bind_objecttracker(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::enum_<TrackerType> trackerType(m, "TrackerType");
+    py::enum_<TrackerIdAssignmentPolicy> trackerIdAssignmentPolicy(m, "TrackerIdAssignmentPolicy");
+    py::class_<ObjectTrackerProperties, std::shared_ptr<ObjectTrackerProperties>> objectTrackerProperties(m, "ObjectTrackerProperties", DOC(dai, ObjectTrackerProperties));
+    auto objectTracker = ADD_NODE(ObjectTracker);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    trackerType
+        .value("SHORT_TERM_KCF", TrackerType::SHORT_TERM_KCF, DOC(dai, TrackerType, SHORT_TERM_KCF))
+        .value("SHORT_TERM_IMAGELESS", TrackerType::SHORT_TERM_IMAGELESS, DOC(dai, TrackerType, SHORT_TERM_IMAGELESS))
+        .value("ZERO_TERM_IMAGELESS", TrackerType::ZERO_TERM_IMAGELESS, DOC(dai, TrackerType, ZERO_TERM_IMAGELESS))
+        .value("ZERO_TERM_COLOR_HISTOGRAM", TrackerType::ZERO_TERM_COLOR_HISTOGRAM, DOC(dai, TrackerType, ZERO_TERM_COLOR_HISTOGRAM))
+    ;
+
+    trackerIdAssignmentPolicy
+        .value("UNIQUE_ID", TrackerIdAssignmentPolicy::UNIQUE_ID)
+        .value("SMALLEST_ID", TrackerIdAssignmentPolicy::SMALLEST_ID)
+    ;
+
+    objectTrackerProperties
+        .def_readwrite("trackerThreshold", &ObjectTrackerProperties::trackerThreshold, DOC(dai, ObjectTrackerProperties, trackerThreshold))
+        .def_readwrite("maxObjectsToTrack", &ObjectTrackerProperties::maxObjectsToTrack, DOC(dai, ObjectTrackerProperties, maxObjectsToTrack))
+        .def_readwrite("detectionLabelsToTrack", &ObjectTrackerProperties::detectionLabelsToTrack, DOC(dai, ObjectTrackerProperties, detectionLabelsToTrack))
+        .def_readwrite("trackerType", &ObjectTrackerProperties::trackerType, DOC(dai, ObjectTrackerProperties, trackerType))
+        .def_readwrite("trackerIdAssignmentPolicy", &ObjectTrackerProperties::trackerIdAssignmentPolicy, DOC(dai, ObjectTrackerProperties, trackerIdAssignmentPolicy))
+        ;
+
+    // Node
+    objectTracker
+        .def_readonly("inputTrackerFrame", &ObjectTracker::inputTrackerFrame, DOC(dai, node, ObjectTracker, inputTrackerFrame))
+        .def_readonly("inputDetectionFrame", &ObjectTracker::inputDetectionFrame, DOC(dai, node, ObjectTracker, inputDetectionFrame))
+        .def_readonly("inputDetections", &ObjectTracker::inputDetections, DOC(dai, node, ObjectTracker, inputDetections))
+        .def_readonly("out", &ObjectTracker::out, DOC(dai, node, ObjectTracker, out))
+        .def_readonly("passthroughTrackerFrame", &ObjectTracker::passthroughTrackerFrame, DOC(dai, node, ObjectTracker, passthroughTrackerFrame))
+        .def_readonly("passthroughDetectionFrame", &ObjectTracker::passthroughDetectionFrame, DOC(dai, node, ObjectTracker, passthroughDetectionFrame))
+        .def_readonly("passthroughDetections", &ObjectTracker::passthroughDetections, DOC(dai, node, ObjectTracker, passthroughDetections))
+
+        .def("setTrackerThreshold", &ObjectTracker::setTrackerThreshold, py::arg("threshold"), DOC(dai, node, ObjectTracker, setTrackerThreshold))
+        .def("setMaxObjectsToTrack", &ObjectTracker::setMaxObjectsToTrack, py::arg("maxObjectsToTrack"), DOC(dai, node, ObjectTracker, setMaxObjectsToTrack))
+        .def("setDetectionLabelsToTrack", &ObjectTracker::setDetectionLabelsToTrack, py::arg("labels"), DOC(dai, node, ObjectTracker, setDetectionLabelsToTrack))
+        .def("setTrackerType", &ObjectTracker::setTrackerType, py::arg("type"), DOC(dai, node, ObjectTracker, setTrackerType))
+        .def("setTrackerIdAssignmentPolicy", &ObjectTracker::setTrackerIdAssignmentPolicy, py::arg("type"), DOC(dai, node, ObjectTracker, setTrackerIdAssignmentPolicy))
+        .def("setTrackingPerClass", &ObjectTracker::setTrackingPerClass, py::arg("trackingPerClass"), DOC(dai, node, ObjectTracker, setTrackingPerClass))
+        ;
+    daiNodeModule.attr("ObjectTracker").attr("Properties") = objectTrackerProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/PointCloudBindings.cpp b/bindings/python/src/pipeline/node/PointCloudBindings.cpp
new file mode 100644
index 000000000..63ad94393
--- /dev/null
+++ b/bindings/python/src/pipeline/node/PointCloudBindings.cpp
@@ -0,0 +1,48 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/PointCloud.hpp"
+
+void bind_pointcloud(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<PointCloudProperties> properties(m, "PointCloudProperties", DOC(dai, PointCloudProperties));
+    auto node = ADD_NODE(PointCloud);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    properties
+        .def_readwrite("initialConfig", &PointCloudProperties::initialConfig, DOC(dai, PointCloudProperties, initialConfig))
+        .def_readwrite("numFramesPool", &PointCloudProperties::numFramesPool, DOC(dai, PointCloudProperties, numFramesPool))
+        ;
+
+    // Node
+    node
+        .def_readonly("inputConfig", &PointCloud::inputConfig, DOC(dai, node, PointCloud, inputConfig), DOC(dai, node, PointCloud, inputConfig))
+        .def_readonly("inputDepth", &PointCloud::inputDepth, DOC(dai, node, PointCloud, inputDepth), DOC(dai, node, PointCloud, inputDepth))
+        .def_readonly("outputPointCloud", &PointCloud::outputPointCloud, DOC(dai, node, PointCloud, outputPointCloud), DOC(dai, node, PointCloud, outputPointCloud))
+        .def_readonly("passthroughDepth", &PointCloud::passthroughDepth, DOC(dai, node, PointCloud, passthroughDepth), DOC(dai, node, PointCloud, passthroughDepth))
+        .def_readonly("initialConfig", &PointCloud::initialConfig, DOC(dai, node, PointCloud, initialConfig), DOC(dai, node, PointCloud, initialConfig))
+        .def("setNumFramesPool", &PointCloud::setNumFramesPool, DOC(dai, node, PointCloud, setNumFramesPool))
+    ;
+    // ALIAS
+    daiNodeModule.attr("PointCloud").attr("Properties") = properties;
+
+}
diff --git a/bindings/python/src/pipeline/node/SPIInBindings.cpp b/bindings/python/src/pipeline/node/SPIInBindings.cpp
new file mode 100644
index 000000000..04f4147bf
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SPIInBindings.cpp
@@ -0,0 +1,56 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/SPIIn.hpp"
+
+void bind_spiin(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+
+    py::class_<SPIInProperties> spiInProperties(m, "SPIInProperties", DOC(dai, SPIInProperties));
+    auto spiIn = ADD_NODE(SPIIn);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    spiInProperties
+        .def_readwrite("streamName", &SPIInProperties::streamName)
+        .def_readwrite("busId", &SPIInProperties::busId)
+        .def_readwrite("maxDataSize", &SPIInProperties::maxDataSize)
+        .def_readwrite("numFrames", &SPIInProperties::numFrames)
+    ;
+
+    // Node
+    spiIn
+        .def_readonly("out", &SPIIn::out, DOC(dai, node, SPIIn, out))
+        .def("setStreamName", &SPIIn::setStreamName, py::arg("name"), DOC(dai, node, SPIIn, setStreamName))
+        .def("setBusId", &SPIIn::setBusId, py::arg("id"), DOC(dai, node, SPIIn, setBusId))
+        .def("setMaxDataSize", &SPIIn::setMaxDataSize, py::arg("maxDataSize"), DOC(dai, node, SPIIn, setMaxDataSize))
+        .def("setNumFrames", &SPIIn::setNumFrames, py::arg("numFrames"), DOC(dai, node, SPIIn, setNumFrames))
+        .def("getStreamName", &SPIIn::getStreamName, DOC(dai, node, SPIIn, getStreamName))
+        .def("getBusId", &SPIIn::getBusId, DOC(dai, node, SPIIn, getBusId))
+        .def("getMaxDataSize", &SPIIn::getMaxDataSize, DOC(dai, node, SPIIn, getMaxDataSize))
+        .def("getNumFrames", &SPIIn::getNumFrames, DOC(dai, node, SPIIn, getNumFrames))
+        ;
+    // ALIAS
+    daiNodeModule.attr("SPIIn").attr("Properties") = spiInProperties;
+
+
+
+}
diff --git a/bindings/python/src/pipeline/node/SPIOutBindings.cpp b/bindings/python/src/pipeline/node/SPIOutBindings.cpp
new file mode 100644
index 000000000..2148e00be
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SPIOutBindings.cpp
@@ -0,0 +1,47 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/SPIOut.hpp"
+
+void bind_spiout(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<SPIOutProperties> spiOutProperties(m, "SPIOutProperties", DOC(dai, SPIOutProperties));
+    auto spiOut = ADD_NODE(SPIOut);
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    spiOutProperties
+        .def_readwrite("streamName", &SPIOutProperties::streamName)
+        .def_readwrite("busId", &SPIOutProperties::busId)
+    ;
+
+    // Node
+    spiOut
+        .def_readonly("input", &SPIOut::input, DOC(dai, node, SPIOut, input))
+        .def("setStreamName", &SPIOut::setStreamName, py::arg("name"), DOC(dai, node, SPIOut, setStreamName))
+        .def("setBusId", &SPIOut::setBusId, py::arg("id"), DOC(dai, node, SPIOut, setBusId))
+        ;
+    // ALIAS
+    daiNodeModule.attr("SPIOut").attr("Properties") = spiOutProperties;
+
+
+}
diff --git a/bindings/python/src/pipeline/node/ScriptBindings.cpp b/bindings/python/src/pipeline/node/ScriptBindings.cpp
new file mode 100644
index 000000000..d06e9c029
--- /dev/null
+++ b/bindings/python/src/pipeline/node/ScriptBindings.cpp
@@ -0,0 +1,51 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/Script.hpp"
+
+void bind_script(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<ScriptProperties> scriptProperties(m, "ScriptProperties", DOC(dai, ScriptProperties));
+    auto script = ADD_NODE(Script);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    scriptProperties
+        .def_readwrite("scriptUri", &ScriptProperties::scriptUri, DOC(dai, ScriptProperties, scriptUri))
+        .def_readwrite("scriptName", &ScriptProperties::scriptName, DOC(dai, ScriptProperties, scriptName))
+        .def_readwrite("processor", &ScriptProperties::processor, DOC(dai, ScriptProperties, processor))
+    ;
+
+    // Node
+    script
+        .def_readonly("inputs", &Script::inputs)
+        .def_readonly("outputs", &Script::outputs)
+        .def("setScriptPath", &Script::setScriptPath, DOC(dai, node, Script, setScriptPath))
+        .def("setScript", py::overload_cast<const std::string&, const std::string&>(&Script::setScript), py::arg("script"), py::arg("name") = "", DOC(dai, node, Script, setScript))
+        .def("setScript", py::overload_cast<const std::vector<std::uint8_t>&, const std::string&>(&Script::setScript), py::arg("data"), py::arg("name") = "", DOC(dai, node, Script, setScript, 2))
+        .def("setScriptPath", &Script::setScriptPath, py::arg("path"), py::arg("name") = "", DOC(dai, node, Script, setScriptPath))
+        .def("getScriptName", &Script::getScriptName, DOC(dai, node, Script, getScriptName))
+        .def("setProcessor", &Script::setProcessor, DOC(dai, node, Script, setProcessor))
+        .def("getProcessor", &Script::getProcessor, DOC(dai, node, Script, getProcessor))
+        ;
+    daiNodeModule.attr("Script").attr("Properties") = scriptProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/SpatialDetectionNetworkBindings.cpp b/bindings/python/src/pipeline/node/SpatialDetectionNetworkBindings.cpp
new file mode 100644
index 000000000..6c74fa92c
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SpatialDetectionNetworkBindings.cpp
@@ -0,0 +1,148 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/SpatialDetectionNetwork.hpp"
+
+void bind_spatialdetectionnetwork(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<SpatialDetectionNetworkProperties, std::shared_ptr<SpatialDetectionNetworkProperties>> spatialDetectionNetworkProperties(
+        m, "SpatialDetectionNetworkProperties", DOC(dai, SpatialDetectionNetworkProperties));
+    auto spatialDetectionNetwork = ADD_NODE_ABSTRACT(SpatialDetectionNetwork);
+    auto mobileNetSpatialDetectionNetwork = ADD_NODE_DERIVED(MobileNetSpatialDetectionNetwork, SpatialDetectionNetwork);
+    auto yoloSpatialDetectionNetwork = ADD_NODE_DERIVED(YoloSpatialDetectionNetwork, SpatialDetectionNetwork);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    spatialDetectionNetworkProperties
+        .def_readwrite("detectedBBScaleFactor", &SpatialDetectionNetworkProperties::detectedBBScaleFactor)
+        .def_readwrite("depthThresholds", &SpatialDetectionNetworkProperties::depthThresholds)
+        ;
+
+
+    // Node
+    spatialDetectionNetwork
+        // Copied from NN node
+        .def("setBlobPath", &SpatialDetectionNetwork::setBlobPath, py::arg("path"), DOC(dai, node, SpatialDetectionNetwork, setBlobPath))
+        .def("setNumPoolFrames", &SpatialDetectionNetwork::setNumPoolFrames, py::arg("numFrames"), DOC(dai, node, SpatialDetectionNetwork, setNumPoolFrames))
+        .def("setNumInferenceThreads",
+             &SpatialDetectionNetwork::setNumInferenceThreads,
+             py::arg("numThreads"),
+             DOC(dai, node, SpatialDetectionNetwork, setNumInferenceThreads))
+        .def("setNumNCEPerInferenceThread",
+             &SpatialDetectionNetwork::setNumNCEPerInferenceThread,
+             py::arg("numNCEPerThread"),
+             DOC(dai, node, SpatialDetectionNetwork, setNumNCEPerInferenceThread))
+        .def("getNumInferenceThreads", &SpatialDetectionNetwork::getNumInferenceThreads, DOC(dai, node, SpatialDetectionNetwork, getNumInferenceThreads))
+        .def("setBlob",
+             py::overload_cast<dai::OpenVINO::Blob>(&SpatialDetectionNetwork::setBlob),
+             py::arg("blob"),
+             DOC(dai, node, SpatialDetectionNetwork, setBlob))
+        .def("setBlob",
+             py::overload_cast<const dai::Path&>(&SpatialDetectionNetwork::setBlob),
+             py::arg("path"),
+             DOC(dai, node, SpatialDetectionNetwork, setBlob, 2))
+        .def("setXmlModelPath",
+             &SpatialDetectionNetwork::setXmlModelPath,
+             py::arg("xmlModelPath"),
+             py::arg("binModelPath") = Path{""},
+             DOC(dai, node, SpatialDetectionNetwork, setXmlModelPath))
+        .def("setNumShavesPerInferenceThread",
+             &SpatialDetectionNetwork::setNumShavesPerInferenceThread,
+             py::arg("numShavesPerInferenceThread"),
+             DOC(dai, node, SpatialDetectionNetwork, setNumShavesPerInferenceThread))
+        .def("setBackend", &SpatialDetectionNetwork::setBackend, py::arg("setBackend"), DOC(dai, node, SpatialDetectionNetwork, setBackend))
+        .def("setBackendProperties",
+             &SpatialDetectionNetwork::setBackendProperties,
+             py::arg("setBackendProperties"),
+             DOC(dai, node, SpatialDetectionNetwork, setBackendProperties))
+
+        // Detection parser
+        .def("setConfidenceThreshold",
+             &SpatialDetectionNetwork::setConfidenceThreshold,
+             py::arg("thresh"),
+             DOC(dai, node, SpatialDetectionNetwork, setConfidenceThreshold))
+        .def("getConfidenceThreshold", &SpatialDetectionNetwork::getConfidenceThreshold, DOC(dai, node, SpatialDetectionNetwork, getConfidenceThreshold))
+
+        .def_property_readonly(
+            "input",
+            [](const SpatialDetectionNetwork n) { return &n.neuralNetwork->input; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, NeuralNetwork, input))
+        .def_property_readonly(
+            "out",
+            [](const SpatialDetectionNetwork n) { return &n.detectionParser->out; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, SpatialDetectionNetwork, out))
+        .def_property_readonly(
+            "outNetwork",
+            [](const SpatialDetectionNetwork n) { return &n.neuralNetwork->out; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, SpatialDetectionNetwork, outNetwork))
+        .def_property_readonly(
+            "passthrough",
+            [](const SpatialDetectionNetwork n) { return &n.neuralNetwork->passthrough; },
+            py::return_value_policy::reference_internal,
+            DOC(dai, node, NeuralNetwork, passthrough))
+
+        .def_readonly("inputDepth", &SpatialDetectionNetwork::inputDepth, DOC(dai, node, SpatialDetectionNetwork, inputDepth))
+        .def_readonly("out", &SpatialDetectionNetwork::out, DOC(dai, node, SpatialDetectionNetwork, out))
+        .def_readonly("boundingBoxMapping", &SpatialDetectionNetwork::boundingBoxMapping, DOC(dai, node, SpatialDetectionNetwork, boundingBoxMapping))
+        .def_readonly("passthroughDepth", &SpatialDetectionNetwork::passthroughDepth, DOC(dai, node, SpatialDetectionNetwork, passthroughDepth))
+        .def_readonly("spatialLocationCalculatorOutput",
+                      &SpatialDetectionNetwork::spatialLocationCalculatorOutput,
+                      DOC(dai, node, SpatialDetectionNetwork, spatialLocationCalculatorOutput))
+
+        .def("setDepthLowerThreshold",
+             &SpatialDetectionNetwork::setDepthLowerThreshold,
+             py::arg("lowerThreshold"),
+             DOC(dai, node, SpatialDetectionNetwork, setDepthLowerThreshold))
+        .def("setBoundingBoxScaleFactor",
+             &SpatialDetectionNetwork::setBoundingBoxScaleFactor,
+             py::arg("scaleFactor"),
+             DOC(dai, node, SpatialDetectionNetwork, setBoundingBoxScaleFactor))
+        .def("setDepthUpperThreshold",
+             &SpatialDetectionNetwork::setDepthUpperThreshold,
+             py::arg("upperThreshold"),
+             DOC(dai, node, SpatialDetectionNetwork, setDepthUpperThreshold))
+        .def("setSpatialCalculationAlgorithm",
+             &SpatialDetectionNetwork::setSpatialCalculationAlgorithm,
+             py::arg("calculationAlgorithm"),
+             DOC(dai, node, SpatialDetectionNetwork, setSpatialCalculationAlgorithm));
+    // ALIAS
+    daiNodeModule.attr("SpatialDetectionNetwork").attr("Properties") = spatialDetectionNetworkProperties;
+
+    // // MobileNetSpatialDetectionNetwork
+    // mobileNetSpatialDetectionNetwork;
+    // YoloSpatialDetectionNetwork
+    yoloSpatialDetectionNetwork
+        .def("setNumClasses", &YoloSpatialDetectionNetwork::setNumClasses, py::arg("numClasses"), DOC(dai, node, YoloSpatialDetectionNetwork, setNumClasses))
+        .def("setCoordinateSize", &YoloSpatialDetectionNetwork::setCoordinateSize, py::arg("coordinates"), DOC(dai, node, YoloSpatialDetectionNetwork, setCoordinateSize))
+        .def("setAnchors", &YoloSpatialDetectionNetwork::setAnchors, py::arg("anchors"), DOC(dai, node, YoloSpatialDetectionNetwork, setAnchors))
+        .def("setAnchorMasks", &YoloSpatialDetectionNetwork::setAnchorMasks, py::arg("anchorMasks"), DOC(dai, node, YoloSpatialDetectionNetwork, setAnchorMasks))
+        .def("setIouThreshold", &YoloSpatialDetectionNetwork::setIouThreshold, py::arg("thresh"), DOC(dai, node, YoloSpatialDetectionNetwork, setIouThreshold))
+        .def("getNumClasses", &YoloSpatialDetectionNetwork::getNumClasses, DOC(dai, node, YoloSpatialDetectionNetwork, getNumClasses))
+        .def("getCoordinateSize", &YoloSpatialDetectionNetwork::getCoordinateSize, DOC(dai, node, YoloSpatialDetectionNetwork, getCoordinateSize))
+        .def("getAnchors", &YoloSpatialDetectionNetwork::getAnchors, DOC(dai, node, YoloSpatialDetectionNetwork, getAnchors))
+        .def("getAnchorMasks", &YoloSpatialDetectionNetwork::getAnchorMasks, DOC(dai, node, YoloSpatialDetectionNetwork, getAnchorMasks))
+        .def("getIouThreshold", &YoloSpatialDetectionNetwork::getIouThreshold, DOC(dai, node, YoloSpatialDetectionNetwork, getIouThreshold))
+        ;
+
+}
diff --git a/bindings/python/src/pipeline/node/SpatialLocationCalculatorBindings.cpp b/bindings/python/src/pipeline/node/SpatialLocationCalculatorBindings.cpp
new file mode 100644
index 000000000..241d7d731
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SpatialLocationCalculatorBindings.cpp
@@ -0,0 +1,66 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/SpatialLocationCalculator.hpp"
+
+void bind_spatiallocationcalculator(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<SpatialLocationCalculatorProperties> spatialLocationCalculatorProperties(m, "SpatialLocationCalculatorProperties", DOC(dai, SpatialLocationCalculatorProperties));
+    auto spatialLocationCalculator = ADD_NODE(SpatialLocationCalculator);
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    spatialLocationCalculatorProperties
+        .def_readwrite("roiConfig", &SpatialLocationCalculatorProperties::roiConfig)
+        ;
+
+    // Node
+    spatialLocationCalculator
+        .def_readonly("inputConfig", &SpatialLocationCalculator::inputConfig, DOC(dai, node, SpatialLocationCalculator, inputConfig))
+        .def_readonly("inputDepth", &SpatialLocationCalculator::inputDepth, DOC(dai, node, SpatialLocationCalculator, inputDepth))
+        .def_readonly("out", &SpatialLocationCalculator::out, DOC(dai, node, SpatialLocationCalculator, out))
+        .def_readonly("passthroughDepth", &SpatialLocationCalculator::passthroughDepth, DOC(dai, node, SpatialLocationCalculator, passthroughDepth))
+        .def_readonly("initialConfig", &SpatialLocationCalculator::initialConfig, DOC(dai, node, SpatialLocationCalculator, initialConfig))
+
+        .def("setWaitForConfigInput", [](SpatialLocationCalculator& obj, bool wait){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            obj.setWaitForConfigInput(wait);
+            HEDLEY_DIAGNOSTIC_POP
+        }, py::arg("wait"), DOC(dai, node, SpatialLocationCalculator, setWaitForConfigInput))
+
+        .def("getWaitForConfigInput", [](SpatialLocationCalculator& obj){
+            // Issue a deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Use 'inputConfig.setWaitForMessage()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return obj.getWaitForConfigInput();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, SpatialLocationCalculator, getWaitForConfigInput))
+
+        ;
+    // ALIAS
+    daiNodeModule.attr("SpatialLocationCalculator").attr("Properties") = spatialLocationCalculatorProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/StereoDepthBindings.cpp b/bindings/python/src/pipeline/node/StereoDepthBindings.cpp
new file mode 100644
index 000000000..3a827663f
--- /dev/null
+++ b/bindings/python/src/pipeline/node/StereoDepthBindings.cpp
@@ -0,0 +1,195 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/StereoDepth.hpp"
+
+void bind_stereodepth(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    auto stereoDepth = ADD_NODE(StereoDepth);
+    py::class_<StereoDepthProperties> stereoDepthProperties(m, "StereoDepthProperties", DOC(dai, StereoDepthProperties));
+    py::class_<StereoDepthProperties::RectificationMesh> rectificationMesh(stereoDepthProperties, "RectificationMesh", DOC(dai, StereoDepthProperties, RectificationMesh));
+    py::enum_<StereoDepth::PresetMode> stereoDepthPresetMode(stereoDepth, "PresetMode", DOC(dai, node, StereoDepth, PresetMode));
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    rectificationMesh
+        .def_readwrite("meshLeftUri", &StereoDepthProperties::RectificationMesh::meshLeftUri, DOC(dai, StereoDepthProperties, RectificationMesh, meshLeftUri))
+        .def_readwrite("meshRightUri", &StereoDepthProperties::RectificationMesh::meshRightUri, DOC(dai, StereoDepthProperties, RectificationMesh, meshRightUri))
+        .def_readwrite("meshSize", &StereoDepthProperties::RectificationMesh::meshSize, DOC(dai, StereoDepthProperties, RectificationMesh, meshSize))
+        .def_readwrite("stepWidth", &StereoDepthProperties::RectificationMesh::stepWidth, DOC(dai, StereoDepthProperties, RectificationMesh, stepWidth))
+        .def_readwrite("stepHeight", &StereoDepthProperties::RectificationMesh::stepHeight, DOC(dai, StereoDepthProperties, RectificationMesh, stepHeight))
+        ;
+
+    stereoDepthProperties
+        .def_readwrite("initialConfig", &StereoDepthProperties::initialConfig, DOC(dai, StereoDepthProperties, initialConfig))
+        .def_readwrite("depthAlignCamera", &StereoDepthProperties::depthAlignCamera, DOC(dai, StereoDepthProperties, depthAlignCamera))
+        .def_readwrite("enableRectification", &StereoDepthProperties::enableRectification, DOC(dai, StereoDepthProperties, enableRectification))
+        .def_readwrite("rectifyEdgeFillColor", &StereoDepthProperties::rectifyEdgeFillColor, DOC(dai, StereoDepthProperties, rectifyEdgeFillColor))
+        .def_readwrite("width", &StereoDepthProperties::width, DOC(dai, StereoDepthProperties, width))
+        .def_readwrite("height", &StereoDepthProperties::height, DOC(dai, StereoDepthProperties, height))
+        .def_readwrite("outWidth", &StereoDepthProperties::outWidth, DOC(dai, StereoDepthProperties, outWidth))
+        .def_readwrite("outHeight", &StereoDepthProperties::outHeight, DOC(dai, StereoDepthProperties, outHeight))
+        .def_readwrite("outKeepAspectRatio", &StereoDepthProperties::outKeepAspectRatio, DOC(dai, StereoDepthProperties, outKeepAspectRatio))
+        .def_readwrite("mesh", &StereoDepthProperties::mesh, DOC(dai, StereoDepthProperties, mesh))
+        .def_readwrite("enableRuntimeStereoModeSwitch", &StereoDepthProperties::enableRuntimeStereoModeSwitch, DOC(dai, StereoDepthProperties, enableRuntimeStereoModeSwitch))
+        .def_readwrite("numFramesPool", &StereoDepthProperties::numFramesPool, DOC(dai, StereoDepthProperties, numFramesPool))
+        .def_readwrite("numPostProcessingShaves", &StereoDepthProperties::numPostProcessingShaves, DOC(dai, StereoDepthProperties, numPostProcessingShaves))
+        .def_readwrite("numPostProcessingMemorySlices", &StereoDepthProperties::numPostProcessingMemorySlices, DOC(dai, StereoDepthProperties, numPostProcessingMemorySlices))
+        .def_readwrite("focalLengthFromCalibration", &StereoDepthProperties::focalLengthFromCalibration, DOC(dai, StereoDepthProperties, focalLengthFromCalibration))
+        .def_readwrite("useHomographyRectification", &StereoDepthProperties::useHomographyRectification, DOC(dai, StereoDepthProperties, useHomographyRectification))
+        .def_readwrite("baseline", &StereoDepthProperties::baseline, DOC(dai, StereoDepthProperties, baseline))
+        .def_readwrite("focalLength", &StereoDepthProperties::focalLength, DOC(dai, StereoDepthProperties, focalLength))
+        .def_readwrite("disparityToDepthUseSpecTranslation", &StereoDepthProperties::disparityToDepthUseSpecTranslation, DOC(dai, StereoDepthProperties, disparityToDepthUseSpecTranslation))
+        .def_readwrite("rectificationUseSpecTranslation", &StereoDepthProperties::rectificationUseSpecTranslation, DOC(dai, StereoDepthProperties, rectificationUseSpecTranslation))
+        .def_readwrite("depthAlignmentUseSpecTranslation", &StereoDepthProperties::depthAlignmentUseSpecTranslation, DOC(dai, StereoDepthProperties, depthAlignmentUseSpecTranslation))
+        .def_readwrite("alphaScaling", &StereoDepthProperties::alphaScaling, DOC(dai, StereoDepthProperties, alphaScaling))
+        ;
+
+    stereoDepthPresetMode
+        .value("HIGH_ACCURACY", StereoDepth::PresetMode::HIGH_ACCURACY, DOC(dai, node, StereoDepth, PresetMode, HIGH_ACCURACY))
+        .value("HIGH_DENSITY", StereoDepth::PresetMode::HIGH_DENSITY, DOC(dai, node, StereoDepth, PresetMode, HIGH_DENSITY))
+        ;
+
+    // Node
+    stereoDepth
+        .def_readonly("initialConfig",  &StereoDepth::initialConfig, DOC(dai, node, StereoDepth, initialConfig))
+        .def_readonly("inputConfig",    &StereoDepth::inputConfig, DOC(dai, node, StereoDepth, inputConfig))
+        .def_readonly("left",           &StereoDepth::left, DOC(dai, node, StereoDepth, left))
+        .def_readonly("right",          &StereoDepth::right, DOC(dai, node, StereoDepth, right))
+        .def_readonly("inputLeftPixelDescriptor",          &StereoDepth::inputLeftPixelDescriptor, DOC(dai, node, StereoDepth, inputLeftPixelDescriptor))
+        .def_readonly("inputRightPixelDescriptor",          &StereoDepth::inputRightPixelDescriptor, DOC(dai, node, StereoDepth, inputRightPixelDescriptor))
+        .def_readonly("depth",          &StereoDepth::depth, DOC(dai, node, StereoDepth, depth))
+        .def_readonly("disparity",      &StereoDepth::disparity, DOC(dai, node, StereoDepth, disparity))
+        .def_readonly("syncedLeft",     &StereoDepth::syncedLeft, DOC(dai, node, StereoDepth, syncedLeft))
+        .def_readonly("syncedRight",    &StereoDepth::syncedRight, DOC(dai, node, StereoDepth, syncedRight))
+        .def_readonly("rectifiedLeft",  &StereoDepth::rectifiedLeft, DOC(dai, node, StereoDepth, rectifiedLeft))
+        .def_readonly("rectifiedRight", &StereoDepth::rectifiedRight, DOC(dai, node, StereoDepth, rectifiedRight))
+        .def_readonly("outConfig",      &StereoDepth::outConfig, DOC(dai, node, StereoDepth, outConfig))
+        .def_readonly("debugDispLrCheckIt1", &StereoDepth::debugDispLrCheckIt1, DOC(dai, node, StereoDepth, debugDispLrCheckIt1))
+        .def_readonly("debugDispLrCheckIt2", &StereoDepth::debugDispLrCheckIt2, DOC(dai, node, StereoDepth, debugDispLrCheckIt2))
+        .def_readonly("debugExtDispLrCheckIt1", &StereoDepth::debugExtDispLrCheckIt1, DOC(dai, node, StereoDepth, debugExtDispLrCheckIt1))
+        .def_readonly("debugExtDispLrCheckIt2", &StereoDepth::debugExtDispLrCheckIt2, DOC(dai, node, StereoDepth, debugExtDispLrCheckIt2))
+        .def_readonly("debugDispCostDump",   &StereoDepth::debugDispCostDump, DOC(dai, node, StereoDepth, debugDispCostDump))
+        .def_readonly("confidenceMap",          &StereoDepth::confidenceMap, DOC(dai, node, StereoDepth, confidenceMap))
+        .def_readonly("pixelDescriptorsLeft",          &StereoDepth::pixelDescriptorsLeft, DOC(dai, node, StereoDepth, pixelDescriptorsLeft))
+        .def_readonly("pixelDescriptorsRight",          &StereoDepth::pixelDescriptorsRight, DOC(dai, node, StereoDepth, pixelDescriptorsRight))
+#if 0 //will be enabled when confidence map RGB alignment/LR-check support will be added
+        .def_readonly("debugConfMapLrCheckIt1", &StereoDepth::debugConfMapLrCheckIt1, DOC(dai, node, StereoDepth, debugConfMapLrCheckIt1))
+        .def_readonly("debugConfMapLrCheckIt2", &StereoDepth::debugConfMapLrCheckIt2, DOC(dai, node, StereoDepth, debugConfMapLrCheckIt2))
+#endif
+        .def("loadMeshFiles",           &StereoDepth::loadMeshFiles, py::arg("pathLeft"), py::arg("pathRight"), DOC(dai, node, StereoDepth, loadMeshFiles))
+        .def("loadMeshData",            &StereoDepth::loadMeshData, py::arg("dataLeft"), py::arg("dataRight"), DOC(dai, node, StereoDepth, loadMeshData))
+        .def("setMeshStep",             &StereoDepth::setMeshStep, py::arg("width"), py::arg("height"), DOC(dai, node, StereoDepth, setMeshStep))
+        .def("setInputResolution",      static_cast<void(StereoDepth::*)(int,int)>(&StereoDepth::setInputResolution), py::arg("width"), py::arg("height"), DOC(dai, node, StereoDepth, setInputResolution))
+        .def("setInputResolution",      static_cast<void(StereoDepth::*)(std::tuple<int,int>)>(&StereoDepth::setInputResolution), py::arg("resolution"), DOC(dai, node, StereoDepth, setInputResolution, 2))
+        .def("setOutputSize",           &StereoDepth::setOutputSize, py::arg("width"), py::arg("height"), DOC(dai, node, StereoDepth, setOutputSize))
+        .def("setOutputKeepAspectRatio",&StereoDepth::setOutputKeepAspectRatio, py::arg("keep"), DOC(dai, node, StereoDepth, setOutputKeepAspectRatio))
+        .def("setDepthAlign",           static_cast<void(StereoDepth::*)(StereoDepthProperties::DepthAlign)>(&StereoDepth::setDepthAlign), py::arg("align"), DOC(dai, node, StereoDepth, setDepthAlign))
+        .def("setDepthAlign",           static_cast<void(StereoDepth::*)(CameraBoardSocket)>(&StereoDepth::setDepthAlign), py::arg("camera"), DOC(dai, node, StereoDepth, setDepthAlign, 2))
+        .def("setRectification",        &StereoDepth::setRectification, py::arg("enable"), DOC(dai, node, StereoDepth, setRectification))
+        .def("setLeftRightCheck",       &StereoDepth::setLeftRightCheck, py::arg("enable"), DOC(dai, node, StereoDepth, setLeftRightCheck))
+        .def("setSubpixel",             &StereoDepth::setSubpixel, py::arg("enable"), DOC(dai, node, StereoDepth, setSubpixel))
+        .def("setSubpixelFractionalBits", &StereoDepth::setSubpixelFractionalBits, py::arg("subpixelFractionalBits"), DOC(dai, node, StereoDepth, setSubpixelFractionalBits))
+        .def("setExtendedDisparity",    &StereoDepth::setExtendedDisparity, py::arg("enable"), DOC(dai, node, StereoDepth, setExtendedDisparity))
+        .def("setRectifyEdgeFillColor", &StereoDepth::setRectifyEdgeFillColor, py::arg("color"), DOC(dai, node, StereoDepth, setRectifyEdgeFillColor))
+        .def("setRectifyMirrorFrame", [](StereoDepth& s, bool enable) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setRectifyMirrorFrame() is deprecated.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setRectifyMirrorFrame(enable);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, setRectifyMirrorFrame))
+
+        .def("setConfidenceThreshold", [](StereoDepth& s, int confThr) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setConfidenceThreshold() is deprecated, Use 'initialConfig.setConfidenceThreshold()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setConfidenceThreshold(confThr);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, setConfidenceThreshold))
+        .def("setMedianFilter", [](StereoDepth& s, dai::StereoDepthConfig::MedianFilter median) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setMedianFilter() is deprecated, Use 'initialConfig.setMedianFilter()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setMedianFilter(median);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, setMedianFilter))
+        .def("setOutputRectified", [](StereoDepth& s, bool enable) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setOutputRectified() is deprecated, the output is auto-enabled if used.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setOutputRectified(enable);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("setOutputDepth", [](StereoDepth& s, bool enable) {
+            // Issue an deprecation warning
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setOutputDepth() is deprecated, the output is auto-enabled if used.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setOutputDepth(enable);
+            HEDLEY_DIAGNOSTIC_POP
+        })
+        .def("setEmptyCalibration", [](StereoDepth& s){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setEmptyCalibration() is deprecated, Use 'setRectification(False)' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            s.setEmptyCalibration();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, setEmptyCalibration))
+        .def("setRuntimeModeSwitch", &StereoDepth::setRuntimeModeSwitch, DOC(dai, node, StereoDepth, setRuntimeModeSwitch))
+        .def("setNumFramesPool", &StereoDepth::setNumFramesPool, DOC(dai, node, StereoDepth, setNumFramesPool))
+        .def("getMaxDisparity", [](StereoDepth& s){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "getMaxDisparity() is deprecated, Use 'initialConfig.getMaxDisparity()' instead", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return s.getMaxDisparity();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, getMaxDisparity))
+        .def("setPostProcessingHardwareResources", &StereoDepth::setPostProcessingHardwareResources, DOC(dai, node, StereoDepth, setPostProcessingHardwareResources))
+        .def("setDefaultProfilePreset", &StereoDepth::setDefaultProfilePreset, DOC(dai, node, StereoDepth, setDefaultProfilePreset))
+        .def("setFocalLengthFromCalibration", [](StereoDepth& s, bool focalLengthFromCalibration){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "setFocalLengthFromCalibration is deprecated. Default value is true.", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return s.setFocalLengthFromCalibration(focalLengthFromCalibration);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, StereoDepth, setFocalLengthFromCalibration))
+        .def("useHomographyRectification", &StereoDepth::useHomographyRectification, DOC(dai, node, StereoDepth, useHomographyRectification))
+        .def("enableDistortionCorrection", &StereoDepth::enableDistortionCorrection, DOC(dai, node, StereoDepth, enableDistortionCorrection))
+        .def("setVerticalStereo", &StereoDepth::setVerticalStereo, DOC(dai, node, StereoDepth, setVerticalStereo))
+        .def("setCustomPixelDescriptors", &StereoDepth::setCustomPixelDescriptors, DOC(dai, node, StereoDepth, setCustomPixelDescriptors))
+        .def("setBaseline", &StereoDepth::setBaseline, DOC(dai, node, StereoDepth, setBaseline))
+        .def("setFocalLength", &StereoDepth::setFocalLength, DOC(dai, node, StereoDepth, setFocalLength))
+        .def("setDisparityToDepthUseSpecTranslation", &StereoDepth::setDisparityToDepthUseSpecTranslation, DOC(dai, node, StereoDepth, setDisparityToDepthUseSpecTranslation))
+        .def("setRectificationUseSpecTranslation", &StereoDepth::setRectificationUseSpecTranslation, DOC(dai, node, StereoDepth, setRectificationUseSpecTranslation))
+        .def("setDepthAlignmentUseSpecTranslation", &StereoDepth::setDepthAlignmentUseSpecTranslation, DOC(dai, node, StereoDepth, setDepthAlignmentUseSpecTranslation))
+        .def("setAlphaScaling", &StereoDepth::setAlphaScaling, DOC(dai, node, StereoDepth, setAlphaScaling))
+        ;
+    // ALIAS
+    daiNodeModule.attr("StereoDepth").attr("Properties") = stereoDepthProperties;
+
+
+
+}
diff --git a/bindings/python/src/pipeline/node/SyncBindings.cpp b/bindings/python/src/pipeline/node/SyncBindings.cpp
new file mode 100644
index 000000000..78c47cb75
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SyncBindings.cpp
@@ -0,0 +1,48 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/properties/SyncProperties.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/Sync.hpp"
+
+void bind_sync(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<SyncProperties> syncProperties(m, "SyncProperties", DOC(dai, SyncProperties));
+    auto sync = ADD_NODE(Sync);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    syncProperties
+        .def_readwrite("syncThresholdNs", &SyncProperties::syncThresholdNs)
+        .def_readwrite("syncAttempts", &SyncProperties::syncAttempts)
+        ;
+
+    // Node
+    sync
+        .def_readonly("out", &Sync::out, DOC(dai, node, Sync, out))
+        .def_readonly("inputs", &Sync::inputs, DOC(dai, node, Sync, inputs))
+        .def("setSyncThreshold", &Sync::setSyncThreshold, py::arg("syncThreshold"), DOC(dai, node, Sync, setSyncThreshold))
+        .def("setSyncAttempts", &Sync::setSyncAttempts, py::arg("maxDataSize"), DOC(dai, node, Sync, setSyncAttempts))
+        .def("getSyncThreshold", &Sync::getSyncThreshold, DOC(dai, node, Sync, getSyncThreshold))
+        .def("getSyncAttempts", &Sync::getSyncAttempts, DOC(dai, node, Sync, getSyncAttempts))
+        ;
+    daiNodeModule.attr("Sync").attr("Properties") = syncProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/SystemLoggerBindings.cpp b/bindings/python/src/pipeline/node/SystemLoggerBindings.cpp
new file mode 100644
index 000000000..55ad38b44
--- /dev/null
+++ b/bindings/python/src/pipeline/node/SystemLoggerBindings.cpp
@@ -0,0 +1,44 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/SystemLogger.hpp"
+
+void bind_systemlogger(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<SystemLoggerProperties> systemLoggerProperties(m, "SystemLoggerProperties", DOC(dai, SystemLoggerProperties));
+    auto systemLogger = ADD_NODE(SystemLogger);
+
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    systemLoggerProperties
+        .def_readwrite("rateHz", &SystemLoggerProperties::rateHz)
+        ;
+
+    // Node
+    systemLogger
+        .def_readonly("out", &SystemLogger::out, DOC(dai, node, SystemLogger, out))
+        .def("setRate", &SystemLogger::setRate, py::arg("hz"), DOC(dai, node, SystemLogger, setRate))
+        .def("getRate", &SystemLogger::getRate, DOC(dai, node, SystemLogger, getRate))
+        ;
+
+
+}
diff --git a/bindings/python/src/pipeline/node/ToFBindings.cpp b/bindings/python/src/pipeline/node/ToFBindings.cpp
new file mode 100644
index 000000000..3c36f25e1
--- /dev/null
+++ b/bindings/python/src/pipeline/node/ToFBindings.cpp
@@ -0,0 +1,49 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/ToF.hpp"
+
+
+void bind_tof(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<ToFProperties> tofProperties(m, "ToFProperties", DOC(dai, ToFProperties));
+    auto tof = ADD_NODE(ToF);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    tofProperties
+        .def_readwrite("initialConfig", &ToFProperties::initialConfig, DOC(dai, ToFProperties, initialConfig))
+        ;
+
+    // Node
+    tof
+        .def_readonly("inputConfig", &ToF::inputConfig, DOC(dai, node, ToF, inputConfig), DOC(dai, node, ToF, inputConfig))
+        .def_readonly("input", &ToF::input, DOC(dai, node, ToF, input), DOC(dai, node, ToF, input))
+        .def_readonly("depth", &ToF::depth, DOC(dai, node, ToF, depth), DOC(dai, node, ToF, depth))
+        .def_readonly("amplitude", &ToF::amplitude, DOC(dai, node, ToF, amplitude), DOC(dai, node, ToF, amplitude))
+        .def_readonly("intensity", &ToF::intensity, DOC(dai, node, ToF, intensity), DOC(dai, node, ToF, intensity))
+        .def_readonly("error", &ToF::error, DOC(dai, node, ToF, error), DOC(dai, node, ToF, error))
+        .def_readonly("initialConfig", &ToF::initialConfig, DOC(dai, node, ToF, initialConfig), DOC(dai, node, ToF, initialConfig))
+    ;
+    // ALIAS
+    daiNodeModule.attr("ToF").attr("Properties") = tofProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/UVCBindings.cpp b/bindings/python/src/pipeline/node/UVCBindings.cpp
new file mode 100644
index 000000000..81f180658
--- /dev/null
+++ b/bindings/python/src/pipeline/node/UVCBindings.cpp
@@ -0,0 +1,50 @@
+
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/UVC.hpp"
+
+void bind_uvc(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<UVCProperties> uvcProperties(m, "UVCProperties", DOC(dai, UVCProperties));
+    auto uvc = ADD_NODE(UVC);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    uvcProperties
+        .def_readwrite("gpioInit", &UVCProperties::gpioInit)
+        .def_readwrite("gpioStreamOn", &UVCProperties::gpioStreamOn)
+        .def_readwrite("gpioStreamOff", &UVCProperties::gpioStreamOff)
+        ;
+
+    // UVC node
+    uvc
+        .def_readonly("input", &UVC::input, DOC(dai, node, UVC, input))
+        .def("setGpiosOnInit", &UVC::setGpiosOnInit, py::arg("list"), DOC(dai, node, UVC, setGpiosOnInit))
+        .def("setGpiosOnStreamOn", &UVC::setGpiosOnStreamOn, py::arg("list"), DOC(dai, node, UVC, setGpiosOnStreamOn))
+        .def("setGpiosOnStreamOff", &UVC::setGpiosOnStreamOff, py::arg("list"), DOC(dai, node, UVC, setGpiosOnStreamOff))
+        ;
+
+    // ALIAS
+    daiNodeModule.attr("UVC").attr("Properties") = uvcProperties;
+
+}
+
diff --git a/bindings/python/src/pipeline/node/VideoEncoderBindings.cpp b/bindings/python/src/pipeline/node/VideoEncoderBindings.cpp
new file mode 100644
index 000000000..db9e3a860
--- /dev/null
+++ b/bindings/python/src/pipeline/node/VideoEncoderBindings.cpp
@@ -0,0 +1,141 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/VideoEncoder.hpp"
+
+void bind_videoencoder(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<VideoEncoderProperties> videoEncoderProperties(m, "VideoEncoderProperties", DOC(dai, VideoEncoderProperties));
+    py::enum_<VideoEncoderProperties::Profile> videoEncoderPropertiesProfile(videoEncoderProperties, "Profile", DOC(dai, VideoEncoderProperties, Profile));
+    py::enum_<VideoEncoderProperties::RateControlMode> videoEncoderPropertiesProfileRateControlMode(videoEncoderProperties, "RateControlMode", DOC(dai, VideoEncoderProperties, RateControlMode));
+    auto videoEncoder = ADD_NODE(VideoEncoder);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    videoEncoderPropertiesProfile
+        .value("H264_BASELINE", VideoEncoderProperties::Profile::H264_BASELINE)
+        .value("H264_HIGH", VideoEncoderProperties::Profile::H264_HIGH)
+        .value("H264_MAIN", VideoEncoderProperties::Profile::H264_MAIN)
+        .value("H265_MAIN", VideoEncoderProperties::Profile::H265_MAIN)
+        .value("MJPEG", VideoEncoderProperties::Profile::MJPEG)
+        ;
+
+    videoEncoderPropertiesProfileRateControlMode
+        .value("CBR", VideoEncoderProperties::RateControlMode::CBR)
+        .value("VBR", VideoEncoderProperties::RateControlMode::VBR)
+        ;
+
+    videoEncoderProperties
+        .def_readwrite("bitrate", &VideoEncoderProperties::bitrate)
+        .def_readwrite("keyframeFrequency", &VideoEncoderProperties::keyframeFrequency)
+        .def_readwrite("maxBitrate", &VideoEncoderProperties::maxBitrate)
+        .def_readwrite("numBFrames", &VideoEncoderProperties::numBFrames)
+        .def_readwrite("numFramesPool", &VideoEncoderProperties::numFramesPool)
+        .def_readwrite("profile", &VideoEncoderProperties::profile)
+        .def_readwrite("quality", &VideoEncoderProperties::quality)
+        .def_readwrite("rateCtrlMode", &VideoEncoderProperties::rateCtrlMode)
+        .def_readwrite("outputFrameSize", &VideoEncoderProperties::outputFrameSize)
+        ;
+
+    // Node
+    videoEncoder
+        .def_readonly("input", &VideoEncoder::input, DOC(dai, node, VideoEncoder, input), DOC(dai, node, VideoEncoder, input))
+        .def_readonly("bitstream", &VideoEncoder::bitstream, DOC(dai, node, VideoEncoder, bitstream), DOC(dai, node, VideoEncoder, bitstream))
+        .def_readonly("out", &VideoEncoder::out, DOC(dai, node, VideoEncoder, out), DOC(dai, node, VideoEncoder, out))
+        .def("setDefaultProfilePreset", static_cast<void(VideoEncoder::*)(float, VideoEncoderProperties::Profile)>(&VideoEncoder::setDefaultProfilePreset), py::arg("fps"), py::arg("profile"), DOC(dai, node, VideoEncoder, setDefaultProfilePreset))
+        .def("setDefaultProfilePreset", [](VideoEncoder& v, int width, int height, float fps, VideoEncoderProperties::Profile profile){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input width/height no longer needed, automatically determined from first frame", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            v.setDefaultProfilePreset(width, height, fps, profile);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, setDefaultProfilePreset, 2))
+        .def("setDefaultProfilePreset", [](VideoEncoder& v, std::tuple<int,int> size, float fps, VideoEncoderProperties::Profile profile){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input size no longer needed, automatically determined from first frame", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            v.setDefaultProfilePreset(size, fps, profile);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, setDefaultProfilePreset, 3))
+        .def("setNumFramesPool", &VideoEncoder::setNumFramesPool, py::arg("frames"), DOC(dai, node, VideoEncoder, setNumFramesPool))
+        .def("getNumFramesPool", &VideoEncoder::getNumFramesPool, DOC(dai, node, VideoEncoder, getNumFramesPool))
+        .def("setRateControlMode", &VideoEncoder::setRateControlMode, py::arg("mode"), DOC(dai, node, VideoEncoder, setRateControlMode))
+        .def("setProfile", static_cast<void(VideoEncoder::*)(VideoEncoder::Properties::Profile)>(&VideoEncoder::setProfile), py::arg("profile"), DOC(dai, node, VideoEncoder, setProfile))
+        .def("setProfile", [](VideoEncoder& v, std::tuple<int,int> size, VideoEncoderProperties::Profile profile){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input width/height no longer needed, automatically determined from first frame", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            v.setProfile(size, profile);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, setProfile, 2))
+        .def("setProfile", [](VideoEncoder& v, int width, int height, VideoEncoderProperties::Profile profile){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input width/height no longer needed, automatically determined from first frame", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            v.setProfile(width, height, profile);
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, setProfile, 3))
+        .def("setBitrate", &VideoEncoder::setBitrate, py::arg("bitrate"), DOC(dai, node, VideoEncoder, setBitrate))
+        .def("setBitrateKbps", &VideoEncoder::setBitrateKbps, py::arg("bitrateKbps"), DOC(dai, node, VideoEncoder, setBitrateKbps))
+        .def("setKeyframeFrequency", &VideoEncoder::setKeyframeFrequency, py::arg("freq"), DOC(dai, node, VideoEncoder, setKeyframeFrequency))
+        .def("setMaxOutputFrameSize", &VideoEncoder::setMaxOutputFrameSize, py::arg("maxFrameSize"), DOC(dai, node, VideoEncoder, setMaxOutputFrameSize))
+        //.def("setMaxBitrate", &VideoEncoder::setMaxBitrate)
+        .def("setNumBFrames", &VideoEncoder::setNumBFrames, py::arg("numBFrames"), DOC(dai, node, VideoEncoder, setNumBFrames))
+        .def("setQuality", &VideoEncoder::setQuality, py::arg("quality"), DOC(dai, node, VideoEncoder, setQuality))
+        .def("setLossless", &VideoEncoder::setLossless, DOC(dai, node, VideoEncoder, setLossless))
+        .def("setFrameRate", &VideoEncoder::setFrameRate, py::arg("frameRate"), DOC(dai, node, VideoEncoder, setFrameRate))
+        .def("getRateControlMode", &VideoEncoder::getRateControlMode, DOC(dai, node, VideoEncoder, getRateControlMode))
+        .def("getProfile", &VideoEncoder::getProfile, DOC(dai, node, VideoEncoder, getProfile))
+        .def("getBitrate", &VideoEncoder::getBitrate, DOC(dai, node, VideoEncoder, getBitrate))
+        .def("getBitrateKbps", &VideoEncoder::getBitrateKbps, DOC(dai, node, VideoEncoder, getBitrateKbps))
+        .def("getKeyframeFrequency", &VideoEncoder::getKeyframeFrequency, DOC(dai, node, VideoEncoder, getKeyframeFrequency))
+        //.def("getMaxBitrate", &VideoEncoder::getMaxBitrate)
+        .def("getNumBFrames", &VideoEncoder::getNumBFrames, DOC(dai, node, VideoEncoder, getNumBFrames))
+        .def("getQuality", &VideoEncoder::getQuality, DOC(dai, node, VideoEncoder, getQuality))
+        .def("getWidth", [](VideoEncoder& v){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input size no longer available, it's determined when first frame arrives", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return v.getWidth();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, getWidth))
+        .def("getHeight", [](VideoEncoder& v){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input size no longer available, it's determined when first frame arrives", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return v.getHeight();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, getHeight))
+        .def("getSize", [](VideoEncoder& v){
+            PyErr_WarnEx(PyExc_DeprecationWarning, "Input size no longer available, it's determined when first frame arrives", 1);
+            HEDLEY_DIAGNOSTIC_PUSH
+            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+            return v.getSize();
+            HEDLEY_DIAGNOSTIC_POP
+        }, DOC(dai, node, VideoEncoder, getSize))
+        .def("getFrameRate", &VideoEncoder::getFrameRate, DOC(dai, node, VideoEncoder, getFrameRate))
+        .def("getLossless", &VideoEncoder::getLossless, DOC(dai, node, VideoEncoder, getLossless))
+        .def("getMaxOutputFrameSize", &VideoEncoder::getMaxOutputFrameSize, DOC(dai, node, VideoEncoder, getMaxOutputFrameSize))
+    ;
+    // ALIAS
+    daiNodeModule.attr("VideoEncoder").attr("Properties") = videoEncoderProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/WarpBindings.cpp b/bindings/python/src/pipeline/node/WarpBindings.cpp
new file mode 100644
index 000000000..4e090834e
--- /dev/null
+++ b/bindings/python/src/pipeline/node/WarpBindings.cpp
@@ -0,0 +1,59 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/Warp.hpp"
+
+void bind_warp(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    // TODO(themarpe) - properties
+    py::class_<Warp::Properties> warpProperties(m, "WarpProperties", DOC(dai, WarpProperties));
+    auto warp = ADD_NODE(Warp);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // properties
+
+    // ImageManip Node
+    warp
+        // .def_readonly("inputConfig", &Warp::inputConfig, DOC(dai, node, Warp, inputConfig))
+        .def_readonly("inputImage", &Warp::inputImage, DOC(dai, node, Warp, inputImage))
+        .def_readonly("out", &Warp::out, DOC(dai, node, Warp, out))
+        // .def_readonly("initialConfig", &Warp::initialConfig, DOC(dai, node, Warp, initialConfig))
+        // setters
+
+        .def("setOutputSize",  py::overload_cast<int, int>(&Warp::setOutputSize), DOC(dai, node, Warp, setOutputSize))
+        .def("setOutputSize",  py::overload_cast<std::tuple<int, int>>(&Warp::setOutputSize), DOC(dai, node, Warp, setOutputSize, 2))
+        // .def("setOutputWidth", &Warp::setOutputWidth, DOC(dai, node, Warp, setOutputWidth))
+        // .def("setOutputHeight", &Warp::setOutputHeight, DOC(dai, node, Warp, setOutputHeight))
+
+        .def("setNumFramesPool", &Warp::setNumFramesPool, DOC(dai, node, Warp, setNumFramesPool))
+        .def("setMaxOutputFrameSize", &Warp::setMaxOutputFrameSize, DOC(dai, node, Warp, setMaxOutputFrameSize))
+
+        .def("setWarpMesh", py::overload_cast<const std::vector<Point2f>&, int, int>(&Warp::setWarpMesh), DOC(dai, node, Warp, setWarpMesh))
+        .def("setWarpMesh", py::overload_cast<const std::vector<std::pair<float,float>>&, int, int>(&Warp::setWarpMesh), DOC(dai, node, Warp, setWarpMesh))
+
+        .def("setHwIds", &Warp::setHwIds, DOC(dai, node, Warp, setHwIds))
+        .def("getHwIds", &Warp::getHwIds, DOC(dai, node, Warp, getHwIds))
+        .def("setInterpolation", &Warp::setInterpolation, DOC(dai, node, Warp, setInterpolation))
+        .def("getInterpolation", &Warp::getInterpolation, DOC(dai, node, Warp, getInterpolation))
+        ;
+
+    daiNodeModule.attr("Warp").attr("Properties") = warpProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/XLinkInBindings.cpp b/bindings/python/src/pipeline/node/XLinkInBindings.cpp
new file mode 100644
index 000000000..58e30c632
--- /dev/null
+++ b/bindings/python/src/pipeline/node/XLinkInBindings.cpp
@@ -0,0 +1,49 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/XLinkIn.hpp"
+
+void bind_xlinkin(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<XLinkInProperties> xlinkInProperties(m, "XLinkInProperties", DOC(dai, XLinkInProperties));
+    auto xlinkIn = ADD_NODE(XLinkIn);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    xlinkInProperties
+        .def_readwrite("streamName", &XLinkInProperties::streamName)
+        .def_readwrite("maxDataSize", &XLinkInProperties::maxDataSize)
+        .def_readwrite("numFrames", &XLinkInProperties::numFrames)
+        ;
+
+    // Node
+    xlinkIn
+        .def_readonly("out", &XLinkIn::out, DOC(dai, node, XLinkIn, out))
+        .def("setStreamName", &XLinkIn::setStreamName, py::arg("streamName"), DOC(dai, node, XLinkIn, setStreamName))
+        .def("setMaxDataSize", &XLinkIn::setMaxDataSize, py::arg("maxDataSize"), DOC(dai, node, XLinkIn, setMaxDataSize))
+        .def("setNumFrames",  &XLinkIn::setNumFrames, py::arg("numFrames"), DOC(dai, node, XLinkIn, setNumFrames))
+        .def("getStreamName", &XLinkIn::getStreamName, DOC(dai, node, XLinkIn, getStreamName))
+        .def("getMaxDataSize", &XLinkIn::getMaxDataSize, DOC(dai, node, XLinkIn, getMaxDataSize))
+        .def("getNumFrames",  &XLinkIn::getNumFrames, DOC(dai, node, XLinkIn, getNumFrames))
+        ;
+    daiNodeModule.attr("XLinkIn").attr("Properties") = xlinkInProperties;
+
+}
diff --git a/bindings/python/src/pipeline/node/XLinkOutBindings.cpp b/bindings/python/src/pipeline/node/XLinkOutBindings.cpp
new file mode 100644
index 000000000..d8a176904
--- /dev/null
+++ b/bindings/python/src/pipeline/node/XLinkOutBindings.cpp
@@ -0,0 +1,49 @@
+#include "NodeBindings.hpp"
+#include "Common.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/node/XLinkOut.hpp"
+
+void bind_xlinkout(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+    using namespace dai::node;
+
+    // Node and Properties declare upfront
+    py::class_<XLinkOutProperties> xlinkOutProperties(m, "XLinkOutProperties", DOC(dai, XLinkOutProperties));
+    auto xlinkOut = ADD_NODE(XLinkOut);
+
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    // Call the rest of the type defines, then perform the actual bindings
+    Callstack* callstack = (Callstack*) pCallstack;
+    auto cb = callstack->top();
+    callstack->pop();
+    cb(m, pCallstack);
+    // Actual bindings
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+    ///////////////////////////////////////////////////////////////////////
+
+    // Properties
+    xlinkOutProperties
+        .def_readwrite("maxFpsLimit", &XLinkOutProperties::maxFpsLimit)
+        .def_readwrite("streamName", &XLinkOutProperties::streamName)
+        .def_readwrite("metadataOnly", &XLinkOutProperties::metadataOnly)
+        ;
+
+    // Node
+    xlinkOut
+        .def_readonly("input", &XLinkOut::input, DOC(dai, node, XLinkOut, input))
+        .def("setStreamName", &XLinkOut::setStreamName, py::arg("streamName"), DOC(dai, node, XLinkOut, setStreamName))
+        .def("setFpsLimit", &XLinkOut::setFpsLimit, py::arg("fpsLimit"), DOC(dai, node, XLinkOut, setFpsLimit))
+        .def("getStreamName", &XLinkOut::getStreamName, DOC(dai, node, XLinkOut, getStreamName))
+        .def("getFpsLimit", &XLinkOut::getFpsLimit, DOC(dai, node, XLinkOut, getFpsLimit))
+        .def("setMetadataOnly", &XLinkOut::setMetadataOnly, DOC(dai, node, XLinkOut, setMetadataOnly))
+        .def("getMetadataOnly", &XLinkOut::getMetadataOnly, DOC(dai, node, XLinkOut, getMetadataOnly))
+        ;
+    daiNodeModule.attr("XLinkOut").attr("Properties") = xlinkOutProperties;
+
+}
diff --git a/bindings/python/src/py_bindings.cpp b/bindings/python/src/py_bindings.cpp
new file mode 100644
index 000000000..8e3b85090
--- /dev/null
+++ b/bindings/python/src/py_bindings.cpp
@@ -0,0 +1,127 @@
+
+#include <exception>
+#include <fstream>
+#include <iostream>
+#include <list>
+#include <memory>
+#include <string>
+#include <vector>
+
+// pybind11
+#include "pybind11_common.hpp"
+
+// depthai-core
+#include "depthai/build/version.hpp"
+
+// project
+#include "depthai/depthai.hpp"
+#include "pipeline/AssetManagerBindings.hpp"
+#include "pipeline/PipelineBindings.hpp"
+#include "pipeline/CommonBindings.hpp"
+#include "pipeline/node/NodeBindings.hpp"
+#include "XLinkBindings.hpp"
+#include "DeviceBindings.hpp"
+#include "CalibrationHandlerBindings.hpp"
+#include "DeviceBootloaderBindings.hpp"
+#include "DatatypeBindings.hpp"
+#include "DataQueueBindings.hpp"
+#include "openvino/OpenVINOBindings.hpp"
+#include "log/LogBindings.hpp"
+#include "VersionBindings.hpp"
+
+#ifdef DEPTHAI_PYTHON_EMBEDDED_MODULE
+#include <pybind11/embed.h>
+extern "C" void depthai_bindings_init() {} // to force inclusion
+#endif
+
+// Specify module
+#ifdef DEPTHAI_PYTHON_EMBEDDED_MODULE
+PYBIND11_EMBEDDED_MODULE(depthai, m)
+#else
+PYBIND11_MODULE(depthai, m)
+#endif
+{
+
+    // Depthai python version consists of: (depthai-core).(bindings revision)[+bindings hash]
+    m.attr("__version__") = DEPTHAI_PYTHON_VERSION;
+    m.attr("__commit__") = DEPTHAI_PYTHON_COMMIT_HASH;
+    m.attr("__commit_datetime__") = DEPTHAI_PYTHON_COMMIT_DATETIME;
+    m.attr("__build_datetime__") = DEPTHAI_PYTHON_BUILD_DATETIME;
+    m.attr("__device_version__") = dai::build::DEVICE_VERSION;
+    m.attr("__bootloader_version__") = dai::build::BOOTLOADER_VERSION;
+    m.attr("__device_rvc3_version__") = dai::build::DEVICE_RVC3_VERSION;
+
+    // Add bindings
+    std::deque<StackFunction> callstack;
+    DatatypeBindings::addToCallstack(callstack);
+    callstack.push_front(&LogBindings::bind);
+    callstack.push_front(&VersionBindings::bind);
+    callstack.push_front(&DataQueueBindings::bind);
+    callstack.push_front(&OpenVINOBindings::bind);
+    NodeBindings::addToCallstack(callstack);
+    callstack.push_front(&AssetManagerBindings::bind);
+    callstack.push_front(&PipelineBindings::bind);
+    callstack.push_front(&XLinkBindings::bind);
+    callstack.push_front(&DeviceBindings::bind);
+    callstack.push_front(&DeviceBootloaderBindings::bind);
+    callstack.push_front(&CalibrationHandlerBindings::bind);
+    // end of the callstack
+    callstack.push_front([](py::module &, void *) {});
+
+    Callstack callstackAdapter(callstack);
+
+    // Initial call
+    CommonBindings::bind(m, &callstackAdapter);
+
+    // Install signal handler option
+    bool installSignalHandler = true;
+    constexpr static const char* signalHandlerKey = "DEPTHAI_INSTALL_SIGNAL_HANDLER";
+    try {
+        auto sysModule = py::module_::import("sys");
+        if(py::hasattr(sysModule, signalHandlerKey)){
+            installSignalHandler = installSignalHandler && sysModule.attr(signalHandlerKey).cast<bool>();
+        }
+    } catch (...) {
+        // ignore
+    }
+    try {
+        auto builtinsModule = py::module_::import("builtins");
+        if(py::hasattr(builtinsModule, signalHandlerKey)){
+            installSignalHandler = installSignalHandler && builtinsModule.attr(signalHandlerKey).cast<bool>();
+        }
+    } catch (...){
+        // ignore
+    }
+
+    // Apply JavaVM pointer
+    std::string javavmEnvStr;
+    constexpr static const char* javavmEnvKey = "DEPTHAI_LIBUSB_ANDROID_JAVAVM";
+    try {
+        auto sysModule = py::module_::import("sys");
+        if(py::hasattr(sysModule, javavmEnvKey)){
+            javavmEnvStr = sysModule.attr(javavmEnvKey).cast<std::string>();
+        }
+    } catch (...) {
+        // ignore
+    }
+    try {
+        auto builtinsModule = py::module_::import("builtins");
+        if(py::hasattr(builtinsModule, javavmEnvKey)){
+            javavmEnvStr = builtinsModule.attr(javavmEnvKey).cast<std::string>();
+        }
+    } catch (...){
+        // ignore
+    }
+    // JNIEnv handling
+    void* javavm = nullptr;
+    // Read the uintptr_t value from the decimal string
+    sscanf(javavmEnvStr.c_str(), "%" SCNuPTR, reinterpret_cast<uintptr_t*>(&javavm));
+
+    // Call dai::initialize on 'import depthai' to initialize asap with additional information to print
+    try {
+        dai::initialize(std::string("Python bindings - version: ") + DEPTHAI_PYTHON_VERSION + " from " + DEPTHAI_PYTHON_COMMIT_DATETIME + " build: " + DEPTHAI_PYTHON_BUILD_DATETIME, installSignalHandler, javavm);
+    } catch (const std::exception&) {
+        // ignore, will be initialized later on if possible
+    }
+
+}
diff --git a/bindings/python/src/pybind11_common.hpp b/bindings/python/src/pybind11_common.hpp
new file mode 100644
index 000000000..6718030dc
--- /dev/null
+++ b/bindings/python/src/pybind11_common.hpp
@@ -0,0 +1,70 @@
+#pragma once
+
+#if (_MSC_VER >= 1910) || !defined(_MSC_VER)
+    #define HAVE_SNPRINTF
+#endif
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/chrono.h>
+#include <pybind11/functional.h>
+#include <pybind11/numpy.h>
+#include <pybind11_json/pybind11_json.hpp>
+#include <cstdint>
+#include <stack>
+#include <depthai/utility/Path.hpp>
+#include <utility/SpanBindings.hpp>
+
+// Include docstring file
+#include "docstring.hpp"
+
+namespace pybind11 { namespace detail {
+    template <> struct type_caster<dai::Path> {
+    public:
+
+        // This macro establishes the name 'dai::Path' in
+        // function signatures and declares a local variable
+        // 'value' of type dai::Path
+        PYBIND11_TYPE_CASTER(dai::Path, _("Path"));
+
+        // Conversion part 1 (Python->C++): convert a PyObject into a dai::Path
+        // instance or return false upon failure. The second argument
+        // indicates whether implicit conversions should be applied.
+        bool load(handle src, bool) {
+            try {
+                // Make sure only strings and paths are cast to dai::Path
+                // Instead of anything that can be represented as string
+                bool isPath = false;
+                try{
+                    isPath = isinstance(src, module::import("pathlib").attr("PurePath"));
+                } catch (const std::exception&) {
+                    //ignore
+                }
+                if(!isinstance<str>(src) && !isPath) {
+                    return false;
+                }
+                str pystr = static_cast<str>(src);
+                value = dai::Path(static_cast<std::string>(pystr));
+                return true;
+            } catch (...) {
+                return false;
+            }
+        }
+
+        // Conversion part 2 (C++ -> Python): convert an dai::Path instance into
+        // a Python (string) object. The second and third arguments are used to
+        // indicate the return value policy and parent object (for
+        // ``return_value_policy::reference_internal``) and are generally
+        // ignored by implicit casters.
+        static handle cast(dai::Path src, return_value_policy /* policy */, handle /* parent */) {
+            return str{src.u8string()};
+        }
+    };
+}} // namespace pybind11::detail
+
+
+namespace py = pybind11;
+
+using StackFunction = void (*)(pybind11::module &m, void *pCallstack);
+using Callstack = std::stack<StackFunction>;
+
diff --git a/bindings/python/src/utility/ResourcesBindings.cpp b/bindings/python/src/utility/ResourcesBindings.cpp
new file mode 100644
index 000000000..0c87866ce
--- /dev/null
+++ b/bindings/python/src/utility/ResourcesBindings.cpp
@@ -0,0 +1,19 @@
+#include "ResourcesBindings.hpp"
+
+// depthai
+// include resources #include "depthai/"
+
+void ResourcesBindings::bind(pybind11::module& m, void* pCallstack){
+
+    using namespace dai;
+
+    // Bind Resources (if needed)
+    py::class_<Resources, std::unique_ptr<Resources, py::nodelete>>(m, "Resources")
+    .def(py::init([](){
+        return std::unique_ptr<Resources, py::nodelete>>(&Resources::getInstance());
+    });
+
+}
+
+
+
diff --git a/bindings/python/src/utility/ResourcesBindings.hpp b/bindings/python/src/utility/ResourcesBindings.hpp
new file mode 100644
index 000000000..ac36b73db
--- /dev/null
+++ b/bindings/python/src/utility/ResourcesBindings.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+// pybind
+#include "pybind11_common.hpp"
+
+struct ResourcesBindings {
+    static void bind(pybind11::module& m, void* pCallstack);
+};
\ No newline at end of file
diff --git a/bindings/python/src/utility/SpanBindings.hpp b/bindings/python/src/utility/SpanBindings.hpp
new file mode 100644
index 000000000..859f1df31
--- /dev/null
+++ b/bindings/python/src/utility/SpanBindings.hpp
@@ -0,0 +1,170 @@
+#pragma once
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include "depthai/utility/span.hpp"
+
+namespace pybind11 {
+namespace detail {
+
+template <size_t N>
+struct span_name_maker {
+  template <typename T>
+  static constexpr auto make(const T &t) {
+    return concat(t, span_name_maker<N-1>::make(t));
+  }
+};
+
+template <>
+struct span_name_maker<1> {
+  template <typename T>
+  static constexpr auto make(const T &t) {
+    return t;
+  }
+};
+
+// span with fixed size converts to a tuple
+template <typename Type, size_t Extent> struct type_caster<dai::span<Type, Extent>> {
+  using span_type = typename dai::span<Type, Extent>;
+  using value_conv = make_caster<Type>;
+  using value_type = typename std::remove_cv<Type>::type;
+
+  value_type backing_array[Extent] = {};
+
+  PYBIND11_TYPE_CASTER(span_type, _("Tuple[") + span_name_maker<Extent>::make(value_conv::name) + _("]"));
+
+  type_caster() : value(backing_array) {}
+
+  bool load(handle src, bool convert) {
+    if (!isinstance<sequence>(src) || isinstance<str>(src))
+      return false;
+    auto s = reinterpret_borrow<sequence>(src);
+    if (s.size() != Extent)
+      return false;
+    size_t i = 0;
+    for (auto it : s) {
+      value_conv conv;
+      if (!conv.load(it, convert))
+        return false;
+      backing_array[i] = cast_op<Type &&>(std::move(conv));
+      i++;
+    }
+    return true;
+  }
+
+public:
+  template <typename T>
+  static handle cast(T &&src, return_value_policy policy, handle parent) {
+    if (!std::is_lvalue_reference<T>::value)
+      policy = return_value_policy_override<Type>::policy(policy);
+    tuple l(Extent);
+    size_t index = 0;
+    for (auto &&value : src) {
+      auto value_ = reinterpret_steal<object>(
+          value_conv::cast(forward_like<T>(value), policy, parent));
+      if (!value_)
+        return handle();
+      PyTuple_SET_ITEM(l.ptr(), (ssize_t)index++,
+                      value_.release().ptr()); // steals a reference
+    }
+    return l.release();
+  }
+};
+
+
+// span with dynamic extent
+template <typename Type> struct type_caster<dai::span<Type, dai::dynamic_extent>> {
+  using span_type = typename  dai::span<Type, dai::dynamic_extent>;
+  using value_conv = make_caster<Type>;
+  using value_type = typename std::remove_cv<Type>::type;
+  PYBIND11_TYPE_CASTER(span_type, _("List[") + value_conv::name + _("]"));
+
+  std::vector<value_type> vec;
+  bool load(handle src, bool convert) {
+    if (!isinstance<sequence>(src) || isinstance<str>(src))
+      return false;
+    auto s = reinterpret_borrow<sequence>(src);
+    vec.reserve(s.size());
+    for (auto it : s) {
+      value_conv conv;
+      if (!conv.load(it, convert))
+        return false;
+      vec.push_back(cast_op<Type &&>(std::move(conv)));
+    }
+    value = span_type(vec.data(), vec.size());
+    return true;
+  }
+
+public:
+  template <typename T>
+  static handle cast(T &&src, return_value_policy policy, handle parent) {
+    if (!std::is_lvalue_reference<T>::value)
+      policy = return_value_policy_override<Type>::policy(policy);
+    list l(src.size());
+    size_t index = 0;
+    for (auto &&value : src) {
+      auto value_ = reinterpret_steal<object>(
+          value_conv::cast(forward_like<T>(value), policy, parent));
+      if (!value_)
+        return handle();
+      PyList_SET_ITEM(l.ptr(), (ssize_t)index++,
+                      value_.release().ptr()); // steals a reference
+    }
+    return l.release();
+  }
+};
+
+// span specialization: accepts any readonly buffers
+template <> struct type_caster<dai::span<const uint8_t, dai::dynamic_extent>> {
+  using span_type = typename  dai::span<const uint8_t, dai::dynamic_extent>;
+  PYBIND11_TYPE_CASTER(span_type, _("buffer"));
+
+  bool load(handle src, bool convert) {
+    if (!isinstance<buffer>(src))
+      return false;
+    auto buf = reinterpret_borrow<buffer>(src);
+    auto req = buf.request();
+    if (req.ndim != 1) {
+      return false;
+    }
+
+    value = span_type((const uint8_t*)req.ptr, req.size*req.itemsize);
+    return true;
+  }
+
+public:
+  template <typename T>
+  static handle cast(T &&src, return_value_policy policy, handle parent) {
+    return bytes((char*)src.data(), src.size()).release();
+  }
+};
+
+// span specialization: writeable buffer
+template <> struct type_caster<dai::span<uint8_t, dai::dynamic_extent>> {
+  using span_type = typename  dai::span<const uint8_t, dai::dynamic_extent>;
+  PYBIND11_TYPE_CASTER(dai::span<uint8_t>, _("buffer"));
+
+  bool load(handle src, bool convert) {
+    if (!isinstance<buffer>(src))
+      return false;
+    auto buf = reinterpret_borrow<buffer>(src);
+    auto req = buf.request(true); // buffer must be writeable
+    if (req.ndim != 1) {
+      return false;
+    }
+
+    value = dai::span<uint8_t>((uint8_t*)req.ptr, req.size*req.itemsize);
+    return true;
+  }
+
+public:
+  template <typename T>
+  static handle cast(T &&src, return_value_policy policy, handle parent) {
+    // TODO: should this be a memoryview instead?
+    return bytes((char*)src.data(), src.size()).release();
+  }
+};
+
+} // namespace detail
+} // namespace pybind11
\ No newline at end of file
diff --git a/bindings/python/tests/CMakeLists.txt b/bindings/python/tests/CMakeLists.txt
new file mode 100644
index 000000000..400fbeac1
--- /dev/null
+++ b/bindings/python/tests/CMakeLists.txt
@@ -0,0 +1,41 @@
+
+set(TARGET_TEST_MODULE "depthai_pybind11_tests")
+
+# Specify path separator
+set(SYS_PATH_SEPARATOR ";")
+if(UNIX)
+    set(SYS_PATH_SEPARATOR ":")
+endif()
+
+set(PYBIND11_TEST_FILES
+    "xlink_exceptions_test.cpp"
+    "utf8_support_test.py"
+    "dai_path_conversion_test.py"
+    "nndata_tensor_test.py"
+)
+
+string(REPLACE ".cpp" ".py" PYBIND11_PYTEST_FILES "${PYBIND11_TEST_FILES}")
+
+# Create the binding library at the end
+pybind11_add_module(${TARGET_TEST_MODULE} THIN_LTO ${TARGET_TEST_MODULE}.cpp ${PYBIND11_TEST_FILES})
+
+# A single command to compile and run the tests
+add_custom_target(
+    pytest COMMAND
+        ${CMAKE_COMMAND} -E env
+        # PATH (dlls)
+        "PATH=${HUNTER_INSTALL_PREFIX}/bin${SYS_PATH_SEPARATOR}$ENV{PATH}"
+        # Python path (to find compiled modules)
+        "PYTHONPATH=$<TARGET_FILE_DIR:${TARGET_NAME}>${SYS_PATH_SEPARATOR}$<TARGET_FILE_DIR:${TARGET_TEST_MODULE}>${SYS_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+        # ASAN in case of sanitizers
+        ${ASAN_ENVIRONMENT_VARS}
+        ${PYTHON_EXECUTABLE} -m pytest ${PYBIND11_PYTEST_FILES}
+    DEPENDS
+        ${TARGET_TEST_MODULE} # Compiled tests
+        ${TARGET_NAME} # DepthAI Python Library
+    WORKING_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}"
+    USES_TERMINAL
+)
+
+# Link to depthai
+target_link_libraries(${TARGET_TEST_MODULE} PRIVATE pybind11::pybind11 depthai::core)
\ No newline at end of file
diff --git a/bindings/python/tests/conftest.py b/bindings/python/tests/conftest.py
new file mode 100644
index 000000000..f7605bf82
--- /dev/null
+++ b/bindings/python/tests/conftest.py
@@ -0,0 +1,200 @@
+# -*- coding: utf-8 -*-
+"""pytest configuration
+
+Extends output capture as needed by pybind11: ignore constructors, optional unordered lines.
+Adds docstring and exceptions message sanitizers: ignore Python 2 vs 3 differences.
+"""
+
+import contextlib
+import difflib
+import gc
+import re
+import textwrap
+
+import pytest
+
+# Early diagnostic for failed imports
+import depthai_pybind11_tests  # noqa: F401
+
+_unicode_marker = re.compile(r"u(\'[^\']*\')")
+_long_marker = re.compile(r"([0-9])L")
+_hexadecimal = re.compile(r"0x[0-9a-fA-F]+")
+
+def _strip_and_dedent(s):
+    """For triple-quote strings"""
+    return textwrap.dedent(s.lstrip("\n").rstrip())
+
+
+def _split_and_sort(s):
+    """For output which does not require specific line order"""
+    return sorted(_strip_and_dedent(s).splitlines())
+
+
+def _make_explanation(a, b):
+    """Explanation for a failed assert -- the a and b arguments are List[str]"""
+    return ["--- actual / +++ expected"] + [
+        line.strip("\n") for line in difflib.ndiff(a, b)
+    ]
+
+
+class Output(object):
+    """Basic output post-processing and comparison"""
+
+    def __init__(self, string):
+        self.string = string
+        self.explanation = []
+
+    def __str__(self):
+        return self.string
+
+    def __eq__(self, other):
+        # Ignore constructor/destructor output which is prefixed with "###"
+        a = [
+            line
+            for line in self.string.strip().splitlines()
+            if not line.startswith("###")
+        ]
+        b = _strip_and_dedent(other).splitlines()
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a, b)
+            return False
+
+
+class Unordered(Output):
+    """Custom comparison for output without strict line ordering"""
+
+    def __eq__(self, other):
+        a = _split_and_sort(self.string)
+        b = _split_and_sort(other)
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a, b)
+            return False
+
+
+class Capture(object):
+    def __init__(self, capfd):
+        self.capfd = capfd
+        self.out = ""
+        self.err = ""
+
+    def __enter__(self):
+        self.capfd.readouterr()
+        return self
+
+    def __exit__(self, *args):
+        self.out, self.err = self.capfd.readouterr()
+
+    def __eq__(self, other):
+        a = Output(self.out)
+        b = other
+        if a == b:
+            return True
+        else:
+            self.explanation = a.explanation
+            return False
+
+    def __str__(self):
+        return self.out
+
+    def __contains__(self, item):
+        return item in self.out
+
+    @property
+    def unordered(self):
+        return Unordered(self.out)
+
+    @property
+    def stderr(self):
+        return Output(self.err)
+
+
+@pytest.fixture
+def capture(capsys):
+    """Extended `capsys` with context manager and custom equality operators"""
+    return Capture(capsys)
+
+
+class SanitizedString(object):
+    def __init__(self, sanitizer):
+        self.sanitizer = sanitizer
+        self.string = ""
+        self.explanation = []
+
+    def __call__(self, thing):
+        self.string = self.sanitizer(thing)
+        return self
+
+    def __eq__(self, other):
+        a = self.string
+        b = _strip_and_dedent(other)
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a.splitlines(), b.splitlines())
+            return False
+
+
+def _sanitize_general(s):
+    s = s.strip()
+    s = s.replace("pybind11_tests.", "m.")
+    s = s.replace("unicode", "str")
+    s = _long_marker.sub(r"\1", s)
+    s = _unicode_marker.sub(r"\1", s)
+    return s
+
+
+def _sanitize_docstring(thing):
+    s = thing.__doc__
+    s = _sanitize_general(s)
+    return s
+
+
+@pytest.fixture
+def doc():
+    """Sanitize docstrings and add custom failure explanation"""
+    return SanitizedString(_sanitize_docstring)
+
+
+def _sanitize_message(thing):
+    s = str(thing)
+    s = _sanitize_general(s)
+    s = _hexadecimal.sub("0", s)
+    return s
+
+
+@pytest.fixture
+def msg():
+    """Sanitize messages and add custom failure explanation"""
+    return SanitizedString(_sanitize_message)
+
+
+# noinspection PyUnusedLocal
+def pytest_assertrepr_compare(op, left, right):
+    """Hook to insert custom failure explanation"""
+    if hasattr(left, "explanation"):
+        return left.explanation
+
+
+@contextlib.contextmanager
+def suppress(exception):
+    """Suppress the desired exception"""
+    try:
+        yield
+    except exception:
+        pass
+
+
+def gc_collect():
+    """Run the garbage collector twice (needed when running
+    reference counting tests with PyPy)"""
+    gc.collect()
+    gc.collect()
+
+
+def pytest_configure():
+    pytest.suppress = suppress
+    pytest.gc_collect = gc_collect
diff --git a/bindings/python/tests/dai_path_conversion_test.py b/bindings/python/tests/dai_path_conversion_test.py
new file mode 100644
index 000000000..a025c5f87
--- /dev/null
+++ b/bindings/python/tests/dai_path_conversion_test.py
@@ -0,0 +1,47 @@
+# -*- coding: utf-8 -*-
+import sys
+
+import pytest
+
+import depthai as dai
+from pathlib import Path
+
+def test_dai_path_conversion_positive():
+    # Can raise RuntimeError but not TypeError (eg if string/Path weren't accepted as parameters)
+
+    with pytest.raises(Exception) as excinfo:
+        a = dai.AssetManager()
+        nn = dai.Pipeline().create(dai.node.NeuralNetwork)
+
+        string_path = 'test.txt'
+        pathlib_path = Path('pathlib.txt')
+
+        # AssetManager
+        a.set('p1', string_path)
+        a.set('p2', pathlib_path)
+
+        # NN
+        nn.setBlobPath('p1', string_path)
+        nn.setBlobPath('p2', pathlib_path)
+        nn.setBlob('p1', string_path)
+        nn.setBlob('p2', pathlib_path)
+
+    assert(excinfo is not RuntimeError)
+
+
+def test_dai_path_conversion_negative():
+    # Must raise TypeError, to indicate that given argument wasn't converted to Path
+
+    a = dai.AssetManager()
+    nn = dai.Pipeline().create(dai.node.NeuralNetwork)
+    info = dai.DeviceInfo() # str representable
+
+    with pytest.raises(TypeError) as excinfo:
+        a.set('invalid', info)
+
+    with pytest.raises(TypeError) as excinfo:
+        nn.setBlobPath(info)
+
+    with pytest.raises(TypeError) as excinfo:
+        nn.setBlob(info)
+
diff --git a/bindings/python/tests/depthai_pybind11_tests.cpp b/bindings/python/tests/depthai_pybind11_tests.cpp
new file mode 100644
index 000000000..7d12722e8
--- /dev/null
+++ b/bindings/python/tests/depthai_pybind11_tests.cpp
@@ -0,0 +1,55 @@
+/*
+    tests/pybind11_tests.cpp -- pybind example plugin
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "depthai_pybind11_tests.hpp"
+
+#include <functional>
+#include <list>
+
+/*
+For testing purposes, we define a static global variable here in a function that each individual
+test .cpp calls with its initialization lambda.  It's convenient here because we can just not
+compile some test files to disable/ignore some of the test code.
+
+It is NOT recommended as a way to use pybind11 in practice, however: the initialization order will
+be essentially random, which is okay for our test scripts (there are no dependencies between the
+individual pybind11 test .cpp files), but most likely not what you want when using pybind11
+productively.
+
+Instead, see the "How can I reduce the build time?" question in the "Frequently asked questions"
+section of the documentation for good practice on splitting binding code over multiple files.
+*/
+std::list<std::function<void(py::module_ &)>> &initializers() {
+    static std::list<std::function<void(py::module_ &)>> inits;
+    return inits;
+}
+
+test_initializer::test_initializer(Initializer init) {
+    initializers().emplace_back(init);
+}
+
+test_initializer::test_initializer(const char *submodule_name, Initializer init) {
+    initializers().emplace_back([=](py::module_ &parent) {
+        auto m = parent.def_submodule(submodule_name);
+        init(m);
+    });
+}
+
+PYBIND11_MODULE(depthai_pybind11_tests, m) {
+    m.doc() = "depthai pybind11 test module";
+
+#if !defined(NDEBUG)
+    m.attr("debug_enabled") = true;
+#else
+    m.attr("debug_enabled") = false;
+#endif
+
+    for (const auto &initializer : initializers())
+        initializer(m);
+}
diff --git a/bindings/python/tests/depthai_pybind11_tests.hpp b/bindings/python/tests/depthai_pybind11_tests.hpp
new file mode 100644
index 000000000..b6e12bef4
--- /dev/null
+++ b/bindings/python/tests/depthai_pybind11_tests.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+// This must be kept first for MSVC 2015.
+// Do not remove the empty line between the #includes.
+#include <pybind11/pybind11.h>
+
+#include <pybind11/eval.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1910
+// We get some really long type names here which causes MSVC 2015 to emit warnings
+#    pragma warning(                                                                              \
+        disable : 4503) // warning C4503: decorated name length exceeded, name was truncated
+#endif
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+class test_initializer {
+    using Initializer = void (*)(py::module_ &);
+
+public:
+    test_initializer(Initializer init);
+    test_initializer(const char *submodule_name, Initializer init);
+};
+
+#define TEST_SUBMODULE(name, variable)                                                            \
+    void test_submodule_##name(py::module_ &);                                                    \
+    test_initializer name(#name, test_submodule_##name);                                          \
+    void test_submodule_##name(py::module_ &(variable))
diff --git a/bindings/python/tests/multithread.py b/bindings/python/tests/multithread.py
new file mode 100644
index 000000000..6252527aa
--- /dev/null
+++ b/bindings/python/tests/multithread.py
@@ -0,0 +1,46 @@
+# TODO: increase defaults in depthai! Below is a workaround for this issue on some setups:
+#     Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
+# If this error is still observed, might be a FW crash on initialization
+if 1:
+    import os
+    os.environ["DEPTHAI_WATCHDOG_INITIAL_DELAY"] = "40000"
+    os.environ["DEPTHAI_BOOTUP_TIMEOUT"] = "40000"
+
+import depthai as dai
+import threading
+import traceback
+import time
+import os
+
+def worker(devinfo, id):
+    print(f'[{id}] opening bootloader...')
+    try:
+        with dai.DeviceBootloader(devinfo) as bl:
+            print(f'[{id}] bootloader version: {bl.getVersion()}')
+        with dai.Device(devinfo) as dev:
+            print(f'[{id}] device started, name: {dev.getDeviceName()}')
+            time.sleep(6)
+    # Exceptions aren't propagated, so simply exit the app with an error
+    except Exception as e:
+        print(f'[{id}] FAILED: {e}')
+        traceback.print_exc()
+        os._exit(-1)
+
+device_infos = dai.Device.getAllAvailableDevices()
+n = len(device_infos)
+if n <= 0:
+    print('No devices found!')
+    os._exit(-1)
+print(f'Found {n} devices, handling each in a thread...')
+threads = []
+for devinfo in device_infos:
+    id = devinfo.name  # IP address for PoE
+    t = threading.Thread(target=worker, args=(devinfo, id, ))
+    t.name += f'-{id}'  # Thread name useful for debugging
+    t.start()
+    threads.append(t)
+
+for t in threads:
+    t.join()
+
+print('Multi-threading test succeeded!')
diff --git a/bindings/python/tests/nndata_tensor_test.py b/bindings/python/tests/nndata_tensor_test.py
new file mode 100644
index 000000000..d0e94e29c
--- /dev/null
+++ b/bindings/python/tests/nndata_tensor_test.py
@@ -0,0 +1,26 @@
+import pytest
+import depthai as dai
+import numpy as np
+
+def test_nndata_tensor():
+  nndata = dai.NNData()
+
+  tensorA = np.random.rand(3,3,3,3)
+  tensorB = np.random.randint(2**8, size=(3,3,3,3))
+  tensorC = [1,2,3,4,5]
+  tensorD = [1.1, 2.1, 3.1, 4.1, 5.1]
+
+  nndata.addTensor("a", tensorA)
+  nndata.addTensor("b", tensorB)
+  nndata.addTensor("c", tensorC)
+  nndata.addTensor("d", tensorD)
+
+  assert(nndata.getTensorDatatype("a") == dai.TensorInfo.DataType.FP16)
+  assert(nndata.getTensorDatatype("b") == dai.TensorInfo.DataType.U8F)
+  assert(nndata.getTensorDatatype("c") == dai.TensorInfo.DataType.U8F)
+  assert(nndata.getTensorDatatype("d") == dai.TensorInfo.DataType.FP16)
+
+  assert(np.allclose(nndata.getTensor("a"), tensorA, atol=0.002))
+  assert((nndata.getTensor("b") == tensorB).all())
+  assert((nndata.getTensor("c") == tensorC).all())
+  assert(np.allclose(nndata.getTensor("d"), tensorD, atol=0.002))
\ No newline at end of file
diff --git a/bindings/python/tests/test.py b/bindings/python/tests/test.py
new file mode 100644
index 000000000..0930ee02f
--- /dev/null
+++ b/bindings/python/tests/test.py
@@ -0,0 +1,14 @@
+import unittest
+
+
+class TestDepthAI(unittest.TestCase):
+    def test_import(self):
+        try:
+            import depthai
+        except ImportError:
+            print("Unable to import DepthAI module!")
+            raise
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/bindings/python/tests/utf8_support_test.py b/bindings/python/tests/utf8_support_test.py
new file mode 100644
index 000000000..b1d5bbf7f
--- /dev/null
+++ b/bindings/python/tests/utf8_support_test.py
@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+import sys
+
+import pytest
+
+import depthai as dai
+
+def test_utf8_path_asset_manager(tmp_path):
+
+    FILE_CONTENTS="Hello World �"
+
+    tmp_sneaky_file_dir = tmp_path / "UTF-8 dir 🙈🙉🙉"
+    tmp_sneaky_file_dir.mkdir()
+    tmp_sneaky_file_path = tmp_sneaky_file_dir / "sneaky � �ćšđžĆČLpđšl�k file.txt"
+    tmp_sneaky_file_path.write_bytes(FILE_CONTENTS.encode("utf-8"))
+
+    assetManager = dai.AssetManager()
+    asset = assetManager.set('test', tmp_sneaky_file_path)
+    assert(bytes(asset.data) == FILE_CONTENTS.encode("utf-8"))
diff --git a/bindings/python/tests/xlink_exceptions_test.cpp b/bindings/python/tests/xlink_exceptions_test.cpp
new file mode 100644
index 000000000..bb2c538fe
--- /dev/null
+++ b/bindings/python/tests/xlink_exceptions_test.cpp
@@ -0,0 +1,19 @@
+#include "depthai_pybind11_tests.hpp"
+
+#include "depthai/depthai.hpp"
+
+TEST_SUBMODULE(xlink_exceptions, m) {
+
+    m.def("throw_xlink_error", [](){
+        throw dai::XLinkError(X_LINK_ERROR, "stream", "Yikes!");
+    });
+
+    m.def("throw_xlink_read_error", [](){
+        throw dai::XLinkReadError(X_LINK_ERROR, "stream_read");
+    });
+
+    m.def("throw_xlink_write_error", [](){
+        throw dai::XLinkWriteError(X_LINK_ERROR, "stream_write");
+    });
+
+}
diff --git a/bindings/python/tests/xlink_exceptions_test.py b/bindings/python/tests/xlink_exceptions_test.py
new file mode 100644
index 000000000..a41d21278
--- /dev/null
+++ b/bindings/python/tests/xlink_exceptions_test.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+import sys
+
+import pytest
+
+import depthai as dai
+from depthai_pybind11_tests import xlink_exceptions as m
+
+def test_xlink_error_exception(msg):
+    with pytest.raises(dai.XLinkError) as excinfo:
+        m.throw_xlink_error()
+    assert msg(excinfo.value) == "Yikes!"
+
+def test_xlink_read_error_exception(msg):
+    with pytest.raises(dai.XLinkReadError) as excinfo:
+        m.throw_xlink_read_error()
+    assert msg(excinfo.value) == "Couldn't read data from stream: 'stream_read' (X_LINK_ERROR)"
+
+def test_xlink_write_error_exception(msg):
+    with pytest.raises(dai.XLinkWriteError) as excinfo:
+        m.throw_xlink_write_error()
+    assert msg(excinfo.value) == "Couldn't write data to stream: 'stream_write' (X_LINK_ERROR)"
+
+def test_xlink_error_exception_runtime_error(msg):
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throw_xlink_error()
+    assert msg(excinfo.value) == "Yikes!"
+
+def test_xlink_read_error_exception_xlink_error(msg):
+    with pytest.raises(dai.XLinkError) as excinfo:
+        m.throw_xlink_read_error()
+    assert msg(excinfo.value) == "Couldn't read data from stream: 'stream_read' (X_LINK_ERROR)"
+
+def test_xlink_write_error_exception_xlink_error(msg):
+    with pytest.raises(dai.XLinkError) as excinfo:
+        m.throw_xlink_write_error()
+    assert msg(excinfo.value) == "Couldn't write data to stream: 'stream_write' (X_LINK_ERROR)"
diff --git a/bindings/python/utilities/.gitignore b/bindings/python/utilities/.gitignore
new file mode 100644
index 000000000..1c7ea5d08
--- /dev/null
+++ b/bindings/python/utilities/.gitignore
@@ -0,0 +1,3 @@
+build/
+*.spec
+dist/
diff --git a/bindings/python/utilities/README.md b/bindings/python/utilities/README.md
new file mode 100644
index 000000000..3b7259bd1
--- /dev/null
+++ b/bindings/python/utilities/README.md
@@ -0,0 +1,51 @@
+# Utilities
+
+This folder contains DepthAI utility tools.
+
+## Device Manager
+
+![Device Manager](https://user-images.githubusercontent.com/18037362/171629704-0f78f31a-1778-4338-8ac0-bdfb0d2d593f.png)
+
+``device_manager.py`` helps interfacing with the device [Bootloader](https://docs.luxonis.com/projects/api/en/latest/components/bootloader) and bootloader configuration. See [Device Manager Usage](https://docs.luxonis.com/projects/api/en/latest/components/bootloader/#device-manager-usage) to see how to use this utility.
+
+## Standalone executable
+
+Requirements:
+```
+# Linux/macOS
+python3 -m pip install pyinstaller
+# Windows
+python -m pip install pyinstaller
+```
+
+To build standalone executable issue the following command:
+```sh
+pyinstaller --onefile -w --icon=assets/icon.ico --add-data="assets/icon.ico;assets" --add-data="assets/icon.png;assets" device_manager.py
+```
+
+Optionally, append `--runtime-tmpdir [path or .]` to modify where the temporary directory should be created when launched.
+
+
+## Cam Test
+Run:
+```sh
+python3 cam_test.py
+```
+To start cam test with GUI.  
+Run cam_test.py with args to start cam test without GUI:  
+
+### Bundled executable
+Requirements:
+```
+# Linux/macOS
+python3 -m pip install pyinstaller
+# Windows
+python -m pip install pyinstaller
+```
+
+To build a bundled executable issue the following command:
+```sh
+pyinstaller -w cam_test.py --hidden-import PyQt5.sip
+```
+
+The executable will be located in `dist/cam_test` folder.
diff --git a/bindings/python/utilities/assets/icon.ico b/bindings/python/utilities/assets/icon.ico
new file mode 100644
index 000000000..91ffeccf7
Binary files /dev/null and b/bindings/python/utilities/assets/icon.ico differ
diff --git a/bindings/python/utilities/assets/icon.png b/bindings/python/utilities/assets/icon.png
new file mode 100644
index 000000000..d05bd35f8
Binary files /dev/null and b/bindings/python/utilities/assets/icon.png differ
diff --git a/bindings/python/utilities/cam_test.py b/bindings/python/utilities/cam_test.py
new file mode 100755
index 000000000..c12b79cec
--- /dev/null
+++ b/bindings/python/utilities/cam_test.py
@@ -0,0 +1,851 @@
+#!/usr/bin/env python3
+
+"""
+Use 'T' to trigger autofocus, 'IOKL,.'
+for manual exposure/focus:
+  Control:      key[dec/inc]  min..max
+  exposure time:     I   O      1..33000 [us]
+  sensitivity iso:   K   L    100..1600
+  focus:             ,   .      0..255 [far..near]
+To go back to auto controls:
+  'E' - autoexposure
+  'F' - autofocus (continuous)
+
+Other controls:
+'1' - AWB lock (true / false)
+'2' - AE lock (true / false)
+'3' - Select control: AWB mode
+'4' - Select control: AE compensation
+'5' - Select control: anti-banding/flicker mode
+'6' - Select control: effect mode
+'7' - Select control: brightness
+'8' - Select control: contrast
+'9' - Select control: saturation
+'0' - Select control: sharpness
+'[' - Select control: luma denoise
+']' - Select control: chroma denoise
+'\' - Select control: scene mode
+';' - Select control: control mode
+''' - Select control: capture intent
+'a' 'd' - Increase/decrease dot projector intensity
+'w' 's' - Increase/decrease flood LED intensity
+
+For the 'Select control: ...' options, use these keys to modify the value:
+  '-' or '_' to decrease
+  '+' or '=' to increase
+
+'/' to toggle printing camera settings: exposure, ISO, lens position, color temperature
+"""
+
+import depthai as dai
+import os
+# os.environ["DEPTHAI_LEVEL"] = "debug"
+
+import cv2
+import numpy as np
+import argparse
+import collections
+import time
+from itertools import cycle
+from pathlib import Path
+import sys
+import signal
+from stress_test import stress_test, YOLO_LABELS, create_yolo
+
+
+ALL_SOCKETS = ['rgb', 'left', 'right', 'cama', 'camb', 'camc', 'camd', 'came']
+
+def socket_type_pair(arg):
+    socket, type = arg.split(',')
+    if not (socket in ALL_SOCKETS):
+        raise ValueError("")
+    if not (type in ['m', 'mono', 'c', 'color', 't', 'tof', 'th', 'thermal']):
+        raise ValueError("")
+    is_color = True if type in ['c', 'color'] else False
+    is_tof = True if type in ['t', 'tof'] else False
+    is_thermal = True if type in ['th', 'thermal'] else False
+    return [socket, is_color, is_tof, is_thermal]
+
+
+parser = argparse.ArgumentParser(add_help=False)
+parser.add_argument('-cams', '--cameras', type=socket_type_pair, nargs='+',
+                    default=[],
+                    help="Which camera sockets to enable, and type: c[olor] / m[ono] / t[of] / th[ermal]. "
+                    "E.g: -cams rgb,m right,c . If not specified, all connected cameras will be used.")
+parser.add_argument('-mres', '--mono-resolution', type=int, default=800, choices={480, 400, 720, 800},
+                    help="Select mono camera resolution (height). Default: %(default)s")
+parser.add_argument('-cres', '--color-resolution', default='1080', choices={'720', '800', '1080', '1012', '1200', '1520', '4k', '5mp', '12mp', '13mp', '48mp'},
+                    help="Select color camera resolution / height. Default: %(default)s")
+parser.add_argument('-rot', '--rotate', const='all', choices={'all', 'rgb', 'mono'}, nargs="?",
+                    help="Which cameras to rotate 180 degrees. All if not filtered")
+parser.add_argument('-fps', '--fps', type=float, default=30,
+                    help="FPS to set for all cameras")
+parser.add_argument('-isp3afps', '--isp3afps', type=int, default=0,
+                    help="3A FPS to set for all cameras")
+parser.add_argument('-ds', '--isp-downscale', default=1, type=int,
+                    help="Downscale the ISP output by this factor")
+parser.add_argument('-rs', '--resizable-windows', action='store_true',
+                    help="Make OpenCV windows resizable. Note: may introduce some artifacts")
+parser.add_argument('-tun', '--camera-tuning', type=Path,
+                    help="Path to custom camera tuning database")
+parser.add_argument('-raw', '--enable-raw', default=False, action="store_true",
+                    help='Enable the RAW camera streams')
+parser.add_argument('-tofraw', '--tof-raw', action='store_true',
+                    help="Show just ToF raw output instead of post-processed depth")
+parser.add_argument('-tofamp', '--tof-amplitude', action='store_true',
+                    help="Show also ToF amplitude output alongside depth")
+parser.add_argument('-tofcm', '--tof-cm', action='store_true',
+                    help="Show ToF depth output in centimeters, capped to 255")
+parser.add_argument('-tofmedian', '--tof-median', choices=[0,3,5,7], default=5, type=int,
+                    help="ToF median filter kernel size")
+parser.add_argument('-rgbprev', '--rgb-preview', action='store_true',
+                    help="Show RGB `preview` stream instead of full size `isp`")
+parser.add_argument('-show', '--show-meta', action='store_true',
+                    help="List frame metadata (seqno, timestamp, exp, iso etc). Can also toggle with `\`")
+
+parser.add_argument('-d', '--device', default="", type=str,
+                    help="Optional MX ID of the device to connect to.")
+
+parser.add_argument('-ctimeout', '--connection-timeout', default=30000,
+                    help="Connection timeout in ms. Default: %(default)s (sets DEPTHAI_CONNECTION_TIMEOUT environment variable)")
+
+parser.add_argument('-btimeout', '--boot-timeout', default=30000,
+                    help="Boot timeout in ms. Default: %(default)s (sets DEPTHAI_BOOT_TIMEOUT environment variable)")
+
+parser.add_argument('-stress', action='store_true',
+                    help="Run stress test. This will override all other options (except -d/--device) and will run a heavy pipeline until the user stops it.")
+
+parser.add_argument("-stereo", action="store_true", default=False,
+                    help="Create a stereo depth node if the device has a stereo pair.")
+
+parser.add_argument("-yolo", type=str, default="",
+                    help=f"Create a yolo detection network on the specified camera. E.g: -yolo cama. Available cameras: {ALL_SOCKETS}")
+
+parser.add_argument("-gui", action="store_true",
+                    help="Use GUI instead of CLI")
+parser.add_argument("-h", "--help", action="store_true", default=False,
+                    help="Show this help message and exit") # So you can forward --help to stress test, without it being consumed by cam_test.py
+
+args = parser.parse_args()
+
+# Set timeouts before importing depthai
+os.environ["DEPTHAI_CONNECTION_TIMEOUT"] = str(args.connection_timeout)
+os.environ["DEPTHAI_BOOT_TIMEOUT"] = str(args.boot_timeout)
+
+if args.stress:
+    stress_test(args.device)
+    exit(0)
+
+if args.help:
+    parser.print_help()
+    exit(0)
+
+if args.gui:
+    import cam_test_gui
+    cam_test_gui.main()
+
+print("DepthAI version:", dai.__version__)
+print("DepthAI path:", dai.__file__)
+
+cam_socket_opts = {
+    'rgb': dai.CameraBoardSocket.CAM_A,
+    'left': dai.CameraBoardSocket.CAM_B,
+    'right': dai.CameraBoardSocket.CAM_C,
+    'cama': dai.CameraBoardSocket.CAM_A,
+    'camb': dai.CameraBoardSocket.CAM_B,
+    'camc': dai.CameraBoardSocket.CAM_C,
+    'camd': dai.CameraBoardSocket.CAM_D,
+    'came': dai.CameraBoardSocket.CAM_E,
+}
+
+rotate = {
+    'rgb': args.rotate in ['all', 'rgb'],
+    'left': args.rotate in ['all', 'mono'],
+    'right': args.rotate in ['all', 'mono'],
+    'cama': args.rotate in ['all', 'rgb'],
+    'camb': args.rotate in ['all', 'mono'],
+    'camc': args.rotate in ['all', 'mono'],
+    'camd': args.rotate in ['all', 'rgb'],
+    'came': args.rotate in ['all', 'mono'],
+}
+
+mono_res_opts = {
+    400: dai.MonoCameraProperties.SensorResolution.THE_400_P,
+    480: dai.MonoCameraProperties.SensorResolution.THE_480_P,
+    720: dai.MonoCameraProperties.SensorResolution.THE_720_P,
+    800: dai.MonoCameraProperties.SensorResolution.THE_800_P,
+    1200: dai.MonoCameraProperties.SensorResolution.THE_1200_P,
+}
+
+color_res_opts = {
+    '720':  dai.ColorCameraProperties.SensorResolution.THE_720_P,
+    '800':  dai.ColorCameraProperties.SensorResolution.THE_800_P,
+    '1080': dai.ColorCameraProperties.SensorResolution.THE_1080_P,
+    '1012': dai.ColorCameraProperties.SensorResolution.THE_1352X1012,
+    '1200': dai.ColorCameraProperties.SensorResolution.THE_1200_P,
+    '1520': dai.ColorCameraProperties.SensorResolution.THE_2024X1520,
+    '4k':   dai.ColorCameraProperties.SensorResolution.THE_4_K,
+    '5mp': dai.ColorCameraProperties.SensorResolution.THE_5_MP,
+    '12mp': dai.ColorCameraProperties.SensorResolution.THE_12_MP,
+    '13mp': dai.ColorCameraProperties.SensorResolution.THE_13_MP,
+    '48mp': dai.ColorCameraProperties.SensorResolution.THE_48_MP,
+}
+
+
+def clamp(num, v0, v1):
+    return max(v0, min(num, v1))
+
+# Calculates FPS over a moving window, configurable
+
+
+class FPS:
+    def __init__(self, window_size=30):
+        self.dq = collections.deque(maxlen=window_size)
+        self.fps = 0
+
+    def update(self, timestamp=None):
+        if timestamp == None:
+            timestamp = time.monotonic()
+        count = len(self.dq)
+        if count > 0:
+            self.fps = count / (timestamp - self.dq[0])
+        self.dq.append(timestamp)
+
+    def get(self):
+        return self.fps
+
+class Cycle:
+    def __init__(self, enum_type, start_item=None):
+        self.items = [item for name, item in vars(enum_type).items() if name.isupper()]
+        # If start_item is provided, set the index to its position. Otherwise, default to 0
+        self.index = self.items.index(start_item) if start_item else 0
+
+    def step(self, n):
+        self.index = (self.index + n) % len(self.items)
+        return self.items[self.index]
+
+    def next(self):
+        return self.step(1)
+
+    def prev(self):
+        return self.step(-1)
+
+def exit_cleanly(signum, frame):
+    print("Exiting cleanly")
+    cv2.destroyAllWindows()
+    sys.exit(0)
+
+
+def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
+    return str(socket).split('.')[-1].replace("_", "").lower()
+
+
+signal.signal(signal.SIGINT, exit_cleanly)
+
+# Connect to device, so that we can get connected cameras in case of no args
+success, device = dai.Device.getDeviceByMxId(args.device)
+dai_device_args = []
+if success:
+    dai_device_args.append(device)
+with dai.Device(*dai_device_args) as device:
+    cam_list = []
+    cam_type_color = {}
+    cam_type_tof = {}
+    cam_type_thermal = {}
+
+    if not args.cameras:
+        connected_cameras = device.getConnectedCameraFeatures()
+        args.cameras = [(socket_to_socket_opt(cam.socket), cam.supportedTypes[0] ==
+                         dai.CameraSensorType.COLOR, cam.supportedTypes[0] == dai.CameraSensorType.TOF, cam.supportedTypes[0] == dai.CameraSensorType.THERMAL) for cam in connected_cameras]
+        if not args.cameras:
+            print("No cameras found!")
+            exit(1)
+
+    print("Enabled cameras:")
+    for socket, is_color, is_tof, is_thermal in args.cameras:
+        cam_list.append(socket)
+        cam_type_color[socket] = is_color
+        cam_type_tof[socket] = is_tof
+        cam_type_thermal[socket] = is_thermal
+        print(socket.rjust(7), ':', 'tof' if is_tof else 'color' if is_color else 'thermal' if is_thermal else 'mono')
+
+    # Start defining a pipeline
+    pipeline = dai.Pipeline()
+    # Uncomment to get better throughput
+    # pipeline.setXLinkChunkSize(0)
+
+    control = pipeline.createXLinkIn()
+    control.setStreamName('control')
+
+    xinTofConfig = pipeline.createXLinkIn()
+    xinTofConfig.setStreamName('tofConfig')
+
+    cam = {}
+    tof = {}
+    xout = {}
+    xout_raw = {}
+    xout_tof_amp = {}
+    streams = []
+    tofConfig = {}
+    yolo_passthrough_q_name = None
+    for c in cam_list:
+        print("CAM: ", c)
+        tofEnableRaw = False
+        xout[c] = pipeline.createXLinkOut()
+        xout[c].setStreamName(c)
+        streams.append(c)
+        if cam_type_tof[c]:
+            cam[c] = pipeline.create(dai.node.ColorCamera)  # .Camera
+            if args.tof_raw:
+                tofEnableRaw = True
+            else:
+                tof[c] = pipeline.create(dai.node.ToF)
+                cam[c].raw.link(tof[c].input)
+                tof[c].depth.link(xout[c].input)
+                xinTofConfig.out.link(tof[c].inputConfig)
+                tofConfig = tof[c].initialConfig.get()
+                tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
+                tofConfig.depthParams.avgPhaseShuffle = False
+                tofConfig.depthParams.minimumAmplitude = 3.0
+                tof[c].initialConfig.set(tofConfig)
+
+                if args.tof_median == 0:
+                    tofConfig.depthParams.median = dai.MedianFilter.MEDIAN_OFF
+                elif args.tof_median == 3:
+                    tofConfig.depthParams.median = dai.MedianFilter.KERNEL_3x3
+                elif args.tof_median == 5:
+                    tofConfig.depthParams.median = dai.MedianFilter.KERNEL_5x5
+                elif args.tof_median == 7:
+                    tofConfig.depthParams.median = dai.MedianFilter.KERNEL_7x7
+                tof[c].initialConfig.set(tofConfig)
+                if args.tof_amplitude:
+                    amp_name = 'tof_amplitude_' + c
+                    xout_tof_amp[c] = pipeline.create(dai.node.XLinkOut)
+                    xout_tof_amp[c].setStreamName(amp_name)
+                    streams.append(amp_name)
+                    tof[c].amplitude.link(xout_tof_amp[c].input)
+        elif cam_type_thermal[c]:
+            cam[c] = pipeline.create(dai.node.Camera)
+            cam[c].setBoardSocket(cam_socket_opts[c])
+            cam[c].setPreviewSize(256, 192)
+            cam[c].raw.link(xout[c].input)
+            xout_preview = pipeline.create(dai.node.XLinkOut)
+            xout_preview.setStreamName('preview_' + c)
+            cam[c].preview.link(xout_preview.input)
+            streams.append('preview_' + c)
+        elif cam_type_color[c]:
+            cam[c] = pipeline.createColorCamera()
+            cam[c].setResolution(color_res_opts[args.color_resolution])
+            cam[c].setIspScale(1, args.isp_downscale)
+            # cam[c].initialControl.setManualFocus(85) # TODO
+            if args.rgb_preview:
+                cam[c].preview.link(xout[c].input)
+            else:
+                cam[c].isp.link(xout[c].input)
+            if args.yolo == c:
+                yolo_passthrough_q_name, yolo_q_name = create_yolo(pipeline, cam[c])
+                streams.append(yolo_q_name)
+        else:
+            cam[c] = pipeline.createMonoCamera()
+            cam[c].setResolution(mono_res_opts[args.mono_resolution])
+            cam[c].out.link(xout[c].input)
+        cam[c].setBoardSocket(cam_socket_opts[c])
+        # Num frames to capture on trigger, with first to be discarded (due to degraded quality)
+        # cam[c].initialControl.setExternalTrigger(2, 1)
+        # cam[c].initialControl.setStrobeExternal(48, 1)
+        # cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)
+
+        # cam[c].initialControl.setManualExposure(15000, 400) # exposure [us], iso
+        # When set, takes effect after the first 2 frames
+        # cam[c].initialControl.setManualWhiteBalance(4000)  # light temperature in K, 1000..12000
+        control.out.link(cam[c].inputControl)
+        if rotate[c]:
+            cam[c].setImageOrientation(
+                dai.CameraImageOrientation.ROTATE_180_DEG)
+        cam[c].setFps(args.fps)
+        if args.isp3afps:
+            cam[c].setIsp3aFps(args.isp3afps)
+
+        if args.enable_raw or tofEnableRaw:
+            raw_name = 'raw_' + c
+            xout_raw[c] = pipeline.create(dai.node.XLinkOut)
+            xout_raw[c].setStreamName(raw_name)
+            streams.append(raw_name)
+            cam[c].raw.link(xout_raw[c].input)
+            cam[c].setRawOutputPacked(False)
+
+    if args.camera_tuning:
+        pipeline.setCameraTuningBlobPath(str(args.camera_tuning))
+
+    stereo = None
+
+    if args.stereo:
+        try:
+            try:
+                calib = device.readCalibration2()
+            except:
+                raise Exception("Device is not calibrated.")
+            eeprom = calib.getEepromData()
+            left, right = eeprom.stereoRectificationData.leftCameraSocket, eeprom.stereoRectificationData.rightCameraSocket
+            # Get the actual camera nodes
+            # The cameras may have been specified with -cams rgb,c left,m right,m kind of names, so we need to handle these edge cases
+            left_sock_opt = socket_to_socket_opt(left)
+            right_sock_opt = socket_to_socket_opt(right)
+            left_cam = cam.get(left_sock_opt, None)
+            right_cam = cam.get(right_sock_opt, None)
+            if not left_cam:
+                if left == dai.CameraBoardSocket.CAM_A:
+                    left_sock_opt = "rgb"
+                elif left == dai.CameraBoardSocket.CAM_B:
+                    left_sock_opt = "left"
+                elif left == dai.CameraBoardSocket.CAM_C:
+                    left_sock_opt = "right"
+                left_cam = cam.get(left_sock_opt, None)
+            if not right_cam:
+                if right == dai.CameraBoardSocket.CAM_A:
+                    right_sock_opt = "rgb"
+                elif right == dai.CameraBoardSocket.CAM_B:
+                    right_sock_opt = "left"
+                elif right == dai.CameraBoardSocket.CAM_C:
+                    right_sock_opt = "right"
+                right_cam = cam.get(right_sock_opt, None)
+
+            if left_cam and right_cam:
+                cam_features = device.getConnectedCameraFeatures()
+                left_cam_features = next(
+                    filter(lambda c: c.socket == left, cam_features))
+                right_cam_features = next(
+                    filter(lambda c: c.socket == right, cam_features))
+                if left_cam_features.width > 1280:
+                    if args.isp_downscale == 1:
+                        raise Exception(
+                            "Can't create stereo depth with left cam width > 1280. Use --isp-downscale to downscale the image.")
+                if right_cam_features.width > 1280:
+                    if args.isp_downscale == 1:
+                        raise Exception(
+                            "Can't create stereo depth with right cam width > 1280. Use --isp-downscale to downscale the image.")
+                left_out = "out"
+                right_out = "out"
+                if cam_type_color[left_sock_opt]:
+                    left_out = "video"
+                if cam_type_color[right_sock_opt]:
+                    right_out = "video"
+
+                print(
+                    "Device is calibrated and has a stereo pair, creating StereoDepth node.")
+                stereo = pipeline.createStereoDepth()
+                stereo.setDefaultProfilePreset(
+                    dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+                stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+                stereo.setLeftRightCheck(True)
+                stereo.setSubpixel(True)
+                stereo.setLeftRightCheck(True)
+                getattr(left_cam, left_out).link(stereo.left)
+                getattr(right_cam, right_out).link(stereo.right)
+                xout_stereo = pipeline.createXLinkOut()
+                depth_stream = "stereo_depth"
+                xout_stereo.setStreamName(depth_stream)
+                stereo.disparity.link(xout_stereo.input)
+                streams.append(depth_stream)
+            else:
+                print("Couldn't create stereo depth node. Device has invalid calibration.")
+        except Exception as e:
+            print("Couldn't create depth:", e)
+
+    # Pipeline is defined, now we can start it
+    device.startPipeline(pipeline)
+
+    print('Connected cameras:')
+    cam_name = {}
+    for p in device.getConnectedCameraFeatures():
+        print(
+            f' -socket {p.socket.name:6}: {p.sensorName:6} {p.width:4} x {p.height:4} focus:', end='')
+        print('auto ' if p.hasAutofocus else 'fixed', '- ', end='')
+        print(*[type.name for type in p.supportedTypes])
+        cam_name[p.socket.name] = p.sensorName
+        if args.enable_raw:
+            cam_name['raw_'+p.socket.name] = p.sensorName
+        if args.tof_amplitude:
+            cam_name['tof_amplitude_'+p.socket.name] = p.sensorName
+
+    print('USB speed:', device.getUsbSpeed().name)
+
+    print('IR drivers:', device.getIrDrivers())
+
+    q = {}
+    fps_host = {}  # FPS computed based on the time we receive frames in app
+    fps_capt = {}  # FPS computed based on capture timestamps from device
+    for c in streams:
+        q[c] = device.getOutputQueue(name=c, maxSize=4, blocking=False)
+        # The OpenCV window resize may produce some artifacts
+        if args.resizable_windows:
+            cv2.namedWindow(c, cv2.WINDOW_NORMAL)
+            cv2.resizeWindow(c, (640, 480))
+        fps_host[c] = FPS()
+        fps_capt[c] = FPS()
+
+    controlQueue = device.getInputQueue('control')
+    tofCfgQueue = device.getInputQueue('tofConfig')
+
+    # Manual exposure/focus set step
+    EXP_STEP = 500  # us
+    ISO_STEP = 50
+    LENS_STEP = 1 / 1024
+    DOT_STEP = 0.05
+    FLOOD_STEP = 0.05
+    DOT_MAX = 1
+    FLOOD_MAX = 1
+
+    # Defaults and limits for manual focus/exposure controls
+    lensPos = 0.59
+    lensMin = 0.0
+    lensMax = 1.0
+
+    expTime = 20000
+    expMin = 1
+    expMax = 33000
+
+    sensIso = 800
+    sensMin = 100
+    sensMax = 1600
+
+    dotIntensity = 0
+    floodIntensity = 0
+
+    awb_mode = Cycle(dai.CameraControl.AutoWhiteBalanceMode)
+    anti_banding_mode = Cycle(dai.CameraControl.AntiBandingMode)
+    effect_mode = Cycle(dai.CameraControl.EffectMode)
+    scene_mode = Cycle(dai.CameraControl.SceneMode)
+    control_mode = Cycle(dai.CameraControl.ControlMode)
+    capture_intent = Cycle(dai.CameraControl.CaptureIntent)
+
+    ae_comp = 0
+    ae_lock = False
+    awb_lock = False
+    saturation = 0
+    contrast = 0
+    brightness = 0
+    sharpness = 0
+    luma_denoise = 0
+    chroma_denoise = 0
+    control = 'none'
+    show = args.show_meta
+
+    jet_custom = cv2.applyColorMap(
+        np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
+    jet_custom[0] = [0, 0, 0]
+
+    print("Cam:", *['     ' + c.ljust(8)
+                    for c in cam_list], "[host | capture timestamp]")
+
+    capture_list = []
+    yolo_passthrough_q = None
+    if yolo_passthrough_q_name is not None:
+        yolo_passthrough_q = device.getOutputQueue(yolo_passthrough_q_name, maxSize=1, blocking=False)
+    while True:
+        for c in streams:
+            try:
+                pkt = q[c].tryGet()
+            except Exception as e:
+                print(e)
+                exit_cleanly(0, 0)
+            if pkt is not None:
+                fps_host[c].update()
+                fps_capt[c].update(pkt.getTimestamp().total_seconds())
+                if args.yolo and isinstance(pkt, dai.ImgDetections):
+                    if yolo_passthrough_q is None:
+                        continue
+                    frame_pkt = yolo_passthrough_q.get()
+                    frame = frame_pkt.getCvFrame()
+                    if frame is None:
+                        continue # No frame to draw on
+                    for detection in pkt.detections:
+                        bbox = np.array([detection.xmin * frame.shape[1], detection.ymin * frame.shape[0], detection.xmax * frame.shape[1], detection.ymax * frame.shape[0]], dtype=np.int32)
+                        cv2.putText(frame, YOLO_LABELS[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                        cv2.putText(frame, f"{int(detection.confidence)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                        cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+                    cv2.imshow(c, frame)
+                    continue
+                width, height = pkt.getWidth(), pkt.getHeight()
+                frame = pkt.getCvFrame()
+                cam_skt = c.split('_')[-1]
+
+                if c == "stereo_depth" and stereo is not None:
+                    maxDisp = stereo.initialConfig.getMaxDisparity()
+                    disp = (pkt.getCvFrame() * (255.0 / maxDisp)).astype(np.uint8)
+                    disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+                    cv2.imshow(c, disp)
+                    continue
+                
+                
+                if cam_type_tof.get(cam_skt, None) and not (c.startswith('raw_') or c.startswith('tof_amplitude_')):
+                    if args.tof_cm:
+                        # pixels represent `cm`, capped to 255. Value can be checked hovering the mouse
+                        frame = (frame // 10).clip(0, 255).astype(np.uint8)
+                    else:
+                        frame = (frame.view(np.int16).astype(float))
+                        frame = cv2.normalize(
+                            frame, frame, alpha=255, beta=0, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
+                        frame = cv2.applyColorMap(frame, jet_custom)
+                elif cam_type_thermal[cam_skt] and c.startswith('cam'):
+                    frame = frame.astype(np.float32)
+                    frame = cv2.normalize(frame, frame, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
+                    frame = cv2.applyColorMap(frame, cv2.COLORMAP_MAGMA)
+                if show:
+                    txt = f"[{c:5}, {pkt.getSequenceNum():4}, {pkt.getTimestamp().total_seconds():.6f}] "
+                    txt += f"Exp: {pkt.getExposureTime().total_seconds()*1000:6.3f} ms, "
+                    txt += f"ISO: {pkt.getSensitivity():4}, "
+                    txt += f"Lens pos: {pkt.getLensPosition():3}, "
+                    txt += f"Color temp: {pkt.getColorTemperature()} K"
+                    if needs_newline:
+                        print()
+                        needs_newline = False
+                    print(txt)
+                capture = c in capture_list
+                if capture:
+                    capture_file_info = ('capture_' + c + '_' + cam_name[cam_socket_opts[cam_skt].name]
+                         + '_' + str(width) + 'x' + str(height)
+                         + '_' + capture_time
+                         + '_exp_' + str(int(pkt.getExposureTime().total_seconds()*1e6))
+                         + '_iso_' + str(pkt.getSensitivity())
+                         + '_lens_' + str(pkt.getLensPosition())
+                         + '_' + str(pkt.getColorTemperature()) + 'K'
+                         + '_' + str(pkt.getSequenceNum())
+                        )
+                    capture_list.remove(c)
+                    print()
+                if c.startswith('raw_') or c.startswith('tof_amplitude_'):
+                    if capture:
+                        filename = capture_file_info + '_10bit.bw'
+                        print('Saving:', filename)
+                        frame.tofile(filename)
+                    # Full range for display, use bits [15:6] of the 16-bit pixels
+                    type = pkt.getType()
+                    multiplier = 1
+                    if type == dai.ImgFrame.Type.RAW10:
+                        multiplier = (1 << (16-10))
+                    if type == dai.ImgFrame.Type.RAW12:
+                        multiplier = (1 << (16-4))
+                    frame = frame * multiplier
+                    # Debayer as color for preview/png
+                    if cam_type_color[cam_skt]:
+                        # See this for the ordering, at the end of page:
+                        # https://docs.opencv.org/4.5.1/de/d25/imgproc_color_conversions.html
+                        # TODO add bayer order to ImgFrame getType()
+                        frame = cv2.cvtColor(frame, cv2.COLOR_BayerGB2BGR)
+                else:
+                    # Save YUV too, but only when RAW is also enabled (for tuning purposes)
+                    if capture and args.enable_raw:
+                        payload = pkt.getData()
+                        filename = capture_file_info + '_P420.yuv'
+                        print('Saving:', filename)
+                        payload.tofile(filename)
+                if capture:
+                    filename = capture_file_info + '.png'
+                    print('Saving:', filename)
+                    cv2.imwrite(filename, frame)
+                cv2.imshow(c, frame)
+        print("\rFPS:",
+              *["{:6.2f}|{:6.2f}".format(fps_host[c].get(),
+                                         fps_capt[c].get()) for c in cam_list],
+              end=' ', flush=True)
+        needs_newline = True
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('/'):
+            show = not show
+            # Print empty string as FPS status new-line separator
+            print("" if show else "Printing camera settings: OFF")
+        elif key == ord('c'):
+            capture_list = streams.copy()
+            capture_time = time.strftime('%Y%m%d_%H%M%S')
+        elif key == ord('g') and tof:
+            f_mod = dai.RawToFConfig.DepthParams.TypeFMod.MAX if tofConfig.depthParams.freqModUsed == dai.RawToFConfig.DepthParams.TypeFMod.MIN else dai.RawToFConfig.DepthParams.TypeFMod.MIN
+            print("ToF toggling f_mod value to:", f_mod)
+            tofConfig.depthParams.freqModUsed = f_mod
+            tofCfgQueue.send(tofConfig)
+        elif key == ord('h') and tof:
+            tofConfig.depthParams.avgPhaseShuffle = not tofConfig.depthParams.avgPhaseShuffle
+            print("ToF toggling avgPhaseShuffle value to:",
+                  tofConfig.depthParams.avgPhaseShuffle)
+            tofCfgQueue.send(tofConfig)
+        elif key == ord('t'):
+            print("Autofocus trigger (and disable continuous)")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.AUTO)
+            ctrl.setAutoFocusTrigger()
+            controlQueue.send(ctrl)
+        elif key == ord('f'):
+            print("Autofocus enable, continuous")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoFocusMode(
+                dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
+            controlQueue.send(ctrl)
+        elif key == ord('e'):
+            print("Autoexposure enable")
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureEnable()
+            controlQueue.send(ctrl)
+        elif key in [ord(','), ord('.')]:
+            if key == ord(','):
+                lensPos -= LENS_STEP
+            if key == ord('.'):
+                lensPos += LENS_STEP
+            lensPos = clamp(lensPos, lensMin, lensMax)
+            print("Setting manual focus, lens position: ", lensPos)
+            ctrl = dai.CameraControl()
+            ctrl.setManualFocusRaw(lensPos)
+            controlQueue.send(ctrl)
+        elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
+            if key == ord('i'):
+                expTime -= EXP_STEP
+            if key == ord('o'):
+                expTime += EXP_STEP
+            if key == ord('k'):
+                sensIso -= ISO_STEP
+            if key == ord('l'):
+                sensIso += ISO_STEP
+            expTime = clamp(expTime, expMin, expMax)
+            sensIso = clamp(sensIso, sensMin, sensMax)
+            print("Setting manual exposure, time: ", expTime, "iso: ", sensIso)
+            ctrl = dai.CameraControl()
+            ctrl.setManualExposure(expTime, sensIso)
+            controlQueue.send(ctrl)
+        elif key == ord('1'):
+            awb_lock = not awb_lock
+            print("Auto white balance lock:", awb_lock)
+            ctrl = dai.CameraControl()
+            ctrl.setAutoWhiteBalanceLock(awb_lock)
+            controlQueue.send(ctrl)
+        elif key == ord('2'):
+            ae_lock = not ae_lock
+            print("Auto exposure lock:", ae_lock)
+            ctrl = dai.CameraControl()
+            ctrl.setAutoExposureLock(ae_lock)
+            controlQueue.send(ctrl)
+        elif key == ord('a'):
+            dotIntensity = dotIntensity - DOT_STEP
+            if dotIntensity < 0:
+                dotIntensity = 0
+            device.setIrLaserDotProjectorIntensity(dotIntensity)
+            print(f'IR Dot intensity:', dotIntensity)
+        elif key == ord('d'):
+            dotIntensity = dotIntensity + DOT_STEP
+            if dotIntensity > DOT_MAX:
+                dotIntensity = DOT_MAX
+            device.setIrLaserDotProjectorIntensity(dotIntensity)
+            print(f'IR Dot intensity:', dotIntensity)
+        elif key == ord('w'):
+            floodIntensity = floodIntensity + FLOOD_STEP
+            if floodIntensity > FLOOD_MAX:
+                floodIntensity = FLOOD_MAX
+            device.setIrFloodLightIntensity(floodIntensity)
+            print(f'IR Flood intensity:', floodIntensity)
+        elif key == ord('s'):
+            floodIntensity = floodIntensity - FLOOD_STEP
+            if floodIntensity < 0:
+                floodIntensity = 0
+            device.setIrFloodLightIntensity(floodIntensity)
+            print(f'IR Flood intensity:', floodIntensity)
+        elif key >= 0 and chr(key) in '34567890[]p\\;\'':
+            if key == ord('3'):
+                control = 'awb_mode'
+            elif key == ord('4'):
+                control = 'ae_comp'
+            elif key == ord('5'):
+                control = 'anti_banding_mode'
+            elif key == ord('6'):
+                control = 'effect_mode'
+            elif key == ord('7'):
+                control = 'brightness'
+            elif key == ord('8'):
+                control = 'contrast'
+            elif key == ord('9'):
+                control = 'saturation'
+            elif key == ord('0'):
+                control = 'sharpness'
+            elif key == ord('\\'):
+                control = 'scene_mode'
+            elif key == ord(';'):
+                control = 'control_mode'
+            elif key == ord('\''):
+                control = 'capture_intent'
+            elif key == ord('['):
+                control = 'luma_denoise'
+            elif key == ord(']'):
+                control = 'chroma_denoise'
+            elif key == ord('p'):
+                control = 'tof_amplitude_min'
+            print("Selected control:", control)
+        elif key in [ord('-'), ord('_'), ord('+'), ord('=')]:
+            change = 0
+            if key in [ord('-'), ord('_')]:
+                change = -1
+            if key in [ord('+'), ord('=')]:
+                change = 1
+            ctrl = dai.CameraControl()
+            if control == 'none':
+                print("Please select a control first using keys 3..9 0 [ ] \\ ; \'")
+            elif control == 'ae_comp':
+                ae_comp = clamp(ae_comp + change, -9, 9)
+                print("Auto exposure compensation:", ae_comp)
+                ctrl.setAutoExposureCompensation(ae_comp)
+            elif control == 'anti_banding_mode':
+                abm = anti_banding_mode.step(change)
+                print("Anti-banding mode:", abm)
+                ctrl.setAntiBandingMode(abm)
+            elif control == 'awb_mode':
+                awb = awb_mode.step(change)
+                print("Auto white balance mode:", awb)
+                ctrl.setAutoWhiteBalanceMode(awb)
+            elif control == 'effect_mode':
+                eff = effect_mode.step(change)
+                print("Effect mode:", eff)
+                ctrl.setEffectMode(eff)
+            elif control == 'scene_mode':
+                sc = scene_mode.step(change)
+                print("Scene mode:", sc)
+                ctrl.setSceneMode(sc)
+            elif control == 'control_mode':
+                cm = control_mode.step(change)
+                print("Control mode:", cm)
+                ctrl.setControlMode(cm)
+            elif control == 'capture_intent':
+                ci = capture_intent.step(change)
+                print("Capture intent:", ci)
+                ctrl.setCaptureIntent(ci)
+            elif control == 'brightness':
+                brightness = clamp(brightness + change, -10, 10)
+                print("Brightness:", brightness)
+                ctrl.setBrightness(brightness)
+            elif control == 'contrast':
+                contrast = clamp(contrast + change, -10, 10)
+                print("Contrast:", contrast)
+                ctrl.setContrast(contrast)
+            elif control == 'saturation':
+                saturation = clamp(saturation + change, -10, 10)
+                print("Saturation:", saturation)
+                ctrl.setSaturation(saturation)
+            elif control == 'sharpness':
+                sharpness = clamp(sharpness + change, 0, 4)
+                print("Sharpness:", sharpness)
+                ctrl.setSharpness(sharpness)
+            elif control == 'luma_denoise':
+                luma_denoise = clamp(luma_denoise + change, 0, 4)
+                print("Luma denoise:", luma_denoise)
+                ctrl.setLumaDenoise(luma_denoise)
+            elif control == 'chroma_denoise':
+                chroma_denoise = clamp(chroma_denoise + change, 0, 4)
+                print("Chroma denoise:", chroma_denoise)
+                ctrl.setChromaDenoise(chroma_denoise)
+            elif control == 'tof_amplitude_min' and tof:
+                amp_min = clamp(
+                    tofConfig.depthParams.minimumAmplitude + change, 0, 50)
+                print("Setting min amplitude(confidence) to:", amp_min)
+                tofConfig.depthParams.minimumAmplitude = amp_min
+                tofCfgQueue.send(tofConfig)
+            controlQueue.send(ctrl)
+
+    print()
diff --git a/bindings/python/utilities/cam_test_gui.py b/bindings/python/utilities/cam_test_gui.py
new file mode 100644
index 000000000..1bdb0e89e
--- /dev/null
+++ b/bindings/python/utilities/cam_test_gui.py
@@ -0,0 +1,377 @@
+from typing import List
+from PyQt5 import QtCore, QtGui, QtWidgets
+import depthai as dai
+import sys
+import signal
+import os
+import psutil
+
+
+class CamTestGui:
+
+    CAM_SOCKET_OPTIONS = ["rgb", "left", "right", "camd"]
+    CAM_TYPE_OPTIONS = ["color", "mono"]
+    MONO_RESOLUTION_OPTIONS = ["400", "480",  "720", "800"]
+    COLOR_RESOLUTION_OPTIONS = ["720", "800",
+                                "1080", "1200", "4k", "5mp", "12mp", "48mp"]
+    ROTATE_OPTIONS = ["disabled", "all", "rgb", "mono"]
+    DEPTHAI_CONNECT_TIMEOUT_DEFAULT = 30000
+    DEPTHAI_BOOTUP_TIMEOUT_DEFAULT = 30000
+
+    def remove_camera(self, layout: QtWidgets.QHBoxLayout):
+        for i in reversed(range(layout.count())):
+            layout.itemAt(i).widget().setParent(None)
+        self.cameras_list.removeItem(layout)
+
+    def add_camera(self, camera: str = None, camera_type: str = None):
+        layout = QtWidgets.QHBoxLayout()
+        cam_combo = QtWidgets.QComboBox()
+        cam_combo.addItems(self.CAM_SOCKET_OPTIONS)
+        cam_combo.setCurrentIndex(
+            self.CAM_SOCKET_OPTIONS.index(camera) if camera else 0)
+        layout.addWidget(cam_combo)
+        cam_type_combo = QtWidgets.QComboBox()
+        cam_type_combo.addItems(self.CAM_TYPE_OPTIONS)
+        cam_type_combo.setCurrentIndex(
+            self.CAM_TYPE_OPTIONS.index(camera_type) if camera_type else 0)
+        layout.addWidget(cam_type_combo)
+        self.cameras_list.addLayout(layout)
+        remove_button = QtWidgets.QPushButton("Remove")
+        remove_button.clicked.connect(lambda: self.remove_camera(layout))
+        layout.addWidget(remove_button)
+
+    def set_default_cameras(self):
+        self.add_camera("rgb", "color")
+        self.add_camera("left", "mono")
+        self.add_camera("right", "mono")
+        self.add_camera("camd", "color")
+
+    def __init__(self, app: "Application"):
+        self.app = app
+        self.app.setWindowTitle("Camera Test")
+        self.main_widget = QtWidgets.QWidget()
+        self.scroll_widget = QtWidgets.QScrollArea()
+        self.scroll_widget.setWidget(self.main_widget)
+        self.scroll_widget.setWidgetResizable(True)
+        self.scroll_widget.setMinimumHeight(500)
+        self.main_layout = QtWidgets.QVBoxLayout()
+        self.main_widget.setLayout(self.main_layout)
+        self.app.setCentralWidget(self.scroll_widget)
+        self.label_cameras = QtWidgets.QLabel("Cameras")
+        self.main_layout.addWidget(self.label_cameras)
+
+        self.cameras_list = QtWidgets.QVBoxLayout()
+        self.main_layout.addLayout(self.cameras_list)
+        self.set_default_cameras()
+
+        self.add_cam_button = QtWidgets.QPushButton("Add Camera")
+        self.add_cam_button.clicked.connect(self.add_camera)
+        self.main_layout.addWidget(self.add_cam_button)
+
+        self.mono_resolution_label = QtWidgets.QLabel("Mono Resolution")
+        self.main_layout.addWidget(self.mono_resolution_label)
+        self.mono_resolution_combo = QtWidgets.QComboBox()
+        self.mono_resolution_combo.addItems(self.MONO_RESOLUTION_OPTIONS)
+        self.main_layout.addWidget(self.mono_resolution_combo)
+        self.mono_resolution_combo.setCurrentIndex(3)
+
+        self.label_color_resolution = QtWidgets.QLabel("Color Resolution")
+        self.main_layout.addWidget(self.label_color_resolution)
+        self.combo_color_resolution = QtWidgets.QComboBox()
+        self.combo_color_resolution.addItems(self.COLOR_RESOLUTION_OPTIONS)
+        self.main_layout.addWidget(self.combo_color_resolution)
+        self.combo_color_resolution.setCurrentIndex(2)
+
+        self.label_rotate = QtWidgets.QLabel("Rotate")
+        self.main_layout.addWidget(self.label_rotate)
+        self.combo_rotate = QtWidgets.QComboBox()
+        self.combo_rotate.addItems(self.ROTATE_OPTIONS)
+        self.main_layout.addWidget(self.combo_rotate)
+
+        self.label_fps = QtWidgets.QLabel("FPS")
+        self.main_layout.addWidget(self.label_fps)
+        self.spin_fps = QtWidgets.QSpinBox()
+        self.spin_fps.setMinimum(1)
+        self.spin_fps.setMaximum(120)
+        self.spin_fps.setValue(30)
+        self.main_layout.addWidget(self.spin_fps)
+
+        self.label_isp3afps = QtWidgets.QLabel("ISP3 AFPS")
+        self.main_layout.addWidget(self.label_isp3afps)
+        self.spin_isp3afps = QtWidgets.QSpinBox()
+        self.spin_isp3afps.setMinimum(0)
+        self.spin_isp3afps.setMaximum(120)
+        self.spin_isp3afps.setValue(0)
+        self.main_layout.addWidget(self.spin_isp3afps)
+
+        self.label_isp_downscale = QtWidgets.QLabel("ISP Downscale")
+        self.main_layout.addWidget(self.label_isp_downscale)
+        self.spin_isp_downscale = QtWidgets.QSpinBox()
+        self.spin_isp_downscale.setMinimum(1)
+        self.spin_isp_downscale.setMaximum(4)
+        self.spin_isp_downscale.setValue(1)
+        self.main_layout.addWidget(self.spin_isp_downscale)
+
+        self.label_resizable_windows = QtWidgets.QLabel("Resizable Windows")
+        self.main_layout.addWidget(self.label_resizable_windows)
+        self.check_resizable_windows = QtWidgets.QCheckBox()
+        self.main_layout.addWidget(self.check_resizable_windows)
+
+        self.label_camera_tuning = QtWidgets.QLabel("Camera Tuning")
+        self.main_layout.addWidget(self.label_camera_tuning)
+        self.camera_tuning_path = QtWidgets.QLineEdit()
+        self.main_layout.addWidget(self.camera_tuning_path)
+
+        self.label_connect_timeout = QtWidgets.QLabel("Connect Timeout (ms)")
+        self.main_layout.addWidget(self.label_connect_timeout)
+        self.spin_connect_timeout = QtWidgets.QSpinBox()
+        self.spin_connect_timeout.setMinimum(1)
+        self.spin_connect_timeout.setMaximum(60000)
+        self.spin_connect_timeout.setValue(
+            self.DEPTHAI_CONNECT_TIMEOUT_DEFAULT)
+        self.main_layout.addWidget(self.spin_connect_timeout)
+
+        self.label_boot_timeout = QtWidgets.QLabel("Bootup Timeout (ms)")
+        self.main_layout.addWidget(self.label_boot_timeout)
+        self.spin_boot_timeout = QtWidgets.QSpinBox()
+        self.spin_boot_timeout.setMinimum(1)
+        self.spin_boot_timeout.setMaximum(60000)
+        self.spin_boot_timeout.setValue(self.DEPTHAI_BOOTUP_TIMEOUT_DEFAULT)
+        self.main_layout.addWidget(self.spin_boot_timeout)
+
+        self.label_available_devices = QtWidgets.QLabel("Available Devices")
+        self.main_layout.addWidget(self.label_available_devices)
+        self.available_devices_combo = QtWidgets.QComboBox()
+        self.main_layout.addWidget(self.available_devices_combo)
+
+        self.connect_layout = QtWidgets.QHBoxLayout()
+        self.connect_button = QtWidgets.QPushButton("Connect")
+        self.connect_button.clicked.connect(self.app.connect)
+        self.connect_layout.addWidget(self.connect_button)
+        self.check_auto_mode = QtWidgets.QCheckBox("Auto Mode")
+        self.check_auto_mode.setToolTip(
+            "Whenever a device is available, connect to it automatically")
+        self.connect_layout.addWidget(self.check_auto_mode)
+        self.check_auto_mode.setChecked(False)
+        self.main_layout.addLayout(self.connect_layout)
+
+        self.disconnect_button = QtWidgets.QPushButton("Disconnect")
+        self.disconnect_button.clicked.connect(self.app.disconnect)
+        self.main_layout.addWidget(self.disconnect_button)
+        self.disconnect_button.setHidden(True)
+
+    def handle_automode_changed(self, state):
+        self.disconnect_button.setHidden(bool(state))
+        self.connect_button.setHidden(bool(state))
+
+    def handle_disconnect(self):
+        self.available_devices_combo.clear()
+        if not self.check_auto_mode.isChecked():
+            self.connect_button.setDisabled(True)
+            self.disconnect_button.setDisabled(True)
+            self.disconnect_button.setHidden(True)
+            self.connect_button.setHidden(False)
+        self.add_cam_button.setDisabled(False)
+        self.mono_resolution_combo.setDisabled(False)
+        self.combo_color_resolution.setDisabled(False)
+        self.combo_rotate.setDisabled(False)
+        self.spin_fps.setDisabled(False)
+        self.spin_isp3afps.setDisabled(False)
+        self.spin_isp_downscale.setDisabled(False)
+        self.check_resizable_windows.setDisabled(False)
+        self.camera_tuning_path.setDisabled(False)
+        self.available_devices_combo.setDisabled(False)
+        for i in range(self.cameras_list.count()):
+            self.cameras_list.itemAt(i).itemAt(0).widget().setDisabled(False)
+            self.cameras_list.itemAt(i).itemAt(1).widget().setDisabled(False)
+            self.cameras_list.itemAt(i).itemAt(2).widget().setDisabled(False)
+        self.spin_connect_timeout.setDisabled(False)
+        self.spin_boot_timeout.setDisabled(False)
+
+    def handle_connect(self):
+        self.spin_boot_timeout.setDisabled(True)
+        self.spin_connect_timeout.setDisabled(True)
+        if not self.check_auto_mode.isChecked():
+            self.connect_button.setDisabled(True)
+            self.disconnect_button.setDisabled(False)
+            self.disconnect_button.setHidden(False)
+            self.connect_button.setHidden(True)
+        self.add_cam_button.setDisabled(True)
+        self.mono_resolution_combo.setDisabled(True)
+        self.combo_color_resolution.setDisabled(True)
+        self.combo_rotate.setDisabled(True)
+        self.spin_fps.setDisabled(True)
+        self.spin_isp3afps.setDisabled(True)
+        self.spin_isp_downscale.setDisabled(True)
+        self.check_resizable_windows.setDisabled(True)
+        self.camera_tuning_path.setDisabled(True)
+        self.available_devices_combo.setDisabled(True)
+        for i in range(self.cameras_list.count()):
+            self.cameras_list.itemAt(i).itemAt(0).widget().setDisabled(True)
+            self.cameras_list.itemAt(i).itemAt(1).widget().setDisabled(True)
+            self.cameras_list.itemAt(i).itemAt(2).widget().setDisabled(True)
+
+
+class WorkerSignals(QtCore.QObject):
+    finished = QtCore.pyqtSignal(list)
+
+
+class Worker(QtCore.QRunnable):
+
+    def __init__(self, fn, *args, **kwargs):
+        super().__init__()
+        self.fn = fn
+        self.args = args
+        self.kwargs = kwargs
+        self.signals = WorkerSignals()
+
+    @QtCore.pyqtSlot()
+    def run(self):
+        result = self.fn(*self.args, **self.kwargs)
+        self.signals.finished.emit(result)
+
+
+class Application(QtWidgets.QMainWindow):
+
+    def __init__(self):
+        super().__init__()
+        self.available_devices: List[dai.DeviceInfo] = []
+        self.ui = CamTestGui(self)
+        self.query_devices_timer = QtCore.QTimer()
+        self.query_devices_timer.timeout.connect(self.query_devices)
+        self.query_devices_timer.start(2000)
+        self.query_devices()
+
+        self.test_process_pid = None
+
+        # Once the test process is started, periodically check if it's still running (catches eg. camera unplugged)
+        self.check_test_process_timer = QtCore.QTimer()
+        self.check_test_process_timer.timeout.connect(self.check_test_process)
+
+        self.ui.check_auto_mode.stateChanged.connect(self.automode_changed)
+
+    def closeEvent(self, a0: QtGui.QCloseEvent) -> None:
+        if self.test_process_pid:
+            os.kill(self.test_process_pid, signal.SIGINT)
+        return super().closeEvent(a0)
+
+    def automode_changed(self, state):
+        self.ui.handle_automode_changed(state)
+        if not state:
+            self.disconnect()
+
+    def construct_args_from_gui(self) -> List[str]:
+        if not self.available_devices:
+            return []
+        self.device = self.available_devices[self.ui.available_devices_combo.currentIndex(
+        )].mxid
+        cmd = []
+        cmd.append("--cameras")
+        for i in range(self.ui.cameras_list.count()):
+            hbox = self.ui.cameras_list.itemAt(i)
+            cam_combo = hbox.itemAt(0)
+            cam_type_combo = hbox.itemAt(1)
+            cam = cam_combo.widget().currentText()
+            cam_type = cam_type_combo.widget().currentText()
+            cmd.append(f"{cam},{cam_type[0]}")
+        cmd.append("-mres")
+        cmd.append(self.ui.mono_resolution_combo.currentText())
+        cmd.append("-cres")
+        cmd.append(self.ui.combo_color_resolution.currentText())
+        if self.ui.combo_rotate.currentText() != "disabled":
+            cmd.append("-rot")
+            cmd.append(self.ui.combo_rotate.currentText())
+        cmd.append("-fps")
+        cmd.append(str(self.ui.spin_fps.value()))
+        cmd.append("-isp3afps")
+        cmd.append(str(self.ui.spin_isp3afps.value()))
+        cmd.append("-ds")
+        cmd.append(str(self.ui.spin_isp_downscale.value()))
+        if self.ui.check_resizable_windows.isChecked():
+            cmd.append("-rs")
+        if self.ui.camera_tuning_path.text():
+            cmd.append("-tun")
+            cmd.append(self.ui.camera_tuning_path.text())
+        cmd.append("--device")
+        cmd.append(self.device)
+        cmd.append("--connection-timeout")
+        cmd.append(str(self.ui.spin_connect_timeout.value()))
+        cmd.append("--boot-timeout")
+        cmd.append(str(self.ui.spin_boot_timeout.value()))
+        return cmd
+
+    def check_test_process(self):
+        if self.test_process_pid and psutil.pid_exists(self.test_process_pid):
+            return
+        self.test_process_pid = None
+        self.disconnect()
+        self.check_test_process_timer.stop()
+
+    def connect(self):
+        args = self.construct_args_from_gui()
+        if not args:
+            return
+        
+        started_successfully = False
+        self.test_process = QtCore.QProcess()
+        # Start detached process with the function that also returns the PID
+        if getattr(sys, 'frozen', False):
+            started_successfully, self.test_process_pid = self.test_process.startDetached(
+                sys.executable, args, "")
+        else:
+            if "-gui" in sys.argv:
+                sys.argv.remove("-gui")
+            started_successfully, self.test_process_pid = self.test_process.startDetached(
+                sys.executable, sys.argv + args, "")
+        if not started_successfully:
+            self.test_process_pid = None
+            self.disconnect()
+            return
+        self.query_devices_timer.stop()
+        self.check_test_process_timer.start(1000)
+        self.ui.handle_connect()
+
+    def disconnect(self):
+        if self.test_process_pid:
+            try:
+                os.kill(self.test_process_pid, signal.SIGINT)
+            except OSError:
+                self.test_process_pid = None
+        self.test_process_pid = None
+        self.query_devices_timer.start()
+        self.ui.handle_disconnect()
+
+    def query_devices(self):
+        self.query_devices_timer.stop()
+        pool = QtCore.QThreadPool.globalInstance()
+        query_devices_worker = Worker(dai.Device.getAllAvailableDevices)
+        query_devices_worker.signals.finished.connect(
+            self.on_finish_query_devices)
+        pool.start(query_devices_worker)
+
+    def on_finish_query_devices(self, result):
+        current_device = self.ui.available_devices_combo.currentText()
+        self.ui.available_devices_combo.clear()
+        self.available_devices = result
+        self.ui.available_devices_combo.addItems(
+            list(map(lambda d: f"{d.name} ({d.getMxId()})", self.available_devices)))
+        self.query_devices_timer.start()
+        if self.available_devices:
+            if current_device:
+                index = self.ui.available_devices_combo.findText(
+                    current_device)
+                if index != -1:
+                    self.ui.available_devices_combo.setCurrentIndex(index)
+            if self.ui.check_auto_mode.isChecked():
+                self.connect()
+            self.ui.connect_button.setDisabled(False)
+        else:
+            self.ui.connect_button.setDisabled(True)
+
+
+def main():
+    signal.signal(signal.SIGINT, signal.SIG_DFL)
+    app = QtWidgets.QApplication(sys.argv)
+    application = Application()
+    application.show()
+    sys.exit(app.exec_())
diff --git a/bindings/python/utilities/device_manager.py b/bindings/python/utilities/device_manager.py
new file mode 100755
index 000000000..99814f10b
--- /dev/null
+++ b/bindings/python/utilities/device_manager.py
@@ -0,0 +1,1008 @@
+#!/usr/bin/env python3
+
+USE_OPENCV = False
+
+from datetime import timedelta
+import depthai as dai
+import tempfile
+import PySimpleGUI as sg
+import sys
+from typing import Dict
+import platform
+import os
+import numpy
+
+if USE_OPENCV:
+    # import cv2
+    pass
+else:
+    import io
+    from PIL import Image
+
+SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
+
+PLATFORM_ICON_PATH = None
+if platform.system() == 'Windows':
+    PLATFORM_ICON_PATH = f'{SCRIPT_DIR}/assets/icon.ico'
+else:
+    PLATFORM_ICON_PATH = f'{SCRIPT_DIR}/assets/icon.png'
+
+# Apply icon globally
+sg.set_global_icon(PLATFORM_ICON_PATH)
+
+CONF_TEXT_POE = ['ipTypeText', 'ipText', 'maskText', 'gatewayText', 'dnsText', 'dnsAltText', 'networkTimeoutText', 'macText']
+CONF_INPUT_POE = ['staticBut', 'dynamicBut', 'ip', 'mask', 'gateway', 'dns', 'dnsAlt', 'networkTimeout', 'mac']
+CONF_TEXT_USB = ['usbTimeoutText', 'usbSpeedText']
+CONF_INPUT_USB = ['usbTimeout', 'usbSpeed']
+USB_SPEEDS = ["UNKNOWN", "LOW", "FULL", "HIGH", "SUPER", "SUPER_PLUS"]
+
+def PrintException():
+    exc_type, exc_obj, tb = sys.exc_info()
+    f = tb.tb_frame
+    lineno = tb.tb_lineno
+    filename = f.f_code.co_filename
+    print('Exception in {}, line {}; {}'.format(filename, lineno, exc_obj))
+
+def Popup(msg, window):
+    main_window_location = window.CurrentLocation()
+    main_window_size = window.size
+    # Calculate the centered location for the new window
+    centered_location = (main_window_location[0] + (main_window_size[0] - 50) // 2,
+                         main_window_location[1] + (main_window_size[1] - 50) // 2)
+    return sg.Popup(msg, location=centered_location)
+
+def check_ip(window, s: str, req = True):
+    if s == "":
+        return not req
+    spl = s.split(".")
+    if len(spl) != 4:
+        Popup("Wrong IP format.\nValue should be similar to 255.255.255.255", window=window)
+        return False
+    for num in spl:
+        if 255 < int(num):
+            Popup("Wrong IP format.\nValues can not be above 255!", window=window)
+            return False
+    return True
+
+def check_mac(window, s):
+    if s.count(":") != 5:
+        Popup("Wrong MAC format.\nValue should be similar to FF:FF:FF:FF:FF:FF", window=window)
+        return False
+    for i in s.split(":"):
+        for j in i:
+            if j > "F" or (j < "A" and not j.isdigit()) or len(i) != 2:
+                Popup("Wrong MAC format.\nValue should be similar to FF:FF:FF:FF:FF:FF", window=window)
+                return False
+    return True
+
+class Progress:
+    def __init__(self, txt = 'Flashing progress: 0.0%'):
+        layout = [
+            [sg.Text(txt, key='txt')],
+            [sg.ProgressBar(1.0, orientation='h', size=(20,20), key='progress')],
+        ]
+        self.window = sg.Window("Progress", layout, modal=True, finalize=True)
+    def update(self, val):
+        self.window['progress'].update(val)
+        self.window['txt'].update(f'Flashing progress: {val*100:.1f}%')
+    def finish(self, msg):
+        self.window.close()
+        sg.Popup(msg)
+
+class SelectBootloader:
+    def __init__(self, options, text):
+        self.ok = False
+        layout = [
+            [sg.Text(text)],
+            [
+                sg.Text("Bootloader type:", font=('Arial', 10, 'bold'), text_color="black"),
+                sg.Combo(options, options[0], size=(30, 3), key="bootType"),
+            ],
+            [sg.Text("Warning! This may soft-brick your device,\nproceed if you are sure what you are doing!")],
+            [sg.Submit(), sg.Cancel()],
+        ]
+        self.window = sg.Window("Select bootloader", layout, size=(300,150), modal=True, finalize=True)
+    def wait(self):
+        event, values = self.window.Read()
+        self.window.close()
+        if values is not None:
+            type = getattr(dai.DeviceBootloader.Type, values['bootType'])
+            return (str(event) == "Submit", type)
+        else:
+            return (False, None)
+
+class AreYouSure:
+    def __init__(self, text):
+        self.ok = False
+        layout = [
+            [sg.Text(text)],
+            [sg.Submit(), sg.Cancel()],
+        ]
+        self.window = sg.Window("Are You Sure?", layout, size=(450,150), modal=True, finalize=True)
+    def wait(self):
+        event, values = self.window.Read()
+        self.window.close()
+        return str(event) == "Submit"
+
+
+class SelectIP:
+    def __init__(self, window):
+        self.ok = False
+        layout = [
+            [sg.Text("Specify the custom IP of the OAK PoE\ncamera you want to connect to")],
+            [
+                sg.Text("IPv4:", font=('Arial', 10, 'bold'), text_color="black"),
+                sg.InputText(key="ip", size=(16, 2)),
+            ],
+            [sg.Submit(), sg.Cancel()],
+        ]
+        self.window = sg.Window("Specify IP", layout, size=(300,110), modal=True, finalize=True)
+
+        main_window_location = window.CurrentLocation()
+        main_window_size = window.size
+        new_window_size = self.window.size
+        # Calculate the centered location for the new window
+        centered_location = (main_window_location[0] + (main_window_size[0] - new_window_size[0]) // 2,
+                         main_window_location[1] + (main_window_size[1] - new_window_size[1]) // 2)
+        self.window.move(*centered_location)
+
+    def wait(self):
+        event, values = self.window.Read()
+        self.window.close()
+        if str(event) == "Cancel" or values is None or not check_ip(self.window, values["ip"]):
+            return False, ""
+        return True, values["ip"]
+
+class SearchDevice:
+    def __init__(self, window):
+        self.infos = []
+        layout = [
+            [sg.Text("Select an OAK camera you would like to connect to.", font=('Arial', 10, 'bold'))],
+            [sg.Table(values=[], headings=["MxId", "Name", "State"],
+                # col_widths=[25, 17, 17],
+                # def_col_width=25,
+                # max_col_width=200,
+                # background_color='light blue',
+                display_row_numbers=True,
+                justification='right',
+                num_rows=8,
+                alternating_row_color='lightyellow',
+                key='table',
+                row_height=35,
+                # size=(500, 300)
+                expand_x = True,
+                enable_events = True,
+                enable_click_events = True,
+                )
+            ],
+            [sg.Button('Search', size=(15, 2), font=('Arial', 10, 'bold'))],
+        ]
+        self.window = sg.Window("Select Device", layout, size=(550,375), modal=True, finalize=True)
+
+        main_window_location = window.CurrentLocation()
+        main_window_size = window.size
+        new_window_size = self.window.size
+        # Calculate the centered location for the new window
+        centered_location = (main_window_location[0] + (main_window_size[0] - new_window_size[0]) // 2,
+                         main_window_location[1] + (main_window_size[1] - new_window_size[1]) // 2)
+        self.window.move(*centered_location)
+
+        self.search_devices()
+
+    def search_devices(self):
+        self.infos = dai.XLinkConnection.getAllConnectedDevices()
+        if not self.infos:
+            pass
+            # sg.Popup("No devices found.")
+        else:
+            rows = []
+            for info in self.infos:
+                rows.append([info.getMxId(), info.name, deviceStateTxt(info.state)])
+            self.window['table'].update(values=rows)
+
+    def wait(self) -> dai.DeviceInfo:
+        while True:
+            event, values = self.window.Read()
+            if event is None:
+                self.window.close()
+                return None
+            elif str(event) == 'Search':
+                self.search_devices()
+            elif len(event) == 3 and event[0] == "table" and event[1] == "+CLICKED+":
+                # User selected a device
+                deviceIndex = event[2][0]
+                if deviceIndex is not None:
+                    deviceSelected = self.infos[deviceIndex]
+                    self.window.close()
+                    return deviceSelected
+
+def flashBootloader(bl: dai.DeviceBootloader, device: dai.DeviceInfo, type: dai.DeviceBootloader.Type):
+    userBlWarningMessage = """Updating bootloader can soft-brick a device.
+Proceed with caution"""
+    factoryBlWarningMessage = """Factory Bootloader type or version doesn't support User Bootloader flashing.
+Factory bootloader will be updated instead.
+Proceed with caution
+    """
+
+    try:
+        if bl.isUserBootloaderSupported():
+            if AreYouSure(text=userBlWarningMessage).wait():
+                pr = Progress('Flashing...')
+                progress = lambda p : pr.update(p)
+                bl.flashUserBootloader(progress)
+                pr.finish("Flashed newest User Bootloader version.")
+            else:
+                return False
+        elif AreYouSure(text=factoryBlWarningMessage).wait():
+            bl.close()
+            pr = Progress('Connecting...')
+            bl = dai.DeviceBootloader(device, True)
+            progress = lambda p : pr.update(p)
+            if type == dai.DeviceBootloader.Type.AUTO:
+                type = bl.getType()
+            bl.flashBootloader(memory=dai.DeviceBootloader.Memory.FLASH, type=type, progressCallback=progress)
+            pr.finish("Flashed newest Factory Bootloader version.")
+        else:
+            return False
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+
+    return True
+
+
+# Danger
+def flashFactoryBootloader(device: dai.DeviceInfo, type: dai.DeviceBootloader.Type):
+    try:
+        pr = Progress('Connecting...')
+        bl = dai.DeviceBootloader(device, True)
+        progress = lambda p : pr.update(p)
+        if type == dai.DeviceBootloader.Type.AUTO:
+            type = bl.getType()
+        bl.flashBootloader(memory=dai.DeviceBootloader.Memory.FLASH, type=type, progressCallback=progress)
+        pr.finish("Flashed newest bootloader version.")
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+
+def factoryReset(device: dai.DeviceInfo, type: dai.DeviceBootloader.Type):
+    try:
+        pr = Progress('Preparing and connecting...')
+
+        blBinary = dai.DeviceBootloader.getEmbeddedBootloaderBinary(type)
+        # Clear 1 MiB for USB BL and 8 MiB for NETWORK BL
+        mib = 1 if type == dai.DeviceBootloader.Type.USB else 8
+        blBinary = blBinary + ([0xFF] * ((mib * 1024 * 1024 + 512) - len(blBinary)))
+        tmpBlFw = tempfile.NamedTemporaryFile(delete=False)
+        tmpBlFw.write(bytes(blBinary))
+
+        bl = dai.DeviceBootloader(device, True)
+
+        progress = lambda p : pr.update(p)
+        success, msg = bl.flashBootloader(progress, tmpBlFw.name)
+        msg = "Factory reset was successful." if success else f"Factory reset failed. Error: {msg}"
+        pr.finish(msg)
+        tmpBlFw.close()
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+
+def connectAndStartStreaming(dev):
+
+    with dai.Device(dev) as d:
+        # Create pipeline
+        pipeline = dai.Pipeline()
+        # OpenCV
+        if USE_OPENCV:
+            camRgb = pipeline.create(dai.node.ColorCamera)
+            camRgb.setIspScale(1,3)
+            videnc = pipeline.create(dai.node.VideoEncoder)
+            videnc.setDefaultProfilePreset(camRgb.getFps(), videnc.Properties.Profile.MJPEG)
+            xout = pipeline.create(dai.node.XLinkOut)
+            xout.setStreamName("mjpeg")
+            camRgb.video.link(videnc.input)
+            videnc.bitstream.link(xout.input)
+
+            while not d.isClosed():
+                mjpeg = d.getOutputQueue('mjpeg').get()
+                frame = cv2.imdecode(mjpeg.getData(), cv2.IMREAD_UNCHANGED)
+                cv2.imshow('Color Camera', frame)
+                if cv2.waitKey(1) == ord('q'):
+                    cv2.destroyWindow('Color Camera')
+                    break
+        else:
+            camRgb = pipeline.create(dai.node.ColorCamera)
+            camRgb.setIspScale(1,3)
+            firstSensor = d.getConnectedCameraFeatures()[0]
+            camRgb.setPreviewSize(firstSensor.width // 3, firstSensor.height // 3)
+            camRgb.setColorOrder(camRgb.Properties.ColorOrder.RGB)
+
+            xout = pipeline.create(dai.node.XLinkOut)
+            xout.input.setQueueSize(2)
+            xout.input.setBlocking(False)
+            xout.setStreamName("color")
+            camRgb.preview.link(xout.input)
+
+            # Start pipeline
+            d.startPipeline(pipeline)
+
+            frame = d.getOutputQueue('color', 2, False).get()
+            width, height = frame.getWidth(), frame.getHeight()
+
+            layout = [[sg.Graph(
+                canvas_size=(width, height),
+                graph_bottom_left=(0, 0),
+                graph_top_right=(width, height),
+                key="-GRAPH-",
+                change_submits=True,  # mouse click events
+                background_color='lightblue',
+                drag_submits=True), ],]
+            window = sg.Window("Color Camera Stream", layout, finalize=True)
+            graph = window["-GRAPH-"]
+
+            while not d.isClosed():
+                frame = d.getOutputQueue('color').get()
+                with io.BytesIO() as output:
+                    rgb = frame.getFrame()
+                    image = Image.fromarray(rgb, "RGB")
+                    image.save(output, format="GIF")
+                    contents = output.getvalue()
+                    graph.draw_image(data=contents, location=(0, height))
+
+                event, values = window.read(timeout=1)
+                if event == sg.WIN_CLOSED:
+                    break
+            window.close()
+
+
+def flashFromFile(file, bl: dai.DeviceBootloader):
+    try:
+        if str(file)[-3:] == "dap":
+            pr = Progress('Flashing application...')
+            progress = lambda p : pr.update(p)
+            with open(file, mode = 'rb') as f:
+                dap = list(f.read())
+                success, msg = bl.flashDepthaiApplicationPackage(progress, dap)
+                msg = "Flashing application was successful." if success else f"Flashing application failed. Error: {msg}"
+                pr.finish(msg)
+        else:
+            sg.Popup("Selected file is not .dap!")
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+
+def recoveryMode(bl: dai.DeviceBootloader):
+    try:
+        bl.bootUsbRomBootloader()
+        return True
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+    return False
+
+def connectToDevice(device: dai.DeviceInfo) -> dai.DeviceBootloader:
+    try:
+        bl = dai.DeviceBootloader(device, False)
+        return bl
+    except Exception as ex:
+        PrintException()
+        sg.Popup(f'{ex}')
+
+def deviceStateTxt(state: dai.XLinkDeviceState) -> str:
+    return str(state).replace("XLinkDeviceState.X_LINK_", "")
+
+# Start defying layout
+
+sg.theme('LightGrey2')
+
+# layout for device tab
+aboutDeviceLayout = [
+    [sg.Text("About device", size=(30, 1), font=('Arial', 30, 'bold'), text_color="black")],
+    [sg.HSeparator()],
+    [
+        sg.Button("About device", size=(15, 1), font=('Arial', 10, 'bold'), disabled=True, key="_unique_aboutBtn"),
+        sg.Button("Config", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_configBtn"),
+        sg.Button("Application", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_appBtn"),
+        sg.Button("Danger Zone", size=(15, 1), font=('Arial', 10, 'bold'), button_color='#FF0500', disabled=False,  key="_unique_dangerBtn"),
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Text("Select device: ", size=(15, 1), font=('Arial', 10, 'bold'), text_color="black"),
+        sg.Combo([], "Select device", size=(30, 5), key="devices", enable_events=True),
+        sg.Button("Search", font=('Arial', 10, 'bold')),
+        sg.Button("Specify IP")
+    ],
+    [
+        sg.Text("Name of connected device:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black"),
+        sg.VSeparator(),
+        sg.Text("Device state:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black")
+    ],
+    [sg.Text("-name-", key="devName", size=(30, 1)), sg.VSeparator(), sg.Text("-state-", key="devState", size=(30, 1))],
+    [
+        sg.Text("Version of newest bootloader:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black"),
+        sg.VSeparator(),
+        sg.Text("Flashed bootloader version:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black")
+    ],
+    [
+        sg.Text("-version-", key="newBoot", size=(30, 1)),
+        sg.VSeparator(),
+        sg.Text("-version-", key="currBoot", size=(30, 1))
+    ],
+    [
+        sg.Text("Current Depthai version:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black"),
+        sg.VSeparator(),
+        sg.Text("Current commit:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="black"),
+    ],
+    [
+        sg.Text("-version-", key="version", size=(30, 1)),
+        sg.VSeparator(),
+        sg.Text("-version-", key="commit", size=(31, 1))
+    ]
+]
+
+# layout for config tab
+deviceConfigLayout = [
+    [sg.Text("Configuration settings", size=(20, 1), font=('Arial', 30, 'bold'), text_color="black")],
+    [sg.HSeparator()],
+    [
+        sg.Button("About device", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_aboutBtn"),
+        sg.Button("Config", size=(15, 1), font=('Arial', 10, 'bold'), disabled=True, key="_unique_configBtn"),
+        sg.Button("Application", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False,  key="_unique_appBtn"),
+        sg.Button("Danger Zone", size=(15, 1), font=('Arial', 10, 'bold'), button_color='#FF0500', disabled=False,  key="_unique_dangerBtn"),
+
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Text("IPv4 type:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="ipTypeText"),
+        sg.Radio('Static', "ipType", default=True, font=('Arial', 10, 'bold'), text_color="black",
+                 key="staticBut", enable_events=True, disabled=True),
+        sg.Radio('Dynamic', "ipType", default=False, font=('Arial', 10, 'bold'), text_color="black",
+                 key="dynamicBut", enable_events=True, disabled=True)
+    ],
+    [
+        sg.Text("IPv4:", size=(12, 1), font=('Arial', 10, 'bold'), text_color="gray", key="ipText"),
+        sg.InputText(key="ip", size=(16, 2), disabled=True),
+        sg.Text("Mask:", size=(5, 1), font=('Arial', 10, 'bold'), text_color="gray", key="maskText"),
+        sg.InputText(key="mask", size=(16, 2), disabled=True),
+        sg.Text("Gateway:", size=(8, 1), font=('Arial', 10, 'bold'), text_color="gray", key="gatewayText"),
+        sg.InputText(key="gateway", size=(16, 2), disabled=True)
+    ],
+    [
+        sg.Text("DNS name:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="dnsText"),
+        sg.InputText(key="dns", size=(30, 2), disabled=True)
+    ],
+    [
+        sg.Text("Alt DNS name:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="dnsAltText"),
+        sg.InputText(key="dnsAlt", size=(30, 2), disabled=True)
+    ],
+    [
+        sg.Text("Network timeout [ms]:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="networkTimeoutText"),
+        sg.InputText(key="networkTimeout", size=(30, 2), disabled=True)
+    ],
+    [
+        sg.Text("MAC address:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="macText"),
+        sg.InputText(key="mac", size=(30, 2), disabled=True)
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Text("USB timeout [ms]:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="usbTimeoutText"),
+        sg.InputText(key="usbTimeout", size=(30, 2), disabled=True)
+    ],
+    [
+        sg.Text("USB max speed:", size=(30, 1), font=('Arial', 10, 'bold'), text_color="gray", key="usbSpeedText"),
+        sg.Combo(USB_SPEEDS, "Select speed", key="usbSpeed", size=(30, 6), disabled=True)
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Text("", size=(8, 2)),
+        sg.Button("Flash configuration", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500'),
+        sg.Button("Clear configuration", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500'),
+        sg.Button("View configuration", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500'),
+    ],
+]
+
+# layout for app tab
+appLayout = [
+    [sg.Text("Application settings", size=(20, 1), font=('Arial', 30, 'bold'), text_color="black")],
+    [sg.HSeparator()],
+    [
+        sg.Button("About device", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_aboutBtn"),
+        sg.Button("Config", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_configBtn"),
+        sg.Button("Application", size=(15, 1), font=('Arial', 10, 'bold'), disabled=True,  key="_unique_appBtn"),
+        sg.Button("Danger Zone", size=(15, 1), font=('Arial', 10, 'bold'), button_color='#FF0500', disabled=False,  key="_unique_dangerBtn"),
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Button("Flash application", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500'),
+        sg.Button("Remove application", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                button_color='#FFA500'),
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Button("Open device streaming application", size=(15, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500', key="startStreamingApp"),
+    ],
+]
+
+
+# layout for app tab
+dangerLayout = [
+    [sg.Text("Danger Zone", size=(20, 1), font=('Arial', 30, 'bold'), text_color="black")],
+    [sg.HSeparator()],
+    [
+        sg.Button("About device", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_aboutBtn"),
+        sg.Button("Config", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False, key="_unique_configBtn"),
+        sg.Button("Application", size=(15, 1), font=('Arial', 10, 'bold'), disabled=False,  key="_unique_appBtn"),
+        sg.Button("Danger Zone", size=(15, 1), font=('Arial', 10, 'bold'), button_color='#FF0500', disabled=True,  key="_unique_dangerBtn"),
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Button("Update Bootloader", size=(20, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500'),
+        sg.Button("Flash Factory Bootloader", size=(20, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  button_color='#FFA500', key='flashFactoryBootloader'),
+    ],
+    [sg.HSeparator()],
+    [
+        sg.Button("Factory reset",  size=(17, 2), font=('Arial', 10, 'bold'), disabled=True, button_color='#FFA500'),
+        sg.Button("Boot into USB\nRecovery mode", size=(20, 2), font=('Arial', 10, 'bold'), disabled=True,
+                  key='recoveryMode', button_color='#FFA500')
+    ]
+]
+
+
+# layout of whole GUI with closed tabs set to false
+layout = [
+    [
+        sg.Column(aboutDeviceLayout, key='-COL1-'),
+        sg.Column(deviceConfigLayout, visible=False, key='-COL2-'),
+        sg.Column(appLayout, visible=False, key='-COL3-'),
+        sg.Column(dangerLayout, visible=False, key='-COL4-'),
+    ]
+]
+
+
+class DeviceManager:
+    devices: Dict[str, dai.DeviceInfo] = dict()
+    values: Dict = None
+
+    def __init__(self) -> None:
+        self.window = sg.Window(title="Device Manager",
+            icon=PLATFORM_ICON_PATH,
+            layout=layout,
+            size=(645, 380),
+            finalize=True # So we can do First search for devices
+            )
+
+        self.bl: dai.DeviceBootloader = None
+
+        # First device search
+        self.getDevices()
+
+    def isPoE(self) -> bool:
+        try:
+            return self.bl.getType() == dai.DeviceBootloader.Type.NETWORK
+        except Exception as ex:
+            PrintException()
+            Popup(f'{ex}', self.window)
+
+    def isUsb(self) -> bool:
+        return not self.isPoE()
+
+    def run(self) -> None:
+        while True:
+            event, self.values = self.window.read()
+            if event == sg.WIN_CLOSED:
+                break
+            dev = self.values['devices']
+
+            if event == "devices":
+                if dev != "Select device":
+                    # "allow flashing bootloader" boots latest bootloader first
+                    # which makes the information of current bootloader, etc.. not correct (can be checked by "isEmbeddedVersion")
+                    # So leave it to false, uncomment the isEmbeddedVersion below and only boot into latest bootlaoder upon the request to flash new bootloader
+                    # bl = dai.DeviceBootloader(devices[values['devices']], False)
+                    device = self.device
+                    if deviceStateTxt(device.state) == "BOOTED":
+                        # device is already booted somewhere else
+                        Popup("Device is already booted somewhere else!", self.window)
+                    else:
+                        self.resetGui()
+                        self.bl = connectToDevice(device)
+                        if self.bl is None: continue
+                        self.getConfigs()
+                        self.unlockConfig()
+                else:
+                    self.window.Element('progress').update("No device selected.")
+            elif event == "Search":
+                self.getDevices() # Re-search devices for dropdown
+                selDev = SearchDevice(window=self.window)
+                di = selDev.wait()
+                if di is not None:
+                    self.resetGui()
+                    self.addDeviceInfo(di)  # Add device info to devices, if it's not there yet
+                    self.window.Element('devices').update(di.getMxId())
+                    _, self.values = self.window.read(1)
+                    self.bl = connectToDevice(di)
+                    print('after connecting to device,', self.bl)
+                    if self.bl is None: continue
+                    self.getConfigs()
+                self.unlockConfig()
+            elif event == "Specify IP":
+                select = SelectIP(window=self.window)
+                ok, ip = select.wait()
+                if ok:
+                    self.resetGui()
+                    di = dai.DeviceInfo(ip)
+                    di.state = dai.XLinkDeviceState.X_LINK_BOOTLOADER
+                    di.protocol = dai.XLinkProtocol.X_LINK_TCP_IP
+                    self.devices[ip] = di # Add to devices dict
+                    self.window.Element('devices').update(ip) # Show to user
+                    _, self.values = self.window.read(1)
+                    self.bl = connectToDevice(di)
+                    if self.bl is None: continue
+                    self.getConfigs()
+                self.unlockConfig()
+
+            # Danger
+            elif event == "Update Bootloader":
+                # Use current type
+                if flashBootloader(self.bl, self.device, self.bl.getType()):
+                    # Device will reboot, close previous and reset GUI
+                    self.closeDevice()
+                    self.resetGui()
+                    self.getDevices()
+                else:
+                    print("Flashing bootloader canceled.")
+            elif event == "flashFactoryBootloader":
+                sel = SelectBootloader(['AUTO', 'USB', 'NETWORK'], "Select bootloader type to flash.")
+                ok, type = sel.wait()
+                if ok:
+                    # We will reconnect, as we need to set allowFlashingBootloader to True
+                    self.closeDevice()
+                    flashFactoryBootloader(self.device, type)
+                    # Device will reboot, close previous and reset GUI
+                    self.closeDevice()
+                    self.resetGui()
+                    self.getDevices()
+                else:
+                    print("Flashing Factory bootloader cancelled.")
+
+            elif event == "Factory reset":
+                sel = SelectBootloader(['NETWORK', 'USB'], "Select bootloader type used for factory reset.")
+                ok, type = sel.wait()
+                if ok:
+                    # We will reconnect, as we need to set allowFlashingBootloader to True
+                    self.closeDevice()
+                    factoryReset(self.device, type)
+                    # Device will reboot, close previous and reset GUI
+                    self.closeDevice()
+                    self.resetGui()
+                    self.getDevices()
+                else:
+                    print("Factory reset cancelled.")
+
+            elif event == "Flash configuration":
+                if self.flashConfig() is not None:
+                    self.getConfigs()
+                    self.resetGui()
+                    if self.isUsb():
+                        self.unlockConfig()
+                    else:
+                        self.devices.clear()
+                        self.window.Element('devices').update("Search for devices", values=[])
+            elif event == "Clear configuration":
+                self.clearConfig()
+                self.getConfigs()
+                self.resetGui()
+                if self.isUsb():
+                    self.unlockConfig()
+                else:
+                    self.devices.clear()
+                    self.window.Element('devices').update("Search for devices", values=[])
+            elif event == "View configuration":
+                try:
+                    confJson = self.bl.readConfigData()
+                    sg.popup_scrolled(confJson, title='Configuration')
+                except Exception as ex:
+                    Popup(f'No existing config to view ({ex})', self.window)
+
+            elif event == "Flash application":
+                file = sg.popup_get_file("Select .dap file", file_types=(('DepthAI Application Package', '*.dap'), ('All Files', '*.* *')))
+                flashFromFile(file, self.bl)
+            elif event == "Remove application":
+                try:
+                    self.bl.flashClear()
+                    Popup(f'Successfully removed application', self.window)
+                except Exception as ex:
+                    sg.popup(f"Couldn't remove application ({ex})", self.window)
+
+            elif event.startswith("_unique_configBtn"):
+                self.window['-COL1-'].update(visible=False)
+                self.window['-COL2-'].update(visible=True)
+                self.window['-COL3-'].update(visible=False)
+                self.window['-COL4-'].update(visible=False)
+            elif event.startswith("_unique_aboutBtn"):
+                self.window['-COL1-'].update(visible=True)
+                self.window['-COL2-'].update(visible=False)
+                self.window['-COL3-'].update(visible=False)
+                self.window['-COL4-'].update(visible=False)
+            elif event.startswith("_unique_appBtn"):
+                self.window['-COL1-'].update(visible=False)
+                self.window['-COL2-'].update(visible=False)
+                self.window['-COL3-'].update(visible=True)
+                self.window['-COL4-'].update(visible=False)
+            elif event.startswith("_unique_dangerBtn"):
+                self.window['-COL1-'].update(visible=False)
+                self.window['-COL2-'].update(visible=False)
+                self.window['-COL3-'].update(visible=False)
+                self.window['-COL4-'].update(visible=True)
+
+
+            elif event == "recoveryMode":
+                if recoveryMode(self.bl):
+                    Popup(f'Device successfully put into USB recovery mode.', self.window)
+                # Device will reboot, close previous and reset GUI
+                self.closeDevice()
+                self.resetGui()
+                self.getDevices()
+            elif event == "dynamicBut":
+                # Clear out IPv4 settings to default to
+                self.window.Element('ip').update('')
+                self.window.Element('mask').update('')
+                self.window.Element('gateway').update('')
+
+            elif event == "startStreamingApp":
+                # We will reconnect, as we need to set allowFlashingBootloader to True
+                self.closeDevice()
+                connectAndStartStreaming(self.device)
+                self.resetGui()
+                self.getDevices()
+
+        self.window.close()
+
+    @property
+    def device(self) -> dai.DeviceInfo:
+        """
+        Get selected device
+        """
+        return self.devices[self.values['devices']]
+
+    def addDeviceInfo(self, deviceInfo: dai.DeviceInfo):
+        if deviceInfo.getMxId() not in self.devices:
+            # Add the new deviceInfo
+            self.devices[deviceInfo.getMxId()] = deviceInfo
+
+    def getConfigs(self):
+        device = self.device
+        try:
+            conf = self.bl.readConfig()
+        except:
+            conf = dai.DeviceBootloader.Config()
+
+        try:
+            if self.isPoE():
+                if conf.isStaticIPV4():
+                    self.window.Element('staticBut').update(True)
+                else:
+                    self.window.Element('dynamicBut').update(True)
+
+                if conf.getIPv4() == '0.0.0.0':
+                    self.window.Element('ip').update('')
+                else:
+                    self.window.Element('ip').update(conf.getIPv4())
+
+                if conf.getIPv4Mask() == '0.0.0.0':
+                    self.window.Element('mask').update('')
+                else:
+                    self.window.Element('mask').update(conf.getIPv4Mask())
+
+                if conf.getIPv4Gateway() == '0.0.0.0':
+                    self.window.Element('gateway').update('')
+                else:
+                    self.window.Element('gateway').update(conf.getIPv4Gateway())
+
+                if conf.getDnsIPv4() == '0.0.0.0':
+                    self.window.Element('dns').update('')
+                else:
+                    self.window.Element('dns').update(conf.getDnsIPv4())
+                if conf.getDnsAltIPv4() == '0.0.0.0':
+                    self.window.Element('dnsAlt').update('')
+                else:
+                    self.window.Element('dnsAlt').update(conf.getDnsAltIPv4())
+                self.window.Element('networkTimeout').update(int(conf.getNetworkTimeout().total_seconds() * 1000))
+                if conf.getMacAddress() == '00:00:00:00:00:00':
+                    self.window.Element('mac').update('')
+                else:
+                    self.window.Element('mac').update(conf.getMacAddress())
+                for el in CONF_INPUT_USB:
+                    self.window[el].update("")
+            else:
+                for el in CONF_INPUT_POE:
+                    self.window[el].update("")
+                self.window.Element('usbTimeout').update(int(conf.getUsbTimeout().total_seconds() * 1000))
+                self.window.Element('usbSpeed').update(str(conf.getUsbMaxSpeed()).split('.')[1])
+
+            self.window.Element('devName').update(device.name)
+            # self.window.Element('devNameConf').update(device.getMxId())
+            self.window.Element('newBoot').update(dai.DeviceBootloader.getEmbeddedBootloaderVersion())
+
+            # The "isEmbeddedVersion" tells you whether BL had to be booted,
+            # or we connected to an already flashed Bootloader.
+            if self.bl.isEmbeddedVersion():
+                self.window.Element('currBoot').update('Not Flashed')
+            else:
+                self.window.Element('currBoot').update(self.bl.getVersion())
+
+            self.window.Element('version').update(dai.__version__)
+            self.window.Element('commit').update(dai.__commit__)
+            self.window.Element('devState').update(deviceStateTxt(self.device.state))
+        except Exception as ex:
+            PrintException()
+            sg.Popup(f'{ex}')
+
+    def unlockConfig(self):
+        if self.bl is None: return
+
+        if self.isPoE():
+            for el in CONF_INPUT_POE:
+                self.window[el].update(disabled=False)
+            for el in CONF_TEXT_POE:
+                self.window[el].update(text_color="black")
+        else:
+            for el in CONF_INPUT_USB:
+                self.window[el].update(disabled=False)
+            for el in CONF_TEXT_USB:
+                self.window[el].update(text_color="black")
+
+        self.window['Update Bootloader'].update(disabled=False)
+        self.window['flashFactoryBootloader'].update(disabled=False)
+        self.window['Flash configuration'].update(disabled=False)
+        self.window['Clear configuration'].update(disabled=False)
+        self.window['View configuration'].update(disabled=False)
+        self.window['Factory reset'].update(disabled=False)
+
+        self.window['Flash application'].update(disabled=False)
+        self.window['Remove application'].update(disabled=False)
+        self.window['startStreamingApp'].update(disabled=False)
+
+        self.window['recoveryMode'].update(disabled=False)
+
+    def resetGui(self):
+        """
+        Reset GUI to its original state
+        """
+        for conf in [CONF_INPUT_POE, CONF_INPUT_USB]:
+            for el in conf:
+                self.window[el].update(disabled=True)
+                self.window[el].update("")
+        for conf in [CONF_TEXT_POE, CONF_TEXT_USB]:
+            for el in conf:
+                self.window[el].update(text_color="gray")
+
+        self.window['Update Bootloader'].update(disabled=True)
+        self.window['flashFactoryBootloader'].update(disabled=True)
+        self.window['Flash configuration'].update(disabled=True)
+        self.window['Clear configuration'].update(disabled=True)
+        self.window['View configuration'].update(disabled=True)
+        self.window['Factory reset'].update(disabled=True)
+        self.window['Flash application'].update(disabled=True)
+        self.window['Remove application'].update(disabled=True)
+        self.window['startStreamingApp'].update(disabled=True)
+
+        self.window['recoveryMode'].update(disabled=True)
+
+        self.window.Element('devName').update("-name-")
+        # self.window.Element('devNameConf').update("")
+        self.window.Element('newBoot').update("-version-")
+        self.window.Element('currBoot').update("-version-")
+        self.window.Element('version').update("-version-")
+        self.window.Element('commit').update("-version-")
+        self.window.Element('devState').update("-state-")
+
+        # Move back to 'About' page
+        self.window['-COL1-'].update(visible=True)
+        self.window['-COL2-'].update(visible=False)
+        self.window['-COL3-'].update(visible=False)
+        self.window['-COL4-'].update(visible=False)
+
+    def closeDevice(self):
+        if self.bl is not None:
+            self.bl.close()
+        self.bl = None
+
+    def getDevices(self):
+        self.closeDevice()  # If we are searching for new devices, first disconnect from the current one
+        try:
+            listedDevices = []
+            self.devices.clear()
+            deviceInfos = dai.XLinkConnection.getAllConnectedDevices()
+            if not deviceInfos:
+                self.window.Element('devices').update("No devices")
+                # sg.Popup("No devices found.")
+            else:
+                for deviceInfo in deviceInfos:
+                    deviceTxt = deviceInfo.getMxId()
+                    listedDevices.append(deviceTxt)
+                    self.devices[deviceTxt] = deviceInfo
+
+            # Update the list regardless
+            self.window.Element('devices').update("Select device", values=listedDevices)
+        except Exception as ex:
+            PrintException()
+            Popup(f'{ex}', window=self.window)
+
+    def flashConfig(self):
+        values = self.values
+
+        # Read modify write instead of flashing over
+        # clearConfig can be used to start from scratch
+        conf = dai.DeviceBootloader.Config()
+        try:
+            conf = self.bl.readConfig()
+        except:
+            pass
+
+        try:
+            if self.isPoE:
+                if self.values['staticBut']:
+                    if check_ip(self.window, values['ip']) and check_ip(self.window, values['mask']) and check_ip(self.window, values['gateway'], req=False):
+                        conf.setStaticIPv4(values['ip'], values['mask'], values['gateway'])
+                    else:
+                        raise Exception('IP or Mask missing using static IP configuration')
+                else:
+                    if check_ip(self.window, values['ip'], req=False) and check_ip(self.window, values['mask'], req=False) and check_ip(self.window, values['gateway'], req=False):
+                        conf.setDynamicIPv4(values['ip'], values['mask'], values['gateway'])
+
+                conf.setDnsIPv4(values['dns'], values['dnsAlt'])
+                if values['networkTimeout'] != "":
+                    if int(values['networkTimeout']) >= 0:
+                        conf.setNetworkTimeout(timedelta(seconds=int(values['networkTimeout']) / 1000))
+                    else:
+                        Popup("Values can not be negative!", window=self.window)
+                if values['mac'] != "":
+                    if check_mac(self.window, values['mac']):
+                        conf.setMacAddress(values['mac'])
+                else:
+                    conf.setMacAddress('00:00:00:00:00:00')
+            else:
+                if values['usbTimeout'] != "":
+                    if int(values['usbTimeout']) >= 0:
+                        conf.setUsbTimeout(timedelta(seconds=int(values['usbTimeout']) / 1000))
+                    else:
+                        Popup("Values can not be negative!", window=self.window)
+                if values['usbSpeed'] != "":
+                    conf.setUsbMaxSpeed(getattr(dai.UsbSpeed, values['usbSpeed']))
+
+            success, error = self.bl.flashConfig(conf)
+            if not success:
+                Popup(f"Flashing failed: {error}", window=self.window)
+                return False
+            else:
+                Popup("Flashing successful.", window=self.window)
+                return True
+
+        except Exception as ex:
+            PrintException()
+            Popup(f'{ex}', window=self.window)
+
+        return None
+
+    def clearConfig(self):
+        try:
+            success, error = self.bl.flashConfigClear()
+            if not success:
+                Popup(f"Clearing configuration failed: {error}", window=self.window)
+            else:
+                Popup("Successfully cleared configuration.", window=self.window)
+        except Exception as ex:
+            PrintException()
+            Popup(f'{ex}', window=self.window)
+
+
+app = DeviceManager()
+app.run()
diff --git a/bindings/python/utilities/install_requirements.py b/bindings/python/utilities/install_requirements.py
new file mode 100755
index 000000000..21a69daa0
--- /dev/null
+++ b/bindings/python/utilities/install_requirements.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+
+import subprocess
+import sys
+
+in_venv = getattr(sys, "real_prefix", getattr(sys, "base_prefix", sys.prefix)) != sys.prefix
+pip_call = [sys.executable, "-m", "pip"]
+pip_install = pip_call + ["install"]
+
+if not in_venv:
+    pip_install.append("--user")
+
+subprocess.check_call([*pip_install, "pip", "-U"])
+subprocess.check_call([*pip_install, "-r", "requirements.txt"])
+try:
+    subprocess.check_call([sys.executable, "-c", "import tkinter"])
+except subprocess.CalledProcessError as ex:
+    if sys.platform == "linux":
+        print('Missing `python3-tk` on the system. Install with `sudo apt install python3-tk`')
+    else:
+        print('Missing python3-tkinter on the system.')
\ No newline at end of file
diff --git a/bindings/python/utilities/requirements.txt b/bindings/python/utilities/requirements.txt
new file mode 100644
index 000000000..ade6e25c8
--- /dev/null
+++ b/bindings/python/utilities/requirements.txt
@@ -0,0 +1,7 @@
+PySimpleGUI==4.60.3
+Pillow==9.3.0
+psutil==5.9.3
+numpy>=1.21.4 # For RPi Buster (last successful build) and macOS M1 (first build). But allow for higher versions, to support Python3.11 (not available in 1.21.4 yet)
+opencv-contrib-python==4.5.5.62 # Last successful RPi build, also covers M1 with above pinned numpy (otherwise 4.6.0.62 would be required, but that has a bug with charuco boards). Python version not important, abi3 wheels
+pyqt5>5,<5.15.6 ; platform_machine != "armv6l" and platform_machine != "armv7l" and platform_machine != "aarch64" and platform_machine != "arm64"
+--extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
diff --git a/bindings/python/utilities/stress_test.py b/bindings/python/utilities/stress_test.py
new file mode 100644
index 000000000..0dc43320e
--- /dev/null
+++ b/bindings/python/utilities/stress_test.py
@@ -0,0 +1,502 @@
+import depthai as dai
+from typing import Any, List, Optional, Tuple, Dict
+import cv2
+import numpy as np
+import signal
+
+def on_exit(sig, frame):
+    cv2.destroyAllWindows()
+    exit(0)
+
+signal.signal(signal.SIGINT, on_exit)
+
+color_resolutions: Dict[Tuple[int, int], dai.ColorCameraProperties.SensorResolution] = {
+    # IMX582 cropped
+    (5312, 6000): dai.ColorCameraProperties.SensorResolution.THE_5312X6000,
+    (4208, 3120): dai.ColorCameraProperties.SensorResolution.THE_13_MP,  # AR214
+    # IMX378, IMX477, IMX577
+    (4056, 3040): dai.ColorCameraProperties.SensorResolution.THE_12_MP,
+    # IMX582 with binning enabled
+    (4000, 3000): dai.ColorCameraProperties.SensorResolution.THE_4000X3000,
+    (3840, 2160): dai.ColorCameraProperties.SensorResolution.THE_4_K,
+    (1920, 1200): dai.ColorCameraProperties.SensorResolution.THE_1200_P,  # AR0234
+    (1920, 1080): dai.ColorCameraProperties.SensorResolution.THE_1080_P,
+    (1440, 1080): dai.ColorCameraProperties.SensorResolution.THE_1440X1080,
+    (2592, 1944): dai.ColorCameraProperties.SensorResolution.THE_5_MP,  # OV5645
+    (1280, 800): dai.ColorCameraProperties.SensorResolution.THE_800_P,  # OV9782
+    (1280, 720): dai.ColorCameraProperties.SensorResolution.THE_720_P,
+}
+
+YOLO_LABELS = [
+    "person",         "bicycle",    "car",           "motorbike",     "aeroplane",   "bus",           "train",
+    "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",   "parking meter", "bench",
+    "bird",           "cat",        "dog",           "horse",         "sheep",       "cow",           "elephant",
+    "bear",           "zebra",      "giraffe",       "backpack",      "umbrella",    "handbag",       "tie",
+    "suitcase",       "frisbee",    "skis",          "snowboard",     "sports ball", "kite",          "baseball bat",
+    "baseball glove", "skateboard", "surfboard",     "tennis racket", "bottle",      "wine glass",    "cup",
+    "fork",           "knife",      "spoon",         "bowl",          "banana",      "apple",         "sandwich",
+    "orange",         "broccoli",   "carrot",        "hot dog",       "pizza",       "donut",         "cake",
+    "chair",          "sofa",       "pottedplant",   "bed",           "diningtable", "toilet",        "tvmonitor",
+    "laptop",         "mouse",      "remote",        "keyboard",      "cell phone",  "microwave",     "oven",
+    "toaster",        "sink",       "refrigerator",  "book",          "clock",       "vase",          "scissors",
+    "teddy bear",     "hair drier", "toothbrush"
+]
+
+def print_system_information(info: dai.SystemInformation):
+    print(
+        "Ddr: used / total - %.2f / %.2f MiB"
+        % (info.ddrMemoryUsage.used
+           / (1024.0 * 1024.0),
+           info.ddrMemoryUsage.total / (1024.0 * 1024.0),)
+    )
+    print(
+        "Cmx: used / total - %.2f / %.2f MiB"
+        % (info.cmxMemoryUsage.used
+           / (1024.0 * 1024.0),
+           info.cmxMemoryUsage.total / (1024.0 * 1024.0),)
+    )
+    print(
+        "LeonCss heap: used / total - %.2f / %.2f MiB"
+        % (info.leonCssMemoryUsage.used
+           / (1024.0 * 1024.0),
+           info.leonCssMemoryUsage.total / (1024.0 * 1024.0),)
+    )
+    print(
+        "LeonMss heap: used / total - %.2f / %.2f MiB"
+        % (info.leonMssMemoryUsage.used
+           / (1024.0 * 1024.0),
+           info.leonMssMemoryUsage.total / (1024.0 * 1024.0),)
+    )
+    t = info.chipTemperature
+    print(
+        "Chip temperature - average: %.2f, css: %.2f, mss: %.2f, upa: %.2f, dss: %.2f"
+        % (t.average,
+           t.css,
+           t.mss,
+           t.upa,
+           t.dss,)
+    )
+    print(
+        "Cpu usage - Leon CSS: %.2f %%, Leon MSS: %.2f %%"
+        % (info.leonCssCpuUsage.average
+           * 100,
+           info.leonMssCpuUsage.average * 100)
+    )
+
+
+def get_or_download_yolo_blob() -> str:
+    import os
+    import subprocess
+    import sys
+    from pathlib import Path
+
+    this_file = os.path.realpath(__file__)
+    this_dir = os.path.dirname(this_file)
+    examples_dir = os.path.join(this_dir, "..", "examples")
+    models_dir = os.path.join(examples_dir, "models")
+    downloader_cmd = [sys.executable, f"{examples_dir}/downloader/downloader.py", "--name", "tiny-yolo",
+                      "--cache_dir", f"{examples_dir}/downloader/", "--num_attempts", "5", "-o", f"{examples_dir}/models"]
+    subprocess.run(downloader_cmd, check=True)
+    blob_path = Path(os.path.join(
+        models_dir, "yolo-v4-tiny-tf_openvino_2021.4_6shave.blob"))
+    return str(Path.resolve(blob_path))
+
+
+def create_yolo(pipeline: dai.Pipeline, camera: dai.node.ColorCamera) -> Tuple[str, str]:
+    """Create a yolo detection network and return a tuple of (passthrough_q_name, yolo_q_name)"""
+    camera.setInterleaved(False)
+    camera.setPreviewSize(416, 416)
+    nn_blob_path = get_or_download_yolo_blob()
+    yoloDet = pipeline.create(dai.node.YoloDetectionNetwork)
+    yoloDet.setBlobPath(nn_blob_path)
+    # Yolo specific parameters
+    yoloDet.setConfidenceThreshold(0.5)
+    yoloDet.setNumClasses(80)
+    yoloDet.setCoordinateSize(4)
+    yoloDet.setAnchors([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
+    yoloDet.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+    yoloDet.setIouThreshold(0.5)
+    yoloDet.input.setBlocking(False)
+    camera.preview.link(yoloDet.input)
+    xoutColor = pipeline.createXLinkOut()
+    passthrough_q_name = f"preview_{camera.getBoardSocket()}"
+    xoutColor.setStreamName(passthrough_q_name)
+    yoloDet.passthrough.link(xoutColor.input)
+    xout_yolo = pipeline.createXLinkOut()
+    yolo_q_name = "yolo"
+    xout_yolo.setStreamName(yolo_q_name)
+    yoloDet.out.link(xout_yolo.input)
+    return (passthrough_q_name, yolo_q_name)
+
+
+last_frame = {} # Store latest frame for each queue
+jet_custom = cv2.applyColorMap(
+    np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
+jet_custom[0] = [0, 0, 0]
+
+def clamp(num, v0, v1):
+    return max(v0, min(num, v1))
+
+class PipelineContext:
+    q_name_yolo_passthrough: Optional[str] = None
+    """The name of the queue that the YOLO spatial detection network passthrough is connected to."""
+
+def stress_test(mxid: str = ""):
+    # Parse args
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-ne", "--n-edge-detectors", default=0, type=int, help="Number of edge detectors to create.")
+    parser.add_argument("--no-nnet", action="store_true", default=False, help="Don't create a neural network.")
+
+    # May have some unknown args
+    args, _ = parser.parse_known_args()
+    dot_intensity = 500
+    flood_intensity = 500
+    iso = 800
+    exp_time = 20000
+
+    import time
+    success, device_info = dai.Device.getDeviceByMxId(mxid)
+    cam_args = []  # Device info or no args at all
+    if success:
+        cam_args.append(device_info)
+    with dai.Device(*cam_args) as device:
+        print("Setting default dot intensity to", dot_intensity)
+        device.setIrLaserDotProjectorBrightness(dot_intensity)
+        print("Setting default flood intensity to", flood_intensity)
+        device.setIrFloodLightBrightness(flood_intensity)
+        pipeline, outputs, pipeline_context = build_pipeline(device, args)
+        device.startPipeline(pipeline)
+        start_time = time.time()
+        queues = [device.getOutputQueue(name, size, False)
+                  for name, size in outputs if name != "sys_log"]
+        camera_control_q = device.getInputQueue("cam_control")
+        sys_info_q = device.getOutputQueue("sys_log", 1, False)
+        usb_speed = device.getUsbSpeed()
+        while True:
+            for queue in queues:
+                packet = queue.tryGet()
+                # print("QUEUE", queue.getName(), "PACKET", packet)
+                if packet is not None:
+                    if queue.getName() == "tof":
+                        frame = packet.getCvFrame()
+                        frame = (frame.view(np.int16).astype(float))
+                        frame = cv2.normalize(
+                            frame, frame, alpha=255, beta=0, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
+                        frame = cv2.applyColorMap(frame, jet_custom)
+                        last_frame[queue.getName()] = frame
+                    elif queue.getName() == "stereo depth":
+                        frame = packet.getFrame()
+                        depth_downscaled = frame[::4]
+                        try:
+                            min_depth = np.percentile(
+                                depth_downscaled[depth_downscaled != 0], 1)
+                            max_depth = np.percentile(depth_downscaled, 99)
+                        except IndexError:
+                            continue
+                        frame = np.interp(
+                            frame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
+                        frame = cv2.applyColorMap(
+                        frame, jet_custom)
+                        frame = cv2.applyColorMap(frame, jet_custom)
+                        last_frame[queue.getName()] = frame
+                    elif isinstance(packet, dai.ImgFrame):
+                        # Skip encoded frames as decoding is heavy on the host machine
+                        if packet.getType() == dai.ImgFrame.Type.BITSTREAM:
+                            continue
+                        else:
+                            last_frame[queue.getName()] = packet.getCvFrame()
+                    elif isinstance(packet, dai.ImgDetections):
+                        frame = last_frame.get(pipeline_context.q_name_yolo_passthrough, None)
+                        if frame is None:
+                            continue # No frame to draw on
+                        for detection in packet.detections:
+                            bbox = np.array([detection.xmin * frame.shape[1], detection.ymin * frame.shape[0], detection.xmax * frame.shape[1], detection.ymax * frame.shape[0]], dtype=np.int32)
+                            cv2.putText(frame, YOLO_LABELS[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                            cv2.putText(frame, f"{int(detection.confidence)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (255, 0, 0), 2)
+            sys_info: dai.SystemInformation = sys_info_q.tryGet()
+            if sys_info:
+                print("----------------------------------------")
+                print(f"[{int(time.time() - start_time)}s] Usb speed {usb_speed}")
+                print("----------------------------------------")
+                print_system_information(sys_info)
+            for name, frame in last_frame.items():
+                cv2.imshow(name, frame)
+
+            # Parse keyboard input
+            key = cv2.waitKey(1)
+            if key == ord("q"):
+                print("Q Pressed, exiting stress test...")
+                break
+            elif key == ord('a'):
+                dot_intensity = clamp(dot_intensity - 100, 0, 1200)
+                print("Decreasing dot intensity by 100, new value:", dot_intensity)
+                device.setIrLaserDotProjectorBrightness(dot_intensity)
+            elif key == ord('d'):
+                dot_intensity = clamp(dot_intensity + 100, 0, 1200)
+                print("Increasing dot intensity by 100, new value:", dot_intensity)
+                device.setIrLaserDotProjectorBrightness(dot_intensity)
+            elif key == ord('w'):
+                flood_intensity = clamp(flood_intensity + 100, 0, 1500)
+                print("Increasing flood intensity by 100, new value:", flood_intensity)
+                device.setIrFloodLightBrightness(flood_intensity)
+            elif key == ord('s'):
+                flood_intensity = clamp(flood_intensity - 100, 0, 1500)
+                print("Decreasing flood intensity by 100, new value:", flood_intensity)
+                device.setIrFloodLightBrightness(flood_intensity)
+            elif key == ord('k'):
+                iso = clamp(iso - 50, 0, 1600)
+                print("Decreasing iso by 50, new value:", iso)
+                cam_ctrl  = dai.CameraControl()
+                cam_ctrl.setManualExposure(exp_time, iso)
+                camera_control_q.send(cam_ctrl)
+            elif key == ord('l'):
+                iso = clamp(iso + 50, 0, 1600)
+                print("Increasing iso by 50, new value:", iso)
+                cam_ctrl  = dai.CameraControl()
+                cam_ctrl.setManualExposure(exp_time, iso)
+                camera_control_q.send(cam_ctrl)
+            elif key == ord('i'):
+                exp_time = clamp(exp_time - 500, 0, 33000)
+                print("Decreasing exposure time by 500, new value:", exp_time)
+                cam_ctrl  = dai.CameraControl()
+                cam_ctrl.setManualExposure(exp_time, iso)
+                camera_control_q.send(cam_ctrl)
+            elif key == ord('o'):
+                exp_time = clamp(exp_time + 500, 0, 33000)
+                print("Increasing exposure time by 500, new value:", exp_time)
+                cam_ctrl  = dai.CameraControl()
+                cam_ctrl.setManualExposure(exp_time, iso)
+                camera_control_q.send(cam_ctrl)
+
+RGB_FPS = 20
+MONO_FPS = 20
+ENCODER_FPS = 10
+
+def build_pipeline(device: dai.Device, args) -> Tuple[dai.Pipeline, List[Tuple[str, int]], PipelineContext]:
+    """
+    Build a pipeline based on device capabilities. Return a tuple of (pipeline, output_queue_names, PipelineContext)
+    """
+    camera_features = device.getConnectedCameraFeatures()
+    context = PipelineContext()
+    calib = None
+    left_socket = None
+    right_socket = None
+    align_socket = None
+    try:
+        calib = device.readCalibration2()
+    except:
+        print("Couln't read calibration data from device, continue without it...")
+
+    if calib:
+        eeprom = calib.getEepromData()
+        left_socket = eeprom.stereoRectificationData.leftCameraSocket
+        right_socket = eeprom.stereoRectificationData.rightCameraSocket
+        align_socket = [
+            cam.socket
+            for cam in camera_features
+            if cam.supportedTypes[0] == dai.CameraSensorType.COLOR
+        ]
+        is_align_socket_color = len(align_socket) != 0
+        if not is_align_socket_color:
+            print(f"No color camera found, aligning depth with {left_socket}")
+            align_socket = [left_socket]
+        align_socket = align_socket[0]
+
+    xlink_outs: List[Tuple[str, int]] = []  # [(name, size), ...]
+
+    pipeline = dai.Pipeline()
+    sys_log = pipeline.createSystemLogger()
+    sys_log.setRate(0.2)
+    sys_log_out = pipeline.createXLinkOut()
+    sys_log_out.setStreamName("sys_log")
+    sys_log.out.link(sys_log_out.input)
+    sys_log_out.input.setBlocking(False)
+    sys_log_out.input.setQueueSize(1)
+
+    cam_control = pipeline.createXLinkIn()
+    cam_control.setStreamName("cam_control")
+
+    left: dai.Node = None
+    right: dai.Node = None
+    # Used for spatial detection network (if available)
+    color_cam: dai.Node = None
+
+    n_color_cams = 0
+    n_edge_detectors = 0
+    for cam in camera_features:
+        print(f"{cam.socket} Supported Sensor Resolutions:", [(conf.width, conf.height) for conf in cam.configs], "Supported Types:", cam.supportedTypes)
+        sorted_configs = sorted(cam.configs, key=lambda conf: conf.width * conf.height)
+        if len(sorted_configs) == 0:
+            max_sensor_size = (1920, 1080)
+        else:
+            max_sensor_size = (sorted_configs[-1].width, sorted_configs[-1].height)
+        node = None
+        cam_kind = cam.supportedTypes[0]
+        if cam_kind == dai.CameraSensorType.MONO:
+            mono = pipeline.createMonoCamera()
+            node = mono
+            mono.setBoardSocket(cam.socket)
+            # Default to 400p. Video encoder crashes on Oak-D PRO if set to highest (800p)
+            mono.setResolution(
+                dai.MonoCameraProperties.SensorResolution.THE_400_P)
+            mono.setFps(MONO_FPS)
+            xlink_preview = pipeline.createXLinkOut()
+            stream_name = "preview_" + cam.socket.name
+            xlink_preview.setStreamName(stream_name)
+            mono.out.link(xlink_preview.input)
+            xlink_outs.append((stream_name, 4))
+        elif cam_kind == dai.CameraSensorType.COLOR:
+            print("Camera socket:", cam.socket, "IS COLOR")
+            n_color_cams += 1
+            color = pipeline.createColorCamera()
+            node = color
+            color.setBoardSocket(cam.socket)
+            print(max_sensor_size, "FOR CCAM ", cam.socket)
+            resolution = color_resolutions.get(max_sensor_size, None)
+            if resolution is None:
+                print(
+                    f"Skipping color camera on board socket {cam.socket}. Unknown resolution: {max_sensor_size}")
+                continue
+            color.setResolution(resolution)
+            color.setFps(RGB_FPS)
+            if n_color_cams == 1:
+                color_cam = color
+            color.setPreviewSize(416, 416)
+            color.setColorOrder(
+                dai.ColorCameraProperties.ColorOrder.BGR)
+            color.setInterleaved(False)
+            color.setNumFramesPool(2, 2, 2, 2, 2);
+
+            # Only create a preview here if we're not creating a detection network
+            # And create a preview for other color cameras, that are not used for yolo
+            if args.no_nnet or n_color_cams > 1:
+                xlink_preview = pipeline.createXLinkOut()
+                stream_name = "preview_" + cam.socket.name
+                xlink_preview.setStreamName(stream_name)
+                color.preview.link(xlink_preview.input)
+                xlink_outs.append((stream_name, 2))
+
+        elif cam_kind == dai.CameraSensorType.TOF:
+            xin_tof_config = pipeline.createXLinkIn()
+            xin_tof_config.setStreamName("tof_config")
+            tof = pipeline.create(dai.node.ToF)
+            xin_tof_config.out.link(tof.inputConfig)
+            cam_node = pipeline.create(dai.node.ColorCamera)
+            cam_node.setFps(RGB_FPS)
+            cam_node.setBoardSocket(cam.socket)
+            cam_node.raw.link(tof.input)
+            tof_xout = pipeline.createXLinkOut()
+            tof_xout.setStreamName("tof")
+            tof.depth.link(tof_xout.input)
+            tofConfig = tof.initialConfig.get()
+            tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
+            tofConfig.depthParams.avgPhaseShuffle = False
+            tofConfig.depthParams.minimumAmplitude = 3.0
+            tof.initialConfig.set(tofConfig)
+            xlink_outs.append(("tof", 4))
+            continue  # No video encoder and edge detector for TOF
+        else:
+            print(f"Unsupported camera type: {cam.supportedTypes[0]}")
+            exit(-1)
+        if node is None:
+            continue
+        cam_control.out.link(node.inputControl)
+
+        output = "out" if cam_kind == dai.CameraSensorType.MONO else "video"
+        if cam.socket == left_socket:
+            left = node
+        elif cam.socket == right_socket:
+            right = node
+
+        if n_color_cams < 2:  # For hardcode max 1 color cam video encoders, to avoid out of memory errors
+            video_encoder = pipeline.createVideoEncoder()
+            video_encoder.setDefaultProfilePreset(
+                ENCODER_FPS, dai.VideoEncoderProperties.Profile.H264_MAIN
+            )
+            getattr(node, output).link(video_encoder.input)
+            ve_xlink = pipeline.createXLinkOut()
+            stream_name = f"{cam.socket}.ve_out"
+            ve_xlink.setStreamName(stream_name)
+            video_encoder.bitstream.link(ve_xlink.input)
+            xlink_outs.append((stream_name, 5))
+        if n_edge_detectors < args.n_edge_detectors:
+            n_edge_detectors += 1
+            edge_detector = pipeline.createEdgeDetector()
+            if cam_kind == dai.CameraSensorType.COLOR:
+                edge_detector.setMaxOutputFrameSize(8294400)
+            getattr(node, output).link(edge_detector.inputImage)
+            edge_detector_xlink = pipeline.createXLinkOut()
+            stream_name = f"{cam.socket}.edge_detector"
+            edge_detector_xlink.setStreamName(stream_name)
+            edge_detector.outputImage.link(edge_detector_xlink.input)
+            xlink_outs.append((stream_name, 5))
+
+    if left and right:
+        if left.getResolutionWidth() > 1280:
+            print("Left camera width is greater than 1280, setting ISP scale to 2/3")
+            left.setIspScale(2, 3)
+        if right.getResolutionWidth() > 1280:
+            print("Right camera width is greater than 1280, setting ISP scale to 2/3")
+            right.setIspScale(2, 3)
+        stereo = pipeline.createStereoDepth()
+        output = "out" if hasattr(left, "out") else "video"
+        getattr(left, output).link(stereo.left)
+        getattr(right, output).link(stereo.right)
+        stereo.setDefaultProfilePreset(
+            dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+        stereo.setOutputSize(left.getResolutionWidth(),
+                             left.getResolutionHeight())
+        stereo.setLeftRightCheck(True)
+        stereo.setSubpixel(True)
+        stereo.setDepthAlign(align_socket)
+    else:
+        print("Device doesn't have a stereo pair, skipping stereo depth creation...")
+    if color_cam is not None:
+        if not args.no_nnet:
+            if left is not None and right is not None: # Create spatial detection net
+                print("Creating spatial detection network...")
+                yolo = pipeline.createYoloSpatialDetectionNetwork()
+                blob_path = get_or_download_yolo_blob()
+                yolo.setBlobPath(blob_path)
+                yolo.setConfidenceThreshold(0.5)
+                yolo.input.setBlocking(False)
+                yolo.setBoundingBoxScaleFactor(0.5)
+                yolo.setDepthLowerThreshold(100)
+                yolo.setDepthUpperThreshold(5000)
+                yolo.setNumClasses(80)
+                yolo.setCoordinateSize(4)
+                yolo.setAnchors(
+                    [10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
+                yolo.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
+                yolo.setIouThreshold(0.5)
+                color_cam.preview.link(yolo.input)
+                stereo.depth.link(yolo.inputDepth)
+
+                xout_depth = pipeline.createXLinkOut()
+                depth_q_name = "stereo depth"
+                xout_depth.setStreamName(depth_q_name)
+                yolo.passthroughDepth.link(xout_depth.input)
+                xlink_outs.append((depth_q_name, 4))
+
+                xout_yolo = pipeline.createXLinkOut()
+                yolo_q_name = "yolo"
+                xout_yolo.setStreamName(yolo_q_name)
+                yolo.out.link(xout_yolo.input)
+                xlink_outs.append((yolo_q_name, 4))
+            else:
+                print("Creating YOLO detection network...")
+                passthrough_q_name, yolo_q_name = create_yolo(pipeline, color_cam)
+                xlink_outs.append((passthrough_q_name, 4))
+                context.q_name_yolo_passthrough = passthrough_q_name
+                xlink_outs.append((yolo_q_name, 4))
+        else:
+            print("Skipping YOLO detection network creation...")
+    else:
+        print("No color camera found, skipping YOLO detection network creation...")
+    return (pipeline, xlink_outs, context)
+
+
+if __name__ == "__main__":
+    stress_test()
diff --git a/cmake/Depthai/DepthaiDeviceKbConfig.cmake b/cmake/Depthai/DepthaiDeviceKbConfig.cmake
new file mode 100644
index 000000000..f42f41449
--- /dev/null
+++ b/cmake/Depthai/DepthaiDeviceKbConfig.cmake
@@ -0,0 +1,7 @@
+# Maturity level "snapshot" / "release"
+# set(DEPTHAI_DEVICE_KB_MATURITY "release")
+set(DEPTHAI_DEVICE_KB_MATURITY "snapshot")
+
+# "version if applicable"
+# set(DEPTHAI_DEVICE_RVC3_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
+set(DEPTHAI_DEVICE_RVC3_VERSION "0.0.1+a0d016ba4b78a61f0e0eff27facbe169be8f62ff")
diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
new file mode 100644
index 000000000..387d091d7
--- /dev/null
+++ b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -0,0 +1,7 @@
+# Maturity level "snapshot" / "release"
+# set(DEPTHAI_DEVICE_KB_MATURITY "release")
+set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
+
+# "version if applicable"
+# set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+928973fdb21cfaced16b755d5b3579e6162888c2")
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
index b22d2088d..19da8a366 100644
--- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake
+++ b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "df92ba23ee3f61a557b8bb15b9d539c77dc5caee")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "2219cc49d51590e0e2de79a5b3ff22d0c5844869")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/DepthaiDeviceKbDownloader.cmake b/cmake/DepthaiDeviceKbDownloader.cmake
new file mode 100644
index 000000000..cb0269378
--- /dev/null
+++ b/cmake/DepthaiDeviceKbDownloader.cmake
@@ -0,0 +1,209 @@
+# This script downloads depthai device side artifacts for different device types
+function(DepthaiDeviceDownloader)
+
+    ### VARIABLES
+    # Artifactory
+    set(DOWNLOADER_BASE_URL "https://artifacts.luxonis.com/artifactory")
+
+    
+    # Errors and retry count
+    set(DOWNLOADER_TIMEOUT_S 300)
+    set(DOWNLOADER_INACTIVE_TIMEOUT_S 60)
+    set(DOWNLOADER_RETRY_NUM 5)
+    ### END VARIABLES
+    
+    
+    # PARSE ARGUMENTS
+    set(device_type ${ARGV0})
+    set(repo_snapshot ${ARGV1})
+    set(repo_release ${ARGV2})
+    set(_depthai_shared_commit ${ARGV3})
+    set(_enforce_depthai_shared_commit ${ARGV4})
+    set(folder "${ARGV5}")
+    set(output_list_var "${ARGV6}")
+    set(maturity "${ARGV7}")
+    set(commit_version_arg "${ARGV8}")
+    # END PARSE ARGUMENTS
+    
+    message(STATUS "Downloading ${device_type}")
+
+    # Repositories (dynamic based on parameters)
+    set(DOWNLOADER_REPO_SNAPSHOT "${repo_snapshot}")
+    set(DOWNLOADER_REPO_RELEASE "${repo_release}")
+
+    # Prefix (dynamic based on device_type)
+    set(DOWNLOADER_ARTIFACT_PREFIX "${device_type}")
+
+
+    #DEBUG
+    message(STATUS "folder: ${folder}")
+    message(STATUS "maturity: ${maturity}")
+    message(STATUS "commit_version_arg: ${commit_version_arg}")
+
+    string(TOLOWER "${maturity}" maturity_lower)
+
+    # Switch between maturity
+    if("${maturity_lower}" STREQUAL "snapshot")
+        set(_selected_repo "${DOWNLOADER_REPO_SNAPSHOT}")
+        set(commit ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_SNAPSHOT@/@DOWNLOADER_ARTIFACT_PREFIX@/@commit@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${commit}")
+
+    elseif("${maturity_lower}" STREQUAL "release")
+        set(_selected_repo "${DOWNLOADER_REPO_RELEASE}")
+        set(version ${commit_version_arg})
+
+        # Create download directory string
+        string(CONFIGURE "@DOWNLOADER_BASE_URL@/@DOWNLOADER_REPO_RELEASE@/@DOWNLOADER_ARTIFACT_PREFIX@/@version@" _download_directory_url)
+
+        # Create _version_commit_identifier
+        set(_version_commit_identifier "${version}")
+    else()
+        # Not a recognized maturity level
+        message(FATAL_ERROR "Cannot download ${device_type} binaries. Maturity level not recognized (${maturity_lower})")
+        return()
+    endif()
+
+    # Prints error message
+    macro(PrintErrorMessage status)
+        if(${status} EQUAL 22)
+            message(STATUS "Resource not found, check if commit hash is correctly specified.\n")
+        elseif(${status} EQUAL 28)
+            message(STATUS "Timeout.\n")
+        elseif(${status} EQUAL 99)
+            message(STATUS "Couldn't retrieve files correctly, checksum mismatch.")
+        else()
+            message(STATUS "Unknown error.\n")
+        endif()
+    endmacro()
+
+    # Download files
+    function(DownloadAndChecksum url url_checksum output status_var)
+
+        # Check if file already downloaded (in resources)
+        if(EXISTS "${output}")
+            get_filename_component(_filename "${output}" NAME)
+            message(STATUS "File already downloaded (resources): ${_filename}")
+            set("${status_var}" "0" PARENT_SCOPE)
+            return()
+        endif()
+
+        # Retry again if failed
+        set(_num_retries_left ${DOWNLOADER_RETRY_NUM})
+        # Set error by default
+        set("${status_var}" "1" PARENT_SCOPE)
+
+        while(NOT ${_num_retries_left} EQUAL 0)
+            math(EXPR _num_retries_left "${_num_retries_left} - 1")
+
+            # Download checksum first
+            file(DOWNLOAD "${url_checksum}" "${output}.checksum" STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S})
+            # Read checksum to file
+            file(READ "${output}.checksum" _file_checksum)
+            string(REGEX REPLACE "\n$" "" _file_checksum "${_file_checksum}")
+            # Remove checksum file
+            file(REMOVE "${output}.checksum")
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+
+            # Download file and validate checksum
+            file(DOWNLOAD "${url}" "${output}" INACTIVITY_TIMEOUT ${DOWNLOADER_INACTIVE_TIMEOUT_S} STATUS _status TIMEOUT ${DOWNLOADER_TIMEOUT_S} SHOW_PROGRESS)
+
+            #CHECKS
+            list(GET _status 0 _status_num)
+            if(${_status_num})
+                message(STATUS "Status error: ${_status}")
+                set("${status_var}" "${_status_num}" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # Now check if hash matches (if both files were downloaded without timeouts)
+            file(SHA256 ${output} _downloaded_checksum)
+
+            # if hashes don't match
+            if(NOT (_downloaded_checksum STREQUAL _file_checksum))
+                message(STATUS "Downloaded file checksum mismatch: ${_downloaded_checksum} != {_file_checksum}")
+                set("${status_var}" "99" PARENT_SCOPE)
+                continue()
+            endif()
+
+            # If no errors happened, set status to 0
+            set("${status_var}" "0" PARENT_SCOPE)
+            # And break the loop
+            break()
+
+        endwhile()
+
+    endfunction()
+
+    # Check if shared commit matches
+    if(_depthai_shared_commit)
+        message(STATUS "${device_type} shared commit: ${_depthai_shared_commit}")
+        DownloadAndChecksum(
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" # File
+            "${_download_directory_url}/depthai-shared-commit-hash-${_version_commit_identifier}.txt.sha256" # File checksum
+            "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt"
+            status
+        )
+        if(${status})
+
+            message(STATUS "Couldn't check if depthai-device-kb-shared codebase matches between device and host")
+            if(${_enforce_depthai_shared_commit})
+                message(FATAL_ERROR "Aborting.\n")
+            endif()
+
+        else()
+
+            set(_message_mode WARNING)
+            if(${_enforce_depthai_shared_commit})
+                set(_message_mode FATAL_ERROR)
+            endif()
+
+            # Read commit hash file
+            file(READ "${folder}/depthai-shared-commit-hash-${_version_commit_identifier}.txt" _device_depthai_shared_commit_hash)
+            string(REGEX REPLACE "\n$" "" _device_depthai_shared_commit_hash "${_device_depthai_shared_commit_hash}")
+            string(REGEX REPLACE "\n$" "" _depthai_shared_commit "${_depthai_shared_commit}")
+            string(COMPARE EQUAL "${_device_depthai_shared_commit_hash}" "${_depthai_shared_commit}" _is_same)
+
+            # If commits dont match
+            if(NOT ${_is_same})
+                message(${_message_mode} "${device_type}-shared codebases differ between device and host. Enforce (CI): ${_enforce_depthai_shared_commit} (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            else()
+                message(STATUS "${device_type}-shared between device and host MATCH!. (device: ${_device_depthai_shared_commit_hash}, host: ${_depthai_shared_commit}")
+            endif()
+
+        endif()
+
+    endif()
+
+    # Download firmware package
+    message(STATUS "Downloading and checking ${device_type}-fwp.tar.xz")
+    DownloadAndChecksum(
+        "${_download_directory_url}/${device_type}-fwp-${_version_commit_identifier}.tar.xz" # File
+        "${_download_directory_url}/${device_type}-fwp-${_version_commit_identifier}.tar.xz.sha256" # File checksum
+        "${folder}/${device_type}-fwp-${_version_commit_identifier}.tar.xz"
+        status
+    )
+    if(${status})
+        message(STATUS "\nCouldn't download ${device_type}-fwp.tar.xz\n")
+        PrintErrorMessage(${status})
+        message(FATAL_ERROR "Aborting.\n")
+    endif()
+    # add depthai-device-kb-fwp.tar.xz to list
+    list(APPEND "${output_list_var}" "${folder}/${device_type}-fwp-${_version_commit_identifier}.tar.xz")
+
+
+    # Set list of files as output
+    set("${output_list_var}" "${${output_list_var}}" PARENT_SCOPE)
+
+endfunction()
diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
index 6a7a85458..2bf8fc75e 100644
--- a/cmake/Hunter/config.cmake
+++ b/cmake/Hunter/config.cmake
@@ -1,15 +1,19 @@
+# hunter_config(
+#     nlohmann_json
+#     VERSION "3.9.1"
+#     URL "https://github.com/nlohmann/json/archive/v3.9.1.tar.gz"
+#     SHA1 "f8a20a7e19227906d77de0ede97468fbcfea03e7"
+# )
 hunter_config(
     nlohmann_json
     VERSION "3.9.1"
-    URL "https://github.com/nlohmann/json/archive/v3.9.1.tar.gz"
-    SHA1 "f8a20a7e19227906d77de0ede97468fbcfea03e7"
 )
 
 hunter_config(
     XLink
-    VERSION "luxonis-2021.4.2-xlink-linkid-race-fix"
-    URL "https://github.com/luxonis/XLink/archive/e9eb1ef38030176ad70cddd3b545d5e6c509f1e1.tar.gz"
-    SHA1 "b1e4ded41cd7b9c37189468e2aaddbb10cbda9f6"
+    VERSION "luxonis-2021.4.3-develop"
+    URL "https://github.com/luxonis/XLink/archive/061709357b06a74510b5b9e3e2832d9d80efd3ff.tar.gz"
+    SHA1 "affa1bdd7487cf70c9caf40365844967ae761ea3"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )
@@ -80,15 +84,17 @@ hunter_config(
         FP16_BUILD_TESTS=OFF
 )
 
-# Backward - Stacktrace printer
-hunter_config(
-    Backward
-    VERSION "1.6"
-    URL "https://github.com/bombela/backward-cpp/archive/refs/tags/v1.6.tar.gz"
-    SHA1 "4ecb711eabfd15bc88ff9dd9342907fc5da46b62"
-    CMAKE_ARGS
-        BACKWARD_TESTS=OFF
-)
+if(NOT EMSCRIPTEN)
+    # Backward - Stacktrace printer
+    hunter_config(
+      Backward
+      VERSION "1.6"
+      URL "https://github.com/bombela/backward-cpp/archive/refs/tags/v1.6.tar.gz"
+      SHA1 "4ecb711eabfd15bc88ff9dd9342907fc5da46b62"
+      CMAKE_ARGS
+          BACKWARD_TESTS=OFF
+    )
+endif()
 
 # libnop - Serialization
 hunter_config(
@@ -126,3 +132,22 @@ hunter_config(
         # Build shared libs by default to not cause licensing issues
         BUILD_SHARED_LIBS=ON
 )
+
+# cpp-httplib
+hunter_config(
+    httplib
+    VERSION "0.11.2"
+    URL "https://github.com/luxonis/cpp-httplib/archive/3ba99c06f655a52e701c9a7ae5dc48850582d95b.tar.gz"
+    SHA1 "84ddd5d58a210b6203c50760d2ebde75b0ff6376"
+    CMAKE_ARGS
+        HTTPLIB_USE_OPENSSL_IF_AVAILABLE=OFF
+        HTTPLIB_USE_BROTLI_IF_AVAILABLE=OFF
+)
+
+# Pybind11 2.9.2
+hunter_config(
+    pybind11
+    VERSION "2.9.2"
+    URL "https://github.com/pybind/pybind11/archive/refs/tags/v2.9.2.tar.gz"
+    SHA1 "5e05583a210282c3251281b6ee5677915f0cbf95"
+)
diff --git a/cmake/config.hpp.in b/cmake/config.hpp.in
deleted file mode 100644
index 97cc44bfc..000000000
--- a/cmake/config.hpp.in
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Generated by CMake build tool.
- */
-#pragma once
-
-// This build supports OpenCV integration?
-#cmakedefine DEPTHAI_HAVE_OPENCV_SUPPORT
-
-// This build supports libusb?
-#cmakedefine DEPTHAI_HAVE_LIBUSB_SUPPORT
-
-// Build specific settings overwrite
-#ifdef DEPTHAI_TARGET_CORE
-#ifndef DEPTHAI_TARGET_OPENCV
-#undef DEPTHAI_HAVE_OPENCV_SUPPORT
-#endif
-#endif
-
-namespace dai
-{
-namespace build
-{
-
-#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
-    constexpr static bool HAVE_OPENCV_SUPPORT = true;
-#else
-    constexpr static bool HAVE_OPENCV_SUPPORT = false;
-#endif
-
-#ifdef DEPTHAI_HAVE_LIBUSB_SUPPORT
-    constexpr static bool HAVE_LIBUSB_SUPPORT = true;
-#else
-    constexpr static bool HAVE_LIBUSB_SUPPORT = false;
-#endif
-
-} // namespace build
-} // namespace dai
diff --git a/cmake/depthaiConfig.cmake.in b/cmake/depthaiConfig.cmake.in
index 98309545b..dfe96ad73 100644
--- a/cmake/depthaiConfig.cmake.in
+++ b/cmake/depthaiConfig.cmake.in
@@ -1,8 +1,10 @@
 # Get whether library was build as shared or not
 set(DEPTHAI_SHARED_LIBS @BUILD_SHARED_LIBS@)
 
+# Get library options
 # Get whether library was build with Backward or not
 set(DEPTHAI_ENABLE_BACKWARD @DEPTHAI_ENABLE_BACKWARD@)
+set(DEPTHAI_XLINK_LOCAL @DEPTHAI_XLINK_LOCAL@)
 
 # Specify that this is config mode (Called by find_package)
 set(CONFIG_MODE TRUE)
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
index d995de9d3..5088b2822 100644
--- a/cmake/depthaiDependencies.cmake
+++ b/cmake/depthaiDependencies.cmake
@@ -1,5 +1,6 @@
 if(CONFIG_MODE)
     set(_DEPTHAI_PREFIX_PATH_ORIGINAL ${CMAKE_PREFIX_PATH})
+    set(_DEPTHAI_MODULE_PATH_ORIGINAL ${CMAKE_MODULE_PATH})
     set(_DEPTHAI_FIND_ROOT_PATH_MODE_PACKAGE_ORIGINAL ${CMAKE_FIND_ROOT_PATH_MODE_PACKAGE})
     # Fixes Android NDK build, where prefix path is ignored as its not inside sysroot
     set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE "BOTH")
@@ -17,6 +18,7 @@ else()
     hunter_add_package(libarchive-luxonis)
     hunter_add_package(spdlog)
     hunter_add_package(ZLIB)
+    hunter_add_package(httplib)
     if(DEPTHAI_ENABLE_BACKWARD)
         hunter_add_package(Backward)
     endif()
@@ -41,6 +43,9 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
     # spdlog for library and device logging
     find_package(spdlog ${_QUIET} CONFIG REQUIRED)
 
+    # httplib for Gate communication
+    find_package(httplib ${_QUIET} CONFIG REQUIRED)
+
     # Backward
     if(DEPTHAI_ENABLE_BACKWARD)
         # Disable automatic check for additional stack unwinding libraries
@@ -49,7 +54,13 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
         find_package(Backward ${_QUIET} CONFIG REQUIRED)
         unset(STACK_DETAILS_AUTO_DETECT)
     endif()
+endif()
 
+# Xtensor
+if(DEPTHAI_XTENSOR_SUPPORT)
+    get_filename_component(PARENT_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/.. ABSOLUTE)
+    add_subdirectory("${PARENT_DIRECTORY}/3rdparty/xtl" xtl)
+    add_subdirectory("${PARENT_DIRECTORY}/3rdparty/xtensor" xtensor)
 endif()
 
 # Add threads (c++)
@@ -68,13 +79,30 @@ if(DEPTHAI_XLINK_LOCAL AND (NOT CONFIG_MODE))
     add_subdirectory("${DEPTHAI_XLINK_LOCAL}" ${CMAKE_CURRENT_BINARY_DIR}/XLink)
     set(BUILD_SHARED_LIBS "${_BUILD_SHARED_LIBS_SAVED}")
     unset(_BUILD_SHARED_LIBS_SAVED)
-    list(APPEND targets_to_export XLink)
+    list(APPEND targets_to_export XLink XLinkPublic)
 else()
+    # TODO(themarpe) - might be required
+    # elseif(NOT DEPTHAI_XLINK_LOCAL)
     find_package(XLink ${_QUIET} CONFIG REQUIRED HINTS "${CMAKE_CURRENT_LIST_DIR}/XLink" "${CMAKE_CURRENT_LIST_DIR}/../XLink")
 endif()
 
-# OpenCV 4 - (optional, quiet always)
-find_package(OpenCV 4 QUIET CONFIG)
+# OpenCV 4 - (optional)
+if(DEPTHAI_OPENCV_SUPPORT)
+    find_package(OpenCV 4 ${_QUIET} CONFIG REQUIRED)
+endif()
+
+# TODO(Morato) - check if this is still needed
+# if(NOT TARGET JsonCpp::JsonCpp)
+#     find_package(jsoncpp QUIET)
+# endif()
+
+set(MODULE_TEMP ${CMAKE_MODULE_PATH})
+set(PREFIX_TEMP ${CMAKE_PREFIX_PATH})
+set(CMAKE_MODULE_PATH ${_DEPTHAI_MODULE_PATH_ORIGINAL})
+set(CMAKE_PREFIX_PATH ${_DEPTHAI_PREFIX_PATH_ORIGINAL})
+find_package(PCL QUIET CONFIG COMPONENTS common visualization)
+set(CMAKE_MODULE_PATH ${MODULE_TEMP})
+set(CMAKE_PREFIX_PATH ${PREFIX_TEMP})
 
 # include optional dependency cmake
 if(DEPTHAI_DEPENDENCY_INCLUDE)
diff --git a/cmake/toolchain/custom.cmake.in b/cmake/toolchain/custom.cmake.in
index fa5bc5ebb..f1119b2d0 100644
--- a/cmake/toolchain/custom.cmake.in
+++ b/cmake/toolchain/custom.cmake.in
@@ -56,8 +56,8 @@ endif()
 
 # STEP 3: Custom user variables
 
-if(NOT "@BUILD_SHARED_LIBS@" STREQUAL "")
+if(NOT "@BUILD_SHARED_LIBS@" STREQUAL "" OR NOT "@BUILD_PYTHON" STREQUAL "")
   # Simple PIC toolchain, which enables shared library building
   # This option is propagated to 3rdparty dependecies as well
   set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-endif()
\ No newline at end of file
+endif()
diff --git a/cmake/version.hpp.in b/cmake/version.hpp.in
index 46d47214d..6cde50ab4 100644
--- a/cmake/version.hpp.in
+++ b/cmake/version.hpp.in
@@ -19,5 +19,7 @@ namespace build
 
     constexpr static const char* DEVICE_VERSION = "${DEPTHAI_DEVICE_VERSION}";
     constexpr static const char* BOOTLOADER_VERSION = "${DEPTHAI_BOOTLOADER_VERSION}";
+    constexpr static const char* DEVICE_RVC3_VERSION = "${DEPTHAI_DEVICE_RVC3_VERSION}";
+    constexpr static const char* DEVICE_RVC4_VERSION = "${DEPTHAI_DEVICE_RVC4_VERSION}";
 } // namespace build
 } // namespace dai
diff --git a/examples/AprilTag/apriltag.cpp b/examples/AprilTag/apriltag.cpp
index 130acf81b..67c193bf0 100644
--- a/examples/AprilTag/apriltag.cpp
+++ b/examples/AprilTag/apriltag.cpp
@@ -36,7 +36,7 @@ int main() {
     aprilTag->inputImage.setQueueSize(1);
 
     // advanced settings, configurable at runtime
-    auto aprilTagConfig = aprilTag->initialConfig.get();
+    auto aprilTagConfig = aprilTag->initialConfig;
     aprilTagConfig.quadDecimate = 4;
     aprilTagConfig.quadSigma = 0;
     aprilTagConfig.refineEdges = true;
@@ -48,7 +48,7 @@ int main() {
     aprilTagConfig.quadThresholds.maxLineFitMse = 10;
     aprilTagConfig.quadThresholds.minWhiteBlackDiff = 5;
     aprilTagConfig.quadThresholds.deglitch = false;
-    aprilTag->initialConfig.set(aprilTagConfig);
+    aprilTag->initialConfig = aprilTagConfig;
 
     // Connect to device and start pipeline
     dai::Device device(pipeline);
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 606ab29ff..0251a3974 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -26,14 +26,18 @@ set(test_poe_env
 )
 
 # Helper for adding new examples
-function(dai_add_example example_name example_src enable_test)
+function(dai_add_example example_name example_src enable_test use_pcl)
 
     # Add example
     add_executable(${example_name} ${example_src})
     add_default_flags(${example_name} LEAN)
-    target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS} Threads::Threads)
-    # Set compiler features (c++14), and disables extensions (g++14)
-    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD 14)
+    if(use_pcl)
+        target_link_libraries(${example_name} PRIVATE utility depthai::all ${OpenCV_LIBS} Threads::Threads)
+    else()
+        target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS} Threads::Threads)
+    endif()
+    # Set compiler features (c++17), and disables extensions (g++17)
+    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD 17)
     set_property(TARGET ${example_name} PROPERTY CXX_STANDARD_REQUIRED ON)
     set_property(TARGET ${example_name} PROPERTY CXX_EXTENSIONS OFF)
 
@@ -48,7 +52,7 @@ function(dai_add_example example_name example_src enable_test)
 
     # parse the rest of the arguments
     set(arguments ${ARGV})
-    list(REMOVE_AT arguments 0 1 2)
+    list(REMOVE_AT arguments 0 1 2 3)
 
     # If 'DEPTHAI_TEST_EXAMPLES' is ON, then examples will be part of the test suite
     if(${enable_test} AND DEPTHAI_TEST_EXAMPLES)
@@ -200,71 +204,114 @@ hunter_private_data(
     LOCATION normalization_model
 )
 
+# mobilnet xml model for S3 example
+hunter_private_data(
+    URL "https://download.01.org/opencv/2021/openvinotoolkit/2021.1/open_model_zoo/models_bin/1/person-detection-0202/FP32/person-detection-0202.xml"
+    SHA1 "87f9cf8833043162f1b728e9afa6f38ba177d9db"
+    FILE "person-detection-0202.xml"
+    LOCATION person_detection_xml
+)
+
+# mobilnet xml model for S3 example
+hunter_private_data(
+    URL "https://download.01.org/opencv/2021/openvinotoolkit/2021.1/open_model_zoo/models_bin/1/person-detection-0202/FP32/person-detection-0202.bin"
+    SHA1 "1560bf2ee372a0640539780ea8bd061278a6cc20"
+    FILE "person-detection-0202.bin"
+    LOCATION person_detection_bin
+)
+
+# yolo xml model for S3 example
+hunter_private_data(
+    URL "https://github.com/luxonis/depthai-model-zoo/raw/main/models/yolov4_tiny_coco_416x416/yolov4_tiny_coco_416x416.xml"
+    SHA1 "423069bdff250643cf080c76e15594cfd72cb816"
+    FILE "yolov4_tiny_coco_416x416.xml"
+    LOCATION tiny-vechicle-detection_xml
+)
+
+# yolo bin model for S3 example
+hunter_private_data(
+    URL "https://robothub.fra1.cdn.digitaloceanspaces.com/models/yolov4_tiny_coco_416x416/yolov4_tiny_coco_416x416.bin"
+    SHA1 "a7627c074ee76ceb9ff9bb8529b67867e3e440bc"
+    FILE "yolov4_tiny_coco_416x416.bin"
+    LOCATION tiny-vechicle-detection_bin
+)
+
+# yolo v5 nn archive
+hunter_private_data(
+    URL "https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/nnarchive/yolo-v6-openvino_2022.1_6shave-rvc2.tar.xz"
+    SHA1 "63a5bb29d1ca0d3b019f13d66401e634539aac82"
+    FILE "yolo-v6-openvino_2022.1_6shave-rvc2.tar.xz"
+    LOCATION nn_archive_yolo_v6_tar_xz
+)
+
 ## message(STATUS "Location of test1.data: ${test1_data}")
 
 # bootloader
-dai_add_example(bootloader_version bootloader/bootloader_version.cpp ON)
-dai_add_example(flash_bootloader bootloader/flash_bootloader.cpp OFF)
-dai_add_example(flash_user_bootloader bootloader/flash_user_bootloader.cpp OFF)
-dai_add_example(bootloader_config bootloader/bootloader_config.cpp ON read)
-dai_add_example(poe_set_ip bootloader/poe_set_ip.cpp OFF)
-dai_add_example(read_flash_memory bootloader/read_flash_memory.cpp OFF)
-dai_add_example(write_flash_memory bootloader/write_flash_memory.cpp OFF)
-dai_add_example(flash_boot_header bootloader/flash_boot_header.cpp OFF)
+dai_add_example(bootloader_version bootloader/bootloader_version.cpp ON OFF)
+dai_add_example(flash_bootloader bootloader/flash_bootloader.cpp OFF OFF)
+dai_add_example(flash_user_bootloader bootloader/flash_user_bootloader.cpp OFF OFF)
+dai_add_example(bootloader_config bootloader/bootloader_config.cpp ON OFF read)
+dai_add_example(poe_set_ip bootloader/poe_set_ip.cpp OFF OFF)
+dai_add_example(read_flash_memory bootloader/read_flash_memory.cpp OFF OFF)
+dai_add_example(write_flash_memory bootloader/write_flash_memory.cpp OFF OFF)
+dai_add_example(flash_boot_header bootloader/flash_boot_header.cpp OFF OFF)
 
 # calibration
-dai_add_example(calibration_flash calibration/calibration_flash.cpp OFF)
-dai_add_example(calibration_flash_version5 calibration/calibration_flash_v5.cpp OFF)
-dai_add_example(calibration_load calibration/calibration_load.cpp ON)
-dai_add_example(calibration_reader calibration/calibration_reader.cpp ON)
-dai_add_example(calibration_dump calibration/calibration_dump.cpp ON)
-dai_add_example(calibration_factory_reset calibration/calibration_factory_reset.cpp OFF)
+dai_add_example(calibration_flash calibration/calibration_flash.cpp OFF OFF)
+dai_add_example(calibration_flash_version5 calibration/calibration_flash_v5.cpp OFF OFF)
+dai_add_example(calibration_load calibration/calibration_load.cpp ON OFF)
+dai_add_example(calibration_reader calibration/calibration_reader.cpp ON OFF)
+dai_add_example(calibration_dump calibration/calibration_dump.cpp ON OFF)
+dai_add_example(calibration_factory_reset calibration/calibration_factory_reset.cpp OFF OFF)
 
 target_compile_definitions(calibration_flash PRIVATE CALIB_PATH="${calib_v6}")
 target_compile_definitions(calibration_flash_version5 PRIVATE CALIB_PATH="${calib_v5}" BOARD_PATH="${device_config}")
 target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
 
 # ColorCamera
-dai_add_example(rgb_camera_control ColorCamera/rgb_camera_control.cpp ON)
-dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON)
-dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON)
-dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON)
+dai_add_example(rgb_camera_control ColorCamera/rgb_camera_control.cpp ON OFF)
+dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON OFF)
+dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON OFF)
+dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON OFF)
+
+# Camera
+dai_add_example(thermal_cam Camera/thermal_cam.cpp OFF OFF)
 
 # EdgeDetector
-dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON)
+dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON OFF)
 
 # FeatureTracker
-dai_add_example(feature_detector FeatureTracker/feature_detector.cpp ON)
-dai_add_example(feature_tracker FeatureTracker/feature_tracker.cpp ON)
+dai_add_example(feature_detector FeatureTracker/feature_detector.cpp ON OFF)
+dai_add_example(feature_tracker FeatureTracker/feature_tracker.cpp ON OFF)
 
 # host_side
-dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
-dai_add_example(opencv_support host_side/opencv_support.cpp ON)
-dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
-dai_add_example(device_information host_side/device_information.cpp OFF)
-dai_add_example(device_logging host_side/device_logging.cpp OFF)
+dai_add_example(device_queue_event host_side/device_queue_event.cpp ON OFF)
+dai_add_example(opencv_support host_side/opencv_support.cpp ON OFF)
+dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON OFF)
+dai_add_example(device_information host_side/device_information.cpp OFF OFF)
+dai_add_example(device_logging host_side/device_logging.cpp OFF OFF)
 
 # ImageManip
-dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)
-dai_add_example(image_manip_rotate ImageManip/image_manip_rotate.cpp ON)
-dai_add_example(image_manip_tiling ImageManip/image_manip_tiling.cpp ON)
-dai_add_example(rgb_rotate_warp ImageManip/rgb_rotate_warp.cpp ON)
-dai_add_example(image_manip_warp_mesh ImageManip/image_manip_warp_mesh.cpp ON)
+dai_add_example(image_manip ImageManip/image_manip_example.cpp ON OFF)
+dai_add_example(image_manip_rotate ImageManip/image_manip_rotate.cpp ON OFF)
+dai_add_example(image_manip_tiling ImageManip/image_manip_tiling.cpp ON OFF)
+dai_add_example(rgb_rotate_warp ImageManip/rgb_rotate_warp.cpp ON OFF)
+dai_add_example(image_manip_warp_mesh ImageManip/image_manip_warp_mesh.cpp ON OFF)
 
 # Warp
-dai_add_example(warp_mesh Warp/warp_mesh.cpp ON)
+dai_add_example(warp_mesh Warp/warp_mesh.cpp ON OFF)
 
 # IMU
-dai_add_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.cpp ON)
-dai_add_example(imu_rotation_vector IMU/imu_rotation_vector.cpp ON)
+dai_add_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.cpp ON OFF)
+dai_add_example(imu_rotation_vector IMU/imu_rotation_vector.cpp ON OFF)
 
 # mixed
-dai_add_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.cpp ON)
-dai_add_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.cpp ON)
-dai_add_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.cpp ON)
-dai_add_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.cpp ON)
-dai_add_example(multiple_devices mixed/multiple_devices.cpp OFF)
-dai_add_example(frame_sync mixed/frame_sync.cpp ON)
+dai_add_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.cpp ON OFF)
+dai_add_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.cpp ON OFF)
+dai_add_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.cpp ON OFF)
+dai_add_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.cpp ON OFF)
+dai_add_example(multiple_devices mixed/multiple_devices.cpp OFF OFF)
+dai_add_example(frame_sync mixed/frame_sync.cpp ON OFF)
 
 target_compile_definitions(mono_depth_mobilenetssd PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(rgb_encoding_mono_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")
@@ -272,14 +319,14 @@ target_compile_definitions(rgb_encoding_mono_mobilenet_depth PRIVATE BLOB_PATH="
 target_compile_definitions(rgb_encoding_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")
 
 # MobileNet
-dai_add_example(camera_mobilenet_sync MobileNet/camera_mobilenet_sync_example.cpp ON)
-dai_add_example(rgb_mobilenet MobileNet/rgb_mobilenet.cpp  ON)
-dai_add_example(rgb_mobilenet_4k MobileNet/rgb_mobilenet_4k.cpp ON)
-dai_add_example(mono_mobilenet MobileNet/mono_mobilenet.cpp  ON)
-dai_add_example(video_mobilenet MobileNet/video_mobilenet.cpp ON)
+dai_add_example(camera_mobilenet_sync MobileNet/camera_mobilenet_sync_example.cpp ON OFF)
+dai_add_example(rgb_mobilenet MobileNet/rgb_mobilenet.cpp  ON OFF)
+dai_add_example(rgb_mobilenet_4k MobileNet/rgb_mobilenet_4k.cpp ON OFF)
+dai_add_example(mono_mobilenet MobileNet/mono_mobilenet.cpp  ON OFF)
+dai_add_example(video_mobilenet MobileNet/video_mobilenet.cpp ON OFF)
 # Usually not available - removed from tests
 # TODO - add to a separate group if possible
-dai_add_example(webcam_mobilenet MobileNet/webcam_mobilenet_example.cpp OFF)
+dai_add_example(webcam_mobilenet MobileNet/webcam_mobilenet_example.cpp OFF OFF)
 
 target_compile_definitions(camera_mobilenet_sync PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(rgb_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}"  ON)
@@ -289,47 +336,47 @@ target_compile_definitions(video_mobilenet PRIVATE BLOB_PATH="${mobilenet_8shave
 target_compile_definitions(webcam_mobilenet PRIVATE BLOB_PATH="${mobilenet_8shaves_blob}")
 
 # MonoCamera
-dai_add_example(mono_camera_control MonoCamera/mono_camera_control.cpp ON)
-dai_add_example(mono_preview MonoCamera/mono_preview.cpp  ON)
-dai_add_example(mono_full_resolution_saver MonoCamera/mono_full_resolution_saver.cpp  ON)
+dai_add_example(mono_camera_control MonoCamera/mono_camera_control.cpp ON OFF)
+dai_add_example(mono_preview MonoCamera/mono_preview.cpp  ON OFF)
+dai_add_example(mono_full_resolution_saver MonoCamera/mono_full_resolution_saver.cpp  ON OFF)
 
 # NeuralNetwork
-dai_add_example(concatenate NeuralNetwork/concat_multi_input.cpp ON)
-dai_add_example(normalize NeuralNetwork/normalization_multi_input.cpp ON)
+dai_add_example(concatenate NeuralNetwork/concat_multi_input.cpp ON OFF)
+dai_add_example(normalize NeuralNetwork/normalization_multi_input.cpp ON OFF)
 
 target_compile_definitions(concatenate PRIVATE BLOB_PATH="${concat_model}")
 target_compile_definitions(normalize PRIVATE BLOB_PATH="${normalization_model}")
 
 # ObjectTracker
-dai_add_example(object_tracker ObjectTracker/object_tracker.cpp ON)
-dai_add_example(spatial_object_tracker ObjectTracker/spatial_object_tracker.cpp ON)
-dai_add_example(object_tracker_video ObjectTracker/object_tracker_video.cpp ON)
+dai_add_example(object_tracker ObjectTracker/object_tracker.cpp ON OFF)
+dai_add_example(spatial_object_tracker ObjectTracker/spatial_object_tracker.cpp ON OFF)
+dai_add_example(object_tracker_video ObjectTracker/object_tracker_video.cpp ON OFF)
 
 target_compile_definitions(object_tracker PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(spatial_object_tracker PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
 target_compile_definitions(object_tracker_video PRIVATE BLOB_PATH="${person_detection}" VIDEO_PATH="${construction_vest}")
 
 # Script
-dai_add_example(script_camera_control Script/script_camera_control.cpp ON)
-dai_add_example(script_forward_frames Script/script_forward_frames.cpp ON)
-dai_add_example(script_get_ip Script/script_get_ip.cpp OFF)
-dai_add_example(script_http_client Script/script_http_client.cpp OFF)
-dai_add_example(script_http_server Script/script_http_server.cpp OFF)
-dai_add_example(script_mjpeg_server Script/script_mjpeg_server.cpp OFF)
-dai_add_example(script_nndata_example Script/script_nndata_example.cpp ON)
-dai_add_example(script_json_communication Script/script_json_communication.cpp ON)
-dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF)
+dai_add_example(script_camera_control Script/script_camera_control.cpp ON OFF)
+dai_add_example(script_forward_frames Script/script_forward_frames.cpp ON OFF)
+dai_add_example(script_get_ip Script/script_get_ip.cpp OFF OFF)
+dai_add_example(script_http_client Script/script_http_client.cpp OFF OFF)
+dai_add_example(script_http_server Script/script_http_server.cpp OFF OFF)
+dai_add_example(script_mjpeg_server Script/script_mjpeg_server.cpp OFF OFF)
+dai_add_example(script_nndata_example Script/script_nndata_example.cpp ON OFF)
+dai_add_example(script_json_communication Script/script_json_communication.cpp ON OFF)
+dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF OFF)
 target_compile_definitions(script_change_pipeline_flow PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
-dai_add_example(script_get_device_info Script/script_get_device_info.cpp ON)
-dai_add_example(script_read_calibration Script/script_read_calibration.cpp ON)
+dai_add_example(script_get_device_info Script/script_get_device_info.cpp ON OFF)
+dai_add_example(script_read_calibration Script/script_read_calibration.cpp ON OFF)
 
 # SpatialDetection
-dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON)
-dai_add_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.cpp ON)
-dai_add_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.cpp ON)
-dai_add_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.cpp ON)
-dai_add_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.cpp ON)
-dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp OFF)
+dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON OFF)
+dai_add_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.cpp ON OFF)
+dai_add_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.cpp ON OFF)
+dai_add_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.cpp ON OFF)
+dai_add_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.cpp ON OFF)
+dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp OFF OFF)
 
 target_compile_definitions(spatial_mobilenet_mono PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(spatial_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")
@@ -337,41 +384,72 @@ target_compile_definitions(spatial_tiny_yolo_v3 PRIVATE BLOB_PATH="${tiny_yolo_v
 target_compile_definitions(spatial_tiny_yolo_v4 PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")
 
 # StereoDepth
-dai_add_example(depth_crop_control StereoDepth/depth_crop_control.cpp ON)
-dai_add_example(depth_preview StereoDepth/depth_preview.cpp  ON)
-dai_add_example(depth_post_processing StereoDepth/depth_post_processing.cpp  ON)
-dai_add_example(rgb_depth_aligned StereoDepth/rgb_depth_aligned.cpp ON)
-dai_add_example(rgb_depth_confidence_aligned StereoDepth/rgb_depth_confidence_aligned.cpp ON)
-dai_add_example(stereo_depth_video StereoDepth/stereo_depth_video.cpp ON)
+dai_add_example(depth_crop_control StereoDepth/depth_crop_control.cpp ON OFF)
+dai_add_example(depth_preview StereoDepth/depth_preview.cpp  ON OFF)
+dai_add_example(depth_post_processing StereoDepth/depth_post_processing.cpp  ON OFF)
+dai_add_example(rgb_depth_aligned StereoDepth/rgb_depth_aligned.cpp ON OFF)
+dai_add_example(rgb_depth_confidence_aligned StereoDepth/rgb_depth_confidence_aligned.cpp ON OFF)
+dai_add_example(stereo_depth_video StereoDepth/stereo_depth_video.cpp ON OFF)
 
 # SystemLogger
-dai_add_example(system_information SystemLogger/system_information.cpp ON)
+dai_add_example(system_information SystemLogger/system_information.cpp ON OFF)
 
 # VideoEncoder
-dai_add_example(disparity_encoding VideoEncoder/disparity_encoding.cpp  ON)
-dai_add_example(rgb_encoding VideoEncoder/rgb_encoding.cpp  ON)
-dai_add_example(rgb_full_resolution_saver VideoEncoder/rgb_full_resolution_saver.cpp  ON)
-dai_add_example(rgb_mono_encoding VideoEncoder/rgb_mono_encoding.cpp  ON)
-dai_add_example(encoding_max_limit VideoEncoder/encoding_max_limit.cpp ON)
-dai_add_example(mjpeg_encoding VideoEncoder/mjpeg_encoding_example.cpp ON)
+dai_add_example(disparity_encoding VideoEncoder/disparity_encoding.cpp  ON OFF)
+dai_add_example(rgb_encoding VideoEncoder/rgb_encoding.cpp  ON OFF)
+dai_add_example(rgb_full_resolution_saver VideoEncoder/rgb_full_resolution_saver.cpp  ON OFF)
+dai_add_example(rgb_mono_encoding VideoEncoder/rgb_mono_encoding.cpp  ON OFF)
+dai_add_example(encoding_max_limit VideoEncoder/encoding_max_limit.cpp ON OFF)
+dai_add_example(mjpeg_encoding VideoEncoder/mjpeg_encoding_example.cpp ON OFF)
 
 # Yolo
-dai_add_example(tiny_yolo_v4_device_side_decoding Yolo/tiny_yolo.cpp ON)
-dai_add_example(tiny_yolo_v3_device_side_decoding Yolo/tiny_yolo.cpp  ON)
+dai_add_example(tiny_yolo_v4_device_side_decoding Yolo/tiny_yolo.cpp ON OFF)
+dai_add_example(tiny_yolo_v3_device_side_decoding Yolo/tiny_yolo.cpp  ON OFF)
 target_compile_definitions(tiny_yolo_v4_device_side_decoding PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")
 target_compile_definitions(tiny_yolo_v3_device_side_decoding PRIVATE BLOB_PATH="${tiny_yolo_v3_blob}")
-dai_add_example(apriltag AprilTag/apriltag.cpp ON)
-dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON)
+dai_add_example(apriltag AprilTag/apriltag.cpp ON OFF)
+dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON OFF)
 
 # DetectionParser
-dai_add_example(detection_parser NeuralNetwork/detection_parser.cpp ON)
+dai_add_example(detection_parser NeuralNetwork/detection_parser.cpp ON OFF)
 target_compile_definitions(detection_parser PRIVATE BLOB_PATH="${mobilenet_blob}")
 
+# Host pipeline
+dai_add_example(host_pipeline host_side/host_pipeline.cpp ON OFF)
+dai_add_example(host_pipeline_opencv host_side/host_pipeline_opencv.cpp ON OFF)
+
+# TMP
+dai_add_example(tmp_preview tmp/tmp_preview.cpp OFF OFF)
+
+dai_add_example(tmp_nn tmp/tmp_nn.cpp OFF OFF)
+dai_add_example(tmp_detection_parser_mobilenet tmp/tmp_detection_parser_mobilenet.cpp OFF OFF)
+dai_add_example(tmp_detection_parser_yolo tmp/tmp_detection_parser_yolo.cpp OFF OFF)
+dai_add_example(tmp_system_logger tmp/tmp_system_logger.cpp OFF OFF)
+target_compile_definitions(tmp_nn PRIVATE MODEL_XML_PATH="${person_detection_xml}" MODEL_BIN_PATH="${person_detection_bin}")
+target_compile_definitions(tmp_detection_parser_mobilenet PRIVATE MODEL_XML_PATH="${person_detection_xml}" MODEL_BIN_PATH="${person_detection_bin}")
+target_compile_definitions(tmp_detection_parser_yolo PRIVATE MODEL_XML_PATH="${tiny-vechicle-detection_xml}" MODEL_BIN_PATH="${tiny-vechicle-detection_bin}")
+
+dai_add_example(tmp_mono tmp/tmp_mono.cpp OFF OFF)
 # DetectionParser
-dai_add_example(crash_report CrashReport/crash_report.cpp OFF)
+dai_add_example(crash_report CrashReport/crash_report.cpp OFF OFF)
+
+# NN Archive
+dai_add_example(nn_archive_fs_yolo_v6 NNArchive/nn_archive.cpp ON OFF)
+target_compile_definitions(nn_archive_fs_yolo_v6 PRIVATE CPPHTTPLIB_OPENSSL_SUPPORT=1 EXAMPLE_TYPE="fs" NN_ARCHIVE_PATH="${nn_archive_yolo_v6_tar_xz}" URL_BASE="https://artifacts.luxonis.com")
+target_link_libraries(nn_archive_fs_yolo_v6 PRIVATE ssl crypto)
+dai_add_example(nn_archive_memory_yolo_v6 NNArchive/nn_archive.cpp ON OFF)
+target_compile_definitions(nn_archive_memory_yolo_v6 PRIVATE CPPHTTPLIB_OPENSSL_SUPPORT=1 EXAMPLE_TYPE="memory" NN_ARCHIVE_PATH="${nn_archive_yolo_v6_tar_xz}" URL_BASE="https://artifacts.luxonis.com")
+target_link_libraries(nn_archive_memory_yolo_v6 PRIVATE ssl crypto)
+dai_add_example(nn_archive_advanced_yolo_v6 NNArchive/nn_archive.cpp ON OFF)
+target_compile_definitions(nn_archive_advanced_yolo_v6 PRIVATE CPPHTTPLIB_OPENSSL_SUPPORT=1 EXAMPLE_TYPE="advanced" NN_ARCHIVE_PATH="${nn_archive_yolo_v6_tar_xz}" URL_BASE="https://artifacts.luxonis.com")
+target_link_libraries(nn_archive_advanced_yolo_v6 PRIVATE ssl crypto)
 
 # Sync
-dai_add_example(sync_scripts Sync/sync_scripts.cpp ON)
-dai_add_example(demux_message_group Sync/demux_message_group.cpp ON)
-dai_add_example(depth_video_synced Sync/depth_video_synced.cpp ON)
-dai_add_example(imu_video_synced Sync/imu_video_synced.cpp ON)
+dai_add_example(sync_scripts Sync/sync_scripts.cpp ON OFF)
+dai_add_example(demux_message_group Sync/demux_message_group.cpp ON OFF)
+dai_add_example(depth_video_synced Sync/depth_video_synced.cpp ON OFF)
+dai_add_example(imu_video_synced Sync/imu_video_synced.cpp ON OFF)
+
+if(DEPTHAI_HAVE_PCL_SUPPORT)
+    dai_add_example(visualize_pointcloud PointCloud/visualize_pointcloud.cpp ON ON)
+endif()
diff --git a/examples/Camera/thermal_cam.cpp b/examples/Camera/thermal_cam.cpp
new file mode 100644
index 000000000..8178655e8
--- /dev/null
+++ b/examples/Camera/thermal_cam.cpp
@@ -0,0 +1,102 @@
+/*
+    Thermal camera example.
+    Streams temperature and thermal image from thermal sensor and displays them.
+*/
+#include <algorithm>
+#include <cstdio>
+
+#include "depthai/depthai.hpp"
+
+volatile int mouseX, mouseY = 0;
+void mouseCallback(int event, int x, int y, int flags, void* userdata) {
+    mouseX = x;
+    mouseY = y;
+}
+
+const cv::Scalar WHITE(255, 255, 255);
+
+int main() {
+    dai::Device d;
+    dai::Pipeline pipeline;
+    auto thermal = pipeline.create<dai::node::Camera>();
+    // Find the sensor width, height.
+    int width, height;
+    bool thermal_found = false;
+    for (auto &features : d.getConnectedCameraFeatures()) {
+        if (std::find_if(features.supportedTypes.begin(), features.supportedTypes.end(), [](const dai::CameraSensorType &type) {
+            return type == dai::CameraSensorType::THERMAL;
+        }) != features.supportedTypes.end()) {
+            thermal->setBoardSocket(features.socket); // Thermal will always be on CAM_E
+            width = features.width;
+            height = features.height;
+            thermal_found = true;
+        }
+    }
+    if (!thermal_found) {
+        throw std::runtime_error("Thermal camera not found!");
+    }
+    thermal->setPreviewSize(width, height);
+    auto xlink = pipeline.create<dai::node::XLinkOut>();
+    auto xlinkRaw = pipeline.create<dai::node::XLinkOut>();
+    // Output preview,video, isp: RGB or NV12 or YUV420 thermal image.
+    thermal->preview.link(xlink->input);
+    // Output raw: FP16 temperature data (degrees Celsius)
+    thermal->raw.link(xlinkRaw->input);
+
+    xlinkRaw->setStreamName("thermal_raw");
+    xlink->setStreamName("thermal");
+    d.startPipeline(pipeline);
+    auto q = d.getOutputQueue("thermal", 2, false);
+    auto qRaw = d.getOutputQueue("thermal_raw", 2, false);
+
+    const char* tempWindow = "temperature";
+    const char* imageWindow = "image";
+    cv::namedWindow(tempWindow, cv::WINDOW_NORMAL);
+    cv::setMouseCallback(tempWindow, mouseCallback);
+    cv::namedWindow(imageWindow, cv::WINDOW_NORMAL);
+    cv::setMouseCallback(imageWindow, mouseCallback);
+    // Scale 4x and position one next to another
+    cv::moveWindow(tempWindow, 0, 0);
+    cv::resizeWindow(tempWindow, width * 4, height * 4);
+    cv::moveWindow(imageWindow, width * 4, 0);
+    cv::resizeWindow(imageWindow, width * 4, height * 4);
+    while(true) {
+        auto temp = qRaw->tryGet<dai::ImgFrame>();
+        if(temp) {
+            auto frame = temp->getCvFrame();
+            // Retrieve one point of fp16 data
+            cv::Mat frameFp32(temp->getHeight(), temp->getWidth(), CV_32F);
+            frame.convertTo(frameFp32, CV_32F);
+            cv::Mat normalized;
+            cv::normalize(frameFp32, normalized, 0, 255, cv::NORM_MINMAX, CV_8UC1);
+            cv::Mat colormapped(temp->getHeight(), temp->getWidth(), CV_8UC3);
+            cv::applyColorMap(normalized, colormapped, cv::COLORMAP_MAGMA);
+            if(mouseX < 0 || mouseY < 0 || mouseX >= colormapped.cols || mouseY >= colormapped.rows) {
+                mouseX = std::max(0, std::min(static_cast<int>(mouseX), colormapped.cols - 1));
+                mouseY = std::max(0, std::min(static_cast<int>(mouseY), colormapped.rows - 1));
+            }
+            double min, max;
+            cv::minMaxLoc(frameFp32, &min, &max);
+            auto textColor = WHITE;
+            // Draw crosshair
+            cv::line(colormapped, cv::Point(mouseX - 10, mouseY), cv::Point(mouseX + 10, mouseY), textColor, 1);
+            cv::line(colormapped, cv::Point(mouseX, mouseY - 10), cv::Point(mouseX, mouseY + 10), textColor, 1);
+            // Draw deg C
+            char text[32];
+            snprintf(text, sizeof(text), "%.1f deg C", frameFp32.at<float>(mouseY, mouseX));
+            bool putTextLeft = mouseX > colormapped.cols / 2;
+            cv::putText(colormapped, text, cv::Point(putTextLeft ? mouseX - 100 : mouseX + 10, mouseY - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, textColor, 1);
+            cv::imshow(tempWindow, colormapped);
+        }
+        auto image = q->tryGet<dai::ImgFrame>();
+        if(image) {
+            cv::imshow(imageWindow, image->getCvFrame());
+        }
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            break;
+        }
+    }
+
+    return 0;
+}
diff --git a/examples/ColorCamera/rgb_camera_control.cpp b/examples/ColorCamera/rgb_camera_control.cpp
index 756e42f1b..1171115bd 100644
--- a/examples/ColorCamera/rgb_camera_control.cpp
+++ b/examples/ColorCamera/rgb_camera_control.cpp
@@ -114,14 +114,15 @@ int main() {
         auto videoFrames = videoQueue->tryGetAll<dai::ImgFrame>();
         for(const auto& videoFrame : videoFrames) {
             // Decode JPEG
-            auto frame = cv::imdecode(videoFrame->getData(), cv::IMREAD_UNCHANGED);
+            std::vector<uint8_t> vecData(videoFrame->getData().begin(), videoFrame->getData().end());
+            auto frame = cv::imdecode(vecData, cv::IMREAD_UNCHANGED);
             // Display
             cv::imshow("video", frame);
 
             // Send new cfg to camera
             if(sendCamConfig) {
-                dai::ImageManipConfig cfg;
-                cfg.setCropRect(cropX, cropY, 0, 0);
+                auto cfg = std::make_shared<dai::ImageManipConfig>();
+                cfg->setCropRect(cropX, cropY, 0, 0);
                 configQueue->send(cfg);
                 printf("Sending new crop - x: %f, y: %f\n", cropX, cropY);
                 sendCamConfig = false;
@@ -131,7 +132,8 @@ int main() {
         auto stillFrames = stillQueue->tryGetAll<dai::ImgFrame>();
         for(const auto& stillFrame : stillFrames) {
             // Decode JPEG
-            auto frame = cv::imdecode(stillFrame->getData(), cv::IMREAD_UNCHANGED);
+            std::vector<uint8_t> vecData(stillFrame->getData().begin(), stillFrame->getData().end());
+            auto frame = cv::imdecode(vecData, cv::IMREAD_UNCHANGED);
             // Display
             cv::imshow("still", frame);
         }
@@ -141,37 +143,37 @@ int main() {
         if(key == 'q') {
             break;
         } else if(key == 'c') {
-            dai::CameraControl ctrl;
-            ctrl.setCaptureStill(true);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setCaptureStill(true);
             controlQueue->send(ctrl);
         } else if(key == 't') {
             printf("Autofocus trigger (and disable continuous)\n");
-            dai::CameraControl ctrl;
-            ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::AUTO);
-            ctrl.setAutoFocusTrigger();
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setAutoFocusMode(dai::CameraControl::AutoFocusMode::AUTO);
+            ctrl->setAutoFocusTrigger();
             controlQueue->send(ctrl);
         } else if(key == 'f') {
             printf("Autofocus enable, continuous\n");
-            dai::CameraControl ctrl;
-            ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::CONTINUOUS_VIDEO);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setAutoFocusMode(dai::CameraControl::AutoFocusMode::CONTINUOUS_VIDEO);
             controlQueue->send(ctrl);
         } else if(key == 'e') {
             printf("Autoexposure enable\n");
-            dai::CameraControl ctrl;
-            ctrl.setAutoExposureEnable();
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setAutoExposureEnable();
             controlQueue->send(ctrl);
         } else if(key == 'b') {
             printf("Auto white-balance enable\n");
-            dai::CameraControl ctrl;
-            ctrl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::AUTO);
             controlQueue->send(ctrl);
         } else if(key == ',' || key == '.') {
             if(key == ',') lensPos -= LENS_STEP;
             if(key == '.') lensPos += LENS_STEP;
             lensPos = clamp(lensPos, lensMin, lensMax);
             printf("Setting manual focus, lens position: %d\n", lensPos);
-            dai::CameraControl ctrl;
-            ctrl.setManualFocus(lensPos);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setManualFocus(lensPos);
             controlQueue->send(ctrl);
         } else if(key == 'i' || key == 'o' || key == 'k' || key == 'l') {
             if(key == 'i') expTime -= EXP_STEP;
@@ -181,16 +183,16 @@ int main() {
             expTime = clamp(expTime, expMin, expMax);
             sensIso = clamp(sensIso, sensMin, sensMax);
             printf("Setting manual exposure, time: %d, iso: %d\n", expTime, sensIso);
-            dai::CameraControl ctrl;
-            ctrl.setManualExposure(expTime, sensIso);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setManualExposure(expTime, sensIso);
             controlQueue->send(ctrl);
         } else if(key == '[' || key == ']') {
             if(key == '[') wbManual -= WB_STEP;
             if(key == ']') wbManual += WB_STEP;
             wbManual = clamp(wbManual, wbMin, wbMax);
             printf("Setting manual white balance, temperature: %d K\n", wbManual);
-            dai::CameraControl ctrl;
-            ctrl.setManualWhiteBalance(wbManual);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setManualWhiteBalance(wbManual);
             controlQueue->send(ctrl);
         } else if(key == 'w' || key == 'a' || key == 's' || key == 'd') {
             if(key == 'a') {
diff --git a/examples/EdgeDetector/edge_detector.cpp b/examples/EdgeDetector/edge_detector.cpp
index 9ffd01e47..1d4d8a29d 100644
--- a/examples/EdgeDetector/edge_detector.cpp
+++ b/examples/EdgeDetector/edge_detector.cpp
@@ -90,19 +90,19 @@ int main() {
 
             case '1': {
                 std::cout << "Switching sobel filter kernel." << std::endl;
-                dai::EdgeDetectorConfig cfg;
+                auto cfg = std::make_shared<dai::EdgeDetectorConfig>();
                 std::vector<std::vector<int>> sobelHorizontalKernel = {{1, 0, -1}, {2, 0, -2}, {1, 0, -1}};
                 std::vector<std::vector<int>> sobelVerticalKernel = {{1, 2, 1}, {0, 0, 0}, {-1, -2, -1}};
-                cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
+                cfg->setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
                 edgeCfgQueue->send(cfg);
             } break;
 
             case '2': {
                 std::cout << "Switching sobel filter kernel." << std::endl;
-                dai::EdgeDetectorConfig cfg;
+                auto cfg = std::make_shared<dai::EdgeDetectorConfig>();
                 std::vector<std::vector<int>> sobelHorizontalKernel = {{3, 0, -3}, {10, 0, -10}, {3, 0, -3}};
                 std::vector<std::vector<int>> sobelVerticalKernel = {{3, 10, 3}, {0, 0, 0}, {-3, -10, -3}};
-                cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
+                cfg->setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel);
                 edgeCfgQueue->send(cfg);
             } break;
 
diff --git a/examples/FeatureTracker/feature_detector.cpp b/examples/FeatureTracker/feature_detector.cpp
index 9755dea6c..21b0b5575 100644
--- a/examples/FeatureTracker/feature_detector.cpp
+++ b/examples/FeatureTracker/feature_detector.cpp
@@ -59,7 +59,7 @@ int main() {
     featureTrackerRight->outputFeatures.link(xoutTrackedFeaturesRight->input);
     xinTrackedFeaturesConfig->out.link(featureTrackerRight->inputConfig);
 
-    auto featureTrackerConfig = featureTrackerRight->initialConfig.get();
+    auto featureTrackerConfig = featureTrackerRight->initialConfig;
 
     printf("Press 's' to switch between Harris and Shi-Thomasi corner detector! \n");
 
@@ -109,8 +109,8 @@ int main() {
                 featureTrackerConfig.cornerDetector.type = dai::FeatureTrackerConfig::CornerDetector::Type::HARRIS;
                 printf("Switching to Harris \n");
             }
-            auto cfg = dai::FeatureTrackerConfig();
-            cfg.set(featureTrackerConfig);
+            auto cfg = std::make_shared<dai::FeatureTrackerConfig>();
+            *cfg = featureTrackerConfig;
             inputFeatureTrackerConfigQueue->send(cfg);
         }
     }
diff --git a/examples/FeatureTracker/feature_tracker.cpp b/examples/FeatureTracker/feature_tracker.cpp
index e7b688158..e9077163c 100644
--- a/examples/FeatureTracker/feature_tracker.cpp
+++ b/examples/FeatureTracker/feature_tracker.cpp
@@ -2,6 +2,7 @@
 
 // Includes common necessary includes for development using depthai library
 #include "depthai/depthai.hpp"
+#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
 #include "deque"
 #include "unordered_map"
 #include "unordered_set"
@@ -128,7 +129,7 @@ int main() {
     featureTrackerLeft->setHardwareResources(numShaves, numMemorySlices);
     featureTrackerRight->setHardwareResources(numShaves, numMemorySlices);
 
-    auto featureTrackerConfig = featureTrackerRight->initialConfig.get();
+    auto featureTrackerConfig = std::make_shared<dai::FeatureTrackerConfig>(featureTrackerRight->initialConfig);
 
     printf("Press 's' to switch between Lucas-Kanade optical flow and hardware accelerated motion estimation! \n");
 
@@ -176,16 +177,14 @@ int main() {
         if(key == 'q') {
             break;
         } else if(key == 's') {
-            if(featureTrackerConfig.motionEstimator.type == dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW) {
-                featureTrackerConfig.motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::HW_MOTION_ESTIMATION;
+            if(featureTrackerConfig->motionEstimator.type == dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW) {
+                featureTrackerConfig->motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::HW_MOTION_ESTIMATION;
                 printf("Switching to hardware accelerated motion estimation \n");
             } else {
-                featureTrackerConfig.motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
+                featureTrackerConfig->motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
                 printf("Switching to Lucas-Kanade optical flow \n");
             }
-            auto cfg = dai::FeatureTrackerConfig();
-            cfg.set(featureTrackerConfig);
-            inputFeatureTrackerConfigQueue->send(cfg);
+            inputFeatureTrackerConfigQueue->send(featureTrackerConfig);
         }
     }
     return 0;
diff --git a/examples/ImageManip/image_manip_example.cpp b/examples/ImageManip/image_manip_example.cpp
index 699b19ed7..e4e9b03b4 100644
--- a/examples/ImageManip/image_manip_example.cpp
+++ b/examples/ImageManip/image_manip_example.cpp
@@ -67,8 +67,8 @@ int main() {
             xmax = 0.2f;
         }
 
-        dai::ImageManipConfig cfg;
-        cfg.setCropRect(xmin, 0.1f, xmax, 0.3f);
+        auto cfg = std::make_shared<dai::ImageManipConfig>();
+        cfg->setCropRect(xmin, 0.1f, xmax, 0.3f);
         manip2InQueue->send(cfg);
 
         // Gets both image frames
@@ -76,14 +76,10 @@ int main() {
         auto manip = manipQueue->get<dai::ImgFrame>();
         auto manip2 = manipQueue2->get<dai::ImgFrame>();
 
-        auto matPreview = toMat(preview->getData(), preview->getWidth(), preview->getHeight(), 3, 1);
-        auto matManip = toMat(manip->getData(), manip->getWidth(), manip->getHeight(), 3, 1);
-        auto matManip2 = toMat(manip2->getData(), manip2->getWidth(), manip2->getHeight(), 3, 1);
-
         // Display both
-        cv::imshow("preview", matPreview);
-        cv::imshow("manip", matManip);
-        cv::imshow("manip2", matManip2);
+        cv::imshow("preview", preview->getCvFrame());
+        cv::imshow("manip", manip->getCvFrame());
+        cv::imshow("manip2", manip2->getCvFrame());
 
         int key = cv::waitKey(1);
         if(key == 'q') {
diff --git a/examples/ImageManip/rgb_rotate_warp.cpp b/examples/ImageManip/rgb_rotate_warp.cpp
index 561212a33..793720cea 100644
--- a/examples/ImageManip/rgb_rotate_warp.cpp
+++ b/examples/ImageManip/rgb_rotate_warp.cpp
@@ -139,28 +139,28 @@ int main() {
 
         // Send an updated config with continuous rotate, or after a key press
         if(key >= 0 || (!testFourPt && std::abs(rotateRate) > 0.0001)) {
-            dai::ImageManipConfig cfg;
+            auto cfg = std::make_shared<dai::ImageManipConfig>();
             if(testFourPt) {
-                cfg.setWarpTransformFourPoints(warpList[warpIdx].points, warpList[warpIdx].normalizedCoords);
+                cfg->setWarpTransformFourPoints(warpList[warpIdx].points, warpList[warpIdx].normalizedCoords);
             } else {
                 angleDeg += rotateRate;
                 dai::RotatedRect rr = {{320, 240},  // center
                                        {640, 480},  //{400, 400}, // size
                                        angleDeg};
-                cfg.setCropRotatedRect(rr, false);
+                cfg->setCropRotatedRect(rr, false);
             }
             if(resizeFactor > 0) {
-                cfg.setResize(resizeX, resizeY);
+                cfg->setResize(resizeX, resizeY);
             }
-            // cfg.setWarpBorderFillColor(255, 0, 0);
-            // cfg.setWarpBorderReplicatePixels();
+            // cfg->setWarpBorderFillColor(255, 0, 0);
+            // cfg->setWarpBorderReplicatePixels();
             qManipCfg->send(cfg);
         }
 
         for(const auto& q : frameQueues) {
             auto img = q->get<dai::ImgFrame>();
-            auto mat = toMat(img->getData(), img->getWidth(), img->getHeight(), 3, 1);
-            cv::imshow(q->getName(), mat);
+            // auto mat = toMat(img->getData(), img->getWidth(), img->getHeight(), 3, 1);
+            cv::imshow(q->getName(), img->getCvFrame());
         }
         key = cv::waitKey(1);
     }
diff --git a/examples/MobileNet/camera_mobilenet_sync_example.cpp b/examples/MobileNet/camera_mobilenet_sync_example.cpp
index 6a1e8c622..233bff6b0 100644
--- a/examples/MobileNet/camera_mobilenet_sync_example.cpp
+++ b/examples/MobileNet/camera_mobilenet_sync_example.cpp
@@ -90,7 +90,7 @@ int main(int argc, char** argv) {
                 camFps++;
 
                 // process
-                cv::Mat frame = toMat(preview->getData(), preview->getWidth(), preview->getHeight(), 3, 1);
+                cv::Mat frame = preview->getCvFrame();
 
                 // Draw all detections
                 for(const auto& d : prevResult->detections) {
diff --git a/examples/MobileNet/video_mobilenet.cpp b/examples/MobileNet/video_mobilenet.cpp
index cc8f0b2c1..98ef37091 100644
--- a/examples/MobileNet/video_mobilenet.cpp
+++ b/examples/MobileNet/video_mobilenet.cpp
@@ -98,7 +98,9 @@ int main(int argc, char** argv) {
 
         auto img = std::make_shared<dai::ImgFrame>();
         frame = resizeKeepAspectRatio(frame, cv::Size(300, 300), cv::Scalar(0));
-        toPlanar(frame, img->getData());
+        std::vector<uint8_t> frameData;
+        toPlanar(frame, frameData);
+        img->setData(frameData);
         img->setTimestamp(steady_clock::now());
         img->setWidth(300);
         img->setHeight(300);
diff --git a/examples/MobileNet/webcam_mobilenet_example.cpp b/examples/MobileNet/webcam_mobilenet_example.cpp
index 7e9107a2e..899ceb6ee 100644
--- a/examples/MobileNet/webcam_mobilenet_example.cpp
+++ b/examples/MobileNet/webcam_mobilenet_example.cpp
@@ -57,7 +57,7 @@ int main(int argc, char** argv) {
 
     while(true) {
         // data to send further
-        auto tensor = std::make_shared<dai::RawBuffer>();
+        auto tensor = std::make_shared<dai::Buffer>();
 
         // Read frame from webcam
         webcam >> frame;
@@ -66,7 +66,9 @@ int main(int argc, char** argv) {
         frame = resizeKeepAspectRatio(frame, cv::Size(300, 300), cv::Scalar(0));
 
         // transform to BGR planar 300x300
-        toPlanar(frame, tensor->data);
+        std::vector<uint8_t> data;
+        toPlanar(frame, data);
+        tensor->setData(data);
 
         // tensor->data = std::vector<std::uint8_t>(frame.data, frame.data + frame.total());
         in->send(tensor);
@@ -83,7 +85,7 @@ int main(int argc, char** argv) {
         vector<Detection> dets;
 
         auto det = detections->get<dai::NNData>();
-        std::vector<float> detData = det->getFirstLayerFp16();
+        auto detData = det->getFirstTensor<float>();
         if(detData.size() > 0) {
             int i = 0;
             while(detData[i * 7] != -1.0f) {
diff --git a/examples/MonoCamera/mono_camera_control.cpp b/examples/MonoCamera/mono_camera_control.cpp
index 8c6e4377f..e4a484abc 100644
--- a/examples/MonoCamera/mono_camera_control.cpp
+++ b/examples/MonoCamera/mono_camera_control.cpp
@@ -11,6 +11,7 @@
 
 // Includes common necessary includes for development using depthai library
 #include "depthai/depthai.hpp"
+#include "depthai/pipeline/datatype/ImageManipConfig.hpp"
 
 // Step size ('W','A','S','D' controls)
 static constexpr float stepSize = 0.02f;
@@ -97,8 +98,8 @@ int main() {
             break;
         } else if(key == 'e') {
             printf("Autoexposure enable\n");
-            dai::CameraControl ctrl;
-            ctrl.setAutoExposureEnable();
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setAutoExposureEnable();
             controlQueue->send(ctrl);
         } else if(key == 'i' || key == 'o' || key == 'k' || key == 'l') {
             if(key == 'i') exp_time -= EXP_STEP;
@@ -108,8 +109,8 @@ int main() {
             exp_time = clamp(exp_time, exp_min, exp_max);
             sens_iso = clamp(sens_iso, sens_min, sens_max);
             printf("Setting manual exposure, time: %d, iso: %d\n", exp_time, sens_iso);
-            dai::CameraControl ctrl;
-            ctrl.setManualExposure(exp_time, sens_iso);
+            auto ctrl = std::make_shared<dai::CameraControl>();
+            ctrl->setManualExposure(exp_time, sens_iso);
             controlQueue->send(ctrl);
         } else if(key == 'w') {
             if(topLeft.y - stepSize >= 0) {
@@ -139,8 +140,8 @@ int main() {
 
         // Send new config to camera
         if(sendCamConfig) {
-            dai::ImageManipConfig cfg;
-            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
+            auto cfg = std::make_shared<dai::ImageManipConfig>();
+            cfg->setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
             configQueue->send(cfg);
             sendCamConfig = false;
         }
diff --git a/examples/NNArchive/nn_archive.cpp b/examples/NNArchive/nn_archive.cpp
new file mode 100644
index 000000000..8a1fcecfe
--- /dev/null
+++ b/examples/NNArchive/nn_archive.cpp
@@ -0,0 +1,291 @@
+#include <chrono>
+#include <iostream>
+
+// libraries
+// You need to have libssl and libcrypto installed to run / build this example
+// see #define CPPHTTPLIB_OPENSSL_SUPPORT documentation here: https://github.com/yhirose/cpp-httplib
+#include "httplib.h"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+/*
+The code is the same as for Tiny-yolo-V3, the only difference is the blob file.
+The blob was compiled following this tutorial: https://github.com/TNTWEN/OpenVINO-YOLOV4
+*/
+
+static const std::vector<std::string> labelMap = {
+    "person",        "bicycle",      "car",           "motorbike",     "aeroplane",   "bus",         "train",       "truck",        "boat",
+    "traffic light", "fire hydrant", "stop sign",     "parking meter", "bench",       "bird",        "cat",         "dog",          "horse",
+    "sheep",         "cow",          "elephant",      "bear",          "zebra",       "giraffe",     "backpack",    "umbrella",     "handbag",
+    "tie",           "suitcase",     "frisbee",       "skis",          "snowboard",   "sports ball", "kite",        "baseball bat", "baseball glove",
+    "skateboard",    "surfboard",    "tennis racket", "bottle",        "wine glass",  "cup",         "fork",        "knife",        "spoon",
+    "bowl",          "banana",       "apple",         "sandwich",      "orange",      "broccoli",    "carrot",      "hot dog",      "pizza",
+    "donut",         "cake",         "chair",         "sofa",          "pottedplant", "bed",         "diningtable", "toilet",       "tvmonitor",
+    "laptop",        "mouse",        "remote",        "keyboard",      "cell phone",  "microwave",   "oven",        "toaster",      "sink",
+    "refrigerator",  "book",         "clock",         "vase",          "scissors",    "teddy bear",  "hair drier",  "toothbrush"};
+
+static const std::atomic<bool> syncNN{true};
+
+void initializeNNArchiveFromServer(const std::string& urlBase,        // NOLINT(bugprone-easily-swappable-parameters)
+                                   const std::string& exampleType,    // NOLINT(bugprone-easily-swappable-parameters)
+                                   const std::string& nnArchivePath,  // NOLINT(bugprone-easily-swappable-parameters)
+                                   const std::shared_ptr<dai::node::ColorCamera>& camRgb,
+                                   const std::shared_ptr<dai::node::DetectionNetwork>& detectionNetwork) {
+    httplib::Client cli(urlBase);
+    int64_t curPos = 0;
+    uint64_t wholeBytesRead = 0;
+    const dai::NNArchiveConfig config([]() { return 0; },
+                                      [&nnArchivePath, &wholeBytesRead, &curPos, &cli]() {
+                                          auto bufferSize = 1024;
+                                          const auto bytes = std::make_shared<std::vector<uint8_t>>();
+                                          auto res = cli.Get(nnArchivePath,
+                                                             {
+                                                                 httplib::make_range_header({{curPos, curPos + bufferSize - 1}})  // 'Range: bytes=1-10'
+                                                             },
+                                                             [&](const char* data, size_t dataLength) {
+                                                                 const auto origSize = bytes->size();
+                                                                 bytes->reserve(origSize + dataLength);
+                                                                 for(size_t offset = 0; offset < dataLength; ++offset) {
+                                                                     bytes->push_back(data[offset]);
+                                                                 }
+                                                                 return true;
+                                                             }
+
+                                          );
+                                          if(res->status == 416) {
+                                              std::cout << "Returning empty bytes\n";
+                                              // Probably end of file reached. Return empty bytes.
+                                              return bytes;
+                                          }
+                                          if(res->status != 206) {
+                                              std::string body(bytes->begin(), bytes->end());
+                                              std::cout << "HTTP CODE WAS: " << res->status << " --- " << body << "\n";
+                                              throw std::runtime_error("Server probably doesn't support HTTP range requests?");
+                                          }
+                                          curPos += static_cast<int64_t>(bytes->size());
+                                          wholeBytesRead += bytes->size();
+                                          return bytes;
+                                      },
+                                      [&curPos](auto offset, auto whence) {
+                                          std::cout << "SEEKING TO: " << offset << "\n";
+                                          switch(whence) {
+                                              case dai::NNArchiveEntry::Seek::CUR:
+                                                  std::cout << "was CUR\n";
+                                                  curPos = offset;
+                                                  break;
+                                              case dai::NNArchiveEntry::Seek::SET:
+                                                  std::cout << "was SET\n";
+                                                  curPos = 0;
+                                                  break;
+                                              case dai::NNArchiveEntry::Seek::END:
+                                                  throw std::runtime_error("SEEK TO END of file not implemented");
+                                                  break;
+                                          }
+                                          return curPos;
+                                      },
+                                      [&curPos](auto request) {
+                                          std::cout << "Skipping bytes: " << request << "\n";
+                                          curPos = curPos + request;
+                                          return request;
+                                      },
+                                      []() { return 0; });
+    const auto& configV1 = config.getConfigV1();
+    if(!configV1) {
+        throw std::runtime_error("Wrong config version");
+    }
+    const auto width = (*configV1).model.inputs[0].shape[2];
+    const auto height = (*configV1).model.inputs[0].shape[3];
+    std::cout << "Got width: " << width << " and height: " << height << " from config file without downloading the whole archive and only reading "
+              << static_cast<double>(wholeBytesRead) / 1024.0 << " kB of data from the server.\n";
+}
+
+bool initializeNNArchive(const std::string& urlBase,        // NOLINT(bugprone-easily-swappable-parameters)
+                         const std::string& exampleType,    // NOLINT(bugprone-easily-swappable-parameters)
+                         const std::string& nnArchivePath,  // NOLINT(bugprone-easily-swappable-parameters)
+                         const std::shared_ptr<dai::node::ColorCamera>& camRgb,
+                         const std::shared_ptr<dai::node::DetectionNetwork>& detectionNetwork) {
+    if(exampleType != "advanced") {
+        camRgb->setPreviewSize(640, 640);
+    }
+
+    if(exampleType == "fs") {
+        detectionNetwork->setNNArchive(dai::NNArchive(nnArchivePath));
+    } else if(exampleType == "memory") {
+        std::ifstream archiveFile(nnArchivePath, std::ios::binary);
+        std::vector<uint8_t> fileContents((std::istreambuf_iterator<char>(archiveFile)), std::istreambuf_iterator<char>());
+        detectionNetwork->setNNArchive(dai::NNArchive(fileContents));
+    } else if(exampleType == "advanced") {
+        const dai::NNArchiveConfig config(nnArchivePath);
+        const auto& configV1 = config.getConfigV1();
+        if(!configV1) {
+            throw std::runtime_error("Wrong config version");
+        }
+        const auto width = (*configV1).model.inputs[0].shape[2];
+        const auto height = (*configV1).model.inputs[0].shape[3];
+        if(width > 1920 || height > 1080) {
+            // We could decide to load another NNArchive that has a smaller size instead of throwing ...
+            // All without loading / reading to memory the whole blob
+            throw std::runtime_error("Sorry that's to big");
+        }
+        camRgb->setPreviewSize(static_cast<int>(width), static_cast<int>(height));
+        detectionNetwork->setNNArchive(dai::NNArchive(config, dai::NNArchiveBlob(config, nnArchivePath)));
+    } else if(exampleType == "http") {
+        initializeNNArchiveFromServer(urlBase, exampleType, nnArchivePath, camRgb, detectionNetwork);
+        return true;
+    } else {
+        throw std::runtime_error("Not implemented yet");
+    }
+    return false;
+}
+
+/*
+ *
+"USAGE: ./nn_archive ${EXAMPLE_TYPE} ${PATH_TO_ARCHIVE_OR_RAW_CONFIG_JSON}\n\n"
+                  << "Where EXAMPLE_TYPE is:\n"
+                  << "1) fs, read directly from filesystem\n"
+                  << "2) memory, read the whole NNArchive to memory first\n"
+                  << "3) buffer, feed the library with the archive chunk by chunk\n"
+                  << "4) advanced, decompress the config from the archive first, get some info and then optionally decompress the blob\n"
+                  << "5) http, decompress the config from the remote archive first, get some info and then optionally decompress the blob\n";
+*/
+
+int main(int argc, char** argv) {  // NOLINT
+    using namespace std;           // NOLINT
+    using namespace std::chrono;   // NOLINT
+
+    std::string exampleType(EXAMPLE_TYPE);
+    std::string nnArchivePath(NN_ARCHIVE_PATH);
+    std::string urlBase(URL_BASE);
+
+    auto args = dai::span(argv, static_cast<size_t>(argc));
+    if(args.size() >= 2) {
+        exampleType = args[1];
+    }
+    if(args.size() >= 3) {
+        nnArchivePath = args[2];
+    }
+    if(args.size() >= 4) {
+        urlBase = args[3];
+    }
+    std::cout << "Using archive at path: " << nnArchivePath << "\n";
+    std::cout << "Running example type: " << exampleType << "\n";
+    std::cout << "Using url base: " << urlBase << "\n";
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define sources and outputs
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto detectionNetwork = pipeline.create<dai::node::DetectionNetwork>();
+    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
+    auto nnOut = pipeline.create<dai::node::XLinkOut>();
+
+    xoutRgb->setStreamName("rgb");
+    nnOut->setStreamName("detections");
+
+    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
+    camRgb->setInterleaved(false);                                       // NOLINT
+    camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);  // NOLINT
+    camRgb->setFps(40);
+
+    if(initializeNNArchive(urlBase, exampleType, nnArchivePath, camRgb, detectionNetwork)) {
+        return 0;
+    }
+    // TODO(jakgra)
+    // Will we get this from NN Archive also?
+    detectionNetwork->setNumInferenceThreads(2);
+    detectionNetwork->input.setBlocking(false);
+
+    // Linking
+    camRgb->preview.link(detectionNetwork->input);
+    if(syncNN) {
+        detectionNetwork->passthrough.link(xoutRgb->input);
+    } else {
+        camRgb->preview.link(xoutRgb->input);
+    }
+
+    detectionNetwork->out.link(nnOut->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    // Output queues will be used to get the rgb frames and nn data from the outputs defined above
+    auto qRgb = device.getOutputQueue("rgb", 4, false);
+    auto qDet = device.getOutputQueue("detections", 4, false);
+
+    cv::Mat frame;
+    std::vector<dai::ImgDetection> detections;
+    auto startTime = steady_clock::now();
+    int counter = 0;
+    float fps = 0;
+    auto color2 = cv::Scalar(255, 255, 255);
+
+    // Add bounding boxes and text to the frame and show it to the user
+    auto displayFrame = [](const std::string& name, cv::Mat frame, std::vector<dai::ImgDetection>& detections) {
+        auto color = cv::Scalar(255, 0, 0);
+        // nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+        for(auto& detection : detections) {
+            int x1 = detection.xmin * frame.cols;  // NOLINT
+            int y1 = detection.ymin * frame.rows;  // NOLINT
+            int x2 = detection.xmax * frame.cols;  // NOLINT
+            int y2 = detection.ymax * frame.rows;  // NOLINT
+
+            uint32_t labelIndex = detection.label;
+            std::string labelStr = to_string(labelIndex);
+            if(labelIndex < labelMap.size()) {
+                labelStr = labelMap[labelIndex];
+            }
+            cv::putText(frame, labelStr, cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255);
+            std::stringstream confStr;
+            confStr << std::fixed << std::setprecision(2) << detection.confidence * 100;
+            cv::putText(frame, confStr.str(), cv::Point(x1 + 10, y1 + 40), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255);
+            cv::rectangle(frame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), color, cv::FONT_HERSHEY_SIMPLEX);
+        }
+        // Show the frame
+        cv::imshow(name, frame);
+    };
+
+    while(true) {
+        std::shared_ptr<dai::ImgFrame> inRgb;
+        std::shared_ptr<dai::ImgDetections> inDet;
+
+        if(syncNN) {
+            inRgb = qRgb->get<dai::ImgFrame>();
+            inDet = qDet->get<dai::ImgDetections>();
+        } else {
+            inRgb = qRgb->tryGet<dai::ImgFrame>();
+            inDet = qDet->tryGet<dai::ImgDetections>();
+        }
+
+        counter++;
+        auto currentTime = steady_clock::now();
+        auto elapsed = duration_cast<duration<float>>(currentTime - startTime);
+        if(elapsed > seconds(1)) {
+            fps = static_cast<float>(counter) / elapsed.count();
+            counter = 0;
+            startTime = currentTime;
+        }
+
+        if(inRgb) {
+            frame = inRgb->getCvFrame();
+            std::stringstream fpsStr;
+            fpsStr << "NN fps: " << std::fixed << std::setprecision(2) << fps;
+            cv::putText(frame, fpsStr.str(), cv::Point(2, static_cast<int>(inRgb->getHeight()) - 4), cv::FONT_HERSHEY_TRIPLEX, 0.4, color2);
+        }
+
+        if(inDet) {
+            detections = inDet->detections;
+        }
+
+        if(!frame.empty()) {
+            displayFrame("rgb", frame, detections);
+        }
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            return 0;
+        }
+    }
+    return 0;
+}
diff --git a/examples/NeuralNetwork/concat_multi_input.cpp b/examples/NeuralNetwork/concat_multi_input.cpp
index bfa33b8d8..bec113c5d 100644
--- a/examples/NeuralNetwork/concat_multi_input.cpp
+++ b/examples/NeuralNetwork/concat_multi_input.cpp
@@ -68,7 +68,9 @@ int main(int argc, char** argv) {
 
     while(true) {
         auto inNn = qNn->get<dai::NNData>();
-        cv::imshow("Concat", fromPlanarFp16(inNn->getFirstLayerFp16(), 900, 300));
+        auto firstTensor = inNn->getFirstTensor<float>();
+        std::vector<float> firstLayer(firstTensor.begin(), firstTensor.end());
+        cv::imshow("Concat", fromPlanarFp16(firstLayer, 900, 300));
 
         int key = cv::waitKey(1);
         if(key == 'q' || key == 'Q') {
diff --git a/examples/NeuralNetwork/normalization_multi_input.cpp b/examples/NeuralNetwork/normalization_multi_input.cpp
index f0d4ba6ba..e7df083e3 100644
--- a/examples/NeuralNetwork/normalization_multi_input.cpp
+++ b/examples/NeuralNetwork/normalization_multi_input.cpp
@@ -75,7 +75,10 @@ int main(int argc, char** argv) {
     while(true) {
         auto inNn = qNn->get<dai::NNData>();
         // To get original frame back (0-255), we add multiply all frame values (pixels) by 255 and then add 127.5 to them.
-        cv::imshow("Original Frame", fromPlanarFp16(inNn->getFirstLayerFp16(), 300, 300, 127.5, 255.0));
+        // TODO - do this cleaner
+        xt::xarray<float> firstTensor = inNn->getFirstTensor<float>();
+        std::vector<float> flattened(firstTensor.begin(), firstTensor.end());
+        cv::imshow("Original Frame", fromPlanarFp16(flattened, 300, 300, 127.5, 255.0));
 
         int key = cv::waitKey(1);
         if(key == 'q' || key == 'Q') {
diff --git a/examples/ObjectTracker/object_tracker_video.cpp b/examples/ObjectTracker/object_tracker_video.cpp
index 1c382c3f7..e5d5f2ddf 100644
--- a/examples/ObjectTracker/object_tracker_video.cpp
+++ b/examples/ObjectTracker/object_tracker_video.cpp
@@ -133,7 +133,9 @@ int main(int argc, char** argv) {
 
         auto img = std::make_shared<dai::ImgFrame>();
         frame = resizeKeepAspectRatio(frame, cv::Size(1920, 1080), cv::Scalar(0));
-        toPlanar(frame, img->getData());
+        std::vector<uint8_t> frameData;
+        toPlanar(frame, frameData);
+        img->setData(frameData);
         img->setTimestamp(baseTs);
         baseTs += steady_clock::duration(static_cast<int64_t>((1000 * 1000 * 1000 / simulatedFps)));
         img->setWidth(1920);
diff --git a/examples/PointCloud/visualize_pointcloud.cpp b/examples/PointCloud/visualize_pointcloud.cpp
new file mode 100644
index 000000000..2bba0a1fe
--- /dev/null
+++ b/examples/PointCloud/visualize_pointcloud.cpp
@@ -0,0 +1,90 @@
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
+#include "depthai/depthai.hpp"
+
+int main() {
+    auto pipeline = dai::Pipeline();
+    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
+    auto monoRight = pipeline.create<dai::node::MonoCamera>();
+    auto depth = pipeline.create<dai::node::StereoDepth>();
+    auto pointcloud = pipeline.create<dai::node::PointCloud>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    auto xoutDepth = pipeline.create<dai::node::XLinkOut>();
+
+    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoLeft->setCamera("left");
+    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoRight->setCamera("right");
+
+    // Create a node that will produce the depth map (using disparity output as
+    // it's easier to visualize depth this way)
+    depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
+    // Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
+    depth->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_7x7);
+    depth->setLeftRightCheck(true);
+    depth->setExtendedDisparity(false);
+    depth->setSubpixel(true);
+
+    xout->setStreamName("out");
+    xoutDepth->setStreamName("depth");
+
+    monoLeft->out.link(depth->left);
+    monoRight->out.link(depth->right);
+    depth->depth.link(pointcloud->inputDepth);
+    depth->disparity.link(xoutDepth->input);
+    pointcloud->outputPointCloud.link(xout->input);
+    pointcloud->initialConfig.setSparse(true);
+
+    auto viewer = std::make_unique<pcl::visualization::PCLVisualizer>("Cloud Viewer");
+    bool first = true;
+
+    dai::Device device(pipeline);
+
+    auto q = device.getOutputQueue("out", 8, false);
+    auto qDepth = device.getOutputQueue("depth", 8, false);
+    long counter = 0;
+    while(true) {
+        std::cout << "Waiting for data" << std::endl;
+        auto depthImg = qDepth->get<dai::ImgFrame>();
+        auto pclMsg = q->get<dai::PointCloudData>();
+        std::cout << "Got data" << std::endl;
+        if(!pclMsg) {
+            std::cout << "No data" << std::endl;
+            continue;
+        }
+
+        auto frame = depthImg->getCvFrame();
+        frame.convertTo(frame, CV_8UC1, 255 / depth->initialConfig.getMaxDisparity());
+        cv::imshow("depth", frame);
+        cv::waitKey(1);
+
+        if(pclMsg->getPoints().empty()) {
+            std::cout << "Empty point cloud" << std::endl;
+            continue;
+        }
+        std::cout << "Number of points: " << pclMsg->getPoints().size() << std::endl;
+        std::cout << "Min x: " << pclMsg->getMinX() << std::endl;
+        std::cout << "Min y: " << pclMsg->getMinY() << std::endl;
+        std::cout << "Min z: " << pclMsg->getMinZ() << std::endl;
+        std::cout << "Max x: " << pclMsg->getMaxX() << std::endl;
+        std::cout << "Max y: " << pclMsg->getMaxY() << std::endl;
+        std::cout << "Max z: " << pclMsg->getMaxZ() << std::endl;
+
+        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = pclMsg->getPclData();
+        if(first) {
+            viewer->addPointCloud<pcl::PointXYZ>(cloud, "cloud");
+            first = false;
+        } else {
+            viewer->updatePointCloud(cloud, "cloud");
+        }
+
+        viewer->spinOnce(10);
+
+        if(viewer->wasStopped()) {
+            break;
+        }
+    }
+
+    return 0;
+}
diff --git a/examples/Script/script_change_pipeline_flow.cpp b/examples/Script/script_change_pipeline_flow.cpp
index 2928beef9..e8e785ed0 100644
--- a/examples/Script/script_change_pipeline_flow.cpp
+++ b/examples/Script/script_change_pipeline_flow.cpp
@@ -94,10 +94,10 @@ int main() {
                 std::cout << "Enabling\n";
             }
             runNn = !runNn;
-            auto buf = dai::Buffer();
+            auto buf = std::make_shared<dai::Buffer>();
             std::vector<uint8_t> messageData;
             messageData.push_back(runNn);
-            buf.setData(messageData);
+            buf->setData(messageData);
             inQ->send(buf);
         }
     }
diff --git a/examples/Script/script_get_device_info.cpp b/examples/Script/script_get_device_info.cpp
index 195654f35..bd1871e9e 100644
--- a/examples/Script/script_get_device_info.cpp
+++ b/examples/Script/script_get_device_info.cpp
@@ -1,3 +1,4 @@
+#include <cstdint>
 #include <iostream>
 
 // Includes common necessary includes for development using depthai library
@@ -31,7 +32,8 @@ int main() {
     // Connect to device with pipeline
     dai::Device device(pipeline);
     auto msg = device.getOutputQueue("info")->get<dai::Buffer>();
-    auto data = nlohmann::json::parse(msg->getData());
+    std::vector<uint8_t> vecData(msg->getData().begin(), msg->getData().end());
+    auto data = nlohmann::json::parse(vecData);
     std::cout << data.dump(4) << std::endl;
 
     return 0;
diff --git a/examples/Script/script_json_communication.cpp b/examples/Script/script_json_communication.cpp
index b1dbb9aa6..ebc0d9cfb 100644
--- a/examples/Script/script_json_communication.cpp
+++ b/examples/Script/script_json_communication.cpp
@@ -46,14 +46,15 @@ int main() {
     // edited a bit and sent back to the host
     nlohmann::json dict{{"one", 1}, {"foo", "bar"}};
     cout << "dict: " << dict << "\n";
-    auto buffer = dai::Buffer();
+    auto buffer = std::make_shared<dai::Buffer>();
     auto data = dict.dump();
-    buffer.setData({data.begin(), data.end()});
+    buffer->setData({data.begin(), data.end()});
     device.getInputQueue("in")->send(buffer);
 
     // Wait for the script to send the changed dictionary back
     auto jsonData = device.getOutputQueue("out")->get<dai::Buffer>();
-    auto changedDict = nlohmann::json::parse(jsonData->getData());
+    std::vector<uint8_t> vecData(jsonData->getData().begin(), jsonData->getData().end());
+    auto changedDict = nlohmann::json::parse(vecData);
     cout << "changedDict: " << changedDict << "\n";
     const nlohmann::json expectedDict{{"one", 2}, {"foo", "baz"}};
     if(expectedDict != changedDict) return 1;
diff --git a/examples/Script/script_nndata_example.cpp b/examples/Script/script_nndata_example.cpp
index 064a2d8c7..bf3abdca8 100644
--- a/examples/Script/script_nndata_example.cpp
+++ b/examples/Script/script_nndata_example.cpp
@@ -35,13 +35,13 @@ int main() {
     std::cout << "NNData size: " << nndata->getData().size() << std::endl;
 
     std::cout << "FP16 values: ";
-    for(auto val : nndata->getLayerFp16("fp16")) {
+    for(auto val : nndata->getTensor<double>("fp16")) {
         std::cout << to_string(val) + " ";
     }
     std::cout << std::endl;
 
     std::cout << "UINT8 values: ";
-    for(auto val : nndata->getLayerUInt8("uint8")) {
+    for(auto val : nndata->getTensor<int>("uint8")) {
         std::cout << to_string(val) + " ";
     }
     std::cout << std::endl;
diff --git a/examples/SpatialDetection/spatial_location_calculator.cpp b/examples/SpatialDetection/spatial_location_calculator.cpp
index 192054682..29762965c 100644
--- a/examples/SpatialDetection/spatial_location_calculator.cpp
+++ b/examples/SpatialDetection/spatial_location_calculator.cpp
@@ -178,8 +178,8 @@ int main() {
         if(newConfig) {
             config.roi = dai::Rect(topLeft, bottomRight);
             config.calculationAlgorithm = calculationAlgorithm;
-            dai::SpatialLocationCalculatorConfig cfg;
-            cfg.addROI(config);
+            auto cfg = std::make_shared<dai::SpatialLocationCalculatorConfig>();
+            cfg->addROI(config);
             spatialCalcConfigInQueue->send(cfg);
             newConfig = false;
         }
diff --git a/examples/StereoDepth/depth_crop_control.cpp b/examples/StereoDepth/depth_crop_control.cpp
index dd1459303..35884a636 100644
--- a/examples/StereoDepth/depth_crop_control.cpp
+++ b/examples/StereoDepth/depth_crop_control.cpp
@@ -102,8 +102,8 @@ int main() {
 
         // Send new config to camera
         if(sendCamConfig) {
-            dai::ImageManipConfig cfg;
-            cfg.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
+            auto cfg = std::make_shared<dai::ImageManipConfig>();
+            cfg->setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);
             configQueue->send(cfg);
             sendCamConfig = false;
         }
diff --git a/examples/StereoDepth/depth_post_processing.cpp b/examples/StereoDepth/depth_post_processing.cpp
index ca602af7a..e766c1f36 100644
--- a/examples/StereoDepth/depth_post_processing.cpp
+++ b/examples/StereoDepth/depth_post_processing.cpp
@@ -31,11 +31,11 @@ int main() {
     // Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
     depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
-    depth->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
+    depth->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_7x7);
     depth->setLeftRightCheck(lr_check);
     depth->setExtendedDisparity(extended_disparity);
     depth->setSubpixel(subpixel);
-    auto config = depth->initialConfig.get();
+    auto config = depth->initialConfig;
     config.postProcessing.speckleFilter.enable = false;
     config.postProcessing.speckleFilter.speckleRange = 50;
     config.postProcessing.temporalFilter.enable = true;
@@ -45,7 +45,7 @@ int main() {
     config.postProcessing.thresholdFilter.minRange = 400;
     config.postProcessing.thresholdFilter.maxRange = 15000;
     config.postProcessing.decimationFilter.decimationFactor = 1;
-    depth->initialConfig.set(config);
+    depth->initialConfig = config;
 
     // Linking
     monoLeft->out.link(depth->left);
diff --git a/examples/StereoDepth/depth_preview.cpp b/examples/StereoDepth/depth_preview.cpp
index f8fd77d29..6f2ef5c8a 100644
--- a/examples/StereoDepth/depth_preview.cpp
+++ b/examples/StereoDepth/depth_preview.cpp
@@ -31,7 +31,7 @@ int main() {
     // Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
     depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
-    depth->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
+    depth->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_7x7);
     depth->setLeftRightCheck(lr_check);
     depth->setExtendedDisparity(extended_disparity);
     depth->setSubpixel(subpixel);
diff --git a/examples/StereoDepth/stereo_depth_video.cpp b/examples/StereoDepth/stereo_depth_video.cpp
index 7821db3e7..7154ab207 100644
--- a/examples/StereoDepth/stereo_depth_video.cpp
+++ b/examples/StereoDepth/stereo_depth_video.cpp
@@ -50,7 +50,7 @@ int main() {
         stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
         stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
         // stereo->setInputResolution(1280, 720);
-        stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5);
+        stereo->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_5x5);
         stereo->setLeftRightCheck(lrcheck);
         stereo->setExtendedDisparity(extended);
         stereo->setSubpixel(subpixel);
diff --git a/examples/SystemLogger/system_information.cpp b/examples/SystemLogger/system_information.cpp
index 4ecd91ed6..b0874ef5e 100644
--- a/examples/SystemLogger/system_information.cpp
+++ b/examples/SystemLogger/system_information.cpp
@@ -2,6 +2,7 @@
 
 // Includes common necessary includes for development using depthai library
 #include "depthai/depthai.hpp"
+
 void printSystemInformation(dai::SystemInformation info) {
     printf("Ddr used / total - %.2f / %.2f MiB\n", info.ddrMemoryUsage.used / (1024.0f * 1024.0f), info.ddrMemoryUsage.total / (1024.0f * 1024.0f));
     printf("Cmx used / total - %.2f / %.2f MiB\n", info.cmxMemoryUsage.used / (1024.0f * 1024.0f), info.cmxMemoryUsage.total / (1024.0f * 1024.0f));
diff --git a/examples/VideoEncoder/disparity_encoding.cpp b/examples/VideoEncoder/disparity_encoding.cpp
index e826ac8ec..add12f010 100644
--- a/examples/VideoEncoder/disparity_encoding.cpp
+++ b/examples/VideoEncoder/disparity_encoding.cpp
@@ -27,7 +27,7 @@ int main() {
 
     auto stereo = pipeline.create<dai::node::StereoDepth>();
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
-    stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
+    stereo->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_7x7);
     stereo->setLeftRightCheck(false);
     stereo->setExtendedDisparity(false);
     // Subpixel disparity is of UINT16 format, which is unsupported by VideoEncoder
diff --git a/examples/VideoEncoder/mjpeg_encoding_example.cpp b/examples/VideoEncoder/mjpeg_encoding_example.cpp
index 689c3942e..86a9a6663 100644
--- a/examples/VideoEncoder/mjpeg_encoding_example.cpp
+++ b/examples/VideoEncoder/mjpeg_encoding_example.cpp
@@ -1,4 +1,5 @@
 #include <iostream>
+#include <vector>
 
 // Includes common necessary includes for development using depthai library
 #include "depthai/depthai.hpp"
@@ -45,7 +46,8 @@ int main() {
         auto t3 = steady_clock::now();
         auto mjpeg = mjpegQueue->get<dai::ImgFrame>();
         auto t4 = steady_clock::now();
-        cv::Mat decodedFrame = cv::imdecode(cv::Mat(mjpeg->getData()), cv::IMREAD_COLOR);
+        std::vector<uint8_t> vecData(mjpeg->getData().begin(), mjpeg->getData().end());
+        cv::Mat decodedFrame = cv::imdecode(cv::Mat(vecData), cv::IMREAD_COLOR);
         auto t5 = steady_clock::now();
         cv::imshow("mjpeg", decodedFrame);
 
diff --git a/examples/Yolo/tiny_yolo.cpp b/examples/Yolo/tiny_yolo.cpp
index f07de3cd6..ce40cfd34 100644
--- a/examples/Yolo/tiny_yolo.cpp
+++ b/examples/Yolo/tiny_yolo.cpp
@@ -58,8 +58,37 @@ int main(int argc, char** argv) {
     detectionNetwork->setConfidenceThreshold(0.5f);
     detectionNetwork->setNumClasses(80);
     detectionNetwork->setCoordinateSize(4);
-    detectionNetwork->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319});
-    detectionNetwork->setAnchorMasks({{"side26", {1, 2, 3}}, {"side13", {3, 4, 5}}});
+
+    detectionNetwork->setAnchors({{// side26Anchors
+                                   {
+                                       10,  // width
+                                       14   // height
+                                   },
+                                   {
+                                       23,  // width
+                                       27   // height
+                                   },
+                                   {
+                                       37,  // width
+                                       58   // height
+                                   }},
+                                  {// side13Anchors
+                                   {
+                                       81,  // width
+                                       82   // height
+                                   },
+                                   {
+                                       135,  // width
+                                       169   // height
+                                   },
+                                   {
+                                       344,  // width
+                                       319   // height
+                                   }}});
+
+    // Deprecated old system
+    // detectionNetwork->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319});
+    // detectionNetwork->setAnchorMasks({{"side26", {0, 1, 2}}, {"side13", {3, 4, 5}}});
     detectionNetwork->setIouThreshold(0.5f);
     detectionNetwork->setBlobPath(nnPath);
     detectionNetwork->setNumInferenceThreads(2);
diff --git a/examples/bootloader/bootloader_version.cpp b/examples/bootloader/bootloader_version.cpp
index 7caf6c007..2348ab963 100644
--- a/examples/bootloader/bootloader_version.cpp
+++ b/examples/bootloader/bootloader_version.cpp
@@ -10,7 +10,7 @@ int main(int argc, char** argv) {
         dai::DeviceBootloader bl(info);
         std::cout << "Version: " << bl.getVersion().toString() << std::endl;
 
-        auto supportedMemTypes = {dai::DeviceBootloader::Memory::FLASH, dai::DeviceBootloader::Memory::EMMC};
+        std::list<dai::DeviceBootloader::Memory> supportedMemTypes = {dai::DeviceBootloader::Memory::FLASH, dai::DeviceBootloader::Memory::EMMC};
         if(bl.getType() == dai::DeviceBootloader::Type::USB) {
             std::cout << "USB Bootloader - supports only Flash memory" << std::endl;
             supportedMemTypes = {dai::DeviceBootloader::Memory::FLASH};
@@ -40,4 +40,4 @@ int main(int argc, char** argv) {
     }
 
     return 0;
-}
\ No newline at end of file
+}
diff --git a/examples/calibration/calibration_load.cpp b/examples/calibration/calibration_load.cpp
index 8e14d5b57..3a1ec8f9c 100644
--- a/examples/calibration/calibration_load.cpp
+++ b/examples/calibration/calibration_load.cpp
@@ -3,8 +3,8 @@
 #include <string>
 
 // Includes common necessary includes for development using depthai library
-#include "depthai-shared/common/CameraBoardSocket.hpp"
-#include "depthai-shared/common/EepromData.hpp"
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/EepromData.hpp"
 #include "depthai/depthai.hpp"
 
 int main(int argc, char** argv) {
diff --git a/examples/calibration/calibration_reader.cpp b/examples/calibration/calibration_reader.cpp
index e17dd90b1..7c0a729ad 100644
--- a/examples/calibration/calibration_reader.cpp
+++ b/examples/calibration/calibration_reader.cpp
@@ -3,8 +3,8 @@
 #include <string>
 
 // Includes common necessary includes for development using depthai library
-#include "depthai-shared/common/CameraBoardSocket.hpp"
-#include "depthai-shared/common/EepromData.hpp"
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/EepromData.hpp"
 #include "depthai/depthai.hpp"
 
 void printMatrix(std::vector<std::vector<float>> matrix) {
diff --git a/examples/host_side/host_pipeline.cpp b/examples/host_side/host_pipeline.cpp
new file mode 100644
index 000000000..a8cb57aad
--- /dev/null
+++ b/examples/host_side/host_pipeline.cpp
@@ -0,0 +1,23 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+#include "depthai/pipeline/node/test/MyConsumer.hpp"
+#include "depthai/pipeline/node/test/MyProducer.hpp"
+
+int main() {
+    using namespace std;
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    auto producer = pipeline.create<dai::node::test::MyProducer>();
+    auto printer = pipeline.create<dai::node::test::MyConsumer>();
+
+    producer->out.link(printer->input);
+
+    pipeline.start();
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+    pipeline.stop();
+
+    return 0;
+}
diff --git a/examples/host_side/host_pipeline_opencv.cpp b/examples/host_side/host_pipeline_opencv.cpp
new file mode 100644
index 000000000..356903c75
--- /dev/null
+++ b/examples/host_side/host_pipeline_opencv.cpp
@@ -0,0 +1,60 @@
+#include <iostream>
+
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+#include "depthai/pipeline/node/test/MyConsumer.hpp"
+#include "depthai/pipeline/node/test/MyProducer.hpp"
+
+// shared
+#include "depthai/properties/XLinkOutProperties.hpp"
+
+// project
+#include "depthai/pipeline/ThreadedNode.hpp"
+#include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/ImgFrame.hpp"
+
+class Display : public dai::NodeCRTP<dai::ThreadedNode, Display> {
+   public:
+    constexpr static const char* NAME = "Display";
+
+   public:
+    void build() {
+        hostNode = true;
+    }
+
+    /**
+     * Input for any ImgFrame messages to be displayed
+     * Default queue is blocking with size 8
+     */
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 8, true, {{dai::DatatypeEnum::Buffer, true}}};
+
+    void run() override {
+        while(isRunning()) {
+            std::shared_ptr<dai::ImgFrame> imgFrame = input.queue.get<dai::ImgFrame>();
+            if(imgFrame != nullptr) {
+                cv::imshow("MyConsumer", imgFrame->getCvFrame());
+                auto key = cv::waitKey(1);
+                if(key == 'q') {
+                    stop();
+                }            }
+        }
+        fmt::print("Display node stopped\n");
+    }
+};
+
+int main() try {
+    using namespace std;
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto display = pipeline.create<Display>();
+    camRgb->preview.link(display->input);
+    pipeline.start();
+    pipeline.wait();
+
+    return 0;
+} catch (const std::exception& ex) {
+    std::cout << "Exception: " << ex.what();
+}
diff --git a/examples/mixed/frame_sync.cpp b/examples/mixed/frame_sync.cpp
index 8609e9be6..62700e530 100644
--- a/examples/mixed/frame_sync.cpp
+++ b/examples/mixed/frame_sync.cpp
@@ -28,7 +28,7 @@ int main() {
     right->setFps(FPS);
 
     auto stereo = pipeline.create<dai::node::StereoDepth>();
-    stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
+    stereo->initialConfig.setMedianFilter(dai::StereoDepthConfig::MedianFilter::KERNEL_7x7);
     stereo->setLeftRightCheck(true);
     stereo->setExtendedDisparity(false);
     stereo->setSubpixel(false);
diff --git a/examples/tmp/tmp_detection_parser_mobilenet.cpp b/examples/tmp/tmp_detection_parser_mobilenet.cpp
new file mode 100644
index 000000000..e8e4c8502
--- /dev/null
+++ b/examples/tmp/tmp_detection_parser_mobilenet.cpp
@@ -0,0 +1,95 @@
+
+#include <iostream>
+#include <memory>
+
+#include "utility.hpp"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static constexpr auto MODEL_IN_WIDTH = 512;
+static constexpr auto MODEL_IN_HEIGHT = 512;
+
+int main(int argc, char** argv) {
+    int camId = 0;
+    if(argc > 1) {
+        camId = std::stoi(argv[1]);
+    }
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define sources and outputs
+    auto nn = pipeline.create<dai::node::MobileNetDetectionNetwork>();
+    auto xin = pipeline.create<dai::node::XLinkIn>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+
+    nn->setXmlModelPath(MODEL_XML_PATH, MODEL_BIN_PATH);
+
+    xin->setStreamName("nn_in");
+    xout->setStreamName("nn_out");
+
+    xin->setMaxDataSize(MODEL_IN_WIDTH * MODEL_IN_HEIGHT * 3);
+    xin->setNumFrames(4);
+
+    // Linking
+    xin->out.link(nn->input);
+    nn->out.link(xout->input);
+
+    // Open Webcam
+    cv::VideoCapture webcam(camId);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    cv::Mat frame;
+    auto in = device.getInputQueue("nn_in");
+    auto detections = device.getOutputQueue("nn_out");
+
+    // Add bounding boxes and text to the frame and show it to the user
+    auto displayFrame = [](cv::Mat frame, std::vector<dai::ImgDetection>& detections) {
+        auto color = cv::Scalar(255, 0, 0);
+        // nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+        for(auto& detection : detections) {
+            int x1 = detection.xmin * frame.cols;
+            int y1 = detection.ymin * frame.rows;
+            int x2 = detection.xmax * frame.cols;
+            int y2 = detection.ymax * frame.rows;
+
+            uint32_t labelIndex = detection.label;
+
+            cv::rectangle(frame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), color, cv::FONT_HERSHEY_SIMPLEX);
+        }
+        // Show the frame
+        cv::imshow("preview", frame);
+    };
+
+    std::vector<dai::ImgDetection> vdetections;
+
+    while(true) {
+        // data to send further
+        auto tensor = std::make_shared<dai::Buffer>();
+
+        // Read frame from webcam
+        webcam >> frame;
+
+        // crop and resize
+        cv::Mat resizedFrame = resizeKeepAspectRatio(frame, cv::Size(MODEL_IN_WIDTH, MODEL_IN_HEIGHT), cv::Scalar(0));
+        std::vector<uint8_t> frameData;
+        toPlanar(resizedFrame, frameData);
+        tensor->setData(frameData);
+
+        in->send(tensor);
+
+        auto inDet = detections->get<dai::ImgDetections>();
+        if(inDet) {
+            vdetections = inDet->detections;
+        }
+        displayFrame(resizedFrame, vdetections);
+        cv::imshow("preview", resizedFrame);
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            return 0;
+        }
+    }
+}
diff --git a/examples/tmp/tmp_detection_parser_yolo.cpp b/examples/tmp/tmp_detection_parser_yolo.cpp
new file mode 100644
index 000000000..1c4284de8
--- /dev/null
+++ b/examples/tmp/tmp_detection_parser_yolo.cpp
@@ -0,0 +1,138 @@
+
+#include <iostream>
+
+#include "utility.hpp"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static constexpr auto MODEL_IN_WIDTH = 416;
+static constexpr auto MODEL_IN_HEIGHT = 416;
+
+static const std::vector<std::string> labelMap = {
+    "person",        "bicycle",      "car",           "motorbike",     "aeroplane",   "bus",         "train",       "truck",        "boat",
+    "traffic light", "fire hydrant", "stop sign",     "parking meter", "bench",       "bird",        "cat",         "dog",          "horse",
+    "sheep",         "cow",          "elephant",      "bear",          "zebra",       "giraffe",     "backpack",    "umbrella",     "handbag",
+    "tie",           "suitcase",     "frisbee",       "skis",          "snowboard",   "sports ball", "kite",        "baseball bat", "baseball glove",
+    "skateboard",    "surfboard",    "tennis racket", "bottle",        "wine glass",  "cup",         "fork",        "knife",        "spoon",
+    "bowl",          "banana",       "apple",         "sandwich",      "orange",      "broccoli",    "carrot",      "hot dog",      "pizza",
+    "donut",         "cake",         "chair",         "sofa",          "pottedplant", "bed",         "diningtable", "toilet",       "tvmonitor",
+    "laptop",        "mouse",        "remote",        "keyboard",      "cell phone",  "microwave",   "oven",        "toaster",      "sink",
+    "refrigerator",  "book",         "clock",         "vase",          "scissors",    "teddy bear",  "hair drier",  "toothbrush"};
+
+int main(int argc, char** argv) {
+    int camId = 0;
+    if(argc > 1) {
+        camId = std::stoi(argv[1]);
+    }
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define sources and outputs
+    auto nn = pipeline.create<dai::node::YoloDetectionNetwork>();
+    auto xin = pipeline.create<dai::node::XLinkIn>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+
+    nn->setXmlModelPath(MODEL_XML_PATH, MODEL_BIN_PATH);
+    nn->setNumInferenceThreads(10);
+
+    xin->setStreamName("nn_in");
+    xout->setStreamName("nn_out");
+
+    xin->setMaxDataSize(MODEL_IN_WIDTH * MODEL_IN_HEIGHT * 3);
+    xin->setNumFrames(4);
+
+    // Linking
+    xin->out.link(nn->input);
+    nn->out.link(xout->input);
+
+    // Detection network settings
+    nn->setConfidenceThreshold(0.5f);
+    nn->setNumClasses(80);
+    nn->setCoordinateSize(4);  // What does this do?
+    nn->setAnchors({10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319});
+    nn->setAnchorMasks({{"side26", {1, 2, 3}}, {"side13", {3, 4, 5}}});
+    nn->setIouThreshold(0.5f);
+
+    // Open Webcam
+    cv::VideoCapture webcam(camId);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    cv::Mat frame;
+    auto in = device.getInputQueue("nn_in");
+    auto detections = device.getOutputQueue("nn_out");
+
+    // Add bounding boxes and text to the frame and show it to the user
+    auto displayFrame = [](std::string name, cv::Mat frame, std::vector<dai::ImgDetection>& detections) {
+        auto color = cv::Scalar(255, 0, 0);
+        // nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
+        for(auto& detection : detections) {
+            int x1 = detection.xmin * frame.cols;
+            int y1 = detection.ymin * frame.rows;
+            int x2 = detection.xmax * frame.cols;
+            int y2 = detection.ymax * frame.rows;
+
+            uint32_t labelIndex = detection.label;
+            std::string labelStr = std::to_string(labelIndex);
+            if(labelIndex < labelMap.size()) {
+                labelStr = labelMap[labelIndex];
+            }
+            cv::putText(frame, labelStr, cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255);
+            std::stringstream confStr;
+            confStr << std::fixed << std::setprecision(2) << detection.confidence * 100;
+            cv::putText(frame, confStr.str(), cv::Point(x1 + 10, y1 + 40), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255);
+            cv::rectangle(frame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), color, cv::FONT_HERSHEY_SIMPLEX);
+        }
+        // Show the frame
+        cv::imshow(name, frame);
+    };
+
+    std::vector<dai::ImgDetection> vDetections;
+
+    using namespace std::chrono;
+    auto startTime = steady_clock::now();
+    int counter = 0;
+    float fps = 0;
+
+    while(true) {
+        // data to send further
+        auto tensor = std::make_shared<dai::Buffer>();
+
+        // Read frame from webcam
+        webcam >> frame;
+
+        // crop and resize
+        cv::Mat resizedFrame = resizeKeepAspectRatio(frame, cv::Size(MODEL_IN_WIDTH, MODEL_IN_HEIGHT), cv::Scalar(0));
+
+        std::vector<uint8_t> data;
+        toPlanar(resizedFrame, data);
+        tensor->setData(data);
+
+        in->send(tensor);
+
+        counter++;
+        auto currentTime = steady_clock::now();
+        auto elapsed = duration_cast<duration<float>>(currentTime - startTime);
+        if(elapsed > seconds(1)) {
+            fps = counter / elapsed.count();
+            counter = 0;
+            startTime = currentTime;
+        }
+
+        auto inDet = detections->get<dai::ImgDetections>();
+        if(inDet) {
+            vDetections = inDet->detections;
+            std::stringstream fpsStr;
+            fpsStr << "NN fps: " << std::fixed << std::setprecision(2) << fps;
+            cv::putText(resizedFrame, fpsStr.str(), cv::Point(2, MODEL_IN_HEIGHT - 4), cv::FONT_HERSHEY_TRIPLEX, 0.4, cv::Scalar(255, 255, 255));
+        }
+        displayFrame("nn_out", resizedFrame, vDetections);
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            return 0;
+        }
+    }
+}
diff --git a/examples/tmp/tmp_mono.cpp b/examples/tmp/tmp_mono.cpp
new file mode 100644
index 000000000..ade20cd38
--- /dev/null
+++ b/examples/tmp/tmp_mono.cpp
@@ -0,0 +1,48 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    using namespace std;
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto camMono = pipeline.create<dai::node::MonoCamera>();
+    auto camMono2 = pipeline.create<dai::node::MonoCamera>();
+    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
+    auto xoutRgb2 = pipeline.create<dai::node::XLinkOut>();
+
+    xoutRgb->setStreamName("mono");
+    xoutRgb2->setStreamName("mono2");
+
+    camMono->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    camMono2->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+
+    // Linking
+    camMono->out.link(xoutRgb->input);
+    camMono2->out.link(xoutRgb2->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline, dai::UsbSpeed::SUPER);
+
+    // Output queue will be used to get the rgb frames from the output defined above
+    auto qRgb = device.getOutputQueue("mono", 4, false);
+    auto qRgb2 = device.getOutputQueue("mono2", 4, false);
+
+    while(true) {
+        auto inRgb = qRgb->get<dai::ImgFrame>();
+        auto inRgb2 = qRgb2->get<dai::ImgFrame>();
+
+        // Retrieve 'bgr' (opencv format) frame
+        cv::imshow("mono", inRgb->getCvFrame());
+        cv::imshow("mono2", inRgb2->getCvFrame());
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            break;
+        }
+    }
+    return 0;
+}
diff --git a/examples/tmp/tmp_nn.cpp b/examples/tmp/tmp_nn.cpp
new file mode 100644
index 000000000..d54e87b45
--- /dev/null
+++ b/examples/tmp/tmp_nn.cpp
@@ -0,0 +1,149 @@
+
+#include <cstdint>
+#include <iostream>
+
+#include "utility.hpp"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static constexpr auto MODEL_IN_WIDTH = 512;
+static constexpr auto MODEL_IN_HEIGHT = 512;
+static constexpr auto MIN_SCORE = 0.3;
+
+int main(int argc, char** argv) {
+    // If path to blob specified, use that
+    int camId = 0;
+    if(argc > 1) {
+        camId = std::stoi(argv[1]);
+    }
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define sources and outputs
+    auto nn = pipeline.create<dai::node::NeuralNetwork>();
+    auto xin = pipeline.create<dai::node::XLinkIn>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+
+    nn->setXmlModelPath(MODEL_XML_PATH, MODEL_BIN_PATH);
+
+    xin->setStreamName("nn_in");
+    xout->setStreamName("nn_out");
+
+    xin->setMaxDataSize(MODEL_IN_WIDTH * MODEL_IN_HEIGHT * 3);
+    xin->setNumFrames(4);
+
+    // Linking
+    xin->out.link(xout->input);
+    nn->out.link(xout->input);
+
+    // Open Webcam
+    cv::VideoCapture webcam(camId);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    cv::Mat frame;
+    auto in = device.getInputQueue("nn_in");
+    auto detections = device.getOutputQueue("nn_out");
+
+    using namespace std::chrono;
+    auto startTime = steady_clock::now();
+    int counter = 0;
+    float fps = 0;
+
+    while(true) {
+        // data to send further
+        auto tensor = std::make_shared<dai::ImgFrame>();
+
+        // Read frame from webcam
+        webcam >> frame;
+
+        // crop and resize
+        cv::Mat resizedFrame = resizeKeepAspectRatio(frame, cv::Size(MODEL_IN_WIDTH, MODEL_IN_HEIGHT), cv::Scalar(0));
+        std::vector<uint8_t> frameData;
+        toPlanar(resizedFrame, frameData);
+
+        auto inputFrame = tensor;
+        inputFrame->setData(frameData);
+        inputFrame->setType(dai::ImgFrame::Type::BGR888p);
+        inputFrame->setWidth(MODEL_IN_WIDTH);
+        inputFrame->setHeight(MODEL_IN_HEIGHT);
+
+        // tensor->data = std::vector<std::uint8_t>(frame.data, frame.data + frame.total());
+        in->send(tensor);
+
+        counter++;
+        auto currentTime = steady_clock::now();
+        auto elapsed = duration_cast<duration<float>>(currentTime - startTime);
+        if(elapsed > seconds(1)) {
+            fps = counter / elapsed.count();
+            counter = 0;
+            startTime = currentTime;
+        }
+
+        struct Detection {
+            unsigned int label;
+            float score;
+            float x_min;
+            float y_min;
+            float x_max;
+            float y_max;
+        };
+
+        std::vector<Detection> dets;
+        auto outImg = detections->get<dai::ImgFrame>();
+        auto cvframe = outImg->getCvFrame();
+        std::stringstream fpsStr;
+        fpsStr << "NN fps: " << std::fixed << std::setprecision(2) << fps;
+        cv::putText(cvframe, fpsStr.str(), cv::Point(2, MODEL_IN_HEIGHT - 4), cv::FONT_HERSHEY_TRIPLEX, 0.4, cv::Scalar(255, 255, 255));
+
+        auto det = detections->get<dai::NNData>();
+        auto detData = det->getFirstTensor<float>();
+        if(detData.size() > 0) {
+            int i = 0;
+            while(detData[i * 7] != -1.0f) {
+                Detection d;
+                d.label = detData[i * 7 + 1];
+                d.score = detData[i * 7 + 2];
+                d.x_min = detData[i * 7 + 3];
+                d.y_min = detData[i * 7 + 4];
+                d.x_max = detData[i * 7 + 5];
+                d.y_max = detData[i * 7 + 6];
+                i++;
+                if(d.score > MIN_SCORE) {
+                    dets.push_back(d);
+                }
+            }
+        }
+
+        for(const auto& d : dets) {
+            int x1 = d.x_min * resizedFrame.cols;
+            int y1 = d.y_min * resizedFrame.rows;
+            int x2 = d.x_max * resizedFrame.cols;
+            int y2 = d.y_max * resizedFrame.rows;
+
+            cv::rectangle(resizedFrame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), cv::Scalar(255, 255, 255));
+        }
+
+        printf("===================== %lu detection(s) =======================\n", static_cast<unsigned long>(dets.size()));
+        for(unsigned det = 0; det < dets.size(); ++det) {
+            printf("%5d | %6.4f | %7.4f | %7.4f | %7.4f | %7.4f\n",
+                   dets[det].label,
+                   dets[det].score,
+                   dets[det].x_min,
+                   dets[det].y_min,
+                   dets[det].x_max,
+                   dets[det].y_max);
+        }
+
+        cv::imshow("preview", cvframe);
+
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            return 0;
+        }
+    }
+    return 0;
+}
diff --git a/examples/tmp/tmp_preview.cpp b/examples/tmp/tmp_preview.cpp
new file mode 100644
index 000000000..cd227a5f9
--- /dev/null
+++ b/examples/tmp/tmp_preview.cpp
@@ -0,0 +1,45 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    using namespace std;
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
+
+    xoutRgb->setStreamName("rgb");
+
+    // Properties
+    camRgb->setPreviewSize(300, 300);
+    camRgb->setInterleaved(true);
+    camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
+
+    // Linking
+    camRgb->preview.link(xoutRgb->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline, dai::UsbSpeed::SUPER);
+
+    // Output queue will be used to get the rgb frames from the output defined above
+    auto qRgb = device.getOutputQueue("rgb", 4, false);
+
+    while(true) {
+        auto inRgb = qRgb->get<dai::ImgFrame>();
+
+        printf("w: %d, h: %d\n", inRgb->getWidth(), inRgb->getHeight());
+
+        // Retrieve 'bgr' (opencv format) frame
+        cv::imshow("rgb", inRgb->getCvFrame());
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            break;
+        }
+    }
+    return 0;
+}
diff --git a/examples/tmp/tmp_system_logger.cpp b/examples/tmp/tmp_system_logger.cpp
new file mode 100644
index 000000000..e1af948ad
--- /dev/null
+++ b/examples/tmp/tmp_system_logger.cpp
@@ -0,0 +1,46 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+void printSystemInformation(dai::SystemInformationS3 info) {
+    printf("Ddr used / total - %.2f / %.2f MiB\n", info.ddrMemoryUsage.used / (1024.0f * 1024.0f), info.ddrMemoryUsage.total / (1024.0f * 1024.0f));
+    const auto& t = info.chipTemperature;
+    printf("Chip temperature - average: %.2f, css: %.2f, mss: %.2f, nce: %.2f, soc: %.2f\n", t.average, t.css, t.mss, t.nce, t.soc);
+    printf("Cpu average usage: %.2f %%\n", info.cpuAvgUsage.average * 100);
+    for(int i = 0; i < info.cpuUsages.size(); i++) {
+        printf("Cpu %d usage: %.2f %%\n", i, info.cpuUsages[i].average * 100);
+    }
+    printf("----------------------------------------\n");
+}
+
+int main() {
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto sysLog = pipeline.create<dai::node::SystemLogger>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+
+    xout->setStreamName("sysinfo");
+
+    // Properties
+    sysLog->setRate(2.0f);  // 1 hz updates
+
+    // Linking
+    sysLog->out.link(xout->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    // Output queue will be used to get the system info
+    auto qSysInfo = device.getOutputQueue("sysinfo", 4, false);
+
+    while(true) {
+        auto sysInfo = qSysInfo->get<dai::SystemInformationS3>();
+        if(sysInfo) {
+            printSystemInformation(*sysInfo);
+        }
+    }
+    return 0;
+}
diff --git a/include/3rdparty/invoke_hpp/invoke.hpp b/include/3rdparty/invoke_hpp/invoke.hpp
new file mode 100644
index 000000000..c55a23ea2
--- /dev/null
+++ b/include/3rdparty/invoke_hpp/invoke.hpp
@@ -0,0 +1,218 @@
+/*******************************************************************************
+ * This file is part of the "https://github.com/blackmatov/invoke.hpp"
+ * For conditions of distribution and use, see copyright notice in LICENSE.md
+ * Copyright (C) 2018-2020, by Matvey Cherevko (blackmatov@gmail.com)
+ ******************************************************************************/
+
+#pragma once
+
+#include <functional>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+
+#define INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(...)             \
+    noexcept(noexcept(__VA_ARGS__))->decltype(__VA_ARGS__) { \
+        return __VA_ARGS__;                                  \
+    }
+
+//
+// void_t
+//
+
+namespace invoke_hpp {
+namespace impl {
+template <typename... Args>
+struct make_void {
+    using type = void;
+};
+}  // namespace impl
+
+template <typename... Args>
+using void_t = typename impl::make_void<Args...>::type;
+}  // namespace invoke_hpp
+
+//
+// integer_sequence
+//
+
+namespace invoke_hpp {
+template <typename T, T... Ints>
+struct integer_sequence {
+    using value_type = T;
+    static constexpr std::size_t size() noexcept {
+        return sizeof...(Ints);
+    }
+};
+
+template <std::size_t... Ints>
+using index_sequence = integer_sequence<std::size_t, Ints...>;
+
+namespace impl {
+template <typename T, std::size_t N, T... Ints>
+struct make_integer_sequence_impl : make_integer_sequence_impl<T, N - 1, N - 1, Ints...> {};
+
+template <typename T, T... Ints>
+struct make_integer_sequence_impl<T, 0, Ints...> : integer_sequence<T, Ints...> {};
+}  // namespace impl
+
+template <typename T, std::size_t N>
+using make_integer_sequence = impl::make_integer_sequence_impl<T, N>;
+
+template <std::size_t N>
+using make_index_sequence = make_integer_sequence<std::size_t, N>;
+
+template <typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+}  // namespace invoke_hpp
+
+//
+// is_reference_wrapper
+//
+
+namespace invoke_hpp {
+namespace impl {
+template <typename T>
+struct is_reference_wrapper_impl : std::false_type {};
+
+template <typename U>
+struct is_reference_wrapper_impl<std::reference_wrapper<U>> : std::true_type {};
+}  // namespace impl
+
+template <typename T>
+struct is_reference_wrapper : impl::is_reference_wrapper_impl<typename std::remove_cv<T>::type> {};
+}  // namespace invoke_hpp
+
+//
+// invoke
+//
+
+namespace invoke_hpp {
+namespace impl {
+//
+// invoke_member_object_impl
+//
+
+template <typename Base, typename F, typename Derived, typename std::enable_if<std::is_base_of<Base, typename std::decay<Derived>::type>::value, int>::type = 0>
+constexpr auto invoke_member_object_impl(F Base::*f, Derived&& ref) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(std::forward<Derived>(ref).*f)
+
+    template <typename Base,
+              typename F,
+              typename RefWrap,
+              typename std::enable_if<is_reference_wrapper<typename std::decay<RefWrap>::type>::value, int>::type = 0>
+    constexpr auto invoke_member_object_impl(F Base::*f, RefWrap&& ref) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(ref.get().*f)
+
+        template <typename Base,
+                  typename F,
+                  typename Pointer,
+                  typename std::enable_if<!std::is_base_of<Base, typename std::decay<Pointer>::type>::value
+                                              && !is_reference_wrapper<typename std::decay<Pointer>::type>::value,
+                                          int>::type = 0>
+        constexpr auto invoke_member_object_impl(F Base::*f, Pointer&& ptr) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN((*std::forward<Pointer>(ptr)).*f)
+
+    //
+    // invoke_member_function_impl
+    //
+
+    template <typename Base,
+              typename F,
+              typename Derived,
+              typename... Args,
+              typename std::enable_if<std::is_base_of<Base, typename std::decay<Derived>::type>::value, int>::type = 0>
+    constexpr auto invoke_member_function_impl(F Base::*f, Derived&& ref, Args&&... args)
+        INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN((std::forward<Derived>(ref).*f)(std::forward<Args>(args)...))
+
+            template <typename Base,
+                      typename F,
+                      typename RefWrap,
+                      typename... Args,
+                      typename std::enable_if<is_reference_wrapper<typename std::decay<RefWrap>::type>::value, int>::type = 0>
+            constexpr auto invoke_member_function_impl(F Base::*f, RefWrap&& ref, Args&&... args)
+                INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN((ref.get().*f)(std::forward<Args>(args)...))
+
+                    template <typename Base,
+                              typename F,
+                              typename Pointer,
+                              typename... Args,
+                              typename std::enable_if<!std::is_base_of<Base, typename std::decay<Pointer>::type>::value
+                                                          && !is_reference_wrapper<typename std::decay<Pointer>::type>::value,
+                                                      int>::type = 0>
+                    constexpr auto invoke_member_function_impl(F Base::*f, Pointer&& ptr, Args&&... args)
+                        INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(((*std::forward<Pointer>(ptr)).*f)(std::forward<Args>(args)...))
+}  // namespace impl
+
+template <typename F, typename... Args, typename std::enable_if<!std::is_member_pointer<typename std::decay<F>::type>::value, int>::type = 0>
+constexpr auto invoke(F&& f, Args&&... args) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(std::forward<F>(f)(std::forward<Args>(args)...))
+
+    template <typename F, typename T, typename std::enable_if<std::is_member_object_pointer<typename std::decay<F>::type>::value, int>::type = 0>
+    constexpr auto invoke(F&& f, T&& t) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(impl::invoke_member_object_impl(std::forward<F>(f), std::forward<T>(t)))
+
+        template <typename F, typename... Args, typename std::enable_if<std::is_member_function_pointer<typename std::decay<F>::type>::value, int>::type = 0>
+        constexpr auto invoke(F&& f, Args&&... args)
+            INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(impl::invoke_member_function_impl(std::forward<F>(f), std::forward<Args>(args)...))
+}  // namespace invoke_hpp
+
+//
+// invoke_result
+//
+
+namespace invoke_hpp {
+namespace impl {
+struct invoke_result_impl_tag {};
+
+template <typename Void, typename F, typename... Args>
+struct invoke_result_impl {};
+
+template <typename F, typename... Args>
+struct invoke_result_impl<void_t<invoke_result_impl_tag, decltype(invoke_hpp::invoke(std::declval<F>(), std::declval<Args>()...))>, F, Args...> {
+    using type = decltype(invoke_hpp::invoke(std::declval<F>(), std::declval<Args>()...));
+};
+}  // namespace impl
+
+template <typename F, typename... Args>
+struct invoke_result : impl::invoke_result_impl<void, F, Args...> {};
+
+template <typename F, typename... Args>
+using invoke_result_t = typename invoke_result<F, Args...>::type;
+}  // namespace invoke_hpp
+
+//
+// is_invocable
+//
+
+namespace invoke_hpp {
+namespace impl {
+struct is_invocable_r_impl_tag {};
+
+template <typename Void, typename R, typename F, typename... Args>
+struct is_invocable_r_impl : std::false_type {};
+
+template <typename R, typename F, typename... Args>
+struct is_invocable_r_impl<void_t<is_invocable_r_impl_tag, invoke_result_t<F, Args...>>, R, F, Args...>
+    : std::conditional<std::is_void<R>::value, std::true_type, std::is_convertible<invoke_result_t<F, Args...>, R>>::type {};
+}  // namespace impl
+
+template <typename R, typename F, typename... Args>
+struct is_invocable_r : impl::is_invocable_r_impl<void, R, F, Args...> {};
+
+template <typename F, typename... Args>
+using is_invocable = is_invocable_r<void, F, Args...>;
+}  // namespace invoke_hpp
+
+//
+// apply
+//
+
+namespace invoke_hpp {
+namespace impl {
+template <typename F, typename Tuple, std::size_t... I>
+constexpr auto apply_impl(F&& f, Tuple&& args, index_sequence<I...>)
+    INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(invoke_hpp::invoke(std::forward<F>(f), std::get<I>(std::forward<Tuple>(args))...))
+}
+
+template <typename F, typename Tuple>
+constexpr auto apply(F&& f, Tuple&& args) INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN(
+    impl::apply_impl(std::forward<F>(f), std::forward<Tuple>(args), make_index_sequence<std::tuple_size<typename std::decay<Tuple>::type>::value>()))
+}  // namespace invoke_hpp
+
+#undef INVOKE_HPP_NOEXCEPT_DECLTYPE_RETURN
diff --git a/include/3rdparty/linb/any.hpp b/include/3rdparty/linb/any.hpp
new file mode 100644
index 000000000..b1aeb3b9e
--- /dev/null
+++ b/include/3rdparty/linb/any.hpp
@@ -0,0 +1,431 @@
+//
+// Implementation of N4562 std::experimental::any (merged into C++17) for C++11 compilers.
+//
+// See also:
+//   + http://en.cppreference.com/w/cpp/any
+//   + http://en.cppreference.com/w/cpp/experimental/any
+//   + http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4562.html#any
+//   + https://cplusplus.github.io/LWG/lwg-active.html#2509
+//
+//
+// Copyright (c) 2016 Denilson das Mercês Amorim
+//
+// Distributed under the Boost Software License, Version 1.0. (See accompanying
+// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+//
+#ifndef LINB_ANY_HPP
+#define LINB_ANY_HPP
+#pragma once
+#include <stdexcept>
+#include <type_traits>
+#include <typeinfo>
+#include <utility>
+
+#if defined(PARTICLE)
+    #if !defined(__cpp_exceptions) && !defined(ANY_IMPL_NO_EXCEPTIONS) && !defined(ANY_IMPL_EXCEPTIONS)
+        #define ANY_IMPL_NO_EXCEPTIONS
+    #endif
+#else
+// you can opt-out of exceptions by definining ANY_IMPL_NO_EXCEPTIONS,
+// but you must ensure not to cast badly when passing an `any' object to any_cast<T>(any)
+#endif
+
+#if defined(PARTICLE)
+    #if !defined(__cpp_rtti) && !defined(ANY_IMPL_NO_RTTI) && !defined(ANY_IMPL_RTTI)
+        #define ANY_IMPL_NO_RTTI
+    #endif
+#else
+// you can opt-out of RTTI by defining ANY_IMPL_NO_RTTI,
+// in order to disable functions working with the typeid of a type
+#endif
+
+namespace linb {
+
+class bad_any_cast : public std::bad_cast {
+   public:
+    const char* what() const noexcept override {
+        return "bad any cast";
+    }
+};
+
+class any final {
+   public:
+    /// Constructs an object of type any with an empty state.
+    any() : vtable(nullptr) {}
+
+    /// Constructs an object of type any with an equivalent state as other.
+    any(const any& rhs) : vtable(rhs.vtable) {
+        if(!rhs.empty()) {
+            rhs.vtable->copy(rhs.storage, this->storage);
+        }
+    }
+
+    /// Constructs an object of type any with a state equivalent to the original state of other.
+    /// rhs is left in a valid but otherwise unspecified state.
+    any(any&& rhs) noexcept : vtable(rhs.vtable) {
+        if(!rhs.empty()) {
+            rhs.vtable->move(rhs.storage, this->storage);
+            rhs.vtable = nullptr;
+        }
+    }
+
+    /// Same effect as this->clear().
+    ~any() {
+        this->clear();
+    }
+
+    /// Constructs an object of type any that contains an object of type T direct-initialized with std::forward<ValueType>(value).
+    ///
+    /// T shall satisfy the CopyConstructible requirements, otherwise the program is ill-formed.
+    /// This is because an `any` may be copy constructed into another `any` at any time, so a copy should always be allowed.
+    template <typename ValueType, typename = typename std::enable_if<!std::is_same<typename std::decay<ValueType>::type, any>::value>::type>
+    any(ValueType&& value) {
+        static_assert(std::is_copy_constructible<typename std::decay<ValueType>::type>::value, "T shall satisfy the CopyConstructible requirements.");
+        this->construct(std::forward<ValueType>(value));
+    }
+
+    /// Has the same effect as any(rhs).swap(*this). No effects if an exception is thrown.
+    any& operator=(const any& rhs) {
+        any(rhs).swap(*this);
+        return *this;
+    }
+
+    /// Has the same effect as any(std::move(rhs)).swap(*this).
+    ///
+    /// The state of *this is equivalent to the original state of rhs and rhs is left in a valid
+    /// but otherwise unspecified state.
+    any& operator=(any&& rhs) noexcept {
+        any(std::move(rhs)).swap(*this);
+        return *this;
+    }
+
+    /// Has the same effect as any(std::forward<ValueType>(value)).swap(*this). No effect if a exception is thrown.
+    ///
+    /// T shall satisfy the CopyConstructible requirements, otherwise the program is ill-formed.
+    /// This is because an `any` may be copy constructed into another `any` at any time, so a copy should always be allowed.
+    template <typename ValueType, typename = typename std::enable_if<!std::is_same<typename std::decay<ValueType>::type, any>::value>::type>
+    any& operator=(ValueType&& value) {
+        static_assert(std::is_copy_constructible<typename std::decay<ValueType>::type>::value, "T shall satisfy the CopyConstructible requirements.");
+        any(std::forward<ValueType>(value)).swap(*this);
+        return *this;
+    }
+
+    /// If not empty, destroys the contained object.
+    void clear() noexcept {
+        if(!empty()) {
+            this->vtable->destroy(storage);
+            this->vtable = nullptr;
+        }
+    }
+
+    /// Returns true if *this has no contained object, otherwise false.
+    bool empty() const noexcept {
+        return this->vtable == nullptr;
+    }
+
+#ifndef ANY_IMPL_NO_RTTI
+    /// If *this has a contained object of type T, typeid(T); otherwise typeid(void).
+    const std::type_info& type() const noexcept {
+        return empty() ? typeid(void) : this->vtable->type();
+    }
+#endif
+
+    /// Exchange the states of *this and rhs.
+    void swap(any& rhs) noexcept {
+        if(this->vtable != rhs.vtable) {
+            any tmp(std::move(rhs));
+
+            // move from *this to rhs.
+            rhs.vtable = this->vtable;
+            if(this->vtable != nullptr) {
+                this->vtable->move(this->storage, rhs.storage);
+                // this->vtable = nullptr; -- unneeded, see below
+            }
+
+            // move from tmp (previously rhs) to *this.
+            this->vtable = tmp.vtable;
+            if(tmp.vtable != nullptr) {
+                tmp.vtable->move(tmp.storage, this->storage);
+                tmp.vtable = nullptr;
+            }
+        } else  // same types
+        {
+            if(this->vtable != nullptr) this->vtable->swap(this->storage, rhs.storage);
+        }
+    }
+
+   private:  // Storage and Virtual Method Table
+    union storage_union {
+        using stack_storage_t = typename std::aligned_storage<2 * sizeof(void*), std::alignment_of<void*>::value>::type;
+
+        void* dynamic;
+        stack_storage_t stack;  // 2 words for e.g. shared_ptr
+    };
+
+    /// Base VTable specification.
+    struct vtable_type {
+        // Note: The caller is responssible for doing .vtable = nullptr after destructful operations
+        // such as destroy() and/or move().
+
+#ifndef ANY_IMPL_NO_RTTI
+        /// The type of the object this vtable is for.
+        const std::type_info& (*type)() noexcept;
+#endif
+
+        /// Destroys the object in the union.
+        /// The state of the union after this call is unspecified, caller must ensure not to use src anymore.
+        void (*destroy)(storage_union&) noexcept;
+
+        /// Copies the **inner** content of the src union into the yet unitialized dest union.
+        /// As such, both inner objects will have the same state, but on separate memory locations.
+        void (*copy)(const storage_union& src, storage_union& dest);
+
+        /// Moves the storage from src to the yet unitialized dest union.
+        /// The state of src after this call is unspecified, caller must ensure not to use src anymore.
+        void (*move)(storage_union& src, storage_union& dest) noexcept;
+
+        /// Exchanges the storage between lhs and rhs.
+        void (*swap)(storage_union& lhs, storage_union& rhs) noexcept;
+    };
+
+    /// VTable for dynamically allocated storage.
+    template <typename T>
+    struct vtable_dynamic {
+#ifndef ANY_IMPL_NO_RTTI
+        static const std::type_info& type() noexcept {
+            return typeid(T);
+        }
+#endif
+
+        static void destroy(storage_union& storage) noexcept {
+            // assert(reinterpret_cast<T*>(storage.dynamic));
+            delete reinterpret_cast<T*>(storage.dynamic);
+        }
+
+        static void copy(const storage_union& src, storage_union& dest) {
+            dest.dynamic = new T(*reinterpret_cast<const T*>(src.dynamic));
+        }
+
+        static void move(storage_union& src, storage_union& dest) noexcept {
+            dest.dynamic = src.dynamic;
+            src.dynamic = nullptr;
+        }
+
+        static void swap(storage_union& lhs, storage_union& rhs) noexcept {
+            // just exchage the storage pointers.
+            std::swap(lhs.dynamic, rhs.dynamic);
+        }
+    };
+
+    /// VTable for stack allocated storage.
+    template <typename T>
+    struct vtable_stack {
+#ifndef ANY_IMPL_NO_RTTI
+        static const std::type_info& type() noexcept {
+            return typeid(T);
+        }
+#endif
+
+        static void destroy(storage_union& storage) noexcept {
+            reinterpret_cast<T*>(&storage.stack)->~T();
+        }
+
+        static void copy(const storage_union& src, storage_union& dest) {
+            new(&dest.stack) T(reinterpret_cast<const T&>(src.stack));
+        }
+
+        static void move(storage_union& src, storage_union& dest) noexcept {
+            // one of the conditions for using vtable_stack is a nothrow move constructor,
+            // so this move constructor will never throw a exception.
+            new(&dest.stack) T(std::move(reinterpret_cast<T&>(src.stack)));
+            destroy(src);
+        }
+
+        static void swap(storage_union& lhs, storage_union& rhs) noexcept {
+            storage_union tmp_storage;
+            move(rhs, tmp_storage);
+            move(lhs, rhs);
+            move(tmp_storage, lhs);
+        }
+    };
+
+    /// Whether the type T must be dynamically allocated or can be stored on the stack.
+    template <typename T>
+    struct requires_allocation : std::integral_constant<bool,
+                                                        !(std::is_nothrow_move_constructible<T>::value  // N4562 §6.3/3 [any.class]
+                                                          && sizeof(T) <= sizeof(storage_union::stack)
+                                                          && std::alignment_of<T>::value <= std::alignment_of<storage_union::stack_storage_t>::value)> {};
+
+    /// Returns the pointer to the vtable of the type T.
+    template <typename T>
+    static vtable_type* vtable_for_type() {
+        using VTableType = typename std::conditional<requires_allocation<T>::value, vtable_dynamic<T>, vtable_stack<T>>::type;
+        static vtable_type table = {
+#ifndef ANY_IMPL_NO_RTTI
+            VTableType::type,
+#endif
+            VTableType::destroy,
+            VTableType::copy,
+            VTableType::move,
+            VTableType::swap,
+        };
+        return &table;
+    }
+
+   protected:
+    template <typename T>
+    friend const T* any_cast(const any* operand) noexcept;
+    template <typename T>
+    friend T* any_cast(any* operand) noexcept;
+
+#ifndef ANY_IMPL_NO_RTTI
+    /// Same effect as is_same(this->type(), t);
+    bool is_typed(const std::type_info& t) const {
+        return is_same(this->type(), t);
+    }
+#endif
+
+#ifndef ANY_IMPL_NO_RTTI
+    /// Checks if two type infos are the same.
+    ///
+    /// If ANY_IMPL_FAST_TYPE_INFO_COMPARE is defined, checks only the address of the
+    /// type infos, otherwise does an actual comparision. Checking addresses is
+    /// only a valid approach when there's no interaction with outside sources
+    /// (other shared libraries and such).
+    static bool is_same(const std::type_info& a, const std::type_info& b) {
+    #ifdef ANY_IMPL_FAST_TYPE_INFO_COMPARE
+        return &a == &b;
+    #else
+        return a == b;
+    #endif
+    }
+#endif
+
+    /// Casts (with no type_info checks) the storage pointer as const T*.
+    template <typename T>
+    const T* cast() const noexcept {
+        return requires_allocation<typename std::decay<T>::type>::value ? reinterpret_cast<const T*>(storage.dynamic)
+                                                                        : reinterpret_cast<const T*>(&storage.stack);
+    }
+
+    /// Casts (with no type_info checks) the storage pointer as T*.
+    template <typename T>
+    T* cast() noexcept {
+        return requires_allocation<typename std::decay<T>::type>::value ? reinterpret_cast<T*>(storage.dynamic) : reinterpret_cast<T*>(&storage.stack);
+    }
+
+   private:
+    storage_union storage;  // on offset(0) so no padding for align
+    vtable_type* vtable;
+
+    template <typename ValueType, typename T>
+    typename std::enable_if<requires_allocation<T>::value>::type do_construct(ValueType&& value) {
+        storage.dynamic = new T(std::forward<ValueType>(value));
+    }
+
+    template <typename ValueType, typename T>
+    typename std::enable_if<!requires_allocation<T>::value>::type do_construct(ValueType&& value) {
+        new(&storage.stack) T(std::forward<ValueType>(value));
+    }
+
+    /// Chooses between stack and dynamic allocation for the type decay_t<ValueType>,
+    /// assigns the correct vtable, and constructs the object on our storage.
+    template <typename ValueType>
+    void construct(ValueType&& value) {
+        using T = typename std::decay<ValueType>::type;
+
+        this->vtable = vtable_for_type<T>();
+
+        do_construct<ValueType, T>(std::forward<ValueType>(value));
+    }
+};
+
+namespace detail {
+template <typename ValueType>
+inline ValueType any_cast_move_if_true(typename std::remove_reference<ValueType>::type* p, std::true_type) {
+    return std::move(*p);
+}
+
+template <typename ValueType>
+inline ValueType any_cast_move_if_true(typename std::remove_reference<ValueType>::type* p, std::false_type) {
+    return *p;
+}
+}  // namespace detail
+
+/// Performs *any_cast<add_const_t<remove_reference_t<ValueType>>>(&operand), or throws bad_any_cast on failure.
+template <typename ValueType>
+inline ValueType any_cast(const any& operand) {
+    auto p = any_cast<typename std::add_const<typename std::remove_reference<ValueType>::type>::type>(&operand);
+#ifndef ANY_IMPL_NO_EXCEPTIONS
+    if(p == nullptr) throw bad_any_cast();
+#endif
+    return *p;
+}
+
+/// Performs *any_cast<remove_reference_t<ValueType>>(&operand), or throws bad_any_cast on failure.
+template <typename ValueType>
+inline ValueType any_cast(any& operand) {
+    auto p = any_cast<typename std::remove_reference<ValueType>::type>(&operand);
+#ifndef ANY_IMPL_NO_EXCEPTIONS
+    if(p == nullptr) throw bad_any_cast();
+#endif
+    return *p;
+}
+
+///
+/// If ValueType is MoveConstructible and isn't a lvalue reference, performs
+/// std::move(*any_cast<remove_reference_t<ValueType>>(&operand)), otherwise
+/// *any_cast<remove_reference_t<ValueType>>(&operand). Throws bad_any_cast on failure.
+///
+template <typename ValueType>
+inline ValueType any_cast(any&& operand) {
+    using can_move = std::integral_constant<bool, std::is_move_constructible<ValueType>::value && !std::is_lvalue_reference<ValueType>::value>;
+
+    auto p = any_cast<typename std::remove_reference<ValueType>::type>(&operand);
+#ifndef ANY_IMPL_NO_EXCEPTIONS
+    if(p == nullptr) throw bad_any_cast();
+#endif
+    return detail::any_cast_move_if_true<ValueType>(p, can_move());
+}
+
+/// If operand != nullptr && operand->type() == typeid(ValueType), a pointer to the object
+/// contained by operand, otherwise nullptr.
+template <typename ValueType>
+inline const ValueType* any_cast(const any* operand) noexcept {
+    using T = typename std::decay<ValueType>::type;
+
+#ifndef ANY_IMPL_NO_RTTI
+    if(operand && operand->is_typed(typeid(T)))
+#else
+    if(operand && operand->vtable == any::vtable_for_type<T>())
+#endif
+        return operand->cast<ValueType>();
+    else
+        return nullptr;
+}
+
+/// If operand != nullptr && operand->type() == typeid(ValueType), a pointer to the object
+/// contained by operand, otherwise nullptr.
+template <typename ValueType>
+inline ValueType* any_cast(any* operand) noexcept {
+    using T = typename std::decay<ValueType>::type;
+
+#ifndef ANY_IMPL_NO_RTTI
+    if(operand && operand->is_typed(typeid(T)))
+#else
+    if(operand && operand->vtable == any::vtable_for_type<T>())
+#endif
+        return operand->cast<ValueType>();
+    else
+        return nullptr;
+}
+
+}  // namespace linb
+
+namespace std {
+inline void swap(linb::any& lhs, linb::any& rhs) noexcept {
+    lhs.swap(rhs);
+}
+}  // namespace std
+
+#endif
diff --git a/include/3rdparty/nanorpc/core/client.h b/include/3rdparty/nanorpc/core/client.h
new file mode 100644
index 000000000..be0c504bd
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/client.h
@@ -0,0 +1,164 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_CLIENT_H__
+#define __NANO_RPC_CORE_CLIENT_H__
+
+// STD
+#include <any>
+#include <string>
+#include <tuple>
+#include <utility>
+#include <optional>
+
+// NANORPC
+#include "nanorpc/core/detail/pack_meta.h"
+#include "nanorpc/core/exception.h"
+#include "nanorpc/core/type.h"
+#include "nanorpc/core/hash.h"
+#include "nanorpc/version/core.h"
+
+
+namespace nanorpc
+{
+namespace core
+{
+
+template <typename TPacker>
+class client final
+{
+private:
+    class result;
+
+public:
+    client(type::executor executor)
+        : executor_{std::move(executor)}
+    {
+    }
+
+    template <typename ... TArgs>
+    result call(std::string name, TArgs && ... args)
+    {
+        return call(name, hash_id(name), std::forward<TArgs>(args) ... );
+    }
+
+    template <typename ... TArgs>
+    result call(type::id id, TArgs && ... args)
+    {
+        return call("", id, std::forward<TArgs>(args) ... );
+    }
+
+    template <typename ... TArgs>
+    result call(std::string name, type::id id, TArgs && ... args)
+    {
+        auto data = std::make_tuple(std::forward<TArgs>(args) ... );
+
+        packer_type packer;
+        auto request = packer
+                .pack(version::core::protocol::value)
+                .pack(detail::pack::meta::type::request)
+                .pack(id)
+                .pack(data)
+                .to_buffer();
+
+        auto buffer = executor_(std::move(request));
+        auto response = packer.from_buffer(std::move(buffer));
+
+        {
+            version::core::protocol::value_type protocol{};
+            response = response.unpack(protocol);
+            if (protocol != version::core::protocol::value)
+            {
+                throw exception::client{"[nanorpc::core::client::call] [" + name + "] Unsupported protocol version \"" +
+                        std::to_string(protocol) + "\". (" + name + ")"};
+            }
+        }
+
+        {
+            detail::pack::meta::type type{};
+            response = response.unpack(type);
+            if (type != detail::pack::meta::type::response)
+                throw exception::client{"[nanorpc::core::client::call] Bad response type. (" + name + ")"};
+        }
+
+        {
+            detail::pack::meta::status status{};
+            response = response.unpack(status);
+            if (status != detail::pack::meta::status::good)
+            {
+                std::string message;
+                response = response.unpack(message);
+                throw exception::logic{message + " (" + name + ")"};
+            }
+        }
+
+        return {std::move(response)};
+    }
+
+private:
+    using packer_type = TPacker;
+    using deserializer_type = typename packer_type::deserializer_type;
+
+    type::executor executor_;
+
+    class result final
+    {
+    public:
+        result(result &&) noexcept = default;
+        result& operator = (result &&) noexcept = default;
+        ~result() noexcept = default;
+
+        template <typename T>
+        T as() const
+        {
+            if (!value_ && !deserializer_)
+                throw exception::client{"[nanorpc::core::client::result::as] No data."};
+
+            using Type = typename std::decay<T>::type;
+
+            if (!value_)
+            {
+                 if (!deserializer_)
+                     throw exception::client{"[nanorpc::core::client::result::as] No data."};
+
+                 Type data{};
+                 deserializer_->unpack(data);
+
+                 value_ = std::move(data);
+                 deserializer_.reset();
+            }
+
+            return std::any_cast<Type>(*value_);
+        }
+
+        template <typename T>
+        operator T () const
+        {
+            return as<T>();
+        }
+
+    private:
+        template <typename>
+        friend class client;
+
+        mutable std::optional<deserializer_type> deserializer_;
+        mutable std::optional<std::any> value_;
+
+        result(deserializer_type deserializer)
+            : deserializer_{std::move(deserializer)}
+        {
+        }
+
+        result(result const &) = delete;
+        result& operator = (result const &) = delete;
+    };
+};
+
+}   // namespace core
+}   // namespace nanorpc
+
+#endif  // !__NANO_RPC_CORE_CLIENT_H__
diff --git a/include/3rdparty/nanorpc/core/detail/config.h b/include/3rdparty/nanorpc/core/detail/config.h
new file mode 100644
index 000000000..6940123bb
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/detail/config.h
@@ -0,0 +1,14 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     06.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_DETAIL_CONFIG_H__
+#define __NANO_RPC_CORE_DETAIL_CONFIG_H__
+
+
+#define NANORPC_PURE_CORE
+
+#endif	// !__NANO_RPC_CORE_DETAIL_CONFIG_H__
diff --git a/include/3rdparty/nanorpc/core/detail/function_meta.h b/include/3rdparty/nanorpc/core/detail/function_meta.h
new file mode 100644
index 000000000..6b6aa5f51
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/detail/function_meta.h
@@ -0,0 +1,52 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_DETAIL_FUNCTION_META_H__
+#define __NANO_RPC_CORE_DETAIL_FUNCTION_META_H__
+
+// STD
+#include <functional>
+#include <tuple>
+#include <type_traits>
+
+namespace nanorpc::core::detail
+{
+
+template <typename>
+struct function_meta;
+
+template <typename R, typename ... T>
+struct function_meta<std::function<R (T ... )>>
+{
+    using return_type = std::decay_t<R>;
+    using arguments_tuple_type = std::tuple<std::decay_t<T> ... >;
+};
+
+template<typename T>
+struct memfun_type
+{
+    using type = void;
+};
+
+template<typename Ret, typename Class, typename... Args>
+struct memfun_type<Ret(Class::*)(Args...) const>
+{
+    using type = std::function<Ret(Args...)>;
+};
+
+template<typename F>
+typename memfun_type<decltype(&F::operator())>::type
+lambdaToFunction(F const &func)
+{ // Function from lambda !
+    return func;
+}
+
+
+}   // namespace nanorpc::core::detail
+
+
+#endif  // !__NANO_RPC_CORE_DETAIL_FUNCTION_META_H__
diff --git a/include/3rdparty/nanorpc/core/detail/pack_meta.h b/include/3rdparty/nanorpc/core/detail/pack_meta.h
new file mode 100644
index 000000000..55436e595
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/detail/pack_meta.h
@@ -0,0 +1,47 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_DETAIL_PACK_META_H__
+#define __NANO_RPC_CORE_DETAIL_PACK_META_H__
+
+// STD
+#include <cstdint>
+
+namespace nanorpc
+{
+namespace core
+{
+namespace detail
+{
+namespace pack
+{
+namespace meta
+{
+    
+
+enum class type : std::uint32_t
+{
+    unknown,
+    request,
+    response,
+};
+
+enum class status : std::uint32_t
+{
+    fail,
+    good
+};
+
+    
+}   // namespace meta
+}   // namespace pack
+}   // namespace detail
+}   // namespace core
+}   // namespace nanorpc
+
+
+#endif  // !__NANO_RPC_CORE_DETAIL_PACK_META_H__
diff --git a/include/3rdparty/nanorpc/core/exception.h b/include/3rdparty/nanorpc/core/exception.h
new file mode 100644
index 000000000..44d808b34
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/exception.h
@@ -0,0 +1,85 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_EXCEPTION_H__
+#define __NANO_RPC_CORE_EXCEPTION_H__
+
+// STD
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#define NANORPC_EXCEPTION_DECL(class_, base_) \
+    class class_ \
+        : public base_ \
+    { \
+    public: \
+        using base_type = base_; \
+        using base_type :: base_type; \
+    };
+
+#define NANORPC_EXCEPTION_DECL_WITH_NAMESPACE(namespace_, class_, base_) \
+    namespace namespace_ \
+    { \
+        NANORPC_EXCEPTION_DECL(class_, base_) \
+    }
+
+namespace nanorpc
+{
+namespace core
+{
+namespace exception
+{
+    
+
+NANORPC_EXCEPTION_DECL(nanorpc, std::runtime_error)
+NANORPC_EXCEPTION_DECL(packer, nanorpc)
+NANORPC_EXCEPTION_DECL(logic, nanorpc)
+NANORPC_EXCEPTION_DECL(transport, nanorpc)
+NANORPC_EXCEPTION_DECL(client, transport)
+NANORPC_EXCEPTION_DECL(server, transport)
+
+inline std::string to_string(std::exception const &e)
+{
+    std::string message = e.what();
+
+    try
+    {
+        std::rethrow_if_nested(e);
+    }
+    catch (std::exception const &ex)
+    {
+        message += "\n";
+        message += "\t";
+        message += to_string(ex);
+    }
+
+    return message;
+}
+
+inline void default_error_handler(std::exception_ptr e)
+{
+    if (!e)
+        return;
+
+    try
+    {
+        std::rethrow_exception(e);
+    }
+    catch (std::exception const &ex)
+    {
+        std::cerr << "NanoRPC exception message: " << to_string(ex) << std::endl;
+    }
+}
+
+
+}   // namespace exception   
+}   // namespace core
+}   // namespace nanorpc
+
+
+#endif  // !__NANO_RPC_CORE_EXCEPTION_H__
diff --git a/include/3rdparty/nanorpc/core/hash.h b/include/3rdparty/nanorpc/core/hash.h
new file mode 100644
index 000000000..7cc25eedc
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/hash.h
@@ -0,0 +1,25 @@
+#ifndef __NANO_RPC_CORE_HASH_H__
+#define __NANO_RPC_CORE_HASH_H__
+
+// STD
+#include <cstdint>
+#include <string>
+
+namespace nanorpc
+{
+namespace core
+{
+		
+
+inline type::id hash_id(const std::string& str) {
+	type::id h = UINT64_C(1125899906842597); // prime
+	for(const auto& c : str) h = 31 * h + c; // as 'h' is unsigned, both 31 and 'c' are promoted to unsigned
+	return h;
+}
+
+
+}	// namespace core
+}	// namespace nanorpc
+
+
+#endif  // !__NANO_RPC_CORE_HASH_H__
diff --git a/include/3rdparty/nanorpc/core/server.h b/include/3rdparty/nanorpc/core/server.h
new file mode 100644
index 000000000..67c384678
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/server.h
@@ -0,0 +1,166 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_SERVER_H__
+#define __NANO_RPC_CORE_SERVER_H__
+
+// STD
+#include <functional>
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <utility>
+#include <type_traits>
+
+// C++17 backwards compatibility
+#include <invoke_hpp/invoke.hpp>
+
+// NANORPC
+#include "nanorpc/core/detail/function_meta.h"
+#include "nanorpc/core/detail/pack_meta.h"
+#include "nanorpc/core/exception.h"
+#include "nanorpc/core/type.h"
+#include "nanorpc/core/hash.h"
+#include "nanorpc/version/core.h"
+
+
+namespace nanorpc::core
+{
+
+// Helper
+template< class T, class U >
+constexpr bool is_same_v = std::is_same<T, U>::value;
+
+template <typename TPacker>
+class server final
+{
+public:
+    template <typename TFunc>
+    void handle(std::string name, TFunc func)
+    {
+        handle(hash_id(name), std::move(func));
+    }
+
+    template <typename TFunc>
+    void handle(type::id id, TFunc func)
+    {
+        if (handlers_.find(id) != std::end(handlers_))
+        {
+            throw std::invalid_argument{"[" + std::string{__func__ } + "] Failed to add handler. "
+                    "The id \"" + std::to_string(id) + "\" already exists."};
+        }
+
+        auto wrapper = [f = std::move(func)] (deserializer_type &request, serializer_type &response)
+            {
+                auto func = detail::lambdaToFunction(std::move(f));
+                using function_meta = detail::function_meta<decltype(func)>;
+                using arguments_tuple_type = typename function_meta::arguments_tuple_type;
+                arguments_tuple_type data;
+                request.unpack(data);
+                
+                apply(std::move(func), std::move(data), response);
+            };
+
+        handlers_.emplace(std::move(id), std::move(wrapper));
+    }
+
+    type::buffer execute(type::buffer buffer)
+    try
+    {
+        if (handlers_.empty())
+            throw exception::server{"[nanorpc::core::server::execute] No handlers."};
+
+        packer_type packer;
+
+        auto request = packer.from_buffer(std::move(buffer));
+
+        {
+            version::core::protocol::value_type protocol{};
+            request = request.unpack(protocol);
+            if (protocol != version::core::protocol::value)
+            {
+                throw exception::server{"[nanorpc::core::server::execute] Unsupported protocol version \"" +
+                        std::to_string(protocol) + "\"."};
+            }
+        }
+
+        {
+            detail::pack::meta::type type{};
+            request = request.unpack(type);
+            if (type != detail::pack::meta::type::request)
+                throw exception::server{"[nanorpc::core::server::execute] Bad response type."};
+        }
+
+        type::id function_id{};
+        request = request.unpack(function_id);
+
+        auto response = packer
+                .pack(version::core::protocol::value)
+                .pack(detail::pack::meta::type::response);
+
+        auto const iter = handlers_.find(function_id);
+        if (iter == std::end(handlers_))
+            throw exception::server{"[nanorpc::core::server::execute] Function not found."};
+
+        try
+        {
+            iter->second(request, response);
+        }
+        catch (std::exception const &e)
+        {
+            response = response
+                    .pack(detail::pack::meta::status::fail)
+                    .pack(e.what());
+        }
+
+        return response.to_buffer();
+    }
+    catch (std::exception const &e)
+    {
+        return packer_type{}
+                .pack(version::core::protocol::value)
+                .pack(detail::pack::meta::type::response)
+                .pack(detail::pack::meta::status::fail)
+                .pack(e.what())
+                .to_buffer();
+    }
+
+private:
+    using packer_type = TPacker;
+    using serializer_type = typename packer_type::serializer_type;
+    using deserializer_type = typename packer_type::deserializer_type;
+    using handler_type = std::function<void (deserializer_type &, serializer_type &)>;
+    using handlers_type = std::map<type::id, handler_type>;
+
+    handlers_type handlers_;
+
+    template <typename TFunc, typename TArgs>
+    static
+    std::enable_if_t<!is_same_v<std::decay_t< decltype( invoke_hpp::apply(std::declval<TFunc>(), std::declval<TArgs>()) ) >, void>, void>
+    apply(TFunc func, TArgs args, serializer_type &serializer)
+    {
+        auto data = invoke_hpp::apply(std::move(func), std::move(args));
+        serializer = serializer.pack(detail::pack::meta::status::good);
+        serializer = serializer.pack(data);
+    }
+    
+    template <typename TFunc, typename TArgs>
+    static
+    std::enable_if_t<is_same_v< std::decay_t< decltype( invoke_hpp::apply(std::declval<TFunc>(), std::declval<TArgs>()) ) > , void>, void>
+    apply(TFunc func, TArgs args, serializer_type &serializer)
+    {
+        invoke_hpp::apply(std::move(func), std::move(args));
+        serializer = serializer.pack(detail::pack::meta::status::good);
+    }
+
+    
+};
+
+}   // namespace nanorpc::core
+
+#endif  // !__NANO_RPC_CORE_SERVER_H__
diff --git a/include/3rdparty/nanorpc/core/type.h b/include/3rdparty/nanorpc/core/type.h
new file mode 100644
index 000000000..7fb08e3db
--- /dev/null
+++ b/include/3rdparty/nanorpc/core/type.h
@@ -0,0 +1,39 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_CORE_TYPE_H__
+#define __NANO_RPC_CORE_TYPE_H__
+
+// STD
+#include <cstdint>
+#include <functional>
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace nanorpc
+{
+namespace core
+{
+namespace type
+{
+
+
+using id = std::uint64_t;
+using buffer = std::vector<std::uint8_t>;
+using executor = std::function<buffer (buffer)>;
+using executor_map = std::map<std::string, executor>;
+using error_handler = std::function<void (std::exception_ptr)>;
+
+
+}   // namespace type
+}   // namespace core
+}   // namespace nanorpc
+    
+
+#endif  // !__NANO_RPC_CORE_TYPE_H__
diff --git a/include/3rdparty/nanorpc/packer/cereal_binary.h b/include/3rdparty/nanorpc/packer/cereal_binary.h
new file mode 100644
index 000000000..930a7c645
--- /dev/null
+++ b/include/3rdparty/nanorpc/packer/cereal_binary.h
@@ -0,0 +1,192 @@
+#pragma once
+
+
+// STD
+#include <cassert>
+#include <cstdint>
+#include <iomanip>
+#include <istream>
+#include <iterator>
+#include <memory>
+#include <ostream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+// NANORPC
+#include "nanorpc/core/detail/config.h"
+#include "nanorpc/core/exception.h"
+#include "nanorpc/core/type.h"
+
+// cereal
+#include "cereal/cereal.hpp"
+#include "cereal/archives/binary.hpp"
+#include <cereal/types/vector.hpp>
+#include <cereal/types/unordered_map.hpp>
+#include <cereal/types/memory.hpp>
+#include <cereal/types/tuple.hpp>
+#include <cereal/types/string.hpp>
+#include <cereal/types/utility.hpp>
+
+
+// Workaround for cereal not supporting serializing const char*
+namespace cereal {
+    
+    //! Serializing for const char*
+    template <class Archive, class ... Types> inline
+    void CEREAL_SERIALIZE_FUNCTION_NAME( Archive & ar, const char* c_str )
+    {
+       ar(std::string(c_str));
+    }
+}
+
+namespace nanorpc
+{
+namespace packer
+{
+  
+
+class cereal_binary final
+{
+private:
+    class serializer;
+    class deserializer;
+
+public:
+    using serializer_type = serializer;
+    using deserializer_type = deserializer;
+
+    template <typename T>
+    serializer pack(T const &value)
+    {
+        return serializer{}.pack(value);
+    }
+
+    deserializer from_buffer(core::type::buffer buffer)
+    {
+        return deserializer{std::move(buffer)};
+    }
+
+private:
+    class serializer final
+    {
+    public:
+        serializer(serializer &&) noexcept = default;
+        serializer& operator = (serializer &&) noexcept = default;
+        ~serializer() noexcept = default;
+
+        template <typename T>
+        serializer pack(T const &value)
+        {
+            assert(stream_ && "Empty stream.");
+            if (!stream_)
+                throw core::exception::packer{"[nanorpc::packer::cereal_binary::serializer::pack] Empty stream."};
+
+            pack_value(value);
+            return std::move(*this);
+        }
+
+        core::type::buffer to_buffer()
+        {
+            assert(stream_ && "Empty stream.");
+            if (!stream_)
+                throw core::exception::packer{"[nanorpc::packer::cereal_binary::serializer::to_buffer] Empty stream."};
+
+            archive_ = nullptr;
+            auto str = std::move(stream_->str());
+            return {begin(str), end(str)};
+        }
+
+    private:
+
+        using stream_type = std::stringstream;
+        using stream_type_ptr = std::unique_ptr<stream_type>;
+
+        stream_type_ptr stream_{std::make_unique<std::stringstream>()};
+        std::unique_ptr<cereal::BinaryOutputArchive> archive_;
+
+        friend class cereal_binary;
+        serializer(){
+            archive_ = std::make_unique<cereal::BinaryOutputArchive>(*stream_);
+        }
+
+        serializer(serializer const &) = delete;
+        serializer& operator = (serializer const &) = delete;
+
+
+        template <typename T>
+        void pack_value(T const &value)
+        {
+            (*archive_)(value);
+        }
+
+        // c string specialization
+        void pack_value(const char* value)
+        {
+            (*archive_)(std::string(value));
+        }
+
+    };
+
+    class deserializer final
+    {
+    public:
+        deserializer(deserializer &&) noexcept = default;
+        deserializer& operator = (deserializer &&) noexcept = default;
+        ~deserializer() noexcept = default;
+
+        template <typename T>
+        deserializer unpack(T &value)
+        {
+            assert(stream_ && "Empty stream.");
+            if (!stream_)
+                throw core::exception::packer{"[nanorpc::packer::plain_text::deserializer] Empty stream."};
+
+            unpack_value(value);
+            return std::move(*this);
+        }
+
+    private:
+
+        using stream_type = std::stringstream;
+        using stream_type_ptr = std::unique_ptr<stream_type>;
+        stream_type_ptr stream_{std::make_unique<stream_type>()};
+
+        std::unique_ptr<cereal::BinaryInputArchive> archive_;
+
+
+        friend class cereal_binary;
+
+        deserializer(deserializer const &) = delete;
+        deserializer& operator = (deserializer const &) = delete;
+
+        deserializer(core::type::buffer buffer)
+            : stream_{std::make_unique<stream_type>(std::string{begin(buffer), end(buffer)})}
+        {
+            archive_ = std::make_unique<cereal::BinaryInputArchive>(*stream_);
+        }
+
+  
+        template <typename T>
+        void unpack_value(T &value)
+        {
+            (*archive_)(value);
+        }
+
+        // c string specialization
+        void pack_value(char* value)
+        {
+            std::string val;
+            (*archive_)(val);            
+            strcpy(value, val.c_str());
+        }
+
+    };
+
+};
+
+}   // namespace packer
+}   // namespace nanorpc
diff --git a/include/3rdparty/nanorpc/packer/nlohmann_json.h b/include/3rdparty/nanorpc/packer/nlohmann_json.h
new file mode 100644
index 000000000..5807c4ee0
--- /dev/null
+++ b/include/3rdparty/nanorpc/packer/nlohmann_json.h
@@ -0,0 +1,146 @@
+#pragma once
+
+
+// STD
+#include <cassert>
+#include <cstdint>
+#include <iomanip>
+#include <istream>
+#include <iterator>
+#include <memory>
+#include <ostream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+// NANORPC
+#include "nanorpc/core/detail/config.h"
+#include "nanorpc/core/exception.h"
+#include "nanorpc/core/type.h"
+
+// nlohmann
+#include "nlohmann/json.hpp"
+
+namespace nanorpc
+{
+namespace packer
+{  
+
+class nlohmann_json final
+{
+private:
+    class serializer;
+    class deserializer;
+
+public:
+    using serializer_type = serializer;
+    using deserializer_type = deserializer;
+
+    template <typename T>
+    serializer pack(T const &value)
+    {
+        return serializer{}.pack(value);
+    }
+
+    deserializer from_buffer(core::type::buffer buffer)
+    {
+        return deserializer{std::move(buffer)};
+    }
+
+private:
+    class serializer final
+    {
+    public:
+        serializer(serializer &&) noexcept = default;
+        serializer& operator = (serializer &&) noexcept = default;
+        ~serializer() noexcept = default;
+
+        template <typename T>
+        serializer pack(T const &value)
+        {
+            pack_value(value);
+            return std::move(*this);
+        }
+
+        core::type::buffer to_buffer()
+        {
+            assert(data.size() > 0 && "Empty stream.");
+            if (data.empty())
+                throw core::exception::packer{"[nanorpc::packer::nlohmann_json::serializer::to_buffer] Empty data."};
+
+            //core::type::buffer buf = nlohmann::json::to_msgpack(data);
+            nlohmann::json j = data;
+            auto str = j.dump();
+            core::type::buffer buf(str.begin(), str.end());
+
+            return buf;
+        }
+
+    private:
+
+        // data storage       
+        std::vector< nlohmann::json > data;
+
+        friend class nlohmann_json;
+        serializer() = default;
+
+        serializer(serializer const &) = delete;
+        serializer& operator = (serializer const &) = delete;
+
+        template <typename T>
+        void pack_value(T const &value)
+        {
+            data.push_back(value);
+        }
+
+    };
+
+    class deserializer final
+    {
+    public:
+        deserializer(deserializer &&) noexcept = default;
+        deserializer& operator = (deserializer &&) noexcept = default;
+        ~deserializer() noexcept = default;
+
+        deserializer(core::type::buffer buffer)
+        {
+            nlohmann::from_json(nlohmann::json::parse(buffer), data);
+        }
+
+        template <typename T>
+        deserializer unpack(T &value)
+        {
+            assert(data.size() > 0 && "Empty stream.");
+            if (data.empty())
+                throw core::exception::packer{"[nanorpc::packer::nlohmann_json::deserializer] Empty stream."};
+
+            unpack_value(value);
+            return std::move(*this);
+        }
+
+    private:
+
+        // data storage
+        std::vector< nlohmann::json > data;
+
+        friend class nlohmann_json;
+
+        deserializer(deserializer const &) = delete;
+        deserializer& operator = (deserializer const &) = delete;
+
+        template <typename T>
+        void unpack_value(T &value)
+        {
+            nlohmann::from_json(data.front(), value);
+            data.erase(data.begin());
+        }
+        
+    };
+
+};
+
+}   // namespace packer
+}   // namespace nanorpc
diff --git a/include/3rdparty/nanorpc/packer/nlohmann_msgpack.h b/include/3rdparty/nanorpc/packer/nlohmann_msgpack.h
new file mode 100644
index 000000000..b71461b08
--- /dev/null
+++ b/include/3rdparty/nanorpc/packer/nlohmann_msgpack.h
@@ -0,0 +1,145 @@
+#pragma once
+
+
+// STD
+#include <cassert>
+#include <cstdint>
+#include <iomanip>
+#include <istream>
+#include <iterator>
+#include <memory>
+#include <ostream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+// NANORPC
+#include "nanorpc/core/detail/config.h"
+#include "nanorpc/core/exception.h"
+#include "nanorpc/core/type.h"
+
+// nlohmann
+#include "nlohmann/json.hpp"
+
+namespace nanorpc
+{
+namespace packer
+{
+    
+class nlohmann_msgpack final
+{
+private:
+    class serializer;
+    class deserializer;
+
+public:
+    using serializer_type = serializer;
+    using deserializer_type = deserializer;
+
+    template <typename T>
+    serializer pack(T const &value)
+    {
+        return serializer{}.pack(value);
+    }
+
+    deserializer from_buffer(core::type::buffer buffer)
+    {
+        return deserializer{std::move(buffer)};
+    }
+
+private:
+    class serializer final
+    {
+    public:
+        serializer(serializer &&) noexcept = default;
+        serializer& operator = (serializer &&) noexcept = default;
+        ~serializer() noexcept = default;
+
+        template <typename T>
+        serializer pack(T const &value)
+        {
+            pack_value(value);
+            return std::move(*this);
+        }
+
+        core::type::buffer to_buffer()
+        {
+            assert(data.size() > 0 && "Empty stream.");
+            if (data.empty())
+                throw core::exception::packer{"[nanorpc::packer::nlohmann_msgpack::serializer::to_buffer] Empty data."};
+
+            core::type::buffer buf = nlohmann::json::to_msgpack(data);
+            return buf;
+        }
+
+    private:
+
+        // data storage
+        std::vector< nlohmann::json > data;
+
+
+        friend class nlohmann_msgpack;
+        serializer() = default;
+
+        serializer(serializer const &) = delete;
+        serializer& operator = (serializer const &) = delete;
+
+        template <typename T>
+        void pack_value(T const &value)
+        {
+            data.push_back(value);
+        }
+
+    };
+
+    class deserializer final
+    {
+    public:
+        deserializer(deserializer &&) noexcept = default;
+        deserializer& operator = (deserializer &&) noexcept = default;
+        ~deserializer() noexcept = default;
+
+        deserializer(core::type::buffer buffer)
+        {
+            nlohmann::from_json(nlohmann::json::from_msgpack(buffer), data);
+        }
+
+        template <typename T>
+        deserializer unpack(T &value)
+        {
+            assert(data.size() > 0 && "Empty stream.");
+            if (data.empty())
+                throw core::exception::packer{"[nanorpc::packer::nlohmann_msgpack::deserializer] Empty stream."};
+
+            unpack_value(value);
+            return std::move(*this);
+        }
+
+
+    private:
+
+        // data storage
+        std::vector< nlohmann::json > data;
+
+        friend class nlohmann_msgpack;
+
+        deserializer(deserializer const &) = delete;
+        deserializer& operator = (deserializer const &) = delete;
+
+
+        template <typename T>
+        void unpack_value(T &value)
+        {
+            nlohmann::from_json(data.front(), value);
+            data.erase(data.begin());
+        }
+        
+    };
+
+};
+
+}   // namespace packer
+}   // namespace nanorpc
diff --git a/include/3rdparty/nanorpc/version/core.h b/include/3rdparty/nanorpc/version/core.h
new file mode 100644
index 000000000..490fa9f3c
--- /dev/null
+++ b/include/3rdparty/nanorpc/version/core.h
@@ -0,0 +1,29 @@
+//-------------------------------------------------------------------
+//  Nano RPC
+//  https://github.com/tdv/nanorpc
+//  Created:     05.2018
+//  Copyright (C) 2018 tdv
+//-------------------------------------------------------------------
+
+#ifndef __NANO_RPC_VERSION_CORE_H__
+#define __NANO_RPC_VERSION_CORE_H__
+
+// STD
+#include <cstdint>
+#include <type_traits>
+
+namespace nanorpc
+{
+namespace version
+{
+namespace core
+{
+
+using protocol = std::integral_constant<std::uint32_t, 1>;
+    
+} // namespace core
+} // namespace version
+} // namespace nanorpc
+
+
+#endif  // !__NANO_RPC_VERSION_CORE_H__
diff --git a/include/3rdparty/spimpl.h b/include/3rdparty/spimpl.h
new file mode 100644
index 000000000..d6c8c16d7
--- /dev/null
+++ b/include/3rdparty/spimpl.h
@@ -0,0 +1,592 @@
+/*
+    ====================================================================
+    A Smart Pointer to IMPLementation (i.e. Smart PIMPL or just SPIMPL).
+    ====================================================================
+
+    Version: 1.2
+
+    Latest version:
+        https://github.com/oliora/samples/blob/master/spimpl.h
+    Rationale and description:
+        http://oliora.github.io/2015/12/29/pimpl-and-rule-of-zero.html
+
+    Copyright (c) 2015 Andrey Upadyshev (oliora@gmail.com)
+
+    Distributed under the Boost Software License, Version 1.0.
+    See http://www.boost.org/LICENSE_1_0.txt
+
+    Changes history
+    ---------------
+    v1.2:
+        - const correctness
+    v1.1:
+        - auto_ptr support is disabled by default for C++17 compatibility
+    v1.0:
+        - Released
+ */
+
+#ifndef SPIMPL_H_
+#define SPIMPL_H_
+
+#include <memory>
+#include <type_traits>
+#include <cassert>
+
+
+#if defined _MSC_VER && _MSC_VER < 1900  // MS Visual Studio before VS2015
+#define SPIMPL_NO_CPP11_NOEXCEPT
+#define SPIMPL_NO_CPP11_CONSTEXPR
+#define SPIMPL_NO_CPP11_DEFAULT_MOVE_SPEC_FUNC
+#endif
+
+#if ! defined SPIMPL_NO_CPP11_NOEXCEPT
+#define SPIMPL_NOEXCEPT noexcept
+#else
+#define SPIMPL_NOEXCEPT
+#endif
+
+#if ! defined SPIMPL_NO_CPP11_CONSTEXPR
+#define SPIMPL_CONSTEXPR constexpr
+#else
+#define SPIMPL_CONSTEXPR
+#endif
+
+// define SPIMPL_HAS_AUTO_PTR to enable constructor and assignment operator that accept std::auto_ptr
+// TODO: auto detect std::auto_ptr support
+
+
+namespace spimpl {
+    namespace details {
+        template<class T>
+        T *default_copy(T *src)
+        {
+            static_assert(sizeof(T) > 0, "default_copy cannot copy incomplete type");
+            static_assert(!std::is_void<T>::value, "default_copy cannot copy incomplete type");
+            return new T(*src);
+        }
+
+        template<class T>
+        void default_delete(T *p) SPIMPL_NOEXCEPT
+        {
+            static_assert(sizeof(T) > 0, "default_delete cannot delete incomplete type");
+            static_assert(!std::is_void<T>::value, "default_delete cannot delete incomplete type");
+            delete p;
+        }
+
+        template<class T>
+        struct default_deleter {
+            using type = void (*)(T*);
+        };
+
+        template<class T>
+        using default_deleter_t = typename default_deleter<T>::type;
+
+        template<class T>
+        struct default_copier {
+            using type = T* (*)(T*);
+        };
+
+        template<class T>
+        using default_copier_t = typename default_copier<T>::type;
+
+        template<class T, class D, class C = details::default_copier_t<T>>
+        struct is_default_manageable: public std::integral_constant<bool,
+            std::is_same<D, default_deleter_t<T>>::value &&
+            std::is_same<C, default_copier_t<T>>::value
+        > {};
+    }
+
+
+    template<class T, class Deleter = details::default_deleter_t<T>>
+    class unique_impl_ptr
+    {
+        protected:
+        static_assert(!std::is_array<T>::value, "unique_impl_ptr specialization for arrays is not implemented");
+        struct dummy_t_ {int dummy__;};
+
+    public:
+        using pointer = T*;
+        using const_pointer = typename std::add_const<T>::type *;
+        using reference = T&;
+        using const_reference = typename std::add_const<T>::type &;
+        using element_type = T;
+        using deleter_type = typename std::decay<Deleter>::type;
+        using unique_ptr_type = std::unique_ptr<T, deleter_type>;
+        using is_default_manageable = details::is_default_manageable<T, deleter_type>;
+
+        SPIMPL_CONSTEXPR unique_impl_ptr() SPIMPL_NOEXCEPT
+        : ptr_(nullptr, deleter_type{}) {}
+
+        SPIMPL_CONSTEXPR unique_impl_ptr(std::nullptr_t) SPIMPL_NOEXCEPT
+        : unique_impl_ptr() {}
+
+        template<class D>
+        unique_impl_ptr(pointer p, D&& d,
+                 typename std::enable_if<
+                    std::is_convertible<D, deleter_type>::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : ptr_(std::move(p), std::forward<D>(d)) {}
+
+        template<class U>
+        unique_impl_ptr(U *u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : unique_impl_ptr(u, &details::default_delete<T>, &details::default_copy<T>) {}
+
+#ifndef SPIMPL_NO_CPP11_DEFAULT_MOVE_SPEC_FUNC
+        unique_impl_ptr(unique_impl_ptr&& r) SPIMPL_NOEXCEPT = default;
+#else
+        unique_impl_ptr(unique_impl_ptr&& r) SPIMPL_NOEXCEPT
+        : ptr_(std::move(r.ptr_)) {}
+#endif
+
+#ifdef SPIMPL_HAS_AUTO_PTR
+        template<class U>
+        unique_impl_ptr(std::auto_ptr<U>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : ptr_(u.release(), &details::default_delete<T>) {}
+#endif
+
+        template<class U>
+        unique_impl_ptr(std::unique_ptr<U>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : ptr_(u.release(), &details::default_delete<T>) {}
+
+        template<class U, class D>
+        unique_impl_ptr(std::unique_ptr<U, D>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && std::is_convertible<D, deleter_type>::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : ptr_(std::move(u)) {}
+
+        template<class U, class D>
+        unique_impl_ptr(unique_impl_ptr<U, D>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && std::is_convertible<D, deleter_type>::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : ptr_(std::move(u.ptr_)) {}
+
+        unique_impl_ptr(const unique_impl_ptr<T, Deleter>&) = delete;
+
+#ifndef SPIMPL_NO_CPP11_DEFAULT_MOVE_SPEC_FUNC
+        unique_impl_ptr& operator= (unique_impl_ptr&& r) SPIMPL_NOEXCEPT = default;
+#else
+        unique_impl_ptr& operator= (unique_impl_ptr&& r) SPIMPL_NOEXCEPT {
+            ptr_ = std::move(r.ptr_);
+            return *this;
+        }
+#endif
+
+#ifdef SPIMPL_HAS_AUTO_PTR
+        template<class U>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && is_default_manageable::value,
+            unique_impl_ptr&
+        >::type operator= (std::auto_ptr<U>&& u) SPIMPL_NOEXCEPT
+        {
+            return operator=(unique_impl_ptr(std::move(u)));
+        }
+#endif
+
+        template<class U>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && is_default_manageable::value,
+            unique_impl_ptr&
+        >::type operator= (std::unique_ptr<U>&& u) SPIMPL_NOEXCEPT
+        {
+            return operator=(unique_impl_ptr(std::move(u)));
+        }
+
+        reference operator=(const unique_impl_ptr<T, Deleter>&) = delete;
+
+        reference operator*() { return *ptr_; }
+        const_reference operator*() const { return *ptr_; }
+
+        pointer operator->() SPIMPL_NOEXCEPT { return get(); }
+        const_pointer operator->() const SPIMPL_NOEXCEPT { return get(); }
+
+        pointer get() SPIMPL_NOEXCEPT { return ptr_.get(); }
+        const_pointer get() const SPIMPL_NOEXCEPT { return ptr_.get(); }
+
+        void swap(unique_impl_ptr& u) SPIMPL_NOEXCEPT
+        {
+            using std::swap;
+            ptr_.swap(u.ptr_);
+        }
+
+        pointer release() SPIMPL_NOEXCEPT { return ptr_.release(); }
+
+        unique_ptr_type release_unique() SPIMPL_NOEXCEPT { return std::move(ptr_); }
+
+        explicit operator bool() const SPIMPL_NOEXCEPT { return static_cast<bool>(ptr_); }
+
+        typename std::remove_reference<deleter_type>::type& get_deleter() SPIMPL_NOEXCEPT { return ptr_.get_deleter(); }
+        const typename std::remove_reference<deleter_type>::type& get_deleter() const SPIMPL_NOEXCEPT { return ptr_.get_deleter(); }
+
+    protected:
+        unique_ptr_type ptr_;
+    };
+
+
+    template<class T, class D>
+    inline void swap(unique_impl_ptr<T, D>& l, unique_impl_ptr<T, D>& r) SPIMPL_NOEXCEPT
+    {
+        l.swap(r);
+    }
+
+
+    template <class T1, class D1, class T2, class D2>
+    inline bool operator==(const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        return l.get() == r.get();
+    }
+
+    template <class T1, class D1, class C1, class T2, class D2>
+    inline bool operator!=(const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        return !(l == r);
+    }
+
+    template <class T1, class D1, class T2, class D2>
+    inline bool operator< (const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        using P1 = typename unique_impl_ptr<T1, D1>::pointer;
+        using P2 = typename unique_impl_ptr<T2, D2>::pointer;
+        using CT = typename std::common_type<P1, P2>::type;
+        return std::less<CT>()(l.get(), r.get());
+    }
+
+    template <class T1, class D1, class T2, class D2>
+    inline bool operator> (const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        return r < l;
+    }
+
+    template <class T1, class D1, class T2, class D2>
+    inline bool operator<=(const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        return !(r < l);
+    }
+
+    template <class T1, class D1, class T2, class D2>
+    inline bool operator>=(const unique_impl_ptr<T1, D1>& l, const unique_impl_ptr<T2, D2>& r)
+    {
+        return !(l < r);
+    }
+
+    template <class T, class D>
+    inline bool operator==(const unique_impl_ptr<T, D>& p, std::nullptr_t) SPIMPL_NOEXCEPT
+    {
+        return !p;
+    }
+
+    template <class T, class D>
+    inline bool operator==(std::nullptr_t, const unique_impl_ptr<T, D>& p) SPIMPL_NOEXCEPT
+    {
+        return !p;
+    }
+
+    template <class T, class D>
+    inline bool operator!=(const unique_impl_ptr<T, D>& p, std::nullptr_t) SPIMPL_NOEXCEPT
+    {
+        return static_cast<bool>(p);
+    }
+
+    template <class T, class D>
+    inline bool operator!=(std::nullptr_t, const unique_impl_ptr<T, D>& p) SPIMPL_NOEXCEPT
+    {
+        return static_cast<bool>(p);
+    }
+
+    template <class T, class D>
+    inline bool operator< (const unique_impl_ptr<T, D>& l, std::nullptr_t)
+    {
+        using P = typename unique_impl_ptr<T, D>::pointer;
+        return std::less<P>()(l.get(), nullptr);
+    }
+
+    template <class T, class D>
+    inline bool operator< (std::nullptr_t, const unique_impl_ptr<T, D>& p)
+    {
+        using P = typename unique_impl_ptr<T, D>::pointer;
+        return std::less<P>()(nullptr, p.get());
+    }
+
+    template <class T, class D>
+    inline bool operator> (const unique_impl_ptr<T, D>& p, std::nullptr_t)
+    {
+        return nullptr < p;
+    }
+
+    template <class T, class D>
+    inline bool operator> (std::nullptr_t, const unique_impl_ptr<T, D>& p)
+    {
+        return p < nullptr;
+    }
+
+    template <class T, class D>
+    inline bool operator<=(const unique_impl_ptr<T, D>& p, std::nullptr_t)
+    {
+        return !(nullptr < p);
+    }
+
+    template <class T, class D>
+    inline bool operator<=(std::nullptr_t, const unique_impl_ptr<T, D>& p)
+    {
+        return !(p < nullptr);
+    }
+
+    template <class T, class D>
+    inline bool operator>=(const unique_impl_ptr<T, D>& p, std::nullptr_t)
+    {
+        return !(p < nullptr);
+    }
+
+    template <class T, class D>
+    inline bool operator>=(std::nullptr_t, const unique_impl_ptr<T, D>& p)
+    {
+        return !(nullptr < p);
+    }
+
+
+    template<class T, class... Args>
+    inline unique_impl_ptr<T> make_unique_impl(Args&&... args)
+    {
+        return unique_impl_ptr<T>(new T(std::forward<Args>(args)...), &details::default_delete<T>);
+    }
+
+
+    // Helpers to manage unique impl, stored in std::unique_ptr
+    template<class T, class Deleter = details::default_deleter_t<T>, class Copier = details::default_copier_t<T>>
+    class impl_ptr : public unique_impl_ptr<T, Deleter>
+    {
+        using base_type = unique_impl_ptr<T, Deleter>;
+        using dummy_t_ = typename base_type::dummy_t_;
+    public:
+        using pointer = typename base_type::pointer;
+        using const_pointer = typename base_type::const_pointer;
+        using reference = typename base_type::reference;
+        using const_reference = typename base_type::const_reference;
+        using element_type = typename base_type::element_type;
+        using deleter_type = typename base_type::deleter_type;
+        using unique_ptr_type = typename base_type::unique_ptr_type;
+        using copier_type = typename std::decay<Copier>::type;
+        using is_default_manageable = details::is_default_manageable<T, deleter_type, copier_type>;
+
+        SPIMPL_CONSTEXPR impl_ptr() SPIMPL_NOEXCEPT
+        : base_type(nullptr, deleter_type{}), copier_(copier_type{}) {}
+
+        SPIMPL_CONSTEXPR impl_ptr(std::nullptr_t) SPIMPL_NOEXCEPT
+        : impl_ptr() {}
+
+        template<class D, class C>
+        impl_ptr(pointer p, D&& d, C&& c,
+                 typename std::enable_if<
+                    std::is_convertible<D, deleter_type>::value
+                        && std::is_convertible<C, copier_type>::value,
+                    typename base_type::dummy_t_
+                 >::type = typename base_type::dummy_t_()) SPIMPL_NOEXCEPT
+        : base_type(std::move(p), std::forward<D>(d)), copier_(std::forward<C>(c)) {}
+
+        template<class U>
+        impl_ptr(U *u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : impl_ptr(u, &details::default_delete<T>, &details::default_copy<T>) {}
+
+        impl_ptr(const impl_ptr& r)
+        : impl_ptr(r.clone()) {}
+
+#ifndef SPIMPL_NO_CPP11_DEFAULT_MOVE_SPEC_FUNC
+        impl_ptr(impl_ptr&& r) SPIMPL_NOEXCEPT = default;
+#else
+        impl_ptr(impl_ptr&& r) SPIMPL_NOEXCEPT
+        : base_type(std::move(r.ptr_)), copier_(std::move(r.copier_)) {}
+#endif
+
+#ifdef SPIMPL_HAS_AUTO_PTR
+        template<class U>
+        impl_ptr(std::auto_ptr<U>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : base_type(u.release(), &details::default_delete<T>), copier_(&details::default_copy<T>) {}
+#endif
+
+        template<class U>
+        impl_ptr(std::unique_ptr<U>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && is_default_manageable::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : base_type(u.release(), &details::default_delete<T>) {}
+
+        template<class U, class D, class C>
+        impl_ptr(std::unique_ptr<U, D>&& u, C&& c,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && std::is_convertible<D, deleter_type>::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : base_type(std::move(u)), copier_(std::forward<C>(c)) {}
+
+        template<class U, class D, class C>
+        impl_ptr(impl_ptr<U, D, C>&& u,
+                 typename std::enable_if<
+                    std::is_convertible<U*, pointer>::value
+                        && std::is_convertible<D, deleter_type>::value,
+                    dummy_t_
+                 >::type = dummy_t_()) SPIMPL_NOEXCEPT
+        : base_type(std::move(u.ptr_)), copier_(std::move(u.copier_)) {}
+
+        impl_ptr& operator= (const impl_ptr& r)
+        {
+            if (this == &r)
+                return *this;
+
+            return operator=(r.clone());
+        }
+
+#ifndef SPIMPL_NO_CPP11_DEFAULT_MOVE_SPEC_FUNC
+        impl_ptr& operator= (impl_ptr&& r) SPIMPL_NOEXCEPT = default;
+#else
+        impl_ptr& operator= (impl_ptr&& r) SPIMPL_NOEXCEPT {
+            base_type::ptr_ = std::move(r.ptr_);
+            copier_ = std::move(r.copier_);
+            return *this;
+        }
+#endif
+
+        template<class U, class D, class C>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && std::is_convertible<D, deleter_type>::value
+                && std::is_convertible<C, copier_type>::value,
+            impl_ptr&
+        >::type operator= (const impl_ptr<U, D, C>& u)
+        {
+            return operator=(u.clone());
+        }
+
+        //
+
+#ifdef SPIMPL_HAS_AUTO_PTR
+        template<class U>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && is_default_manageable::value,
+            impl_ptr&
+        >::type operator= (std::auto_ptr<U>&& u) SPIMPL_NOEXCEPT
+        {
+            return operator=(impl_ptr(std::move(u)));
+        }
+#endif
+
+        template<class U>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && is_default_manageable::value,
+            impl_ptr&
+        >::type operator= (std::unique_ptr<U>&& u) SPIMPL_NOEXCEPT
+        {
+            return operator=(impl_ptr(std::move(u)));
+        }
+
+        template<class U, class D, class C>
+        typename std::enable_if<
+            std::is_convertible<U*, pointer>::value
+                && std::is_convertible<D, deleter_type>::value
+                && std::is_convertible<C, copier_type>::value,
+            impl_ptr&
+        >::type operator= (impl_ptr<U, D, C>&& u) SPIMPL_NOEXCEPT
+        {
+            base_type::ptr_ = std::move(u.ptr_);
+            copier_ = std::move(u.copier_);
+            return *this;
+        }
+
+        void swap(impl_ptr& u) SPIMPL_NOEXCEPT
+        {
+            using std::swap;
+            base_type::ptr_.swap(u.ptr_);
+            swap(copier_, u.copier_);
+        }
+
+        impl_ptr clone() const
+        {
+            return impl_ptr(
+                base_type::ptr_ ? copier_(base_type::ptr_.get()) : nullptr,
+                base_type::ptr_.get_deleter(),
+                copier_);
+        }
+
+        const typename std::remove_reference<copier_type>::type& get_copier() const SPIMPL_NOEXCEPT { return copier_; }
+        typename std::remove_reference<copier_type>::type& get_copier() SPIMPL_NOEXCEPT { return copier_; }
+    private:
+        copier_type copier_;
+    };
+
+    template<class T, class... Args>
+    inline impl_ptr<T> make_impl(Args&&... args)
+    {
+        return impl_ptr<T>(new T(std::forward<Args>(args)...), &details::default_delete<T>, &details::default_copy<T>);
+    }
+
+    template<class T, class D, class C>
+    inline void swap(impl_ptr<T, D, C>& l,impl_ptr<T, D, C>& r) SPIMPL_NOEXCEPT
+    {
+        l.swap(r);
+    }
+}
+
+namespace std {
+    template <class T, class D>
+    struct hash<spimpl::unique_impl_ptr<T, D>>
+    {
+        using argument_type = spimpl::unique_impl_ptr<T, D> ;
+        using result_type = size_t;
+
+        result_type operator()(const argument_type& p) const SPIMPL_NOEXCEPT
+        {
+            return hash<typename argument_type::pointer>()(p.get());
+        }
+    };
+
+    template <class T, class D, class C>
+    struct hash<spimpl::impl_ptr<T, D, C>>
+    {
+        using argument_type = spimpl::impl_ptr<T, D, C> ;
+        using result_type = size_t;
+
+        result_type operator()(const argument_type& p) const SPIMPL_NOEXCEPT
+        {
+            return hash<typename argument_type::pointer>()(p.get());
+        }
+    };
+}
+
+#endif // SPIMPL_H_
diff --git a/include/depthai/common/ADatatypeSharedPtrSerialization.hpp b/include/depthai/common/ADatatypeSharedPtrSerialization.hpp
new file mode 100644
index 000000000..5aff15145
--- /dev/null
+++ b/include/depthai/common/ADatatypeSharedPtrSerialization.hpp
@@ -0,0 +1,44 @@
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "depthai/utility/Serialization.hpp"
+namespace nlohmann {
+template <>
+struct adl_serializer<std::shared_ptr<dai::ADatatype>> {
+    static void to_json(json& j, const std::shared_ptr<dai::ADatatype>& /*opt*/) {  // NOLINT this is a specialization, naming conventions don't apply
+        j = nullptr;
+    }
+
+    static void from_json(const json& /*j*/, std::shared_ptr<dai::ADatatype>& opt) {  // NOLINT this is a specialization, naming conventions don't apply
+        opt = nullptr;
+    }
+};
+}  // namespace nlohmann
+
+namespace nop {
+template <>
+struct Encoding<std::shared_ptr<dai::ADatatype>> : EncodingIO<std::shared_ptr<dai::ADatatype>> {
+    using Type = std::shared_ptr<dai::ADatatype>;
+
+    static constexpr EncodingByte Prefix(const Type& /* value */) {
+        return EncodingByte::Empty;
+    }
+
+    static constexpr std::size_t Size(const Type& /* value */) {
+        return 0;
+    }
+
+    static constexpr bool Match(EncodingByte prefix) {
+        return prefix == EncodingByte::Empty;
+    }
+
+    template <typename Writer>
+    static constexpr Status<void> WritePayload(EncodingByte /* prefix */, const Type& /* value */, Writer* /* writer */) {
+        return {};
+    }
+
+    template <typename Reader>
+    static constexpr Status<void> ReadPayload(EncodingByte /* prefix */, Type* value, Reader* /* reader */) {
+        value->reset();
+        return {};
+    }
+};
+}  // namespace nop
\ No newline at end of file
diff --git a/include/depthai/common/CameraBoardSocket.hpp b/include/depthai/common/CameraBoardSocket.hpp
index 9802a2e6b..fe03a49d2 100644
--- a/include/depthai/common/CameraBoardSocket.hpp
+++ b/include/depthai/common/CameraBoardSocket.hpp
@@ -1,8 +1,33 @@
 #pragma once
+#include <cstdint>
+#include <iostream>
+namespace dai {
+/**
+ * Which Camera socket to use.
+ *
+ * AUTO denotes that the decision will be made by device
+ */
+enum class CameraBoardSocket : int32_t {
+    AUTO = -1,
+    CAM_A,
+    CAM_B,
+    CAM_C,
+    CAM_D,
+    VERTICAL = CAM_D,
+    CAM_E,
+    CAM_F,
+    CAM_G,
+    CAM_H,
+    CAM_I,
+    CAM_J,
+    // Deprecated naming
+    RGB [[deprecated]] = CAM_A,
+    CENTER [[deprecated]] = CAM_A,
+    LEFT [[deprecated]] = CAM_B,
+    RIGHT [[deprecated]] = CAM_C,
+};
 
-#include <ostream>
-
-#include "depthai-shared/common/CameraBoardSocket.hpp"
+}  // namespace dai
 
 // Global namespace
 inline std::ostream& operator<<(std::ostream& out, const dai::CameraBoardSocket& socket) {
diff --git a/include/depthai/common/CameraFeatures.hpp b/include/depthai/common/CameraFeatures.hpp
index a38e08d37..86b198f4a 100644
--- a/include/depthai/common/CameraFeatures.hpp
+++ b/include/depthai/common/CameraFeatures.hpp
@@ -1,12 +1,94 @@
 #pragma once
 
-#include <ostream>
-#include <vector>
-
-#include "depthai-shared/common/CameraFeatures.hpp"
 #include "depthai/common/CameraBoardSocket.hpp"
 #include "depthai/common/CameraImageOrientation.hpp"
 #include "depthai/common/CameraSensorType.hpp"
+#include "depthai/common/Rect.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Sensor config
+ */
+struct CameraSensorConfig {
+    std::int32_t width = -1, height = -1;
+    float minFps = -1, maxFps = -1;
+    /// Sensor active view area in physical area [pixels]
+    Rect fov;
+    CameraSensorType type;
+};
+DEPTHAI_SERIALIZE_EXT(CameraSensorConfig, width, height, minFps, maxFps, fov, type);
+
+/**
+ * CameraFeatures structure
+ *
+ * Characterizes detected cameras on board
+ */
+struct CameraFeatures {
+    /**
+     * Board socket where the camera was detected
+     */
+    CameraBoardSocket socket = CameraBoardSocket::AUTO;
+    /**
+     * Camera sensor name, e.g: "IMX378", "OV9282"
+     */
+    std::string sensorName;
+    /**
+     * Maximum sensor resolution
+     */
+    std::int32_t width = -1, height = -1;
+    /**
+     * Default camera orientation, board dependent
+     */
+    CameraImageOrientation orientation = CameraImageOrientation::AUTO;
+    /**
+     * List of supported types of processing for the given camera.
+     *
+     * For some sensors it's not possible to determine if they are color or mono
+     * (e.g. OV9782 and OV9282), so this could return more than one entry
+     */
+    std::vector<CameraSensorType> supportedTypes;
+    /**
+     *  Whether an autofocus VCM IC was detected
+     */
+    bool hasAutofocusIC = false;
+    /**
+     *  Whether camera has auto focus capabilities, or is a fixed focus lens
+     */
+    bool hasAutofocus = false;
+    /**
+     * Camera name or alias
+     */
+    std::string name;
+    /**
+     * Additional camera names or aliases
+     */
+    std::vector<std::string> additionalNames;
+    /**
+     * Available sensor configs
+     */
+    std::vector<CameraSensorConfig> configs;
+
+    std::optional<CameraSensorConfig> calibrationResolution = std::nullopt;
+
+    DEPTHAI_SERIALIZE(CameraFeatures,
+                      socket,
+                      sensorName,
+                      width,
+                      height,
+                      orientation,
+                      supportedTypes,
+                      hasAutofocusIC,
+                      hasAutofocus,
+                      name,
+                      additionalNames,
+                      configs,
+                      calibrationResolution);
+};
+
+}  // namespace dai
 
 // Global namespace
 inline std::ostream& operator<<(std::ostream& out, const dai::CameraFeatures& camera) {
@@ -14,7 +96,6 @@ inline std::ostream& operator<<(std::ostream& out, const dai::CameraFeatures& ca
     out << "sensorName: " << camera.sensorName << ", ";
     out << "width: " << camera.width << ", ";
     out << "height: " << camera.height << ", ";
-    out << "orientation: " << camera.orientation << ", ";
     out << "supportedTypes: [";
     for(size_t i = 0; i < camera.supportedTypes.size(); i++) {
         if(i != 0) {
@@ -41,4 +122,32 @@ inline std::ostream& operator<<(std::ostream& out, const std::vector<dai::Camera
     out << "]";
 
     return out;
-}
\ No newline at end of file
+}
+
+inline std::ostream& operator<<(std::ostream& out, const dai::CameraSensorConfig& config) {
+    out << "{width: " << config.width << ", ";
+    out << "height: " << config.height << ", ";
+    out << "minFps: " << config.minFps << ", ";
+    out << "maxFps: " << config.maxFps << ", ";
+    out << "type: " << config.type << ", ";
+    out << "fov: "
+        << "{x:" << config.fov.x << ", ";
+    out << "y: " << config.fov.y << ", ";
+    out << "width: " << config.fov.width << ", ";
+    out << "height: " << config.fov.height << "}";
+    out << "}";
+    return out;
+}
+
+inline std::ostream& operator<<(std::ostream& out, const std::vector<dai::CameraSensorConfig>& configs) {
+    out << "[";
+    for(size_t i = 0; i < configs.size(); i++) {
+        if(i != 0) {
+            out << ", ";
+        }
+        out << configs.at(i);
+    }
+    out << "]";
+
+    return out;
+}
diff --git a/include/depthai/common/CameraImageOrientation.hpp b/include/depthai/common/CameraImageOrientation.hpp
index ea6baf5f2..33d53b5f7 100644
--- a/include/depthai/common/CameraImageOrientation.hpp
+++ b/include/depthai/common/CameraImageOrientation.hpp
@@ -1,27 +1,13 @@
 #pragma once
+#include <cstdint>
 
-#include <ostream>
+namespace dai {
+/**
+ * Camera sensor image orientation / pixel readout.
+ * This exposes direct sensor settings. 90 or 270 degrees rotation is not available.
+ *
+ * AUTO denotes that the decision will be made by device (e.g. on OAK-1/megaAI: ROTATE_180_DEG).
+ */
+enum class CameraImageOrientation : int32_t { AUTO = -1, NORMAL, HORIZONTAL_MIRROR, VERTICAL_FLIP, ROTATE_180_DEG };
 
-#include "depthai-shared/common/CameraImageOrientation.hpp"
-
-// Global namespace
-inline std::ostream& operator<<(std::ostream& out, const dai::CameraImageOrientation& orientation) {
-    switch(orientation) {
-        case dai::CameraImageOrientation::AUTO:
-            out << "AUTO";
-            break;
-        case dai::CameraImageOrientation::NORMAL:
-            out << "NORMAL";
-            break;
-        case dai::CameraImageOrientation::HORIZONTAL_MIRROR:
-            out << "HORIZONTAL_MIRROR";
-            break;
-        case dai::CameraImageOrientation::VERTICAL_FLIP:
-            out << "VERTICAL_FLIP";
-            break;
-        case dai::CameraImageOrientation::ROTATE_180_DEG:
-            out << "ROTATE_180_DEG";
-            break;
-    }
-    return out;
-}
+}  // namespace dai
diff --git a/include/depthai/common/CameraInfo.hpp b/include/depthai/common/CameraInfo.hpp
new file mode 100644
index 000000000..630b9e9d4
--- /dev/null
+++ b/include/depthai/common/CameraInfo.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "depthai/common/CameraModel.hpp"
+#include "depthai/common/Extrinsics.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// CameraInfo structure
+struct CameraInfo {
+    uint16_t width = 0, height = 0;
+    uint8_t lensPosition = 0;
+    std::vector<std::vector<float>> intrinsicMatrix;
+    std::vector<float> distortionCoeff;
+    Extrinsics extrinsics;
+    float specHfovDeg = 0.0f;  // fov in deg
+    CameraModel cameraType = CameraModel::Perspective;
+    DEPTHAI_SERIALIZE(CameraInfo, cameraType, width, height, specHfovDeg, lensPosition, intrinsicMatrix, distortionCoeff, extrinsics);
+};
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/CameraModel.hpp b/include/depthai/common/CameraModel.hpp
new file mode 100644
index 000000000..51188ad95
--- /dev/null
+++ b/include/depthai/common/CameraModel.hpp
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <cstdint>
+
+namespace dai {
+/**
+ * Which CameraModel to initialize the calibration with.
+ */
+enum class CameraModel : int8_t { Perspective = 0, Fisheye = 1, Equirectangular = 2, RadialDivision = 3 };
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/CameraSensorType.hpp b/include/depthai/common/CameraSensorType.hpp
index e8b1512e9..1401f9613 100644
--- a/include/depthai/common/CameraSensorType.hpp
+++ b/include/depthai/common/CameraSensorType.hpp
@@ -1,8 +1,13 @@
 #pragma once
 
-#include <ostream>
+#include <nlohmann/json.hpp>
 
-#include "depthai-shared/common/CameraSensorType.hpp"
+namespace dai {
+
+/// Camera sensor type
+enum class CameraSensorType : int32_t { AUTO = -1, COLOR = 0, MONO = 1, TOF = 2, THERMAL = 3 };
+
+}  // namespace dai
 
 // Global namespace
 inline std::ostream& operator<<(std::ostream& out, const dai::CameraSensorType& type) {
diff --git a/include/depthai/common/ChipTemperature.hpp b/include/depthai/common/ChipTemperature.hpp
new file mode 100644
index 000000000..588602faa
--- /dev/null
+++ b/include/depthai/common/ChipTemperature.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Chip temperature information.
+ *
+ * Multiple temperature measurement points and their average
+ */
+struct ChipTemperature {
+    /**
+     *  CPU Subsystem
+     */
+    float css;
+    /**
+     *  Media Subsystem
+     */
+    float mss;
+    /**
+     *  Shave Array
+     */
+    float upa;
+    /**
+     *  DRAM Subsystem
+     */
+    float dss;
+    /**
+     *  Average of measurements
+     */
+    float average;
+};
+
+DEPTHAI_SERIALIZE_EXT(ChipTemperature, css, mss, upa, dss, average);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/ChipTemperatureS3.hpp b/include/depthai/common/ChipTemperatureS3.hpp
new file mode 100644
index 000000000..880e6f4fd
--- /dev/null
+++ b/include/depthai/common/ChipTemperatureS3.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Chip temperature information.
+ *
+ * Multiple temperature measurement points and their average
+ */
+struct ChipTemperatureS3 {
+    /**
+     *  CPU Subsystem
+     */
+    float css;
+    /**
+     *  Media Subsystem
+     */
+    float mss;
+    /**
+     *  TODO: What does nce stand for?
+     */
+    float nce;
+    /**
+     *  SoC
+     */
+    float soc;
+    /**
+     *  Average of measurements
+     */
+    float average;
+};
+
+DEPTHAI_SERIALIZE_EXT(ChipTemperatureS3, css, mss, nce, soc, average);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/Colormap.hpp b/include/depthai/common/Colormap.hpp
new file mode 100644
index 000000000..6533b28a4
--- /dev/null
+++ b/include/depthai/common/Colormap.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+namespace dai {
+
+/// Camera sensor type
+enum class Colormap : int32_t {
+    NONE = 0,
+    TURBO,
+    JET,
+    STEREO_TURBO,
+    STEREO_JET
+    // AUTUMN,
+    // BONE,
+    // JET,
+    // WINTER,
+    // RAINBOW,
+    // OCEAN,
+    // SUMMER,
+    // SPRING,
+    // COOL,
+    // HSV,
+    // PINK,
+    // HOT,
+    // PARULA,
+    // MAGMA,
+    // INFERNO,
+    // PLASMA,
+    // VIRIDIS,
+    // CIVIDIS,
+    // TWILIGHT,
+    // TWILIGHT_SHIFTED,
+    // DEEPGREEN
+};
+
+}  // namespace dai
diff --git a/include/depthai/common/ConnectionInterface.hpp b/include/depthai/common/ConnectionInterface.hpp
new file mode 100644
index 000000000..0c4af734b
--- /dev/null
+++ b/include/depthai/common/ConnectionInterface.hpp
@@ -0,0 +1,6 @@
+#pragma once
+#include <cstdint>
+
+namespace dai {
+enum class ConnectionInterface : int32_t { USB, ETHERNET, WIFI };
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/CpuUsage.hpp b/include/depthai/common/CpuUsage.hpp
new file mode 100644
index 000000000..a9cd7692f
--- /dev/null
+++ b/include/depthai/common/CpuUsage.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * CpuUsage structure
+ *
+ * Average usage in percent and time span of the average (since last query)
+ */
+struct CpuUsage {
+    /**
+     *  Average CPU usage, expressed with a normalized value (0-1)
+     */
+    float average = 0.f;
+    /**
+     *  Time span in which the average was calculated in milliseconds
+     */
+    int32_t msTime = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(CpuUsage, average, msTime);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/DetectionNetworkType.hpp b/include/depthai/common/DetectionNetworkType.hpp
new file mode 100644
index 000000000..b46ca244c
--- /dev/null
+++ b/include/depthai/common/DetectionNetworkType.hpp
@@ -0,0 +1,5 @@
+#pragma once
+
+#include <cstdint>
+
+enum class DetectionNetworkType : std::int32_t { YOLO, MOBILENET };
diff --git a/include/depthai/common/DetectionParserOptions.hpp b/include/depthai/common/DetectionParserOptions.hpp
new file mode 100644
index 000000000..8490ab3f6
--- /dev/null
+++ b/include/depthai/common/DetectionParserOptions.hpp
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "depthai/common/DetectionNetworkType.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * DetectionParserOptions
+ *
+ * Specifies how to parse output of detection networks
+ */
+struct DetectionParserOptions {
+    /// Generic Neural Network properties
+    DetectionNetworkType nnFamily;
+    float confidenceThreshold;
+
+    /// YOLO specific network properties
+    int classes;
+    int coordinates;
+    std::vector<float> anchors;
+    std::map<std::string, std::vector<int>> anchorMasks;
+    /// see YoloDetectionNetwork::setAnchors() for format
+    std::vector<std::vector<std::vector<float>>> anchorsV2;
+    float iouThreshold;
+};
+
+DEPTHAI_SERIALIZE_EXT(DetectionParserOptions, nnFamily, confidenceThreshold, classes, coordinates, anchors, anchorMasks, anchorsV2, iouThreshold);
+
+}  // namespace dai
diff --git a/include/depthai/common/EepromData.hpp b/include/depthai/common/EepromData.hpp
new file mode 100644
index 000000000..c58a8e5f6
--- /dev/null
+++ b/include/depthai/common/EepromData.hpp
@@ -0,0 +1,56 @@
+#pragma once
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraInfo.hpp"
+#include "depthai/common/Extrinsics.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/common/StereoRectification.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+/**
+ * EepromData structure
+ *
+ * Contains the Calibration and Board data stored on device
+ */
+struct EepromData {
+    uint32_t version = 7;
+    std::string productName, boardCustom, boardName, boardRev, boardConf, hardwareConf, deviceName;
+    std::string batchName;  /// Deprecated, not used or stored
+    uint64_t batchTime{0};
+    uint32_t boardOptions{0};
+    std::unordered_map<CameraBoardSocket, CameraInfo> cameraData;
+    StereoRectification stereoRectificationData;
+    Extrinsics imuExtrinsics;
+    Extrinsics housingExtrinsics;
+    std::vector<uint8_t> miscellaneousData;
+    bool stereoUseSpecTranslation{true};
+    bool stereoEnableDistortionCorrection{false};
+    CameraBoardSocket verticalCameraSocket = dai::CameraBoardSocket::AUTO;
+};
+
+DEPTHAI_SERIALIZE_OPTIONAL_EXT(EepromData,
+                               version,
+                               boardCustom,
+                               boardName,
+                               boardRev,
+                               boardConf,
+                               hardwareConf,
+                               productName,
+                               deviceName,
+                               batchName,
+                               batchTime,
+                               boardOptions,
+                               cameraData,
+                               stereoRectificationData,
+                               imuExtrinsics,
+                               housingExtrinsics,
+                               miscellaneousData,
+                               stereoUseSpecTranslation,
+                               stereoEnableDistortionCorrection,
+                               verticalCameraSocket);
+
+}  // namespace dai
diff --git a/include/depthai/common/Extrinsics.hpp b/include/depthai/common/Extrinsics.hpp
new file mode 100644
index 000000000..6ff7013f0
--- /dev/null
+++ b/include/depthai/common/Extrinsics.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// Extrinsics structure
+struct Extrinsics {
+    std::vector<std::vector<float>> rotationMatrix;
+    /**
+     *  (x, y, z) pose of destCameraSocket w.r.t currentCameraSocket obtained through calibration
+     */
+    Point3f translation;
+    /**
+     *  (x, y, z) pose of destCameraSocket w.r.t currentCameraSocket measured through CAD design
+     */
+    Point3f specTranslation;
+    CameraBoardSocket toCameraSocket = CameraBoardSocket::AUTO;
+    DEPTHAI_SERIALIZE(Extrinsics, rotationMatrix, translation, specTranslation, toCameraSocket);
+};
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/FrameEvent.hpp b/include/depthai/common/FrameEvent.hpp
new file mode 100644
index 000000000..23140a7d5
--- /dev/null
+++ b/include/depthai/common/FrameEvent.hpp
@@ -0,0 +1,10 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+namespace dai {
+
+enum class FrameEvent : int32_t { NONE, READOUT_START, READOUT_END };
+
+}  // namespace dai
diff --git a/include/depthai/common/ImgTransformations.hpp b/include/depthai/common/ImgTransformations.hpp
new file mode 100644
index 000000000..9af2ddd47
--- /dev/null
+++ b/include/depthai/common/ImgTransformations.hpp
@@ -0,0 +1,114 @@
+#pragma once
+
+#include "depthai/common/Point2f.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/utility/matrixOps.hpp"
+
+namespace dai {
+struct ImgTransformation {
+    enum class Transformation : uint8_t {
+        INIT,
+        CROP,
+        ROTATION,
+        PAD,
+        FLIP,
+        SCALE,
+    };
+    Transformation transformationType = Transformation::INIT;
+
+    // Crop parameters in absolute pixel values for the original image
+    int topLeftCropX = 0, topLeftCropY = 0, bottomRightCropX = 0, bottomRightCropY = 0;
+
+    // Crop parameters in absolute pixel values
+    int topPadding = 0, bottomPadding = 0, leftPadding = 0, rightPadding = 0;
+
+    // Used for flipping scale and rotation
+    std::vector<std::vector<float>> transformationMatrix = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+
+    // Precomput the inverse matrix for performance reasons
+    std::vector<std::vector<float>> invTransformationMatrix = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+
+    // Image size after transformation
+    unsigned int afterTransformWidth = 0, afterTransformHeight = 0;
+
+    // Image size before the transformation
+    unsigned int beforeTransformWidth = 0, beforeTransformHeight = 0;
+
+    static dai::Point2f transformPoint(ImgTransformation transformation, dai::Point2f point, bool& isClipped);
+
+    static dai::Point2f invTransformPoint(ImgTransformation transformation, dai::Point2f point, bool& isClipped);
+
+    static dai::Point2f clipPoint(dai::Point2f point, int imageWidth, int imageHeight, bool& isClipped);
+
+   private:
+    static dai::Point2f applyMatrixTransformation(dai::Point2f point, std::vector<std::vector<float>>& matrix);
+};
+
+DEPTHAI_SERIALIZE_EXT(ImgTransformation,
+                      transformationType,
+                      topLeftCropX,
+                      topLeftCropY,
+                      bottomRightCropX,
+                      bottomRightCropY,
+                      topPadding,
+                      bottomPadding,
+                      leftPadding,
+                      rightPadding,
+                      transformationMatrix,
+                      afterTransformWidth,
+                      afterTransformHeight,
+                      beforeTransformWidth,
+                      beforeTransformHeight);
+
+class ImgTransformations {
+   public:
+    std::vector<ImgTransformation> transformations = {};
+
+    bool invalidFlag = false;
+
+    void invalidateTransformations();
+
+    bool isInvalid() const;
+
+    unsigned int getLastWidth() const;
+
+    unsigned int getLastHeight() const;
+
+    void addPadding(int topPadding, int bottomPadding, int leftPadding, int rightPadding);
+
+    void addCrop(int topLeftCropX = 0, int topLeftCropY = 0, int bottomRightCropX = 0, int bottomRightCropY = 0);
+
+    void addFlipVertical();
+
+    void addFlipHorizontal();
+
+    void addInitTransformation(int width, int height);
+
+    void addRotation(float angle, dai::Point2f rotationPoint, int newWidth = 0, int newHeight = 0);
+
+    void addScale(float scaleX, float scaleY);
+
+    bool validateTransformationSizes() const;
+
+    // API that is meant for performance reasons - so matrices can be precomputed.
+    void addTransformation(std::vector<std::vector<float>> matrix,
+                           std::vector<std::vector<float>> invMatrix,
+                           ImgTransformation::Transformation transformation,
+                           int newWidth,
+                           int newHeight);
+
+   private:
+    ImgTransformation getNewTransformation() const;
+
+    static std::vector<std::vector<float>> getFlipHorizontalMatrix(int width);
+
+    static std::vector<std::vector<float>> getFlipVerticalMatrix(int height);
+
+    static std::vector<std::vector<float>> getRotationMatrix(int px, int py, float theta);
+
+    static std::vector<std::vector<float>> getScaleMatrix(float scaleX, float scaleY);
+};
+
+DEPTHAI_SERIALIZE_EXT(ImgTransformations, transformations, invalidFlag);
+
+}  // namespace dai
diff --git a/include/depthai/common/Interpolation.hpp b/include/depthai/common/Interpolation.hpp
new file mode 100644
index 000000000..d273147e5
--- /dev/null
+++ b/include/depthai/common/Interpolation.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cstdint>
+
+namespace dai {
+
+/**
+ * Interpolation type
+ */
+enum class Interpolation : std::int32_t {
+
+    AUTO = -1,
+    BILINEAR = 0,
+    BICUBIC = 1,
+    NEAREST_NEIGHBOR = 2,
+    BYPASS = NEAREST_NEIGHBOR,
+    DEFAULT = BICUBIC,
+    DEFAULT_DISPARITY_DEPTH = NEAREST_NEIGHBOR
+
+};
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/MedianFilter.hpp b/include/depthai/common/MedianFilter.hpp
new file mode 100644
index 000000000..b35dbd6a1
--- /dev/null
+++ b/include/depthai/common/MedianFilter.hpp
@@ -0,0 +1,12 @@
+#pragma once
+
+// std
+#include <cstdint>
+namespace dai {
+
+/**
+ * Median filter config
+ */
+enum class MedianFilter : int32_t { MEDIAN_OFF = 0, KERNEL_3x3 = 3, KERNEL_5x5 = 5, KERNEL_7x7 = 7 };
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/MemoryInfo.hpp b/include/depthai/common/MemoryInfo.hpp
new file mode 100644
index 000000000..06c4f0123
--- /dev/null
+++ b/include/depthai/common/MemoryInfo.hpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * MemoryInfo structure
+ *
+ * Free, remaining and total memory stats
+ */
+struct MemoryInfo {
+    int64_t remaining;
+    int64_t used;
+    int64_t total;
+};
+
+DEPTHAI_SERIALIZE_EXT(MemoryInfo, remaining, used, total);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/Point2f.hpp b/include/depthai/common/Point2f.hpp
new file mode 100644
index 000000000..2888635a5
--- /dev/null
+++ b/include/depthai/common/Point2f.hpp
@@ -0,0 +1,45 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// project
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Point2f structure
+ *
+ * x and y coordinates that define a 2D point.
+ */
+struct Point2f {
+    Point2f() = default;
+    Point2f(float x, float y) {
+        this->x = x;
+        this->y = y;
+        this->hasNormalized = false;
+    }
+    Point2f(float x, float y, bool normalized) {
+        this->x = x;
+        this->y = y;
+        this->hasNormalized = true;
+        this->normalized = normalized;
+    }
+    float x = 0, y = 0;
+    bool normalized = false;
+    bool hasNormalized = false;
+
+    bool isNormalized() const {
+        if(hasNormalized) {
+            return normalized;
+        }
+        // When ambiguous, default to denormalized
+        if((x == 0 || x == 1) && (y == 0 || y == 1)) return false;
+        return x >= 0 && x <= 1 && y >= 0 && y <= 1;
+    }
+};
+
+DEPTHAI_SERIALIZE_EXT(Point2f, x, y, normalized, hasNormalized);
+
+}  // namespace dai
diff --git a/include/depthai/common/Point3f.hpp b/include/depthai/common/Point3f.hpp
new file mode 100644
index 000000000..e3bdf750a
--- /dev/null
+++ b/include/depthai/common/Point3f.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// project
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Point3f structure
+ *
+ * x,y,z coordinates that define a 3D point.
+ */
+struct Point3f {
+    Point3f() = default;
+    Point3f(float x, float y, float z) : x(x), y(y), z(z) {}
+    float x = 0, y = 0, z = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(Point3f, x, y, z);
+
+}  // namespace dai
diff --git a/include/depthai/common/ProcessorType.hpp b/include/depthai/common/ProcessorType.hpp
new file mode 100644
index 000000000..2cc3e6907
--- /dev/null
+++ b/include/depthai/common/ProcessorType.hpp
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <cstdint>
+
+namespace dai {
+
+/**
+ * On which processor the node will be placed
+ *
+ * Enum specifying processor
+ */
+enum class ProcessorType : int32_t { LEON_CSS, LEON_MSS };
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/Rect.hpp b/include/depthai/common/Rect.hpp
new file mode 100644
index 000000000..d176feee4
--- /dev/null
+++ b/include/depthai/common/Rect.hpp
@@ -0,0 +1,111 @@
+#pragma once
+
+// libraries
+#include <algorithm>
+
+#include "depthai/common/Point2f.hpp"
+#include "depthai/common/Size2f.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Rect structure
+ *
+ * x,y coordinates together with width and height that define a rectangle.
+ * Can be either normalized [0,1] or absolute representation.
+ */
+struct Rect {
+    // default constructor
+    Rect() = default;
+    Rect(float x, float y, float width, float height) : x(x), y(y), width(width), height(height) {}
+    Rect(const Rect& r) : x(r.x), y(r.y), width(r.width), height(r.height) {}
+    Rect(const Point2f& org, const Size2f& sz) : x(org.x), y(org.y), width(sz.width), height(sz.height) {}
+    Rect(const Point2f& pt1, const Point2f& pt2)
+        : x(std::min(pt1.x, pt2.x)), y(std::min(pt1.y, pt2.y)), width(std::max(pt1.x, pt2.x) - x), height(std::max(pt1.y, pt2.y) - y) {}
+    Rect& operator=(const Rect& r) = default;
+    Rect& operator=(Rect&& r) = default;
+
+    /**
+     * The top-left corner.
+     */
+    Point2f topLeft() const {
+        return Point2f(x, y, isNormalized());
+    }
+
+    /**
+     * The bottom-right corner
+     */
+    Point2f bottomRight() const {
+        return Point2f(x + width, y + height, isNormalized());
+    }
+
+    /**
+     * Size (width, height) of the rectangle
+     */
+    Size2f size() const {
+        return Size2f(width, height);
+    }
+
+    /**
+     * Area (width*height) of the rectangle
+     */
+    float area() const {
+        return width * height;
+    }
+
+    /**
+     * True if rectangle is empty.
+     */
+    bool empty() const {
+        return width <= 0 || height <= 0;
+    }
+
+    /**
+     * Checks whether the rectangle contains the point.
+     */
+    bool contains(const Point2f& pt) const {
+        return x <= pt.x && pt.x < x + width && y <= pt.y && pt.y < y + height;
+    }
+
+    /**
+     * Whether rectangle is normalized (coordinates in [0,1] range) or not.
+     */
+    bool isNormalized() const {
+        if(x + width <= 1.f && y + height <= 1.f) return true;
+        return !(x == static_cast<int>(x) && y == static_cast<int>(y) && width == static_cast<int>(width) && height == static_cast<int>(height));
+    }
+
+    /**
+     * Denormalize rectangle.
+     * @param destWidth Destination frame width.
+     * @param destHeight Destination frame height.
+     */
+    Rect denormalize(int destWidth, int destHeight) const {
+        if(isNormalized()) {
+            return Rect(std::round(x * destWidth), std::round(y * destHeight), std::round(width * destWidth), std::round(height * destHeight));
+        }
+        return *this;
+    }
+
+    /**
+     * Normalize rectangle.
+     * @param srcWidth Source frame width.
+     * @param srcHeight Source frame height.
+     */
+    Rect normalize(int srcWidth, int srcHeight) const {
+        if(isNormalized()) {
+            return *this;
+        }
+        return Rect(x / srcWidth, y / srcHeight, width / srcWidth, height / srcHeight);
+    }
+
+    // order of declaration must be x, y, width, height for constructor initializer lists
+    float x = 0.0f;       // x coordinate of the top-left corner
+    float y = 0.0f;       // y coordinate of the top-left corner
+    float width = 0.0f;   // width of the rectangle
+    float height = 0.0f;  // height of the rectangle
+};
+DEPTHAI_SERIALIZE_EXT(Rect, x, y, width, height);
+
+}  // namespace dai
diff --git a/include/depthai/common/RotatedRect.hpp b/include/depthai/common/RotatedRect.hpp
new file mode 100644
index 000000000..b13c0556f
--- /dev/null
+++ b/include/depthai/common/RotatedRect.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// shared
+#include "depthai/common/Point2f.hpp"
+#include "depthai/common/Size2f.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// RotatedRect structure
+struct RotatedRect {
+    Point2f center;
+    Size2f size;
+    /// degrees, increasing clockwise
+    float angle = 0.f;
+};
+
+DEPTHAI_SERIALIZE_EXT(RotatedRect, center, size, angle);
+
+}  // namespace dai
diff --git a/include/depthai/common/Size2f.hpp b/include/depthai/common/Size2f.hpp
new file mode 100644
index 000000000..96747fed7
--- /dev/null
+++ b/include/depthai/common/Size2f.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Size2f structure
+ *
+ * width, height values define the size of the shape/frame
+ */
+struct Size2f {
+    Size2f() = default;
+    Size2f(float width, float height) : width(width), height(height) {}
+    float width = 0, height = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(Size2f, width, height);
+
+}  // namespace dai
diff --git a/include/depthai/common/StereoPair.hpp b/include/depthai/common/StereoPair.hpp
new file mode 100644
index 000000000..a9d1469f6
--- /dev/null
+++ b/include/depthai/common/StereoPair.hpp
@@ -0,0 +1,43 @@
+#pragma once
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+/**
+ * Describes which camera sockets can be used for stereo and their baseline.
+ *
+ */
+struct StereoPair {
+    CameraBoardSocket left;
+    CameraBoardSocket right;
+    /**
+     * Baseline in centimeters.
+     */
+    float baseline = -1;
+    bool isVertical = false;
+    DEPTHAI_SERIALIZE(StereoPair, left, right, baseline, isVertical);
+};
+}  // namespace dai
+
+// Global namespace
+inline std::ostream& operator<<(std::ostream& out, const dai::StereoPair& pair) {
+    out << "{left: " << pair.left << ", ";
+    out << "right: " << pair.right << ", ";
+    out << "baseline: " << pair.baseline << ", ";
+    out << "isVertical: " << pair.isVertical << "}";
+    return out;
+}
+
+inline std::ostream& operator<<(std::ostream& out, const std::vector<dai::StereoPair>& pairs) {
+    out << "[";
+    for(size_t i = 0; i < pairs.size(); i++) {
+        if(i != 0) {
+            out << ", ";
+        }
+        out << pairs.at(i);
+    }
+    out << "]";
+
+    return out;
+}
diff --git a/include/depthai/common/StereoRectification.hpp b/include/depthai/common/StereoRectification.hpp
new file mode 100644
index 000000000..74f8b1dc0
--- /dev/null
+++ b/include/depthai/common/StereoRectification.hpp
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// StereoRectification structure
+struct StereoRectification {
+    std::vector<std::vector<float>> rectifiedRotationLeft, rectifiedRotationRight;
+    CameraBoardSocket leftCameraSocket = CameraBoardSocket::AUTO, rightCameraSocket = CameraBoardSocket::AUTO;
+};
+
+DEPTHAI_SERIALIZE_EXT(StereoRectification, rectifiedRotationLeft, rectifiedRotationRight, leftCameraSocket, rightCameraSocket);
+
+}  // namespace dai
diff --git a/include/depthai/common/TensorInfo.hpp b/include/depthai/common/TensorInfo.hpp
new file mode 100644
index 000000000..664430900
--- /dev/null
+++ b/include/depthai/common/TensorInfo.hpp
@@ -0,0 +1,205 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// project
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// TensorInfo structure
+struct TensorInfo {
+    enum class StorageOrder : int {
+        NHWC = 0x4213,
+        NHCW = 0x4231,
+        NCHW = 0x4321,
+        HWC = 0x213,
+        CHW = 0x321,
+        WHC = 0x123,
+        HCW = 0x231,
+        WCH = 0x132,
+        CWH = 0x312,
+        NC = 0x43,
+        CN = 0x34,
+        C = 0x3,
+        H = 0x2,
+        W = 0x1,
+    };
+
+    enum class DataType : int {
+        FP16 = 0,  // Half precision floating point
+        U8F = 1,   // Unsigned byte
+        INT = 2,   // Signed integer (4 byte)
+        FP32 = 3,  // Single precision floating point
+        I8 = 4,    // Signed byte
+    };
+
+    void validateStorageOrder() {
+        switch(order) {
+            case StorageOrder::NHWC:
+            case StorageOrder::NHCW:
+            case StorageOrder::NCHW:
+                if(dims.size() < 4) {
+                    throw std::runtime_error("Not enough dimensions (needs at least 4) for the storage order in TensorInfo");
+                }
+                break;
+            case StorageOrder::HWC:
+            case StorageOrder::CHW:
+            case StorageOrder::WHC:
+            case StorageOrder::HCW:
+            case StorageOrder::WCH:
+            case StorageOrder::CWH:
+                if(dims.size() < 3) {
+                    throw std::runtime_error("Not enough dimensions (needs at least 3) for the storage order in TensorInfo");
+                }
+                break;
+            case StorageOrder::NC:
+            case StorageOrder::CN:
+                if(dims.size() < 2) {
+                    throw std::runtime_error("Not enough dimensions (needs at least 2) for the storage order in TensorInfo");
+                }
+                break;
+            case StorageOrder::C:
+            case StorageOrder::H:
+            case StorageOrder::W:
+                if(dims.size() < 1) {
+                    throw std::runtime_error("Not enough dimensions (needs at least 1) for the storage order in TensorInfo");
+                }
+                break;
+            default:
+                throw std::runtime_error("Invalid storage order type in TensorInfo");
+        }
+    }
+
+    int getDataTypeSize() {
+        switch(dataType) {
+            case DataType::U8F:
+            case DataType::I8:
+                return sizeof(uint8_t);
+            case DataType::FP16:
+                return sizeof(uint16_t);
+            case DataType::INT:
+            case DataType::FP32:
+                return sizeof(float);
+            default:
+                return 0;
+                break;
+        }
+    }
+
+    int getWidth() {
+        validateStorageOrder();
+        switch(order) {
+            case StorageOrder::NHWC:
+                return dims[2];
+            case StorageOrder::NHCW:
+                return dims[3];
+            case StorageOrder::NCHW:
+                return dims[3];
+            case StorageOrder::HWC:
+                return dims[1];
+            case StorageOrder::CHW:
+                return dims[2];
+            case StorageOrder::WHC:
+                return dims[1];
+            case StorageOrder::HCW:
+                return dims[2];
+            case StorageOrder::WCH:
+                return dims[0];
+            case StorageOrder::CWH:
+                return dims[1];
+            case StorageOrder::W:
+                return dims[0];
+            case StorageOrder::NC:
+            case StorageOrder::CN:
+            case StorageOrder::C:
+            case StorageOrder::H:
+            default:
+                return 0;
+        }
+    }
+
+    int getHeight() {
+        validateStorageOrder();
+        switch(order) {
+            case StorageOrder::NHWC:
+                return dims[1];
+            case StorageOrder::NHCW:
+                return dims[1];
+            case StorageOrder::NCHW:
+                return dims[2];
+            case StorageOrder::HWC:
+                return dims[0];
+            case StorageOrder::CHW:
+                return dims[1];
+            case StorageOrder::WHC:
+                return dims[1];
+            case StorageOrder::HCW:
+                return dims[0];
+            case StorageOrder::WCH:
+                return dims[2];
+            case StorageOrder::CWH:
+                return dims[2];
+            case StorageOrder::H:
+                return dims[0];
+            case StorageOrder::NC:
+            case StorageOrder::CN:
+            case StorageOrder::C:
+            case StorageOrder::W:
+            default:
+                return 0;
+        }
+    }
+
+    int getChannels() {
+        validateStorageOrder();
+        switch(order) {
+            case StorageOrder::NHWC:
+                return dims[3];
+            case StorageOrder::NHCW:
+                return dims[2];
+            case StorageOrder::NCHW:
+                return dims[3];
+            case StorageOrder::HWC:
+                return dims[2];
+            case StorageOrder::CHW:
+                return dims[0];
+            case StorageOrder::WHC:
+                return dims[2];
+            case StorageOrder::HCW:
+                return dims[1];
+            case StorageOrder::WCH:
+                return dims[1];
+            case StorageOrder::CWH:
+                return dims[0];
+            case StorageOrder::C:
+                return dims[0];
+            case StorageOrder::NC:
+                return dims[1];
+            case StorageOrder::CN:
+                return dims[0];
+            case StorageOrder::H:
+            case StorageOrder::W:
+            default:
+                return 0;
+        }
+    }
+
+    StorageOrder order = StorageOrder::NCHW;
+    DataType dataType = DataType::FP16;
+    unsigned int numDimensions = 0;
+    std::vector<unsigned> dims;
+    std::vector<unsigned> strides;
+    std::string name;
+    unsigned int offset = 0;
+
+    // quantization params (deqValue = (val - qpZp) * scale )
+    bool quantization = false;
+    float qpScale = 1;
+    float qpZp = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(TensorInfo, order, dataType, numDimensions, dims, strides, name, offset, quantization, qpScale, qpZp);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/common/Timestamp.hpp b/include/depthai/common/Timestamp.hpp
new file mode 100644
index 000000000..1c4fb42fb
--- /dev/null
+++ b/include/depthai/common/Timestamp.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+// std
+#include <chrono>
+#include <cstdint>
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// Timestamp structure
+struct Timestamp {
+    int64_t sec = 0, nsec = 0;
+    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> get() const {
+        using namespace std::chrono;
+        return time_point<steady_clock, steady_clock::duration>{seconds(sec) + nanoseconds(nsec)};
+    }
+};
+
+DEPTHAI_SERIALIZE_EXT(Timestamp, sec, nsec);
+
+}  // namespace dai
diff --git a/include/depthai/common/UsbSpeed.hpp b/include/depthai/common/UsbSpeed.hpp
index aef2dc45e..9e5e1ae14 100644
--- a/include/depthai/common/UsbSpeed.hpp
+++ b/include/depthai/common/UsbSpeed.hpp
@@ -1,12 +1,24 @@
 #pragma once
 
+// std
+#include <cstdint>
 #include <ostream>
 
-#include "depthai-shared/common/UsbSpeed.hpp"
+namespace dai {
 
-// Global namespace
-inline std::ostream& operator<<(std::ostream& out, const dai::UsbSpeed& speed) {
-    switch(speed) {
+/**
+ * Get USB Speed
+ */
+
+enum class UsbSpeed : int32_t { UNKNOWN, LOW, FULL, HIGH, SUPER, SUPER_PLUS };
+
+}  // namespace dai
+
+/**
+ * Get USB Speed
+ */
+inline std::ostream& operator<<(std::ostream& out, const dai::UsbSpeed& usbSpeed) {
+    switch(usbSpeed) {
         case dai::UsbSpeed::UNKNOWN:
             out << "UNKNOWN";
             break;
@@ -27,4 +39,4 @@ inline std::ostream& operator<<(std::ostream& out, const dai::UsbSpeed& speed) {
             break;
     }
     return out;
-}
+}
\ No newline at end of file
diff --git a/include/depthai/common/optional.hpp b/include/depthai/common/optional.hpp
new file mode 100644
index 000000000..2933338c3
--- /dev/null
+++ b/include/depthai/common/optional.hpp
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <optional>
+
+#include "depthai/utility/Serialization.hpp"
+
+// std::optional serialization for nlohmann json
+// partial specialization (full specialization works too)
+namespace nlohmann {
+template <typename T>
+struct adl_serializer<std::optional<T>> {
+    static void to_json(json& j, const std::optional<T>& opt) {  // NOLINT this is a specialization, naming conventions don't apply
+        if(opt == std::nullopt) {
+            j = nullptr;
+        } else {
+            j = *opt;  // this will call adl_serializer<T>::to_json which will
+                       // find the free function to_json in T's namespace!
+        }
+    }
+
+    static void from_json(const json& j, std::optional<T>& opt) {  // NOLINT this is a specialization, naming conventions don't apply
+        if(j.is_null()) {
+            opt = std::nullopt;
+        } else {
+            opt = j.get<T>();  // same as above, but with
+                               // adl_serializer<T>::from_json
+        }
+    }
+    static std::optional<T> from_json(const json& j) {
+        if(j.is_null())
+            return std::make_optional<T>();
+        else
+            return std::make_optional<T>(j.get<T>());
+    }
+};
+}  // namespace nlohmann
+
+// std::optional serialization for libnop
+namespace nop {
+
+//
+// Optional<T> encoding formats:
+//
+// Empty Optional<T>:
+//
+// +-----+
+// | NIL |
+// +-----+
+//
+// Non-empty Optional<T>
+//
+// +---//----+
+// | ELEMENT |
+// +---//----+
+//
+// Element must be a valid encoding of type T.
+//
+
+template <typename T>
+struct Encoding<std::optional<T>> : EncodingIO<std::optional<T>> {
+    using Type = std::optional<T>;
+
+    static constexpr EncodingByte Prefix(const Type& value) {
+        return value ? Encoding<T>::Prefix(*value) : EncodingByte::Empty;
+    }
+
+    static constexpr std::size_t Size(const Type& value) {
+        return value ? Encoding<T>::Size(*value) : BaseEncodingSize(EncodingByte::Empty);
+    }
+
+    static constexpr bool Match(EncodingByte prefix) {
+        return prefix == EncodingByte::Empty || Encoding<T>::Match(prefix);
+    }
+
+    template <typename Writer>
+    static constexpr Status<void> WritePayload(EncodingByte prefix, const Type& value, Writer* writer) {
+        if(value) {
+            return Encoding<T>::WritePayload(prefix, *value, writer);
+        } else {
+            return {};
+        }
+    }
+
+    template <typename Reader>
+    static constexpr Status<void> ReadPayload(EncodingByte prefix, Type* value, Reader* reader) {
+        if(prefix == EncodingByte::Empty) {
+            value->reset();
+        } else {
+            T temp;
+            auto status = Encoding<T>::ReadPayload(prefix, &temp, reader);
+            if(!status) return status;
+
+            *value = std::move(temp);
+        }
+
+        return {};
+    }
+};
+
+}  // namespace nop
diff --git a/include/depthai/config/config.hpp b/include/depthai/config/config.hpp
new file mode 100644
index 000000000..0118d7f60
--- /dev/null
+++ b/include/depthai/config/config.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+// Build specific settings overwrite
+#ifdef DEPTHAI_TARGET_CORE
+    #ifndef DEPTHAI_TARGET_OPENCV
+        #undef DEPTHAI_HAVE_OPENCV_SUPPORT
+    #endif
+#endif
+
+namespace dai {
+namespace build {
+
+#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
+constexpr static bool HAVE_OPENCV_SUPPORT = true;
+#else
+constexpr static bool HAVE_OPENCV_SUPPORT = false;
+#endif
+
+#ifdef DEPTHAI_HAVE_LIBUSB_SUPPORT
+constexpr static bool HAVE_LIBUSB_SUPPORT = true;
+#else
+constexpr static bool HAVE_LIBUSB_SUPPORT = false;
+#endif
+
+}  // namespace build
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/device/BoardConfig.hpp b/include/depthai/device/BoardConfig.hpp
new file mode 100644
index 000000000..a595f1caa
--- /dev/null
+++ b/include/depthai/device/BoardConfig.hpp
@@ -0,0 +1,184 @@
+#pragma once
+
+// std
+#include <cstdint>
+#include <unordered_map>
+
+// project
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/common/CameraSensorType.hpp"
+#include "depthai/common/UsbSpeed.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/log/LogLevel.hpp"
+#include "depthai/pipeline/datatype/ImgFrame.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
+
+namespace dai {
+
+constexpr static uint32_t BOARD_CONFIG_MAGIC1 = 0x78010000U;
+constexpr static uint32_t BOARD_CONFIG_MAGIC2 = 0x21ea17e6U;
+
+struct BoardConfig {
+    /// USB related config
+    struct USB {
+        uint16_t vid = 0x03e7, pid = 0xf63b;
+        uint16_t flashBootedVid = 0x03e7, flashBootedPid = 0xf63d;
+        UsbSpeed maxSpeed = UsbSpeed::SUPER;
+        std::string productName, manufacturer;
+    };
+
+    USB usb;
+
+    /// Network configuration
+    struct Network {
+        /// Network MTU, 0 is auto (usually 1500 for Ethernet) or forwarded
+        /// from bootloader (not yet implemented there).
+        /// Note: not advised to increase past 1500 for now
+        uint16_t mtu = 0;
+        /// Sets the `TCP_NODELAY` option for XLink TCP sockets (disable Nagle's algorithm),
+        /// reducing latency at the expense of a small hit for max throughput. Default is `true`
+        bool xlinkTcpNoDelay = true;
+    };
+
+    Network network;
+
+    /// Optional list of FreeBSD sysctl parameters to be set (system, network, etc.).
+    /// For example: "net.inet.tcp.delayed_ack=0" (this one is also set by default)
+    std::vector<std::string> sysctl;
+
+    /// Watchdog config
+    std::optional<uint32_t> watchdogTimeoutMs;
+    std::optional<uint32_t> watchdogInitialDelayMs;
+
+    /// GPIO config
+    struct GPIO {
+        enum Mode : std::int8_t { ALT_MODE_0 = 0, ALT_MODE_1, ALT_MODE_2, ALT_MODE_3, ALT_MODE_4, ALT_MODE_5, ALT_MODE_6, DIRECT };
+        Mode mode = Mode::DIRECT;
+        enum Direction : std::int8_t { INPUT = 0, OUTPUT = 1 };
+        Direction direction = Direction::INPUT;
+        enum Level : std::int8_t { LOW = 0, HIGH = 1 };
+        Level level = Level::LOW;
+        enum Pull : std::int8_t { NO_PULL = 0, PULL_UP = 1, PULL_DOWN = 2, BUS_KEEPER = 3 };
+        Pull pull = Pull::NO_PULL;
+        /// Drive strength in mA (2, 4, 8 and 12mA)
+        enum Drive : std::int8_t { MA_2 = 2, MA_4 = 4, MA_8 = 8, MA_12 = 12 };
+        Drive drive = MA_2;
+        bool schmitt = false, slewFast = false;
+        GPIO() = default;
+        GPIO(Direction direction) : direction(direction) {}
+        GPIO(Direction direction, Level level) : direction(direction), level(level) {}
+        GPIO(Direction direction, Level level, Pull pull) : direction(direction), level(level), pull(pull) {}
+        GPIO(Direction direction, Mode mode) : mode(mode), direction(direction) {}
+        GPIO(Direction direction, Mode mode, Pull pull) : mode(mode), direction(direction), pull(pull) {}
+    };
+    std::unordered_map<std::int8_t, GPIO> gpio;
+
+    // Uart config
+
+    /// UART instance config
+    struct UART {
+        // TBD
+        // std::int8_t tx, rx;
+        std::int8_t tmp;
+    };
+    /// UART instance map
+    std::unordered_map<std::int8_t, UART> uart;
+
+    /// PCIe config
+    std::optional<bool> pcieInternalClock;
+
+    /// USB3 phy config
+    std::optional<bool> usb3PhyInternalClock;
+
+    /// MIPI 4Lane RGB config
+    std::optional<bool> mipi4LaneRgb;
+
+    /// eMMC config
+    std::optional<bool> emmc;
+
+    /// log path
+    std::optional<std::string> logPath;
+
+    /// Max log size
+    std::optional<size_t> logSizeMax;
+
+    /// log verbosity
+    std::optional<LogLevel> logVerbosity;
+
+    /// log device prints
+    std::optional<bool> logDevicePrints;
+
+    bool nonExclusiveMode = false;
+
+    // TODO(themarpe) - add later when applicable
+    // // Socket description
+    // struct Socket {
+    //     int i2cBus;
+    //     int mipiStart, mipiEnd;  // inclusive
+    //     int gpioPwr, gpioRst;
+    //     float voltageCore, voltageAnalog, voltageInterface;
+    //     // TODO(themarpe) - tbd if better placed here
+    //     // std::optional<CameraBoardSocket> syncTo;
+    // };
+    // std::unordered_map<CameraBoardSocket, Socket> socket;
+
+    /// Camera description
+    struct Camera {
+        std::string name;
+        // TODO(themarpe) - add later when applicable
+        // std::vector<std::string> sensorName;
+        std::optional<CameraSensorType> sensorType;
+        // std::vector<vector> vcm;
+        // std::optional<CameraBoardSocket> syncTo;
+        std::optional<CameraImageOrientation> orientation;
+    };
+    std::unordered_map<CameraBoardSocket, Camera> camera;
+
+    struct IMU {
+        IMU() : bus(0), interrupt(53), wake(34), csGpio(8), boot(46), reset(45) {}
+        int8_t bus, interrupt, wake, csGpio, boot, reset;
+    };
+    std::optional<IMU> imu;
+
+    /// UVC configuration for USB descriptor
+    struct UVC {
+        std::string cameraName;
+        uint16_t width, height;
+        ImgFrame::Type frameType;
+        bool enable;
+        UVC(uint16_t width, uint16_t height) : width(width), height(height), frameType(ImgFrame::Type::NV12), enable(true) {}
+        UVC() : UVC(1920, 1080) {}
+    };
+    std::optional<UVC> uvc;
+};
+
+DEPTHAI_SERIALIZE_EXT(BoardConfig::USB, vid, pid, flashBootedVid, flashBootedPid, maxSpeed, productName, manufacturer);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::Network, mtu, xlinkTcpNoDelay);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::GPIO, mode, direction, level, pull, drive, schmitt, slewFast);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::UART, tmp);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::Camera, name, sensorType, orientation);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::IMU, bus, interrupt, wake, csGpio, boot, reset);
+DEPTHAI_SERIALIZE_EXT(BoardConfig::UVC, cameraName, width, height, frameType, enable);
+DEPTHAI_SERIALIZE_EXT(BoardConfig,
+                      usb,
+                      network,
+                      sysctl,
+                      watchdogTimeoutMs,
+                      watchdogInitialDelayMs,
+                      gpio,
+                      uart,
+                      pcieInternalClock,
+                      usb3PhyInternalClock,
+                      emmc,
+                      logPath,
+                      logSizeMax,
+                      logVerbosity,
+                      logDevicePrints,
+                      nonExclusiveMode,
+                      camera,
+                      imu,
+                      uvc);
+
+}  // namespace dai
diff --git a/include/depthai/device/CalibrationHandler.hpp b/include/depthai/device/CalibrationHandler.hpp
index b1bb2b4f1..4340be6f9 100644
--- a/include/depthai/device/CalibrationHandler.hpp
+++ b/include/depthai/device/CalibrationHandler.hpp
@@ -2,10 +2,10 @@
 #include <string>
 #include <tuple>
 
-#include "depthai-shared/common/CameraBoardSocket.hpp"
-#include "depthai-shared/common/EepromData.hpp"
-#include "depthai-shared/common/Point2f.hpp"
-#include "depthai-shared/common/Size2f.hpp"
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/EepromData.hpp"
+#include "depthai/common/Point2f.hpp"
+#include "depthai/common/Size2f.hpp"
 #include "depthai/utility/Path.hpp"
 
 namespace dai {
@@ -229,8 +229,23 @@ class CalibrationHandler {
     std::vector<float> getCameraTranslationVector(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation = true) const;
 
     /**
-     * Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.CAM_C
-     * and CameraBoardSocket.CAM_B.
+     * Get the Camera rotation matrix between two cameras from the calibration data.
+     *
+     * @param srcCamera Camera Id of the camera which will be considered as origin.
+     * @param dstCamera  Camera Id of the destination camera to which we are fetching the rotation vector from the SrcCamera
+     * @return a 3x3 rotation matrix
+     * Matrix representation of rotation matrix
+     * \f[ \text{Rotation Matrix} = \left [ \begin{matrix}
+     *                                             r_{00} & r_{01} & r_{02}\\
+     *                                             r_{10} & r_{11} & r_{12}\\
+     *                                             r_{20} & r_{21} & r_{22}\\
+     *                                            \end{matrix} \right ] \f]
+     */
+    std::vector<std::vector<float>> getCameraRotationMatrix(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera) const;
+
+    /**
+     * Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.RIGHT
+     * and CameraBoardSocket.LEFT.
      *
      * @param cam1 First camera
      * @param cam2 Second camera
diff --git a/include/depthai/device/CallbackHandler.hpp b/include/depthai/device/CallbackHandler.hpp
index 9a2933e65..fbeb400c4 100644
--- a/include/depthai/device/CallbackHandler.hpp
+++ b/include/depthai/device/CallbackHandler.hpp
@@ -4,12 +4,8 @@
 #include <functional>
 #include <memory>
 
-// shared
-#include "depthai-shared/datatype/RawBuffer.hpp"
-#include "depthai-shared/xlink/XLinkConstants.hpp"
-
 // project
-#include "DataQueue.hpp"
+#include "depthai/pipeline/datatype/ADatatype.hpp"
 #include "depthai/xlink/XLinkConnection.hpp"
 
 namespace dai {
@@ -18,13 +14,13 @@ class CallbackHandler {
     std::thread t;
     std::atomic<bool> running{true};
     std::shared_ptr<XLinkConnection> connection;
-    std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> callback;
+    std::function<std::shared_ptr<ADatatype>(std::shared_ptr<ADatatype>)> callback;
 
    public:
-    void setCallback(std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb);
+    void setCallback(std::function<std::shared_ptr<ADatatype>(std::shared_ptr<ADatatype>)> cb);
     CallbackHandler(std::shared_ptr<XLinkConnection> conn,
                     const std::string& streamName,
-                    std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb);
+                    std::function<std::shared_ptr<ADatatype>(std::shared_ptr<ADatatype>)> cb);
     ~CallbackHandler();
 };
 
diff --git a/include/depthai/device/CrashDump.hpp b/include/depthai/device/CrashDump.hpp
new file mode 100644
index 000000000..a276d4e29
--- /dev/null
+++ b/include/depthai/device/CrashDump.hpp
@@ -0,0 +1,85 @@
+#pragma once
+
+// std
+#include <cstdint>
+#include <unordered_map>
+
+// project
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+struct CrashDump {
+    struct CrashReport {
+        ProcessorType processor;
+        std::string errorSource;
+        uint32_t crashedThreadId = 0;
+
+        struct ErrorSourceInfo {
+            struct AssertContext {
+                std::string fileName;
+                std::string functionName;
+                uint32_t line = 0;
+                DEPTHAI_SERIALIZE(AssertContext, fileName, functionName, line);
+            };
+
+            AssertContext assertContext;
+
+            struct TrapContext {
+                uint32_t trapNumber = 0;
+                uint32_t trapAddress = 0;
+                std::string trapName;
+                DEPTHAI_SERIALIZE(TrapContext, trapNumber, trapAddress, trapName);
+            };
+
+            TrapContext trapContext;
+
+            uint32_t errorId = 0;
+
+            DEPTHAI_SERIALIZE(ErrorSourceInfo, assertContext, trapContext, errorId);
+        };
+
+        ErrorSourceInfo errorSourceInfo;
+
+        struct ThreadCallstack {
+            uint32_t threadId = 0;
+            std::string threadName;
+            std::string threadStatus;
+            uint32_t stackBottom = 0;
+            uint32_t stackTop = 0;
+            uint32_t stackPointer = 0;
+            uint32_t instructionPointer = 0;
+
+            struct CallstackContext {
+                uint32_t callSite = 0;
+                uint32_t calledTarget = 0;
+                uint32_t framePointer = 0;
+                std::string context;
+                DEPTHAI_SERIALIZE(CallstackContext, callSite, calledTarget, framePointer, context);
+            };
+
+            std::vector<CallstackContext> callStack;
+
+            DEPTHAI_SERIALIZE(ThreadCallstack, threadId, threadName, threadStatus, stackBottom, stackTop, stackPointer, instructionPointer, callStack);
+        };
+
+        std::vector<ThreadCallstack> threadCallstack;
+        DEPTHAI_SERIALIZE(CrashReport, processor, errorSource, crashedThreadId, errorSourceInfo, threadCallstack);
+    };
+
+    std::vector<CrashReport> crashReports;
+    std::string depthaiCommitHash;
+    std::string deviceId;
+
+    nlohmann::json serializeToJson() {
+        std::vector<std::uint8_t> data;
+        utility::serialize<SerializationType::JSON>(*this, data);
+        return nlohmann::json::parse(data);
+    }
+};
+
+DEPTHAI_SERIALIZE_EXT(CrashDump, crashReports, depthaiCommitHash, deviceId);
+
+}  // namespace dai
diff --git a/include/depthai/device/DataQueue.hpp b/include/depthai/device/DataQueue.hpp
index e27adba05..2d20fd554 100644
--- a/include/depthai/device/DataQueue.hpp
+++ b/include/depthai/device/DataQueue.hpp
@@ -11,9 +11,7 @@
 #include "depthai/xlink/XLinkConnection.hpp"
 
 // shared
-#include "depthai-shared/datatype/RawBuffer.hpp"
-#include "depthai-shared/xlink/XLinkConstants.hpp"
-
+#include "depthai/xlink/XLinkConstants.hpp"
 namespace dai {
 
 /**
@@ -342,7 +340,7 @@ class DataOutputQueue {
  * Access to send messages through XLink stream
  */
 class DataInputQueue {
-    LockingQueue<std::shared_ptr<RawBuffer>> queue;
+    LockingQueue<std::shared_ptr<ADatatype>> queue;
     std::thread writingThread;
     std::atomic<bool> running{true};
     std::string exceptionMessage;
@@ -420,36 +418,25 @@ class DataInputQueue {
      */
     std::string getName() const;
 
-    /**
-     * Adds a raw message to the queue, which will be picked up and sent to the device.
-     * Can either block if 'blocking' behavior is true or overwrite oldest
-     * @param rawMsg Message to add to the queue
-     */
-    void send(const std::shared_ptr<RawBuffer>& rawMsg);
-
     /**
      * Adds a message to the queue, which will be picked up and sent to the device.
      * Can either block if 'blocking' behavior is true or overwrite oldest
      * @param msg Message to add to the queue
      */
-    void send(const std::shared_ptr<ADatatype>& msg);
+    // TODO(Morato) - this behaves unexpectedly, when a reference of type ADatatype but referencing a derived class is passed
+    // template <class T, typename = std::enable_if_t<std::is_base_of<ADatatype, T>::value>>
+    // void send(const T& msg) {
+    //     static_assert(std::is_base_of<ADatatype, T>::value, "T must be derived from ADatatype");
+    //     if(!running) throw std::runtime_error(exceptionMessage.c_str());
+    //     DataInputQueue::send(std::make_shared<T>(msg));
+    // }
 
     /**
      * Adds a message to the queue, which will be picked up and sent to the device.
      * Can either block if 'blocking' behavior is true or overwrite oldest
      * @param msg Message to add to the queue
      */
-    void send(const ADatatype& msg);
-
-    /**
-     * Adds message to the queue, which will be picked up and sent to the device.
-     * Can either block until timeout if 'blocking' behavior is true or overwrite oldest
-     *
-     * @param rawMsg Message to add to the queue
-     * @param timeout Maximum duration to block in milliseconds
-     */
-    bool send(const std::shared_ptr<RawBuffer>& rawMsg, std::chrono::milliseconds timeout);
-
+    void send(const std::shared_ptr<ADatatype>& msg);
     /**
      * Adds message to the queue, which will be picked up and sent to the device.
      * Can either block until timeout if 'blocking' behavior is true or overwrite oldest
@@ -466,7 +453,13 @@ class DataInputQueue {
      * @param msg Message to add to the queue
      * @param timeout Maximum duration to block in milliseconds
      */
-    bool send(const ADatatype& msg, std::chrono::milliseconds timeout);
+    // TODO(Morato) - this behaves unexpectedly, when a reference of type ADatatype but referencing a derived class is passed
+    // template <class T, typename = std::enable_if_t<std::is_base_of<ADatatype, T>::value>>
+    // bool send(const T& msg, std::chrono::milliseconds timeout) {
+    //     static_assert(std::is_base_of<ADatatype, T>::value, "T must derive from ADatatype");
+    //     if(!running) throw std::runtime_error(exceptionMessage.c_str());
+    //     return DataInputQueue::send(std::make_shared<T>(msg), timeout);
+    // }
 };
 
 }  // namespace dai
diff --git a/include/depthai/device/DeviceBase.hpp b/include/depthai/device/DeviceBase.hpp
index 98d5bd6bc..6ad89c9b4 100644
--- a/include/depthai/device/DeviceBase.hpp
+++ b/include/depthai/device/DeviceBase.hpp
@@ -19,6 +19,7 @@
 #include "depthai/common/CameraFeatures.hpp"
 #include "depthai/common/UsbSpeed.hpp"
 #include "depthai/device/CalibrationHandler.hpp"
+#include "depthai/device/DeviceGate.hpp"
 #include "depthai/device/Version.hpp"
 #include "depthai/openvino/OpenVINO.hpp"
 #include "depthai/utility/Pimpl.hpp"
@@ -27,15 +28,15 @@
 #include "depthai/xlink/XLinkStream.hpp"
 
 // shared
-#include "depthai-shared/common/ChipTemperature.hpp"
-#include "depthai-shared/common/ConnectionInterface.hpp"
-#include "depthai-shared/common/CpuUsage.hpp"
-#include "depthai-shared/common/MemoryInfo.hpp"
-#include "depthai-shared/datatype/RawIMUData.hpp"
-#include "depthai-shared/device/BoardConfig.hpp"
-#include "depthai-shared/device/CrashDump.hpp"
-#include "depthai-shared/log/LogLevel.hpp"
-#include "depthai-shared/log/LogMessage.hpp"
+#include "depthai/common/ChipTemperature.hpp"
+#include "depthai/common/ConnectionInterface.hpp"
+#include "depthai/common/CpuUsage.hpp"
+#include "depthai/common/MemoryInfo.hpp"
+#include "depthai/common/StereoPair.hpp"
+#include "depthai/device/BoardConfig.hpp"
+#include "depthai/device/CrashDump.hpp"
+#include "depthai/log/LogLevel.hpp"
+#include "depthai/log/LogMessage.hpp"
 
 namespace dai {
 
@@ -71,8 +72,8 @@ class DeviceBase {
         OpenVINO::Version version = OpenVINO::VERSION_UNIVERSAL;
         BoardConfig board;
         bool nonExclusiveMode = false;
-        tl::optional<LogLevel> outputLogLevel;
-        tl::optional<LogLevel> logLevel;
+        std::optional<LogLevel> outputLogLevel;
+        std::optional<LogLevel> logLevel;
     };
 
     // static API
@@ -391,7 +392,7 @@ class DeviceBase {
      *
      * @returns DeviceBootloader::Version if booted through Bootloader or none otherwise
      */
-    tl::optional<Version> getBootloaderVersion();
+    std::optional<Version> getBootloaderVersion();
 
     /**
      * Checks if devices pipeline is already running
@@ -610,6 +611,22 @@ class DeviceBase {
      */
     std::vector<CameraFeatures> getConnectedCameraFeatures();
 
+    /**
+     * Get stereo pairs based on the device type.
+     *
+     * @returns Vector of stereo pairs
+     */
+    std::vector<StereoPair> getStereoPairs();
+
+    /**
+     * Get stereo pairs taking into account the calibration and connected cameras.
+     *
+     * @note This method will always return a subset of `getStereoPairs`.
+     *
+     * @returns Vector of stereo pairs
+     */
+    std::vector<StereoPair> getAvailableStereoPairs();
+
     /**
      * Get sensor names for cameras that are connected to the device
      *
@@ -923,11 +940,11 @@ class DeviceBase {
 
    private:
     // private functions
-    void init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<const Pipeline&> pipeline);
+    void init2(Config cfg, const dai::Path& pathToMvcmd, bool hasPipeline);
     void tryGetDevice();
 
     DeviceInfo deviceInfo = {};
-    tl::optional<Version> bootloaderVersion;
+    std::optional<Version> bootloaderVersion;
 
     // Log callback
     int uniqueCallbackId = 0;
@@ -955,6 +972,12 @@ class DeviceBase {
     std::mutex lastWatchdogPingTimeMtx;
     std::chrono::steady_clock::time_point lastWatchdogPingTime;
 
+    // RPC stream
+    std::unique_ptr<XLinkStream> rpcStream;
+
+    // DeviceGate connection
+    std::unique_ptr<DeviceGate> gate;
+
     // closed
     mutable std::mutex closedMtx;
     bool closed{false};
diff --git a/include/depthai/device/DeviceBootloader.hpp b/include/depthai/device/DeviceBootloader.hpp
index 4b0282fb8..2b419babd 100644
--- a/include/depthai/device/DeviceBootloader.hpp
+++ b/include/depthai/device/DeviceBootloader.hpp
@@ -477,7 +477,7 @@ class DeviceBootloader {
     // private static
 
     // private methods
-    void init(bool embeddedMvcmd, const dai::Path& pathToMvcmd, tl::optional<bootloader::Type> type, bool allowBlFlash);
+    void init(bool embeddedMvcmd, const dai::Path& pathToMvcmd, std::optional<bootloader::Type> type, bool allowBlFlash);
     template <typename T>
     bool sendRequest(const T& request);
     template <typename T>
diff --git a/include/depthai/device/DeviceGate.hpp b/include/depthai/device/DeviceGate.hpp
new file mode 100644
index 000000000..cdbc7ba6d
--- /dev/null
+++ b/include/depthai/device/DeviceGate.hpp
@@ -0,0 +1,87 @@
+#pragma once
+
+// std
+#include <XLink/XLinkPublicDefines.h>
+
+#include <cstdint>
+#include <string>
+#include <thread>
+#include <type_traits>
+
+// project
+#include <optional>
+
+#include "depthai/device/Version.hpp"
+#include "depthai/utility/Pimpl.hpp"
+#include "depthai/xlink/XLinkConnection.hpp"
+namespace dai {
+
+/**
+ * Represents the DepthAI Gate with the methods to interact with it.
+ */
+class DeviceGate {
+   public:
+    // Static API
+    /**
+     * Searches for connected devices in GATE state and returns first available.
+     * @returns Tuple of boolean and DeviceInfo. If found boolean is true and DeviceInfo describes the device. Otherwise false
+     */
+    std::tuple<bool, DeviceInfo> getFirstAvailableDevice();
+
+    /**
+     * Searches for connected devices in GATE state.
+     * @returns Vector of all found devices
+     */
+    std::vector<DeviceInfo> getAllAvailableDevices();
+
+    enum class SessionState { NOT_CREATED, CREATED, RUNNING, STOPPED, STOPPING, CRASHED, DESTROYED, ERROR_STATE };
+
+    /**
+     * Connects to DepthAI Gate
+     * @param deviceInfo Device to connect to
+     */
+    DeviceGate(const DeviceInfo& deviceInfo);
+    ~DeviceGate();
+    bool isOkay();
+    bool createSession(bool exclusive = true);
+    bool startSession();
+    bool stopSession();
+    bool deleteSession();
+    bool destroySession();
+    SessionState getState();
+    // Waits for the gate session to end and tries to get the logs and crash dump out
+    void waitForSessionEnd();
+
+    std::optional<std::vector<uint8_t>> getCrashDump(std::string& filename);
+
+    struct VersionInfo {
+        std::string gate, os;
+    };
+    Version getVersion();
+    VersionInfo getAllVersion();
+
+    bool isBootedNonExclusive();
+
+   private:
+    // private
+    DeviceInfo deviceInfo;
+
+    std::thread stateMonitoringThread;
+
+    std::optional<std::vector<uint8_t>> getFile(const std::string& fileUrl, std::string& filename);
+
+    std::optional<std::string> saveFileToTemporaryDirectory(std::vector<uint8_t> data, std::string filename, std::string direcotryPath = "");
+
+    // state of the session
+    std::atomic_bool sessionCreated{false};
+
+    XLinkPlatform_t platform;
+    std::string version;
+    // pimpl
+    class Impl;
+    Pimpl<Impl> pimpl;
+
+    std::string sessionId;
+};
+
+}  // namespace dai
diff --git a/include/depthai/log/LogConstants.hpp b/include/depthai/log/LogConstants.hpp
new file mode 100644
index 000000000..dc96e4154
--- /dev/null
+++ b/include/depthai/log/LogConstants.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+namespace dai {
+
+static constexpr const char* LOG_DEFAULT_PATTERN = "[%E.%e] [%n] [%^%l%$] %v";
+
+}  // namespace dai
diff --git a/include/depthai/log/LogLevel.hpp b/include/depthai/log/LogLevel.hpp
new file mode 100644
index 000000000..7271a81f3
--- /dev/null
+++ b/include/depthai/log/LogLevel.hpp
@@ -0,0 +1,14 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// project
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+// Follows spdlog levels
+enum class LogLevel : std::int32_t { TRACE = 0, DEBUG, INFO, WARN, ERR, CRITICAL, OFF };
+
+}  // namespace dai
diff --git a/include/depthai/log/LogMessage.hpp b/include/depthai/log/LogMessage.hpp
new file mode 100644
index 000000000..7cc2c5cc3
--- /dev/null
+++ b/include/depthai/log/LogMessage.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+// std
+#include <cstdint>
+
+// project
+#include "LogLevel.hpp"
+#include "depthai/common/Timestamp.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+struct LogMessage {
+    std::string nodeIdName;
+    LogLevel level{LogLevel::TRACE};
+    Timestamp time;
+    size_t colorRangeStart{0};
+    size_t colorRangeEnd{0};
+    std::string payload;
+};
+
+DEPTHAI_SERIALIZE_EXT(LogMessage, nodeIdName, level, time, colorRangeStart, colorRangeEnd, payload);
+
+}  // namespace dai
diff --git a/include/depthai/nn_archive/NNArchive.hpp b/include/depthai/nn_archive/NNArchive.hpp
new file mode 100644
index 000000000..d0f6e176c
--- /dev/null
+++ b/include/depthai/nn_archive/NNArchive.hpp
@@ -0,0 +1,79 @@
+#pragma once
+
+// C std
+#include <cstdint>
+
+// C++ std
+#include <functional>
+#include <vector>
+
+// libraries
+#include <spimpl.h>
+
+// internal
+#include "depthai/nn_archive/NNArchiveBlob.hpp"
+#include "depthai/nn_archive/NNArchiveConfig.hpp"
+#include "depthai/nn_archive/NNArchiveEntry.hpp"
+#include "depthai/utility/Path.hpp"
+
+namespace dai {
+
+class NNArchive {
+   public:
+    /**
+     * @data Should point to a whole compressed NNArchive read to memory
+     */
+    explicit NNArchive(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+    /**
+     * @path Filesystem path to a whole compressed NNArchive
+     */
+    explicit NNArchive(const dai::Path& path, NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+    /**
+     * Parses the NNArchive on the fly via a custom read callback.
+     * Useful for remote NNArchives as it can decode data on the fly while downloading and is more memory friendly.
+     * If you need to only get the config, to check some fields and then optionally download the blob,
+     * prefer the NNArchiveConfig(openCallback, ...)
+     * optionally followed by NNArchive(const NNArchiveConfig& config, const NNArchiveBlob& blob)
+     */
+    NNArchive(
+        /**
+         * Setup any needed data structures before read callbacks are fired.
+         * Return 0 on success.
+         */
+        const std::function<int()>& openCallback,
+        /**
+         * Returns the next block of data from the archive.
+         * We will manage the memory to keep it alive, so you don't have to keep a reference.
+         */
+        const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+        /**
+         * Seeks to specified location in the file and returns the position.
+         * Whence values have same meaning as SEEK_SET, SEEK_CUR, SEEK_END from stdio.h.
+         * Throw instance of std::runtime_error if the seek fails for any reason.
+         */
+        const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+        /**
+         * Skips at most request bytes from archive and returns the skipped amount.
+         * This may skip fewer bytes than requested; it may even skip zero bytes.
+         * If you do skip fewer bytes than requested, we will invoke your
+         * read callback and discard data as necessary to make up the full skip.
+         */
+        const std::function<int64_t(int64_t request)>& skipCallback,
+        /**
+         * Cleanup any data structures from openCallback and return 0 on success
+         */
+        const std::function<int()>& closeCallback,
+        NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+
+    NNArchive(const NNArchiveConfig& config, const NNArchiveBlob& blob);
+
+    const NNArchiveConfig& getConfig() const;
+
+    const NNArchiveBlob& getBlob() const;
+
+   private:
+    class Impl;
+    spimpl::impl_ptr<Impl> pimpl;
+};
+
+}  // namespace dai
diff --git a/include/depthai/nn_archive/NNArchiveBlob.hpp b/include/depthai/nn_archive/NNArchiveBlob.hpp
new file mode 100644
index 000000000..60c219dc7
--- /dev/null
+++ b/include/depthai/nn_archive/NNArchiveBlob.hpp
@@ -0,0 +1,58 @@
+#pragma once
+
+// C std
+#include <cstdint>
+
+// C++ std
+#include <functional>
+#include <optional>
+#include <vector>
+
+// libraries
+#include <spimpl.h>
+
+// internal
+#include "depthai/nn_archive/NNArchiveConfig.hpp"
+#include "depthai/nn_archive/NNArchiveEntry.hpp"
+#include "depthai/openvino/OpenVINO.hpp"
+#include "depthai/utility/Path.hpp"
+
+namespace dai {
+
+class NNArchiveBlob {
+   public:
+    /**
+     * @data Should point to just the blob if compression == RAW_FS or the whole NNArchive otherwise
+     */
+    explicit NNArchiveBlob(const NNArchiveConfig& config,
+                           const std::vector<uint8_t>& data,
+                           dai::NNArchiveEntry::Compression compression = dai::NNArchiveEntry::Compression::AUTO);
+    /**
+     * @path Should point to just the blob if compression == RAW_FS or the whole NNArchive otherwise
+     * see NNArchive class for parameter explanation
+     */
+    explicit NNArchiveBlob(const NNArchiveConfig& config,
+                           const dai::Path& path,
+                           dai::NNArchiveEntry::Compression compression = dai::NNArchiveEntry::Compression::AUTO);
+    /**
+     *  Returned data should be just the blob if compression == RAW_FS or the whole NNArchive otherwise
+     * see NNArchive class for parameter explanation
+     */
+    NNArchiveBlob(const NNArchiveConfig& config,
+                  const std::function<int()>& openCallback,
+                  const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                  const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                  const std::function<int64_t(int64_t request)>& skipCallback,
+                  const std::function<int()>& closeCallback,
+                  NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+    /**
+     * returns the OpenVINO blob or std::nullopt if the blob is in another format
+     */
+    std::optional<std::reference_wrapper<const OpenVINO::Blob>> getOpenVINOBlob() const;
+
+   private:
+    class Impl;
+    spimpl::impl_ptr<Impl> pimpl;
+};
+
+}  // namespace dai
diff --git a/include/depthai/nn_archive/NNArchiveConfig.hpp b/include/depthai/nn_archive/NNArchiveConfig.hpp
new file mode 100644
index 000000000..4a7077d48
--- /dev/null
+++ b/include/depthai/nn_archive/NNArchiveConfig.hpp
@@ -0,0 +1,54 @@
+#pragma once
+
+// C std
+#include <cstdint>
+
+// C++ std
+#include <functional>
+#include <optional>
+#include <vector>
+
+// libraries
+#include <spimpl.h>
+
+// internal
+#include "depthai/nn_archive/NNArchiveEntry.hpp"
+#include "depthai/nn_archive/v1/Config.hpp"
+#include "depthai/utility/Path.hpp"
+
+namespace dai {
+
+class NNArchiveConfig {
+   public:
+    /**
+     * @data Should point to a whole compressed NNArchive read to memory if compression is not set to RAW_FS.
+     * If compression is set to RAW_FS, then this should point to just the config.json file read to memory.
+     */
+    explicit NNArchiveConfig(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+    /**
+     * @path Should point to:
+     * 1) if compression is set to RAW_FS: to just the config.json file.
+     * 2) if compression is set to AUTO: to whole compressed NNArchive or just the config.json file which must end in .json .
+     * 3) else: to whole compressed NNArchive.
+     * see NNArchive class for parameter explanation
+     */
+    explicit NNArchiveConfig(const dai::Path& path, NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+    /**
+     *  Returned data should be just the config.json if compression == RAW_FS or the whole NNArchive otherwise
+     * see NNArchive class for parameter explanation
+     */
+    NNArchiveConfig(const std::function<int()>& openCallback,
+                    const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                    const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                    const std::function<int64_t(int64_t request)>& skipCallback,
+                    const std::function<int()>& closeCallback,
+                    NNArchiveEntry::Compression compression = NNArchiveEntry::Compression::AUTO);
+
+    std::optional<dai::nn_archive::v1::Config> getConfigV1() const;
+
+   private:
+    class Impl;
+    spimpl::impl_ptr<Impl> pimpl;
+};
+
+}  // namespace dai
diff --git a/include/depthai/nn_archive/NNArchiveEntry.hpp b/include/depthai/nn_archive/NNArchiveEntry.hpp
new file mode 100644
index 000000000..e270254ac
--- /dev/null
+++ b/include/depthai/nn_archive/NNArchiveEntry.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+// C std
+#include <cstdint>
+
+namespace dai {
+
+class NNArchiveEntry {
+   public:
+    enum class Compression : uint8_t {
+        /**
+         * Try to guess the file format from the file extension.
+         * .json -> RAW_FS
+         * everything else use libarchive to guess the format
+         * supported formats are: https://github.com/libarchive/libarchive?tab=readme-ov-file#supported-formats
+         */
+        AUTO = 0,
+        /**
+         * The entry isn't compressed. Access it directly on the filesystem.
+         */
+        RAW_FS,
+        /**
+         * Force libarchive to treat the file as .tar
+         */
+        TAR,
+        /**
+         * Force libarchive to treat the file as .tar.gz
+         */
+        TAR_GZ,
+        /**
+         * Force libarchive to treat the file as .tar.xz
+         */
+        TAR_XZ,
+    };
+
+    /**
+     * Check stdio.h SEEK_SET, SEEK_CUR, SEEK_END for meaning.
+     */
+    enum class Seek : uint8_t {
+        SET = 0,
+        CUR,
+        END,
+    };
+};
+
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Config.cpp b/include/depthai/nn_archive/v1/Config.cpp
new file mode 100644
index 000000000..67db207ef
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Config.cpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <optional>
+
+#include "ConfigVersion.hpp"
+#include "Outputs.hpp"
+#include "ObjectDetectionSubtypeYolo.hpp"
+#include "Head.hpp"
+#include "DataType.hpp"
+#include "InputType.hpp"
+#include "PreprocessingBlock.hpp"
+#include "Input.hpp"
+#include "Metadata.hpp"
+#include "Output.hpp"
+#include "Model.hpp"
+#include "Config.hpp"
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+}
+}
+}
diff --git a/include/depthai/nn_archive/v1/Config.hpp b/include/depthai/nn_archive/v1/Config.hpp
new file mode 100644
index 000000000..35db1c37d
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Config.hpp
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <optional>
+
+#include "Model.hpp"
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+enum class ConfigVersion : int;
+}
+}  // namespace nn_archive
+}  // namespace dai
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * The main class of the multi/single-stage model config scheme (multi- stage models
+ * consists of interconnected single-stage models).
+ *
+ * @type config_version: str
+ * @ivar config_version: Static variable representing the version of the config scheme.
+ * @type model: Model
+ * @ivar model: A Model object representing the neural network used in the archive.
+ */
+
+/**
+ * The main class of the multi/single-stage model config scheme (multi- stage models
+ * consists of interconnected single-stage models).
+ *
+ * @type config_version: str
+ * @ivar config_version: Static variable representing the version of the config scheme.
+ * @type model: Model
+ * @ivar model: A Model object representing the neural network used in the archive.
+ */
+struct Config {
+    /**
+     * Static variable representing the version of the config scheme.
+     */
+    ConfigVersion configVersion;
+    /**
+     * A Model object representing the neural network used in the archive.
+     */
+    Model model;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/ConfigVersion.hpp b/include/depthai/nn_archive/v1/ConfigVersion.hpp
new file mode 100644
index 000000000..bb3c6822b
--- /dev/null
+++ b/include/depthai/nn_archive/v1/ConfigVersion.hpp
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <optional>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+
+enum class ConfigVersion : int { THE_10 };
+}
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/DataType.hpp b/include/depthai/nn_archive/v1/DataType.hpp
new file mode 100644
index 000000000..bfbcaaebf
--- /dev/null
+++ b/include/depthai/nn_archive/v1/DataType.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <optional>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Data type of the input data (e.g., 'float32').
+ *
+ * Represents all existing data types used in i/o streams of the model.
+ *
+ * Data type of the output data (e.g., 'float32').
+ */
+
+/**
+ * Data type of the input data (e.g., 'float32').
+ *
+ * Represents all existing data types used in i/o streams of the model.
+ *
+ * Data type of the output data (e.g., 'float32').
+ */
+enum class DataType : int { FLOAT16, FLOAT32, INT8, NV12, UINT8 };
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Head.hpp b/include/depthai/nn_archive/v1/Head.hpp
new file mode 100644
index 000000000..ff8402743
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Head.hpp
@@ -0,0 +1,240 @@
+#pragma once
+
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "Outputs.hpp"
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+enum class ObjectDetectionSubtypeYolo : int;
+}
+}  // namespace nn_archive
+}  // namespace dai
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Metadata for classification head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsClassification}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type is_softmax: bool
+ * @ivar is_softmax: True, if output is already softmaxed.
+ *
+ * Metadata for object detection head.
+ *
+ * @type iou_threshold: float
+ * @ivar iou_threshold: Non-max supression threshold limiting boxes intersection.
+ * @type conf_threshold: float
+ * @ivar conf_threshold: Confidence score threshold above which a detected object is
+ * considered valid.
+ * @type max_det: int
+ * @ivar max_det: Maximum detections per image.
+ * @type anchors: C{Optional[List[List[List[int]]]]}
+ * @ivar anchors: Predefined bounding boxes of different sizes and aspect ratios. The
+ * innermost lists are length 2 tuples of box sizes. The middle lists are anchors
+ * for each output. The outmost lists go from smallest to largest output.
+ *
+ * Metadata for YOLO object detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{ObjectDetectionYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type subtype: ObjectDetectionSubtypeYOLO
+ * @ivar subtype: YOLO family decoding subtype (e.g. v5, v6, v7 etc.).
+ * @type n_keypoints: int
+ * @ivar n_keypoints: Number of keypoints per bbox if provided.
+ * @type n_prototypes: int
+ * @ivar n_prototypes: Number of prototypes per bbox if provided.
+ * @type prototype_output_name: str
+ * @ivar prototype_output_name: Output node containing prototype information.
+ *
+ * Metadata for SSD object detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsSSD}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ *
+ * Metadata for segmentation head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsSegmentation}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type is_softmax: bool
+ * @ivar is_softmax: True, if output is already softmaxed.
+ *
+ * Metadata for YOLO instance segmentation head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsInstanceSegmentationYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type postprocessor_path: str
+ * @ivar postprocessor_path: Path to the secondary executable used in YOLO instance
+ * segmentation.
+ *
+ * Metadata for YOLO keypoint detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsKeypointDetectionYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ */
+
+/**
+ * Metadata for classification head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsClassification}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type is_softmax: bool
+ * @ivar is_softmax: True, if output is already softmaxed.
+ *
+ * Metadata for object detection head.
+ *
+ * @type iou_threshold: float
+ * @ivar iou_threshold: Non-max supression threshold limiting boxes intersection.
+ * @type conf_threshold: float
+ * @ivar conf_threshold: Confidence score threshold above which a detected object is
+ * considered valid.
+ * @type max_det: int
+ * @ivar max_det: Maximum detections per image.
+ * @type anchors: C{Optional[List[List[List[int]]]]}
+ * @ivar anchors: Predefined bounding boxes of different sizes and aspect ratios. The
+ * innermost lists are length 2 tuples of box sizes. The middle lists are anchors
+ * for each output. The outmost lists go from smallest to largest output.
+ *
+ * Metadata for YOLO object detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{ObjectDetectionYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type subtype: ObjectDetectionSubtypeYOLO
+ * @ivar subtype: YOLO family decoding subtype (e.g. v5, v6, v7 etc.).
+ * @type n_keypoints: int
+ * @ivar n_keypoints: Number of keypoints per bbox if provided.
+ * @type n_prototypes: int
+ * @ivar n_prototypes: Number of prototypes per bbox if provided.
+ * @type prototype_output_name: str
+ * @ivar prototype_output_name: Output node containing prototype information.
+ *
+ * Metadata for SSD object detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsSSD}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ *
+ * Metadata for segmentation head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsSegmentation}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type is_softmax: bool
+ * @ivar is_softmax: True, if output is already softmaxed.
+ *
+ * Metadata for YOLO instance segmentation head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsInstanceSegmentationYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ * @type postprocessor_path: str
+ * @ivar postprocessor_path: Path to the secondary executable used in YOLO instance
+ * segmentation.
+ *
+ * Metadata for YOLO keypoint detection head.
+ *
+ * @type family: str
+ * @ivar family: Decoding family.
+ * @type outputs: C{OutputsKeypointDetectionYOLO}
+ * @ivar outputs: A configuration specifying which output names from the `outputs` block of
+ * the archive are fed into the head.
+ */
+struct Head {
+    /**
+     * Names of object classes recognized by the model.
+     */
+    std::vector<std::string> classes;
+    /**
+     * Decoding family.
+     */
+    std::string family;
+    /**
+     * True, if output is already softmaxed.
+     */
+    std::optional<bool> isSoftmax;
+    /**
+     * Number of object classes recognized by the model.
+     */
+    int64_t nClasses;
+    /**
+     * A configuration specifying which output names from the `outputs` block of the archive are
+     * fed into the head.
+     */
+    Outputs outputs;
+    /**
+     * Predefined bounding boxes of different sizes and aspect ratios. The innermost lists are
+     * length 2 tuples of box sizes. The middle lists are anchors for each output. The outmost
+     * lists go from smallest to largest output.
+     */
+    std::optional<std::vector<std::vector<std::vector<int64_t>>>> anchors;
+    /**
+     * Confidence score threshold above which a detected object is considered valid.
+     */
+    std::optional<double> confThreshold;
+    /**
+     * Non-max supression threshold limiting boxes intersection.
+     */
+    std::optional<double> iouThreshold;
+    /**
+     * Maximum detections per image.
+     */
+    std::optional<int64_t> maxDet;
+    /**
+     * Number of keypoints per bbox if provided.
+     */
+    std::optional<int64_t> nKeypoints;
+    /**
+     * Number of prototypes per bbox if provided.
+     */
+    std::optional<int64_t> nPrototypes;
+    /**
+     * Output node containing prototype information.
+     */
+    std::optional<std::string> prototypeOutputName;
+    /**
+     * YOLO family decoding subtype (e.g. v5, v6, v7 etc.).
+     */
+    std::optional<ObjectDetectionSubtypeYolo> subtype;
+    /**
+     * Path to the secondary executable used in YOLO instance segmentation.
+     */
+    std::optional<std::string> postprocessorPath;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Input.hpp b/include/depthai/nn_archive/v1/Input.hpp
new file mode 100644
index 000000000..37e597dcc
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Input.hpp
@@ -0,0 +1,84 @@
+#pragma once
+
+#include <optional>
+#include <string>
+#include <vector>
+
+#include "PreprocessingBlock.hpp"
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+enum class DataType : int;
+enum class InputType : int;
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Represents input stream of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the input layer.
+ *
+ * @type dtype: DataType
+ * @ivar dtype: Data type of the input data (e.g., 'float32').
+ *
+ * @type input_type: InputType
+ * @ivar input_type: Type of input data (e.g., 'image').
+ *
+ * @type shape: list
+ * @ivar shape: Shape of the input data as a list of integers (e.g. [H,W], [H,W,C],
+ * [BS,H,W,C], ...).
+ *
+ * @type preprocessing: PreprocessingBlock
+ * @ivar preprocessing: Preprocessing steps applied to the input data.
+ */
+
+/**
+ * Represents input stream of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the input layer.
+ *
+ * @type dtype: DataType
+ * @ivar dtype: Data type of the input data (e.g., 'float32').
+ *
+ * @type input_type: InputType
+ * @ivar input_type: Type of input data (e.g., 'image').
+ *
+ * @type shape: list
+ * @ivar shape: Shape of the input data as a list of integers (e.g. [H,W], [H,W,C],
+ * [BS,H,W,C], ...).
+ *
+ * @type preprocessing: PreprocessingBlock
+ * @ivar preprocessing: Preprocessing steps applied to the input data.
+ */
+struct Input {
+    /**
+     * Data type of the input data (e.g., 'float32').
+     */
+    DataType dtype;
+    /**
+     * Type of input data (e.g., 'image').
+     */
+    InputType inputType;
+    /**
+     * Name of the input layer.
+     */
+    std::string name;
+    /**
+     * Preprocessing steps applied to the input data.
+     */
+    PreprocessingBlock preprocessing;
+    /**
+     * Shape of the input data as a list of integers (e.g. [H,W], [H,W,C], [BS,H,W,C], ...).
+     */
+    std::vector<int64_t> shape;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/InputType.hpp b/include/depthai/nn_archive/v1/InputType.hpp
new file mode 100644
index 000000000..b895c660f
--- /dev/null
+++ b/include/depthai/nn_archive/v1/InputType.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <optional>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Type of input data (e.g., 'image').
+ *
+ * Represents a type of input the model is expecting.
+ */
+
+/**
+ * Type of input data (e.g., 'image').
+ *
+ * Represents a type of input the model is expecting.
+ */
+enum class InputType : int { IMAGE, RAW };
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Metadata.hpp b/include/depthai/nn_archive/v1/Metadata.hpp
new file mode 100644
index 000000000..941437d0f
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Metadata.hpp
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <optional>
+#include <string>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Metadata object defining the model metadata.
+ *
+ * Represents metadata of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the model.
+ * @type path: str
+ * @ivar path: Relative path to the model executable.
+ */
+
+/**
+ * Metadata object defining the model metadata.
+ *
+ * Represents metadata of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the model.
+ * @type path: str
+ * @ivar path: Relative path to the model executable.
+ */
+struct Metadata {
+    /**
+     * Name of the model.
+     */
+    std::string name;
+    /**
+     * Relative path to the model executable.
+     */
+    std::string path;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Model.hpp b/include/depthai/nn_archive/v1/Model.hpp
new file mode 100644
index 000000000..282869e32
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Model.hpp
@@ -0,0 +1,65 @@
+#pragma once
+
+#include <optional>
+#include <vector>
+
+#include "Head.hpp"
+#include "Input.hpp"
+#include "Metadata.hpp"
+#include "Output.hpp"
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * A Model object representing the neural network used in the archive.
+ *
+ * Class defining a single-stage model config scheme.
+ *
+ * @type metadata: Metadata
+ * @ivar metadata: Metadata object defining the model metadata.
+ * @type inputs: list
+ * @ivar inputs: List of Input objects defining the model inputs.
+ * @type outputs: list
+ * @ivar outputs: List of Output objects defining the model outputs.
+ * @type heads: list
+ * @ivar heads: List of Head objects defining the model heads. If not defined, we
+ * assume a raw output.
+ */
+
+/**
+ * A Model object representing the neural network used in the archive.
+ *
+ * Class defining a single-stage model config scheme.
+ *
+ * @type metadata: Metadata
+ * @ivar metadata: Metadata object defining the model metadata.
+ * @type inputs: list
+ * @ivar inputs: List of Input objects defining the model inputs.
+ * @type outputs: list
+ * @ivar outputs: List of Output objects defining the model outputs.
+ * @type heads: list
+ * @ivar heads: List of Head objects defining the model heads. If not defined, we
+ * assume a raw output.
+ */
+struct Model {
+    /**
+     * List of Head objects defining the model heads. If not defined, we assume a raw output.
+     */
+    std::optional<std::vector<Head>> heads;
+    /**
+     * List of Input objects defining the model inputs.
+     */
+    std::vector<Input> inputs;
+    /**
+     * Metadata object defining the model metadata.
+     */
+    Metadata metadata;
+    /**
+     * List of Output objects defining the model outputs.
+     */
+    std::vector<Output> outputs;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/ObjectDetectionSubtypeYolo.hpp b/include/depthai/nn_archive/v1/ObjectDetectionSubtypeYolo.hpp
new file mode 100644
index 000000000..ea1ace2c6
--- /dev/null
+++ b/include/depthai/nn_archive/v1/ObjectDetectionSubtypeYolo.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <optional>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * YOLO family decoding subtype (e.g. v5, v6, v7 etc.).
+ *
+ * Object detection decoding subtypes for YOLO networks.
+ *
+ * Subtype members have exactly the same decoding.
+ */
+
+/**
+ * YOLO family decoding subtype (e.g. v5, v6, v7 etc.).
+ *
+ * Object detection decoding subtypes for YOLO networks.
+ *
+ * Subtype members have exactly the same decoding.
+ */
+enum class ObjectDetectionSubtypeYolo : int { YOLOV5, YOLOV6, YOLOV7, YOLOV8 };
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Output.hpp b/include/depthai/nn_archive/v1/Output.hpp
new file mode 100644
index 000000000..b308292e3
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Output.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <optional>
+#include <string>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+enum class DataType : int;
+}
+}  // namespace nn_archive
+}  // namespace dai
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Represents output stream of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the output layer.
+ * @type dtype: DataType
+ * @ivar dtype: Data type of the output data (e.g., 'float32').
+ */
+
+/**
+ * Represents output stream of a model.
+ *
+ * @type name: str
+ * @ivar name: Name of the output layer.
+ * @type dtype: DataType
+ * @ivar dtype: Data type of the output data (e.g., 'float32').
+ */
+struct Output {
+    /**
+     * Data type of the output data (e.g., 'float32').
+     */
+    DataType dtype;
+    /**
+     * Name of the output layer.
+     */
+    std::string name;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/Outputs.hpp b/include/depthai/nn_archive/v1/Outputs.hpp
new file mode 100644
index 000000000..dc221a35f
--- /dev/null
+++ b/include/depthai/nn_archive/v1/Outputs.hpp
@@ -0,0 +1,97 @@
+#pragma once
+
+#include <optional>
+#include <string>
+#include <vector>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * A configuration specifying which output names from the `outputs` block of the archive are
+ * fed into the head.
+ *
+ * Parent class for all outputs.
+ *
+ * Represents outputs of a basic YOLO object detection model.
+ *
+ * @type yolo_outputs: C{List[str]}
+ * @ivar yolo_outputs: A list of output names for each of the different YOLO grid
+ * sizes.
+ *
+ * Represents outputs of a MobileNet SSD object detection model.
+ *
+ * @type boxes: str
+ * @ivar boxes: Output name corresponding to predicted bounding box coordinates.
+ * @type scores: str
+ * @ivar scores: Output name corresponding to predicted bounding box confidence scores.
+ *
+ * Represents outputs of a basic YOLO object detection model.
+ *
+ * @type yolo_outputs: C{List[str]}
+ * @ivar yolo_outputs: A list of output names for each of the different YOLO grid
+ * sizes.
+ * @type mask_outputs: C{List[str]}
+ * @ivar mask_outputs: A list of output names for each mask output.
+ * @type protos: str
+ * @ivar protos: Output name for the protos.
+ */
+
+/**
+ * A configuration specifying which output names from the `outputs` block of the archive are
+ * fed into the head.
+ *
+ * Parent class for all outputs.
+ *
+ * Represents outputs of a basic YOLO object detection model.
+ *
+ * @type yolo_outputs: C{List[str]}
+ * @ivar yolo_outputs: A list of output names for each of the different YOLO grid
+ * sizes.
+ *
+ * Represents outputs of a MobileNet SSD object detection model.
+ *
+ * @type boxes: str
+ * @ivar boxes: Output name corresponding to predicted bounding box coordinates.
+ * @type scores: str
+ * @ivar scores: Output name corresponding to predicted bounding box confidence scores.
+ *
+ * Represents outputs of a basic YOLO object detection model.
+ *
+ * @type yolo_outputs: C{List[str]}
+ * @ivar yolo_outputs: A list of output names for each of the different YOLO grid
+ * sizes.
+ * @type mask_outputs: C{List[str]}
+ * @ivar mask_outputs: A list of output names for each mask output.
+ * @type protos: str
+ * @ivar protos: Output name for the protos.
+ */
+struct Outputs {
+    /**
+     * Name of the output with predictions.
+     */
+    std::optional<std::string> predictions;
+    /**
+     * A list of output names for each of the different YOLO grid sizes.
+     */
+    std::optional<std::vector<std::string>> yoloOutputs;
+    /**
+     * Output name corresponding to predicted bounding box coordinates.
+     */
+    std::optional<std::string> boxes;
+    /**
+     * Output name corresponding to predicted bounding box confidence scores.
+     */
+    std::optional<std::string> scores;
+    /**
+     * A list of output names for each mask output.
+     */
+    std::optional<std::vector<std::string>> maskOutputs;
+    /**
+     * Output name for the protos.
+     */
+    std::optional<std::string> protos;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/nn_archive/v1/PreprocessingBlock.hpp b/include/depthai/nn_archive/v1/PreprocessingBlock.hpp
new file mode 100644
index 000000000..531ed6244
--- /dev/null
+++ b/include/depthai/nn_archive/v1/PreprocessingBlock.hpp
@@ -0,0 +1,60 @@
+#pragma once
+
+#include <optional>
+#include <vector>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+/**
+ * Preprocessing steps applied to the input data.
+ *
+ * Represents preprocessing operations applied to the input data.
+ *
+ * @type mean: list
+ * @ivar mean: Mean values in channel order. Typically, this is BGR order.
+ * @type scale: list
+ * @ivar scale: Standardization values in channel order. Typically, this is BGR order.
+ * @type reverse_channels: bool
+ * @ivar reverse_channels: If True, color channels are reversed (e.g. BGR to RGB or
+ * vice versa).
+ * @type interleaved_to_planar: bool
+ * @ivar interleaved_to_planar: If True, format is changed from interleaved to planar.
+ */
+
+/**
+ * Preprocessing steps applied to the input data.
+ *
+ * Represents preprocessing operations applied to the input data.
+ *
+ * @type mean: list
+ * @ivar mean: Mean values in channel order. Typically, this is BGR order.
+ * @type scale: list
+ * @ivar scale: Standardization values in channel order. Typically, this is BGR order.
+ * @type reverse_channels: bool
+ * @ivar reverse_channels: If True, color channels are reversed (e.g. BGR to RGB or
+ * vice versa).
+ * @type interleaved_to_planar: bool
+ * @ivar interleaved_to_planar: If True, format is changed from interleaved to planar.
+ */
+struct PreprocessingBlock {
+    /**
+     * If True, format is changed from interleaved to planar.
+     */
+    std::optional<bool> interleavedToPlanar;
+    /**
+     * Mean values in channel order. Typically, this is BGR order.
+     */
+    std::optional<std::vector<double>> mean;
+    /**
+     * If True, color channels are reversed (e.g. BGR to RGB or vice versa).
+     */
+    std::optional<bool> reverseChannels;
+    /**
+     * Standardization values in channel order. Typically, this is BGR order.
+     */
+    std::optional<std::vector<double>> scale;
+};
+}  // namespace v1
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/include/depthai/openvino/OpenVINO.hpp b/include/depthai/openvino/OpenVINO.hpp
index f22d60dfc..6846200a9 100644
--- a/include/depthai/openvino/OpenVINO.hpp
+++ b/include/depthai/openvino/OpenVINO.hpp
@@ -8,7 +8,7 @@
 #include <utility>
 #include <vector>
 
-#include "depthai-shared/common/TensorInfo.hpp"
+#include "depthai/common/TensorInfo.hpp"
 #include "depthai/utility/Path.hpp"
 
 namespace dai {
@@ -19,6 +19,8 @@ class OpenVINO {
     /// OpenVINO Version supported version information
     enum Version { VERSION_2020_3, VERSION_2020_4, VERSION_2021_1, VERSION_2021_2, VERSION_2021_3, VERSION_2021_4, VERSION_2022_1, VERSION_UNIVERSAL };
 
+    // Device for which the blob is compiled
+    enum class Device { VPU, VPUX };
     /// OpenVINO Blob
     struct Blob {
         /**
@@ -36,6 +38,8 @@ class OpenVINO {
 
         /// OpenVINO version
         Version version;
+        /// Device for which the blob is compiled for
+        Device device;
         /// Map of input names to additional information
         std::unordered_map<std::string, TensorInfo> networkInputs;
         /// Map of output names to additional information
diff --git a/include/depthai/pipeline/AssetManager.hpp b/include/depthai/pipeline/AssetManager.hpp
index c8a419a6a..65ba46957 100644
--- a/include/depthai/pipeline/AssetManager.hpp
+++ b/include/depthai/pipeline/AssetManager.hpp
@@ -4,7 +4,7 @@
 #include <memory>
 #include <vector>
 
-#include "depthai-shared/pipeline/Assets.hpp"
+#include "depthai/pipeline/Assets.hpp"
 #include "depthai/utility/Path.hpp"
 
 namespace dai {
@@ -32,14 +32,31 @@ class AssetsMutable : public Assets {
  */
 class AssetManager /*: public Assets*/ {
     std::map<std::string, std::shared_ptr<Asset>> assetMap;
+    std::string rootPath;
+
+    std::string getRelativeKey(std::string key) const;
 
    public:
+    AssetManager();
+    AssetManager(std::string rootPath);
     /**
      * Adds all assets in an array to the AssetManager
      * @param assets Vector of assets to add
      */
     void addExisting(std::vector<std::shared_ptr<Asset>> assets);
 
+    /**
+     * Get root path of the asset manager
+     * @returns Root path
+     */
+    std::string getRootPath();
+
+    /**
+     * Set root path of the asset manager
+     * @param rootPath Root path
+     */
+    void setRootPath(const std::string& rootPath);
+
     /**
      * Adds or overwrites an asset object to AssetManager.
      * @param asset Asset to add
diff --git a/include/depthai/pipeline/Assets.hpp b/include/depthai/pipeline/Assets.hpp
new file mode 100644
index 000000000..8b4453033
--- /dev/null
+++ b/include/depthai/pipeline/Assets.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+// standard
+#include <cstdint>
+#include <exception>
+#include <unordered_map>
+
+// project
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+// This class represent a single asset
+struct AssetView {
+    std::uint8_t* data;
+    std::uint32_t size;
+    std::uint32_t alignment = 1;
+    AssetView(std::uint8_t* d, std::uint32_t s, std::uint32_t a = 1) : data(d), size(s), alignment(a) {}
+};
+
+// This is a serializable class, which acts as readonly access to assets
+class Assets {
+   protected:
+    std::uint8_t* pStorageStart = nullptr;
+
+    struct AssetInternal {
+        std::uint32_t offset, size, alignment;
+        DEPTHAI_SERIALIZE(AssetInternal, offset, size, alignment);
+    };
+
+    // maps string to Asset
+    std::unordered_map<std::string, AssetInternal> map;
+
+   public:
+    void setStorage(std::uint8_t* ps) {
+        pStorageStart = ps;
+    }
+
+    bool has(const std::string& key) {
+        return (map.count(key) > 0);
+    }
+
+    AssetView get(const std::string& key) {
+        AssetInternal internal = map.at(key);
+        return {pStorageStart + internal.offset, internal.size, internal.alignment};
+    }
+
+    std::vector<std::pair<std::string, AssetView>> getAll() {
+        std::vector<std::pair<std::string, AssetView>> allAssets;
+        for(const auto& kv : map) {
+            allAssets.emplace_back(kv.first, get(kv.first));
+        }
+        return allAssets;
+    }
+
+    DEPTHAI_SERIALIZE(Assets, map);
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/DeviceNode.hpp b/include/depthai/pipeline/DeviceNode.hpp
new file mode 100644
index 000000000..8d98704a4
--- /dev/null
+++ b/include/depthai/pipeline/DeviceNode.hpp
@@ -0,0 +1,63 @@
+#pragma once
+
+#include "depthai/pipeline/ThreadedNode.hpp"
+
+namespace dai {
+
+class DeviceNode : public ThreadedNode {
+   public:
+    using ThreadedNode::ThreadedNode;
+    virtual ~DeviceNode() = default;
+
+    // virtual 'run' method
+    virtual void run() override;
+
+    copyable_unique_ptr<Properties> propertiesHolder;
+
+    // Get properties
+    virtual Properties& getProperties();
+
+   protected:
+    DeviceNode(std::unique_ptr<Properties> props, bool conf);
+};
+
+// Node CRTP class
+template <typename Base, typename Derived, typename Props>
+class DeviceNodeCRTP : public Base {
+   public:
+    using Properties = Props;
+    virtual ~DeviceNodeCRTP() = default;
+    /// Underlying properties
+    Properties& properties;
+    const char* getName() const override {
+        return Derived::NAME;
+    };
+    std::unique_ptr<Node> clone() const override {
+        return std::make_unique<Derived>(static_cast<const Derived&>(*this));
+    };
+    void build() {}
+
+    // No public constructor, only a factory function.
+    [[nodiscard]] static std::shared_ptr<Derived> create() {
+        auto n = std::make_shared<Derived>();
+        n->build();
+        return n;
+    }
+    [[nodiscard]] static std::shared_ptr<Derived> create(std::unique_ptr<Properties> props) {
+        auto n = std::shared_ptr<Derived>(new Derived(props));
+        // Configure mode, don't build
+        // n->build();
+        return n;
+    }
+
+   protected:
+    DeviceNodeCRTP() : Base(std::make_unique<Props>(), false), properties(static_cast<Properties&>(*DeviceNode::propertiesHolder)) {}
+    DeviceNodeCRTP(std::unique_ptr<Properties> props) : Base(std::move(props), true), properties(static_cast<Properties&>(*DeviceNode::propertiesHolder)) {}
+    DeviceNodeCRTP(std::unique_ptr<Properties> props, bool confMode)
+        : Base(std::move(props), confMode), properties(static_cast<Properties&>(*DeviceNode::propertiesHolder)) {}
+
+    friend Derived;
+    friend Base;
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/HostPipeline.hpp b/include/depthai/pipeline/HostPipeline.hpp
new file mode 100644
index 000000000..6c5d2f4f9
--- /dev/null
+++ b/include/depthai/pipeline/HostPipeline.hpp
@@ -0,0 +1,300 @@
+// #pragma once
+
+// // standard
+// #include <map>
+// #include <memory>
+// #include <unordered_set>
+// #include <vector>
+
+// // project
+// #include "AssetManager.hpp"
+// #include "Node.hpp"
+// #include "depthai/device/CalibrationHandler.hpp"
+// #include "depthai/device/Device.hpp"
+// #include "depthai/openvino/OpenVINO.hpp"
+
+// // shared
+// #include "depthai/device/BoardConfig.hpp"
+// #include "depthai/pipeline/PipelineSchema.hpp"
+// #include "depthai/properties/GlobalProperties.hpp"
+
+// namespace dai {
+
+// class HostPipelineImpl : public PipelineImpl {
+//     friend class HostPipeline;
+//     friend class Pipeline;
+//     friend class Node;
+
+//    public:
+//     HostPipelineImpl(HostPipeline& pipeline) : assetManager("/pipeline/"), parent(pipeline) {}
+//     HostPipelineImpl(const HostPipelineImpl&) = default;
+//     ~HostPipelineImpl();
+
+//    private:
+//     // static functions
+//     static bool isSamePipeline(const Node::Output& out, const Node::Input& in);
+//     static bool canConnect(const Node::Output& out, const Node::Input& in);
+
+//     // Functions
+//     Node::Id getNextUniqueId();
+//     PipelineSchema getPipelineSchema(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const;
+//     std::optional<OpenVINO::Version> getPipelineOpenVINOVersion() const;
+//     OpenVINO::Version getOpenVINOVersion() const;
+//     std::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const;
+//     bool isOpenVINOVersionCompatible(OpenVINO::Version version) const;
+//     Device::Config getDeviceConfig() const;
+//     void setCameraTuningBlobPath(const dai::Path& path);
+//     void setXLinkChunkSize(int sizeBytes);
+
+//     // Access to nodes
+//     std::vector<std::shared_ptr<const Node>> getAllNodes() const;
+//     std::vector<std::shared_ptr<Node>> getAllNodes();
+//     std::shared_ptr<const Node> getNode(Node::Id id) const;
+//     std::shared_ptr<Node> getNode(Node::Id id);
+
+//     void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage, SerializationType type = DEFAULT_SERIALIZATION_TYPE)
+//     const; nlohmann::json serializeToJson() const; void remove(std::shared_ptr<Node> node);
+
+//     std::vector<Node::Connection> getConnections() const;
+//     void link(const Node::Output& out, const Node::Input& in);
+//     void unlink(const Node::Output& out, const Node::Input& in);
+//     void setCalibrationData(CalibrationHandler calibrationDataHandler);
+//     CalibrationHandler getCalibrationData() const;
+//     bool isHostOnly() const;
+//     bool isDeviceOnly() const;
+
+//     // Must be incremented and unique for each node
+//     Node::Id latestId = 0;
+//     // Pipeline asset manager
+//     AssetManager assetManager;
+//     // Optionally forced version
+//     std::optional<OpenVINO::Version> forceRequiredOpenVINOVersion;
+//     // Global pipeline properties
+//     GlobalProperties globalProperties;
+//     // Optimized for adding, searching and removing connections
+//     using NodeMap = std::unordered_map<Node::Id, std::shared_ptr<Node>>;
+//     NodeMap nodeMap;
+//     using NodeConnectionMap = std::unordered_map<Node::Id, std::unordered_set<Node::Connection>>;
+//     // Connection map, NodeId represents id of node connected TO (input)
+//     NodeConnectionMap nodeConnectionMap;
+//     // parent
+//     Pipeline& parent;
+//     // DeviceBase for hybrid pipelines
+//     std::shared_ptr<DeviceBase> device;
+
+//     // Template create function
+//     template <class N>
+//     std::shared_ptr<N> create(const std::shared_ptr<PipelineImpl>& itself) {
+//         // Check that passed type 'N' is subclass of Node
+//         static_assert(std::is_base_of<Node, N>::value, "Specified class is not a subclass of Node");
+//         // Get unique id for this new node
+//         auto id = getNextUniqueId();
+//         // Create and store the node in the map
+//         auto node = std::make_shared<N>(itself, id);
+//         nodeMap[id] = node;
+//         // Return shared pointer to this node
+//         return node;
+//     }
+
+//     // Run only host side, if any device nodes are present, error out
+//     void start();
+//     void wait();
+//     void stop();
+// };
+
+// /**
+//  * @brief Represents the pipeline, set of nodes and connections between them
+//  */
+// class HostPipeline : {
+//     friend class PipelineImpl;
+//     std::shared_ptr<PipelineImpl> pimpl;
+//     PipelineImpl* impl() {
+//         return pimpl.get();
+//     }
+//     const PipelineImpl* impl() const {
+//         return pimpl.get();
+//     }
+
+//    public:
+//     /**
+//      * Constructs a new pipeline
+//      */
+//     HostPipeline();
+//     explicit HostPipeline(const std::shared_ptr<HostPipelineImpl>& pimpl);
+
+//     /// Clone the pipeline (Creates a copy)
+//     HostPipeline clone() const;
+
+//     /**
+//      * @returns Global properties of current pipeline
+//      */
+//     GlobalProperties getGlobalProperties() const;
+
+//     /**
+//      * @returns Pipeline schema
+//      */
+//     PipelineSchema getPipelineSchema(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const;
+
+//     // void loadAssets(AssetManager& assetManager);
+//     void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage) const {
+//         impl()->serialize(schema, assets, assetStorage);
+//     }
+
+//     /// Returns whole pipeline represented as JSON
+//     nlohmann::json serializeToJson() const {
+//         return impl()->serializeToJson();
+//     }
+
+//     /**
+//      * Adds a node to pipeline.
+//      *
+//      * Node is specified by template argument N
+//      */
+//     template <class N>
+//     std::shared_ptr<N> create() {
+//         return impl()->create<N>(pimpl);
+//     }
+
+//     /// Removes a node from pipeline
+//     void remove(std::shared_ptr<Node> node) {
+//         impl()->remove(node);
+//     }
+
+//     /// Get a vector of all nodes
+//     std::vector<std::shared_ptr<const Node>> getAllNodes() const {
+//         return impl()->getAllNodes();
+//     }
+//     /// Get a vector of all nodes
+//     std::vector<std::shared_ptr<Node>> getAllNodes() {
+//         return impl()->getAllNodes();
+//     }
+
+//     /// Get node with id if it exists, nullptr otherwise
+//     std::shared_ptr<const Node> getNode(Node::Id id) const {
+//         return impl()->getNode(id);
+//     }
+//     /// Get node with id if it exists, nullptr otherwise
+//     std::shared_ptr<Node> getNode(Node::Id id) {
+//         return impl()->getNode(id);
+//     }
+
+//     /// Get all connections
+//     std::vector<Node::Connection> getConnections() const {
+//         return impl()->getConnections();
+//     }
+
+//     using NodeConnectionMap = PipelineImpl::NodeConnectionMap;
+//     /// Get a reference to internal connection representation
+//     const NodeConnectionMap& getConnectionMap() const {
+//         return impl()->nodeConnectionMap;
+//     }
+
+//     using NodeMap = PipelineImpl::NodeMap;
+//     /// Get a reference to internal node map
+//     const NodeMap& getNodeMap() const {
+//         return impl()->nodeMap;
+//     }
+
+//     /**
+//      * Link output to an input. Both nodes must be on the same pipeline
+//      *
+//      * Throws an error if they aren't or cannot be connected
+//      *
+//      * @param out Nodes output to connect from
+//      * @param in Nodes input to connect to
+//      */
+//     void link(const Node::Output& out, const Node::Input& in) {
+//         impl()->link(out, in);
+//     }
+
+//     /**
+//      * Unlink output from an input.
+//      *
+//      * Throws an error if link doesn't exists
+//      *
+//      * @param out Nodes output to unlink from
+//      * @param in Nodes input to unlink to
+//      */
+//     void unlink(const Node::Output& out, const Node::Input& in) {
+//         impl()->unlink(out, in);
+//     }
+
+//     /// Get pipelines AssetManager as reference
+//     const AssetManager& getAssetManager() const {
+//         return impl()->assetManager;
+//     }
+
+//     /// Get pipelines AssetManager as reference
+//     AssetManager& getAssetManager() {
+//         return impl()->assetManager;
+//     }
+
+//     /// Set a specific OpenVINO version to use with this pipeline
+//     void setOpenVINOVersion(OpenVINO::Version version) {
+//         impl()->forceRequiredOpenVINOVersion = version;
+//     }
+
+//     /**
+//      * Sets the calibration in pipeline which overrides the calibration data in eeprom
+//      *
+//      * @param calibrationDataHandler CalibrationHandler object which is loaded with calibration information.
+//      */
+//     void setCalibrationData(CalibrationHandler calibrationDataHandler) {
+//         impl()->setCalibrationData(calibrationDataHandler);
+//     }
+
+//     /**
+//      * gets the calibration data which is set through pipeline
+//      *
+//      * @return the calibrationHandler with calib data in the pipeline
+//      */
+//     CalibrationHandler getCalibrationData() const {
+//         return impl()->getCalibrationData();
+//     }
+
+//     /// Get possible OpenVINO version to run this pipeline
+//     OpenVINO::Version getOpenVINOVersion() const {
+//         return impl()->getOpenVINOVersion();
+//     }
+
+//     /// Get required OpenVINO version to run this pipeline. Can be none
+//     std::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const {
+//         return impl()->getRequiredOpenVINOVersion();
+//     }
+
+//     /// Set a camera IQ (Image Quality) tuning blob, used for all cameras
+//     void setCameraTuningBlobPath(const dai::Path& path) {
+//         impl()->setCameraTuningBlobPath(path);
+//     }
+
+//     /**
+//      * Set chunk size for splitting device-sent XLink packets, in bytes. A larger value could
+//      * increase performance, with 0 disabling chunking. A negative value won't modify the
+//      * device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.
+//      */
+//     void setXLinkChunkSize(int sizeBytes) {
+//         impl()->setXLinkChunkSize(sizeBytes);
+//     }
+
+//     /// Checks whether a given OpenVINO version is compatible with the pipeline
+//     bool isOpenVINOVersionCompatible(OpenVINO::Version version) const {
+//         return impl()->isOpenVINOVersionCompatible(version);
+//     }
+
+//     /// Get device configuration needed for this pipeline
+//     Device::Config getDeviceConfig() const {
+//         return impl()->getDeviceConfig();
+//     }
+
+//     void start() {
+//         impl()->start();
+//     }
+//     void wait() {
+//         impl()->wait();
+//     }
+//     void stop() {
+//         impl()->stop();
+//     }
+// };
+
+// }  // namespace dai
diff --git a/include/depthai/pipeline/MessageQueue.hpp b/include/depthai/pipeline/MessageQueue.hpp
new file mode 100644
index 000000000..587aaef1b
--- /dev/null
+++ b/include/depthai/pipeline/MessageQueue.hpp
@@ -0,0 +1,373 @@
+#pragma once
+
+// std
+#include <atomic>
+#include <memory>
+#include <vector>
+
+// project
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "depthai/utility/LockingQueue.hpp"
+#include "depthai/xlink/XLinkConnection.hpp"
+
+// shared
+namespace dai {
+
+/**
+ * Thread safe queue to send messages between nodes
+ */
+class MessageQueue {
+   public:
+    /// Alias for callback id
+    using CallbackId = int;
+
+    class QueueException : public std::runtime_error {
+       public:
+        explicit QueueException(const std::string& message) : std::runtime_error(message) {}
+    };
+
+   private:
+    LockingQueue<std::shared_ptr<ADatatype>> queue;
+    const std::string name{""};
+    std::mutex callbacksMtx;
+    std::unordered_map<CallbackId, std::function<void(std::string, std::shared_ptr<ADatatype>)>> callbacks;
+    CallbackId uniqueCallbackId{0};
+    const std::string exceptionMessage{"MessageQueue was closed"};
+    void callCallbacks(std::shared_ptr<ADatatype> msg);
+
+   public:
+    // DataOutputQueue constructor
+    MessageQueue(unsigned int maxSize = 16, bool blocking = true);
+    MessageQueue(const std::string& name, unsigned int maxSize = 16, bool blocking = true);
+    MessageQueue(const MessageQueue& q) : name(q.name), exceptionMessage(q.exceptionMessage) {
+        callbacks = q.callbacks;
+        uniqueCallbackId = q.uniqueCallbackId;
+    }
+    MessageQueue(MessageQueue&& q) : name(std::move(q.name)), exceptionMessage(std::move(q.exceptionMessage)) {
+        callbacks = std::move(q.callbacks);
+        uniqueCallbackId = std::move(q.uniqueCallbackId);
+    }
+    ~MessageQueue();
+
+    /**
+     * Check whether queue is closed
+     */
+    bool isClosed() const;
+
+    /**
+     * Closes the queue and unblocks any waiting consumers or producers
+     */
+    void close();
+
+    /**
+     * Sets queue behavior when full (maxSize)
+     *
+     * @param blocking Specifies if block or overwrite the oldest message in the queue
+     */
+    void setBlocking(bool blocking);
+
+    /**
+     * Gets current queue behavior when full (maxSize)
+     *
+     * @returns True if blocking, false otherwise
+     */
+    bool getBlocking() const;
+
+    /**
+     * Sets queue maximum size
+     *
+     * @param maxSize Specifies maximum number of messages in the queue
+     */
+    void setMaxSize(unsigned int maxSize);
+
+    /**
+     * Gets queue maximum size
+     *
+     * @returns Maximum queue size
+     */
+    unsigned int getMaxSize() const;
+
+    /**
+     * Gets queues name
+     *
+     * @returns Queue name
+     */
+    std::string getName() const;
+
+    /**
+     * Adds a callback on message received
+     *
+     * @param callback Callback function with queue name and message pointer
+     * @returns Callback id
+     */
+    CallbackId addCallback(std::function<void(std::string, std::shared_ptr<ADatatype>)>);
+
+    /**
+     * Adds a callback on message received
+     *
+     * @param callback Callback function with message pointer
+     * @returns Callback id
+     */
+    CallbackId addCallback(std::function<void(std::shared_ptr<ADatatype>)>);
+
+    /**
+     * Adds a callback on message received
+     *
+     * @param callback Callback function without any parameters
+     * @returns Callback id
+     */
+    CallbackId addCallback(std::function<void()> callback);
+
+    /**
+     * Removes a callback
+     *
+     * @param callbackId Id of callback to be removed
+     * @returns True if callback was removed, false otherwise
+     */
+    bool removeCallback(CallbackId callbackId);
+
+    /**
+     * Check whether front of the queue has message of type T
+     * @returns True if queue isn't empty and the first element is of type T, false otherwise
+     */
+    template <class T>
+    bool has() {
+        std::shared_ptr<ADatatype> val = nullptr;
+        if(queue.front(val) && dynamic_cast<T*>(val.get())) {
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * Check whether front of the queue has a message (isn't empty)
+     * @returns True if queue isn't empty, false otherwise
+     */
+    bool has() {
+        return !queue.empty();
+    }
+
+    /**
+     * Try to retrieve message T from queue. If message isn't of type T it returns nullptr
+     *
+     * @returns Message of type T or nullptr if no message available
+     */
+    template <class T>
+    std::shared_ptr<T> tryGet() {
+        std::shared_ptr<ADatatype> val = nullptr;
+        if(!queue.tryPop(val)) return nullptr;
+        return std::dynamic_pointer_cast<T>(val);
+    }
+
+    /**
+     * Try to retrieve message from queue. If no message available, return immediately with nullptr
+     *
+     * @returns Message or nullptr if no message available
+     */
+    std::shared_ptr<ADatatype> tryGet() {
+        return tryGet<ADatatype>();
+    }
+
+    /**
+     * Block until a message is available.
+     *
+     * @returns Message of type T or nullptr if no message available
+     */
+    template <class T>
+    std::shared_ptr<T> get() {
+        std::shared_ptr<ADatatype> val = nullptr;
+        if(!queue.waitAndPop(val)) {
+            throw QueueException(exceptionMessage.c_str());
+        }
+        return std::dynamic_pointer_cast<T>(val);
+    }
+
+    /**
+     * Block until a message is available.
+     *
+     * @returns Message or nullptr if no message available
+     */
+    std::shared_ptr<ADatatype> get() {
+        return get<ADatatype>();
+    }
+
+    /**
+     * Gets first message in the queue.
+     *
+     * @returns Message of type T or nullptr if no message available
+     */
+    template <class T>
+    std::shared_ptr<T> front() {
+        std::shared_ptr<ADatatype> val = nullptr;
+        if(!queue.front(val)) return nullptr;
+        return std::dynamic_pointer_cast<T>(val);
+    }
+
+    /**
+     * Gets first message in the queue.
+     *
+     * @returns Message or nullptr if no message available
+     */
+    std::shared_ptr<ADatatype> front() {
+        return front<ADatatype>();
+    }
+
+    /**
+     * Block until a message is available with a timeout.
+     *
+     * @param timeout Duration for which the function should block
+     * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+     * @returns Message of type T otherwise nullptr if message isn't type T or timeout occurred
+     */
+    template <class T, typename Rep, typename Period>
+    std::shared_ptr<T> get(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+        std::shared_ptr<ADatatype> val = nullptr;
+        if(!queue.tryWaitAndPop(val, timeout)) {
+            hasTimedout = true;
+            return nullptr;
+        }
+        hasTimedout = false;
+        return std::dynamic_pointer_cast<T>(val);
+    }
+
+    /**
+     * Block until a message is available with a timeout.
+     *
+     * @param timeout Duration for which the function should block
+     * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+     * @returns Message of type T otherwise nullptr if message isn't type T or timeout occurred
+     */
+    template <typename Rep, typename Period>
+    std::shared_ptr<ADatatype> get(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+        return get<ADatatype>(timeout, hasTimedout);
+    }
+
+    /**
+     * Try to retrieve all messages in the queue.
+     *
+     * @returns Vector of messages which can either be of type T or nullptr
+     */
+    template <class T>
+    std::vector<std::shared_ptr<T>> tryGetAll() {
+        std::vector<std::shared_ptr<T>> messages;
+        queue.consumeAll([&messages](std::shared_ptr<ADatatype>& msg) {
+            // dynamic pointer cast may return nullptr
+            // in which case that message in vector will be nullptr
+            messages.push_back(std::dynamic_pointer_cast<T>(std::move(msg)));
+        });
+
+        return messages;
+    }
+
+    /**
+     * Try to retrieve all messages in the queue.
+     *
+     * @returns Vector of messages
+     */
+    std::vector<std::shared_ptr<ADatatype>> tryGetAll() {
+        return tryGetAll<ADatatype>();
+    }
+
+    /**
+     * Block until at least one message in the queue.
+     * Then return all messages from the queue.
+     *
+     * @returns Vector of messages which can either be of type T or nullptr
+     */
+    template <class T>
+    std::vector<std::shared_ptr<T>> getAll() {
+        std::vector<std::shared_ptr<T>> messages;
+        queue.waitAndConsumeAll([&messages](std::shared_ptr<ADatatype>& msg) {
+            // dynamic pointer cast may return nullptr
+            // in which case that message in vector will be nullptr
+            messages.push_back(std::dynamic_pointer_cast<T>(std::move(msg)));
+        });
+
+        return messages;
+    }
+
+    /**
+     * Block until at least one message in the queue.
+     * Then return all messages from the queue.
+     *
+     * @returns Vector of messages
+     */
+    std::vector<std::shared_ptr<ADatatype>> getAll() {
+        return getAll<ADatatype>();
+    }
+
+    /**
+     * Block for maximum timeout duration.
+     * Then return all messages from the queue.
+     * @param timeout Maximum duration to block
+     * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+     * @returns Vector of messages which can either be of type T or nullptr
+     */
+    template <class T, typename Rep, typename Period>
+    std::vector<std::shared_ptr<T>> getAll(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+        std::vector<std::shared_ptr<T>> messages;
+        hasTimedout = !queue.waitAndConsumeAll(
+            [&messages](std::shared_ptr<ADatatype>& msg) {
+                // dynamic pointer cast may return nullptr
+                // in which case that message in vector will be nullptr
+                messages.push_back(std::dynamic_pointer_cast<T>(std::move(msg)));
+            },
+            timeout);
+
+        return messages;
+    }
+
+    /**
+     * Block for maximum timeout duration.
+     * Then return all messages from the queue.
+     * @param timeout Maximum duration to block
+     * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+     * @returns Vector of messages
+     */
+    template <typename Rep, typename Period>
+    std::vector<std::shared_ptr<ADatatype>> getAll(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+        return getAll<ADatatype>(timeout, hasTimedout);
+    }
+
+    /**
+     * Adds a message to the queue, which will be picked up and sent to the device.
+     * Can either block if 'blocking' behavior is true or overwrite oldest
+     * @param msg Message to add to the queue
+     */
+    void send(const std::shared_ptr<ADatatype>& msg);
+
+    /**
+     * Adds a message to the queue, which will be picked up and sent to the device.
+     * Can either block if 'blocking' behavior is true or overwrite oldest
+     * @param msg Message to add to the queue
+     */
+    // void send(const ADatatype& msg);
+
+    /**
+     * Adds message to the queue, which will be picked up and sent to the device.
+     * Can either block until timeout if 'blocking' behavior is true or overwrite oldest
+     *
+     * @param msg Message to add to the queue
+     * @param timeout Maximum duration to block in milliseconds
+     */
+    bool send(const std::shared_ptr<ADatatype>& msg, std::chrono::milliseconds timeout);
+
+    /**
+     * Adds message to the queue, which will be picked up and sent to the device.
+     * Can either block until timeout if 'blocking' behavior is true or overwrite oldest
+     *
+     * @param msg Message to add to the queue
+     * @param timeout Maximum duration to block in milliseconds
+     */
+    bool send(const ADatatype& msg, std::chrono::milliseconds timeout);
+
+    /**
+     * Tries sending a message
+     *
+     * @param msg message to send
+     */
+    bool trySend(const std::shared_ptr<ADatatype>& msg);
+    // bool trySend(const ADatatype& msg);
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/Node.hpp b/include/depthai/pipeline/Node.hpp
index ac31c085a..b9ac9efdb 100644
--- a/include/depthai/pipeline/Node.hpp
+++ b/include/depthai/pipeline/Node.hpp
@@ -5,18 +5,20 @@
 #include <set>
 #include <string>
 #include <tuple>
+#include <unordered_set>
 
 // project
 #include "depthai/openvino/OpenVINO.hpp"
 #include "depthai/pipeline/AssetManager.hpp"
+#include "depthai/pipeline/MessageQueue.hpp"
 #include "depthai/utility/copyable_unique_ptr.hpp"
 
-// depthai-shared
-#include "depthai-shared/datatype/DatatypeEnum.hpp"
-#include "depthai-shared/properties/Properties.hpp"
+// depthai
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/properties/Properties.hpp"
 
 // libraries
-#include "tl/optional.hpp"
+#include <optional>
 
 namespace dai {
 // fwd declare Pipeline
@@ -26,7 +28,7 @@ class PipelineImpl;
 /**
  * @brief Abstract Node
  */
-class Node {
+class Node : public std::enable_shared_from_this<Node> {
     friend class Pipeline;
     friend class PipelineImpl;
 
@@ -34,6 +36,7 @@ class Node {
     /// Node identificator. Unique for every node on a single Pipeline
     using Id = std::int64_t;
     struct Connection;
+    struct ConnectionInternal;
     // fwd declare classes
     class Input;
     class Output;
@@ -43,9 +46,9 @@ class Node {
    protected:
     std::unordered_map<std::string, Output*> outputRefs;
     std::unordered_map<std::string, Input*> inputRefs;
-
     std::unordered_map<std::string, OutputMap*> outputMapRefs;
     std::unordered_map<std::string, InputMap*> inputMapRefs;
+    std::unordered_map<std::string, std::shared_ptr<Node>*> nodeRefs;
 
     // helpers for setting refs
     void setOutputRefs(std::initializer_list<Output*> l);
@@ -56,6 +59,34 @@ class Node {
     void setOutputMapRefs(OutputMap* outMapRef);
     void setInputMapRefs(std::initializer_list<InputMap*> l);
     void setInputMapRefs(InputMap* inMapRef);
+    void setNodeRefs(std::initializer_list<std::pair<std::string, std::shared_ptr<Node>*>> l);
+    void setNodeRefs(std::pair<std::string, std::shared_ptr<Node>*> nodeRef);
+    void setNodeRefs(std::string alias, std::shared_ptr<Node>* nodeRef);
+
+    template <typename T>
+    class Subnode {
+        std::shared_ptr<Node> node;
+
+       public:
+        Subnode(Node& parent, std::string alias) {
+            if(!parent.configureMode) {
+                // Create node as well
+                node = std::make_shared<T>();
+                node->setAlias(alias);
+                node->parentNode = node;
+                // Add node to parents map
+                parent.nodeMap.push_back(node);
+            }
+            // Add reference
+            parent.nodeRefs[alias] = &node;
+        }
+        T& operator*() const noexcept {
+            return *std::static_pointer_cast<T>(node).get();
+        }
+        T* operator->() const noexcept {
+            return std::static_pointer_cast<T>(node).get();
+        }
+    };
 
    public:
     struct DatatypeHierarchy {
@@ -78,6 +109,20 @@ class Node {
             : parent(par), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {}
         Output(Node& par, std::string group, std::string n, Type t, std::vector<DatatypeHierarchy> types)
             : parent(par), group(std::move(group)), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {}
+        Output(bool ref, Node& par, std::string n, Type t, std::vector<DatatypeHierarchy> types)
+            : parent(par), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setOutputRefs(this);
+            }
+        }
+        Output(bool ref, Node& par, std::string group, std::string n, Type t, std::vector<DatatypeHierarchy> types)
+            : parent(par), group(std::move(group)), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setOutputRefs(this);
+            }
+        }
 
         Node& getParent() {
             return parent;
@@ -107,7 +152,7 @@ class Node {
          * Retrieve all connections from this output
          * @returns Vector of connections
          */
-        std::vector<Connection> getConnections();
+        std::vector<ConnectionInternal> getConnections();
 
         /**
          * Link current output to input.
@@ -117,7 +162,7 @@ class Node {
          *
          * @param in Input to link to
          */
-        void link(const Input& in);
+        void link(Input& in);
 
         /**
          * Unlink a previously linked connection
@@ -126,22 +171,45 @@ class Node {
          *
          * @param in Input from which to unlink from
          */
-        void unlink(const Input& in);
+        void unlink(Input& in);
+
+        /**
+         * Sends a Message to all connected inputs
+         * @param msg Message to send to all connected inputs
+         */
+        void send(const std::shared_ptr<ADatatype>& msg);
+
+        /**
+         * Try sending a message to all connected inputs
+         * @param msg Message to send to all connected inputs
+         * @returns True if ALL connected inputs got the message, false otherwise
+         */
+        bool trySend(const std::shared_ptr<ADatatype>& msg);
     };
 
+    struct PairHash {
+        template <class T1, class T2>
+        std::size_t operator()(const std::pair<T1, T2>& pair) const {
+            return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
+        }
+    };
     /**
      * Output map which keeps track of extra outputs assigned to a node
      * Extends std::unordered_map<std::string, dai::Node::Output>
      */
-    class OutputMap : public std::unordered_map<std::string, Output> {
+    class OutputMap : public std::unordered_map<std::pair<std::string, std::string>, Output, PairHash> {
         Output defaultOutput;
 
        public:
         std::string name;
         OutputMap(std::string name, Output defaultOutput);
         OutputMap(Output defaultOutput);
-        /// Create or modify an input
+        OutputMap(bool ref, Node& parent, std::string name, Output defaultOutput);
+        OutputMap(bool ref, Node& parent, Output defaultOutput);
+        /// Create or modify an output
         Output& operator[](const std::string& key);
+        /// Create or modify an output with specified group
+        Output& operator[](std::pair<std::string, std::string> groupKey);
     };
 
     class Input {
@@ -154,14 +222,16 @@ class Node {
         Type type;
         bool defaultBlocking{true};
         int defaultQueueSize{8};
-        tl::optional<bool> blocking;
-        tl::optional<int> queueSize;
+        std::optional<bool> blocking;
+        std::optional<int> queueSize;
         // Options - more information about the input
-        tl::optional<bool> waitForMessage;
+        std::optional<bool> waitForMessage;
         bool defaultWaitForMessage{false};
         friend class Output;
         std::vector<DatatypeHierarchy> possibleDatatypes;
 
+        MessageQueue queue;
+
         /// Constructs Input with default blocking and queueSize options
         Input(Node& par, std::string n, Type t, std::vector<DatatypeHierarchy> types)
             : parent(par), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {}
@@ -191,6 +261,63 @@ class Node {
               defaultWaitForMessage(waitForMessage),
               possibleDatatypes(std::move(types)) {}
 
+        /// Constructs Input with default blocking and queueSize options
+        Input(bool ref, Node& par, std::string n, Type t, std::vector<DatatypeHierarchy> types)
+            : parent(par), name(std::move(n)), type(t), possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setInputRefs(this);
+            }
+        }
+
+        /// Constructs Input with specified blocking and queueSize options
+        Input(bool ref, Node& par, std::string n, Type t, bool blocking, int queueSize, std::vector<DatatypeHierarchy> types)
+            : parent(par), name(std::move(n)), type(t), defaultBlocking(blocking), defaultQueueSize(queueSize), possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setInputRefs(this);
+            }
+        }
+
+        /// Constructs Input with specified blocking and queueSize as well as additional options
+        Input(bool ref, Node& par, std::string n, Type t, bool blocking, int queueSize, bool waitForMessage, std::vector<DatatypeHierarchy> types)
+            : parent(par),
+              name(std::move(n)),
+              type(t),
+              defaultBlocking(blocking),
+              defaultQueueSize(queueSize),
+              defaultWaitForMessage(waitForMessage),
+              possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setInputRefs(this);
+            }
+        }
+
+        /// Constructs Input with specified blocking and queueSize as well as additional options
+        Input(bool ref,
+              Node& par,
+              std::string group,
+              std::string n,
+              Type t,
+              bool blocking,
+              int queueSize,
+              bool waitForMessage,
+              std::vector<DatatypeHierarchy> types)
+            : parent(par),
+              group(std::move(group)),
+              name(std::move(n)),
+              type(t),
+              defaultBlocking(blocking),
+              defaultQueueSize(queueSize),
+              defaultWaitForMessage(waitForMessage),
+              possibleDatatypes(std::move(types)) {
+            // Place oneself to the parents references
+            if(ref) {
+                parent.setInputRefs(this);
+            }
+        }
+
         Node& getParent() {
             return parent;
         }
@@ -249,27 +376,211 @@ class Node {
          * Equivalent to getWaitForMessage but with inverted logic.
          */
         bool getReusePreviousMessage() const;
+
+        // TODO(themarpe) - refactor, rather extend from MessageQueue
+
+        /**
+         * Check whether front of the queue has message of type T
+         * @returns True if queue isn't empty and the first element is of type T, false otherwise
+         */
+        template <class T>
+        bool has() {
+            return queue.has<T>();
+        }
+
+        /**
+         * Check whether front of the queue has a message (isn't empty)
+         * @returns True if queue isn't empty, false otherwise
+         */
+        bool has() {
+            return queue.has();
+        }
+
+        /**
+         * Try to retrieve message T from queue. If message isn't of type T it returns nullptr
+         *
+         * @returns Message of type T or nullptr if no message available
+         */
+        template <class T>
+        std::shared_ptr<T> tryGet() {
+            return queue.tryGet<T>();
+        }
+
+        /**
+         * Try to retrieve message from queue. If no message available, return immediately with nullptr
+         *
+         * @returns Message or nullptr if no message available
+         */
+        std::shared_ptr<ADatatype> tryGet() {
+            return tryGet<ADatatype>();
+        }
+
+        /**
+         * Block until a message is available.
+         *
+         * @returns Message of type T or nullptr if no message available
+         */
+        template <class T>
+        std::shared_ptr<T> get() {
+            return queue.get<T>();
+        }
+
+        /**
+         * Block until a message is available.
+         *
+         * @returns Message or nullptr if no message available
+         */
+        std::shared_ptr<ADatatype> get() {
+            return get<ADatatype>();
+        }
+
+        /**
+         * Gets first message in the queue.
+         *
+         * @returns Message of type T or nullptr if no message available
+         */
+        template <class T>
+        std::shared_ptr<T> front() {
+            return queue.front<T>();
+        }
+
+        /**
+         * Gets first message in the queue.
+         *
+         * @returns Message or nullptr if no message available
+         */
+        std::shared_ptr<ADatatype> front() {
+            return front<ADatatype>();
+        }
+
+        /**
+         * Block until a message is available with a timeout.
+         *
+         * @param timeout Duration for which the function should block
+         * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+         * @returns Message of type T otherwise nullptr if message isn't type T or timeout occurred
+         */
+        template <class T, typename Rep, typename Period>
+        std::shared_ptr<T> get(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+            return queue.get<T, Rep, Period>(timeout, hasTimedout);
+        }
+
+        /**
+         * Block until a message is available with a timeout.
+         *
+         * @param timeout Duration for which the function should block
+         * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+         * @returns Message of type T otherwise nullptr if message isn't type T or timeout occurred
+         */
+        template <typename Rep, typename Period>
+        std::shared_ptr<ADatatype> get(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+            return get<ADatatype>(timeout, hasTimedout);
+        }
+
+        /**
+         * Try to retrieve all messages in the queue.
+         *
+         * @returns Vector of messages which can either be of type T or nullptr
+         */
+        template <class T>
+        std::vector<std::shared_ptr<T>> tryGetAll() {
+            return queue.tryGetAll<T>();
+        }
+
+        /**
+         * Try to retrieve all messages in the queue.
+         *
+         * @returns Vector of messages
+         */
+        std::vector<std::shared_ptr<ADatatype>> tryGetAll() {
+            return tryGetAll<ADatatype>();
+        }
+
+        /**
+         * Block until at least one message in the queue.
+         * Then return all messages from the queue.
+         *
+         * @returns Vector of messages which can either be of type T or nullptr
+         */
+        template <class T>
+        std::vector<std::shared_ptr<T>> getAll() {
+            return queue.getAll<T>();
+        }
+
+        /**
+         * Block until at least one message in the queue.
+         * Then return all messages from the queue.
+         *
+         * @returns Vector of messages
+         */
+        std::vector<std::shared_ptr<ADatatype>> getAll() {
+            return getAll<ADatatype>();
+        }
+
+        /**
+         * Block for maximum timeout duration.
+         * Then return all messages from the queue.
+         * @param timeout Maximum duration to block
+         * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+         * @returns Vector of messages which can either be of type T or nullptr
+         */
+        template <class T, typename Rep, typename Period>
+        std::vector<std::shared_ptr<T>> getAll(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+            return queue.getAll<T, Rep, Period>(timeout, hasTimedout);
+        }
+
+        /**
+         * Block for maximum timeout duration.
+         * Then return all messages from the queue.
+         * @param timeout Maximum duration to block
+         * @param[out] hasTimedout Outputs true if timeout occurred, false otherwise
+         * @returns Vector of messages
+         */
+        template <typename Rep, typename Period>
+        std::vector<std::shared_ptr<ADatatype>> getAll(std::chrono::duration<Rep, Period> timeout, bool& hasTimedout) {
+            return getAll<ADatatype>(timeout, hasTimedout);
+        }
     };
 
     /**
      * Input map which keeps track of inputs assigned to a node
      * Extends std::unordered_map<std::string, dai::Node::Input>
      */
-    class InputMap : public std::unordered_map<std::string, Input> {
+    class InputMap : public std::unordered_map<std::pair<std::string, std::string>, Input, PairHash> {
         Input defaultInput;
 
        public:
         std::string name;
         InputMap(Input defaultInput);
         InputMap(std::string name, Input defaultInput);
+        InputMap(bool ref, Node& parent, Input defaultInput);
+        InputMap(bool ref, Node& parent, std::string name, Input defaultInput);
         /// Create or modify an input
         Input& operator[](const std::string& key);
+        /// Create or modify an input with specified group
+        Input& operator[](std::pair<std::string, std::string> groupKey);
+    };
+
+    /// Connection between an Input and Output internal
+    struct ConnectionInternal {
+        ConnectionInternal(Output& out, Input& in);
+        std::weak_ptr<Node> outputNode;
+        std::string outputName;
+        std::string outputGroup;
+        std::weak_ptr<Node> inputNode;
+        std::string inputName;
+        std::string inputGroup;
+        bool operator==(const ConnectionInternal& rhs) const;
+        struct Hash {
+            size_t operator()(const dai::Node::ConnectionInternal& obj) const;
+        };
     };
 
     /// Connection between an Input and Output
     struct Connection {
         friend struct std::hash<Connection>;
         Connection(Output out, Input in);
+        Connection(ConnectionInternal c);
         Id outputId;
         std::string outputName;
         std::string outputGroup;
@@ -280,34 +591,72 @@ class Node {
     };
 
    protected:
+    bool configureMode{false};
+
     // when Pipeline tries to serialize and construct on remote, it will check if all connected nodes are on same pipeline
     std::weak_ptr<PipelineImpl> parent;
+    std::weak_ptr<Node> parentNode;
 
    public:
-    /// Id of node
-    const Id id;
+    // TODO(themarpe) - restrict access
+    /// Id of node. Assigned after being placed on the pipeline
+    Id id{-1};
+    /// Marker if the node can run on host
+    bool hostNode{false};
+    /// alias or name
+    std::string alias;
 
    protected:
     AssetManager assetManager;
 
-    virtual Properties& getProperties();
-    virtual tl::optional<OpenVINO::Version> getRequiredOpenVINOVersion();
-    copyable_unique_ptr<Properties> propertiesHolder;
+    virtual std::optional<OpenVINO::Version> getRequiredOpenVINOVersion();
 
-   public:
-    // Underlying properties
-    Properties& properties;
+    // Optimized for adding, searching and removing connections
+    // using NodeMap = std::unordered_map<Node::Id, std::shared_ptr<Node>>;
+    using NodeMap = std::vector<std::shared_ptr<Node>>;
+    NodeMap nodeMap;
 
+    // Connection map, NodeId represents id of node connected TO (input)
+    // using NodeConnectionMap = std::unordered_map<Node::Id, std::unordered_set<Node::Connection>>;
+    using SetConnectionInternal = std::unordered_set<ConnectionInternal, ConnectionInternal::Hash>;
+    SetConnectionInternal connections;
+    using ConnectionMap = std::unordered_map<std::shared_ptr<Node>, SetConnectionInternal>;
+
+   public:
     // access
     Pipeline getParentPipeline();
     const Pipeline getParentPipeline() const;
 
+    /// Get alias
+    std::string getAlias() const {
+        return alias;
+    }
+    /// Set alias
+    void setAlias(std::string alias) {
+        this->alias = std::move(alias);
+    }
+
     /// Deep copy the node
     virtual std::unique_ptr<Node> clone() const = 0;
 
     /// Retrieves nodes name
     virtual const char* getName() const = 0;
 
+    // TBD - might be an default impl instead
+    /// Start node execution
+    virtual void start(){};
+
+    /// Wait for node to finish execution
+    virtual void wait(){};
+
+    /// Stop node execution
+    virtual void stop(){};
+
+    /// Build stages;
+    virtual void buildStage1();
+    virtual void buildStage2();
+    virtual void buildStage3();
+
     /// Retrieves all nodes outputs
     std::vector<Output> getOutputs();
 
@@ -326,8 +675,33 @@ class Node {
     /// Retrieves reference to node inputs
     std::vector<const Input*> getInputRefs() const;
 
-    /// Constructs Node
-    Node(const std::shared_ptr<PipelineImpl>& p, Id nodeId, std::unique_ptr<Properties> props);
+    /// Retrieves reference to node outputs
+    std::vector<OutputMap*> getOutputMapRefs();
+
+    /// Retrieves reference to node inputs
+    std::vector<InputMap*> getInputMapRefs();
+
+    /// Retrieves reference to specific output
+    Output* getOutputRef(std::string name);
+    Output* getOutputRef(std::string group, std::string name);
+
+    /// Retrieves reference to specific input
+    Input* getInputRef(std::string name);
+    Input* getInputRef(std::string group, std::string name);
+
+    /// Retrieves reference to specific output map
+    OutputMap* getOutputMapRef(std::string group);
+
+    /// Retrieves reference to specific input map
+    InputMap* getInputMapRef(std::string group);
+
+   protected:
+    Node() = default;
+    Node(bool conf);
+    void build();
+    void removeConnectionToNode(std::shared_ptr<Node> node);
+
+   public:
     virtual ~Node() = default;
 
     /// Get node AssetManager as a const reference
@@ -335,29 +709,69 @@ class Node {
 
     /// Get node AssetManager as a reference
     AssetManager& getAssetManager();
+
+    /// Loads resource specified by URI and returns its data
+    std::vector<uint8_t> loadResource(dai::Path uri);
+
+    /// Create and place Node to this Node
+    template <class N>
+    std::shared_ptr<N> create() {
+        // Check that passed type 'N' is subclass of Node
+        static_assert(std::is_base_of<Node, N>::value, "Specified class is not a subclass of Node");
+        // Create and store the node in the map
+        auto node = std::make_shared<N>();
+        // Add
+        add(node);
+        // Return shared pointer to this node
+        return node;
+    }
+
+    /// Add existing node to nodeMap
+    void add(std::shared_ptr<Node> node);
+
+    // Access to nodes
+    std::vector<std::shared_ptr<Node>> getAllNodes() const;
+    std::shared_ptr<const Node> getNode(Node::Id id) const;
+    std::shared_ptr<Node> getNode(Node::Id id);
+    void remove(std::shared_ptr<Node> node);
+    ConnectionMap getConnectionMap();
+    void link(const Node::Output& out, const Node::Input& in);
+    void unlink(const Node::Output& out, const Node::Input& in);
+    /// Get a reference to internal node map
+    const NodeMap& getNodeMap() const {
+        return nodeMap;
+    }
 };
 
 // Node CRTP class
-template <typename Base, typename Derived, typename Props>
+template <typename Base, typename Derived>
 class NodeCRTP : public Base {
    public:
-    using Properties = Props;
-    /// Underlying properties
-    Properties& properties;
+    virtual ~NodeCRTP() = default;
+
     const char* getName() const override {
         return Derived::NAME;
     };
     std::unique_ptr<Node> clone() const override {
         return std::make_unique<Derived>(static_cast<const Derived&>(*this));
     };
+    void build() {}
+
+    // No public constructor, only a factory function.
+    [[nodiscard]] static std::shared_ptr<Derived> create() {
+        auto n = std::make_shared<Derived>();
+        n->build();
+        return n;
+    }
+    [[nodiscard]] static std::shared_ptr<Derived> create(std::unique_ptr<Properties> props) {
+        auto n = std::shared_ptr<Derived>(new Derived(props));
+        // Configure mode, don't build
+        // n->build();
+        return n;
+    }
 
-   private:
-    NodeCRTP(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-        : Base(par, nodeId, std::move(props)), properties(static_cast<Properties&>(Node::properties)) {}
-    NodeCRTP(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : NodeCRTP(par, nodeId, std::make_unique<Props>()) {}
     friend Derived;
     friend Base;
-    friend class PipelineImpl;
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/NodeConnectionSchema.hpp b/include/depthai/pipeline/NodeConnectionSchema.hpp
new file mode 100644
index 000000000..3a75c1486
--- /dev/null
+++ b/include/depthai/pipeline/NodeConnectionSchema.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Specifies a connection between nodes IOs
+ */
+struct NodeConnectionSchema {
+    int64_t node1Id = -1;
+    std::string node1OutputGroup;
+    std::string node1Output;
+    int64_t node2Id = -1;
+    std::string node2InputGroup;
+    std::string node2Input;
+
+    bool operator==(const NodeConnectionSchema& rhs) const {
+        return node1Id == rhs.node1Id && node1OutputGroup == rhs.node1OutputGroup && node1Output == rhs.node1Output && node2Id == rhs.node2Id
+               && node2InputGroup == rhs.node2InputGroup && node2Input == rhs.node2Input;
+    }
+};
+
+DEPTHAI_SERIALIZE_EXT(NodeConnectionSchema, node1Id, node1OutputGroup, node1Output, node2Id, node2InputGroup, node2Input);
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/NodeGroup.hpp b/include/depthai/pipeline/NodeGroup.hpp
new file mode 100644
index 000000000..d8a39c58f
--- /dev/null
+++ b/include/depthai/pipeline/NodeGroup.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+// project
+#include "depthai/pipeline/Node.hpp"
+
+namespace dai {
+
+class NodeGroup : public Node {
+   public:
+    NodeGroup() = default;
+    virtual ~NodeGroup() = default;
+
+    const char* getName() const override {
+        return "NodeGroup";
+    };
+    std::unique_ptr<Node> clone() const override {
+        return std::make_unique<NodeGroup>(static_cast<const NodeGroup&>(*this));
+    };
+    friend class PipelineImpl;
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/NodeIoInfo.hpp b/include/depthai/pipeline/NodeIoInfo.hpp
new file mode 100644
index 000000000..a017862bd
--- /dev/null
+++ b/include/depthai/pipeline/NodeIoInfo.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// NodeIo informations such as name, type, ...
+struct NodeIoInfo {
+    enum class Type { MSender, SSender, MReceiver, SReceiver };
+
+    std::string group;
+    std::string name;
+    Type type = Type::SReceiver;
+    bool blocking = true;
+    int queueSize = 8;
+    bool waitForMessage = false;
+    uint32_t id;
+};
+
+DEPTHAI_SERIALIZE_EXT(NodeIoInfo, group, name, type, blocking, queueSize, waitForMessage, id);
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/NodeObjInfo.hpp b/include/depthai/pipeline/NodeObjInfo.hpp
new file mode 100644
index 000000000..b3164a724
--- /dev/null
+++ b/include/depthai/pipeline/NodeObjInfo.hpp
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <tuple>
+
+#include "NodeIoInfo.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// NodeObj information structure
+struct NodeObjInfo {
+    int64_t id = -1;
+    int64_t parentId = -1;
+
+    std::string name;
+    std::string alias;
+
+    std::vector<std::uint8_t> properties;
+
+    struct IoInfoKey {
+        std::size_t operator()(const std::tuple<std::string, std::string>& k) const {
+            return std::hash<std::string>()(std::get<0>(k) + std::get<1>(k));
+        }
+    };
+    std::unordered_map<std::tuple<std::string, std::string>, NodeIoInfo, IoInfoKey> ioInfo;
+};
+
+DEPTHAI_SERIALIZE_EXT(NodeObjInfo, id, parentId, name, alias, properties, ioInfo);
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/Pipeline.hpp b/include/depthai/pipeline/Pipeline.hpp
index a10a3cf5c..92aa8044a 100644
--- a/include/depthai/pipeline/Pipeline.hpp
+++ b/include/depthai/pipeline/Pipeline.hpp
@@ -12,21 +12,23 @@
 #include "depthai/device/CalibrationHandler.hpp"
 #include "depthai/device/Device.hpp"
 #include "depthai/openvino/OpenVINO.hpp"
+#include "depthai/utility/AtomicBool.hpp"
 
 // shared
-#include "depthai-shared/device/BoardConfig.hpp"
-#include "depthai-shared/pipeline/PipelineSchema.hpp"
-#include "depthai-shared/properties/GlobalProperties.hpp"
+#include "depthai/device/BoardConfig.hpp"
+#include "depthai/pipeline/PipelineSchema.hpp"
+#include "depthai/properties/GlobalProperties.hpp"
 
 namespace dai {
 
-class PipelineImpl {
+class PipelineImpl : public std::enable_shared_from_this<PipelineImpl> {
     friend class Pipeline;
     friend class Node;
 
    public:
-    PipelineImpl() = default;
+    PipelineImpl(Pipeline& pipeline) : assetManager("/pipeline/"), parent(pipeline) {}
     PipelineImpl(const PipelineImpl&) = default;
+    ~PipelineImpl();
 
    private:
     // static functions
@@ -36,21 +38,23 @@ class PipelineImpl {
     // Functions
     Node::Id getNextUniqueId();
     PipelineSchema getPipelineSchema(SerializationType type = DEFAULT_SERIALIZATION_TYPE) const;
-    tl::optional<OpenVINO::Version> getPipelineOpenVINOVersion() const;
+    std::optional<OpenVINO::Version> getPipelineOpenVINOVersion() const;
+    OpenVINO::Version getOpenVINOVersion() const;
+    std::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const;
     bool isOpenVINOVersionCompatible(OpenVINO::Version version) const;
     Device::Config getDeviceConfig() const;
     void setCameraTuningBlobPath(const dai::Path& path);
     void setXLinkChunkSize(int sizeBytes);
+    GlobalProperties getGlobalProperties() const;
+    void setGlobalProperties(GlobalProperties globalProperties);
     void setSippBufferSize(int sizeBytes);
     void setSippDmaBufferSize(int sizeBytes);
     void setBoardConfig(BoardConfig board);
     BoardConfig getBoardConfig() const;
 
     // Access to nodes
-    std::vector<std::shared_ptr<const Node>> getAllNodes() const;
-    std::vector<std::shared_ptr<Node>> getAllNodes();
-    std::shared_ptr<const Node> getNode(Node::Id id) const;
-    std::shared_ptr<Node> getNode(Node::Id id);
+    std::vector<std::shared_ptr<Node>> getAllNodes() const;
+    std::shared_ptr<Node> getNode(Node::Id id) const;
 
     void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage, SerializationType type = DEFAULT_SERIALIZATION_TYPE) const;
     nlohmann::json serializeToJson() const;
@@ -60,45 +64,86 @@ class PipelineImpl {
     void link(const Node::Output& out, const Node::Input& in);
     void unlink(const Node::Output& out, const Node::Input& in);
     void setCalibrationData(CalibrationHandler calibrationDataHandler);
+    bool isCalibrationDataAvailable() const;
     CalibrationHandler getCalibrationData() const;
+    void setEepromData(std::optional<EepromData> eepromData);
+    std::optional<EepromData> getEepromData() const;
+    bool isHostOnly() const;
+    bool isDeviceOnly() const;
 
     // Must be incremented and unique for each node
     Node::Id latestId = 0;
     // Pipeline asset manager
     AssetManager assetManager;
     // Optionally forced version
-    tl::optional<OpenVINO::Version> forceRequiredOpenVINOVersion;
+    std::optional<OpenVINO::Version> forceRequiredOpenVINOVersion;
     // Global pipeline properties
     GlobalProperties globalProperties;
-    // Optimized for adding, searching and removing connections
-    using NodeMap = std::unordered_map<Node::Id, std::shared_ptr<Node>>;
-    NodeMap nodeMap;
-    using NodeConnectionMap = std::unordered_map<Node::Id, std::unordered_set<Node::Connection>>;
-    // Connection map, NodeId represents id of node connected TO (input)
-    NodeConnectionMap nodeConnectionMap;
+    // // Optimized for adding, searching and removing connections
+    // using NodeMap = std::unordered_map<Node::Id, std::shared_ptr<Node>>;
+    // NodeMap nodeMap;
+    std::vector<std::shared_ptr<Node>> nodes;
+
+    // TODO(themarpe) - refactor, connections are now carried by nodes instead
+    using NodeConnectionMap = std::unordered_map<Node::Id, std::unordered_set<Node::ConnectionInternal, Node::ConnectionInternal::Hash>>;
+    // // Connection map, NodeId represents id of node connected TO (input)
+    // NodeConnectionMap nodeConnectionMap;
+    /// Get a reference to internal connection representation
+    NodeConnectionMap getConnectionMap() const;
+
     // Board configuration
     BoardConfig board;
 
+    // parent
+    Pipeline& parent;
+
+    // is pipeline running
+    AtomicBool running{false};
+
+    // was pipeline built
+    AtomicBool isBuild{false};
+
+    // TMP TMP - to be moved
+    // DeviceBase for hybrid pipelines
+    std::shared_ptr<Device> device;
+
     // Template create function
     template <class N>
     std::shared_ptr<N> create(const std::shared_ptr<PipelineImpl>& itself) {
+        (void)itself;
         // Check that passed type 'N' is subclass of Node
         static_assert(std::is_base_of<Node, N>::value, "Specified class is not a subclass of Node");
-        // Get unique id for this new node
-        auto id = getNextUniqueId();
         // Create and store the node in the map
-        auto node = std::make_shared<N>(itself, id);
-        nodeMap[id] = node;
+        auto node = N::create();
+        // Add
+        add(node);
         // Return shared pointer to this node
         return node;
     }
+
+    // Add a node to nodeMap
+    void add(std::shared_ptr<Node> node);
+
+    // Run only host side, if any device nodes are present, error out
+    bool isRunning() const;
+    void build();
+    void start();
+    void wait();
+    void stop();
+
+    // Resource
+    std::vector<uint8_t> loadResource(dai::Path uri);
+    std::vector<uint8_t> loadResourceCwd(dai::Path uri, dai::Path cwd);
 };
 
 /**
  * @brief Represents the pipeline, set of nodes and connections between them
  */
 class Pipeline {
+    friend class PipelineImpl;
     std::shared_ptr<PipelineImpl> pimpl;
+
+   public:
     PipelineImpl* impl() {
         return pimpl.get();
     }
@@ -106,12 +151,11 @@ class Pipeline {
         return pimpl.get();
     }
 
-   public:
     /**
      * Constructs a new pipeline
      */
     Pipeline();
-    explicit Pipeline(const std::shared_ptr<PipelineImpl>& pimpl);
+    explicit Pipeline(std::shared_ptr<PipelineImpl> pimpl);
 
     /// Clone the pipeline (Creates a copy)
     Pipeline clone() const;
@@ -119,7 +163,16 @@ class Pipeline {
     /**
      * @returns Global properties of current pipeline
      */
-    GlobalProperties getGlobalProperties() const;
+    GlobalProperties getGlobalProperties() const {
+        return impl()->getGlobalProperties();
+    }
+
+    /**
+     * Sets global properties of pipeline
+     */
+    void setGlobalProperties(GlobalProperties globalProperties) {
+        impl()->setGlobalProperties(globalProperties);
+    }
 
     /**
      * @returns Pipeline schema
@@ -137,7 +190,7 @@ class Pipeline {
     }
 
     /**
-     * Adds a node to pipeline.
+     * Creates and adds a node to the pipeline.
      *
      * Node is specified by template argument N
      */
@@ -146,17 +199,20 @@ class Pipeline {
         return impl()->create<N>(pimpl);
     }
 
+    /**
+     * Adds an existing node to the pipeline
+     */
+    void add(std::shared_ptr<Node> node) {
+        impl()->add(node);
+    }
+
     /// Removes a node from pipeline
     void remove(std::shared_ptr<Node> node) {
         impl()->remove(node);
     }
 
     /// Get a vector of all nodes
-    std::vector<std::shared_ptr<const Node>> getAllNodes() const {
-        return impl()->getAllNodes();
-    }
-    /// Get a vector of all nodes
-    std::vector<std::shared_ptr<Node>> getAllNodes() {
+    std::vector<std::shared_ptr<Node>> getAllNodes() const {
         return impl()->getAllNodes();
     }
 
@@ -175,39 +231,8 @@ class Pipeline {
     }
 
     using NodeConnectionMap = PipelineImpl::NodeConnectionMap;
-    /// Get a reference to internal connection representation
-    const NodeConnectionMap& getConnectionMap() const {
-        return impl()->nodeConnectionMap;
-    }
-
-    using NodeMap = PipelineImpl::NodeMap;
-    /// Get a reference to internal node map
-    const NodeMap& getNodeMap() const {
-        return impl()->nodeMap;
-    }
-
-    /**
-     * Link output to an input. Both nodes must be on the same pipeline
-     *
-     * Throws an error if they aren't or cannot be connected
-     *
-     * @param out Nodes output to connect from
-     * @param in Nodes input to connect to
-     */
-    void link(const Node::Output& out, const Node::Input& in) {
-        impl()->link(out, in);
-    }
-
-    /**
-     * Unlink output from an input.
-     *
-     * Throws an error if link doesn't exists
-     *
-     * @param out Nodes output to unlink from
-     * @param in Nodes input to unlink to
-     */
-    void unlink(const Node::Output& out, const Node::Input& in) {
-        impl()->unlink(out, in);
+    NodeConnectionMap getConnectionMap() const {
+        return impl()->getConnectionMap();
     }
 
     /// Get pipelines AssetManager as reference
@@ -243,14 +268,41 @@ class Pipeline {
         return impl()->getCalibrationData();
     }
 
+    /**
+     * check if calib data has been set or the default will be returned
+     * @return true - calib data has been set
+     * @return false - calib data has not been set - default will be returned
+     */
+    bool isCalibrationDataAvailable() const {
+        return impl()->isCalibrationDataAvailable();
+    }
+
+    /**
+     * gets the eeprom data from the pipeline
+     *
+     * @return eepromData from the the pipeline
+     */
+    std::optional<EepromData> getEepromData() const {
+        return impl()->getEepromData();
+    }
+
+    /**
+     * Sets the eeprom data in pipeline
+     *
+     * @param eepromData EepromData object that is loaded in the pipeline.
+     */
+    void setEepromData(std::optional<EepromData> eepromData) {
+        impl()->setEepromData(eepromData);
+    }
+
     /// Get possible OpenVINO version to run this pipeline
     OpenVINO::Version getOpenVINOVersion() const {
-        return impl()->getPipelineOpenVINOVersion().value_or(OpenVINO::DEFAULT_VERSION);
+        return impl()->getOpenVINOVersion();
     }
 
     /// Get required OpenVINO version to run this pipeline. Can be none
-    tl::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const {
-        return impl()->getPipelineOpenVINOVersion();
+    std::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const {
+        return impl()->getRequiredOpenVINOVersion();
     }
 
     /// Set a camera IQ (Image Quality) tuning blob, used for all cameras
@@ -308,6 +360,26 @@ class Pipeline {
     Device::Config getDeviceConfig() const {
         return impl()->getDeviceConfig();
     }
+
+    bool isRunning() const {
+        return impl()->isRunning();
+    }
+    void build() {
+        impl()->build();
+    }
+    void start() {
+        impl()->start();
+    }
+    void wait() {
+        impl()->wait();
+    }
+    void stop() {
+        impl()->stop();
+    }
+
+    std::shared_ptr<Device> getDevice() {
+        return impl()->device;
+    }
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/PipelineSchema.hpp b/include/depthai/pipeline/PipelineSchema.hpp
new file mode 100644
index 000000000..b8cd497d0
--- /dev/null
+++ b/include/depthai/pipeline/PipelineSchema.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "NodeConnectionSchema.hpp"
+#include "NodeObjInfo.hpp"
+#include "depthai/properties/GlobalProperties.hpp"
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/**
+ * Specifies whole pipeline, nodes, properties and connections between nodes IOs
+ */
+struct PipelineSchema {
+    std::vector<NodeConnectionSchema> connections;
+    GlobalProperties globalProperties;
+    std::unordered_map<int64_t, NodeObjInfo> nodes;
+};
+
+DEPTHAI_SERIALIZE_EXT(PipelineSchema, connections, globalProperties, nodes);
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/ThreadedNode.hpp b/include/depthai/pipeline/ThreadedNode.hpp
new file mode 100644
index 000000000..68d58898d
--- /dev/null
+++ b/include/depthai/pipeline/ThreadedNode.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <spdlog/async_logger.h>
+
+#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/utility/AtomicBool.hpp"
+#include "depthai/utility/JoiningThread.hpp"
+
+namespace dai {
+
+class ThreadedNode : public Node {
+   private:
+    JoiningThread thread;
+    AtomicBool running{false};
+
+   public:
+    using Node::Node;
+    virtual ~ThreadedNode() = default;
+
+    // override the following methods
+    virtual void start() override;
+    virtual void wait() override;
+    virtual void stop() override;
+
+    // virtual 'run' method
+    virtual void run() = 0;
+
+    // check if still running
+    bool isRunning() const;
+
+    std::shared_ptr<spdlog::async_logger> logger;
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/TraceEvent.hpp b/include/depthai/pipeline/TraceEvent.hpp
new file mode 100644
index 000000000..89a7786a0
--- /dev/null
+++ b/include/depthai/pipeline/TraceEvent.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <depthai/common/Timestamp.hpp>
+
+namespace dai {
+
+struct TraceEvent {
+    enum Event : std::uint8_t {
+        SEND,
+        RECEIVE,
+        // PULL,
+    };
+    enum class Status : std::uint8_t {
+        START,
+        END,
+        TIMEOUT,
+    };
+    Event event;
+    Status status;
+    uint32_t srcId;
+    uint32_t dstId;
+    Timestamp timestamp;
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/datatype/ADatatype.hpp b/include/depthai/pipeline/datatype/ADatatype.hpp
index a98cec3e2..2d6988d75 100644
--- a/include/depthai/pipeline/datatype/ADatatype.hpp
+++ b/include/depthai/pipeline/datatype/ADatatype.hpp
@@ -1,10 +1,11 @@
 #pragma once
-
-#include <unordered_map>
+#include <memory>
 #include <vector>
 
-#include "depthai-shared/datatype/RawBuffer.hpp"
-
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Memory.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/utility/VectorMemory.hpp"
 namespace dai {
 
 /// Abstract message
@@ -12,15 +13,17 @@ class ADatatype {
    protected:
     friend class DataInputQueue;
     friend class StreamMessageParser;
-    std::shared_ptr<RawBuffer> raw;
 
    public:
-    explicit ADatatype(std::shared_ptr<RawBuffer> r) : raw(std::move(r)) {}
+    explicit ADatatype() : data{std::make_shared<VectorMemory>(std::vector<uint8_t>())} {}
     virtual ~ADatatype() = default;
-    virtual std::shared_ptr<dai::RawBuffer> serialize() const = 0;
-    std::shared_ptr<RawBuffer> getRaw() const {
-        return raw;
-    }
+
+    virtual void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const {
+        (void)metadata;
+        datatype = DatatypeEnum::ADatatype;
+    };
+
+    std::shared_ptr<Memory> data;
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/AprilTagConfig.hpp b/include/depthai/pipeline/datatype/AprilTagConfig.hpp
index 0a5419108..b3d684b5f 100644
--- a/include/depthai/pipeline/datatype/AprilTagConfig.hpp
+++ b/include/depthai/pipeline/datatype/AprilTagConfig.hpp
@@ -3,7 +3,6 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawAprilTagConfig.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
@@ -12,19 +11,19 @@ namespace dai {
  * AprilTagConfig message.
  */
 class AprilTagConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawAprilTagConfig& cfg;
-
    public:
-    using Family = RawAprilTagConfig::Family;
-    using QuadThresholds = RawAprilTagConfig::QuadThresholds;
+    AprilTagConfig() = default;
+    virtual ~AprilTagConfig() = default;
+
+    virtual void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const {
+        (void)metadata;
+        datatype = DatatypeEnum::AprilTagConfig;
+    };
 
     /**
-     * Construct AprilTagConfig message.
+     * Supported AprilTag families.
      */
-    AprilTagConfig();
-    explicit AprilTagConfig(std::shared_ptr<RawAprilTagConfig> ptr);
-    virtual ~AprilTagConfig() = default;
+    enum class Family : std::int32_t { TAG_36H11 = 0, TAG_36H10, TAG_25H9, TAG_16H5, TAG_CIR21H7, TAG_STAND41H12 };
 
     /**
      * @param family AprilTag family
@@ -32,16 +31,110 @@ class AprilTagConfig : public Buffer {
     AprilTagConfig& setFamily(Family family);
 
     /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
+     * AprilTag family.
      */
-    AprilTagConfig& set(dai::RawAprilTagConfig config);
+    Family family = Family::TAG_36H11;
 
     /**
-     * Retrieve configuration data for AprilTag.
-     * @returns config for stereo depth algorithm
+     * Detection of quads can be done on a lower-resolution image,
+     * improving speed at a cost of pose accuracy and a slight
+     * decrease in detection rate. Decoding the binary payload is
+     * still done at full resolution.
      */
-    dai::RawAprilTagConfig get() const;
+    std::int32_t quadDecimate = 4;
+
+    /**
+     * What Gaussian blur should be applied to the segmented image.
+     * Parameter is the standard deviation in pixels.
+     * Very noisy images benefit from non-zero values (e.g. 0.8).
+     */
+    float quadSigma = 0.0f;
+
+    /**
+     * When non-zero, the edges of the each quad are adjusted to "snap
+     * to" strong gradients nearby. This is useful when decimation is
+     * employed, as it can increase the quality of the initial quad
+     * estimate substantially. Generally recommended to be on.
+     * Very computationally inexpensive. Option is ignored if quadDecimate = 1.
+     */
+    bool refineEdges = true;
+
+    /**
+     * How much sharpening should be done to decoded images? This
+     * can help decode small tags but may or may not help in odd
+     * lighting conditions or low light conditions.
+     * The default value is 0.25.
+     */
+    float decodeSharpening = 0.25f;
+
+    /**
+     * Max number of error bits that should be corrected. Accepting large numbers of
+     * corrected errors leads to greatly increased false positive rates.
+     * As of this implementation, the detector cannot detect tags with
+     * a hamming distance greater than 2.
+     */
+    std::int32_t maxHammingDistance = 1;
+
+    /**
+     * AprilTag quad threshold parameters.
+     */
+    struct QuadThresholds {
+        /**
+         * Reject quads containing too few pixels.
+         */
+        std::int32_t minClusterPixels = 5;
+
+        /**
+         * How many corner candidates to consider when segmenting a group of pixels into a quad.
+         */
+        std::int32_t maxNmaxima = 10;
+
+        /**
+         * Reject quads where pairs of edges have angles that are close to
+         * straight or close to 180 degrees. Zero means that no quads are
+         * rejected. (In degrees).
+         */
+        float criticalDegree = 10.f;
+
+        /**
+         * When fitting lines to the contours, what is the maximum mean
+         * squared error allowed?  This is useful in rejecting contours
+         * that are far from being quad shaped; rejecting these quads "early"
+         * saves expensive decoding processing.
+         */
+        float maxLineFitMse = 10.f;
+
+        /**
+         * When we build our model of black & white pixels, we add an
+         * extra check that the white model must be (overall) brighter
+         * than the black model. How much brighter? (in pixel values: [0,255]).
+         */
+        std::int32_t minWhiteBlackDiff = 5;
+
+        /**
+         * Should the thresholded image be deglitched? Only useful for very noisy images
+         */
+        bool deglitch = false;
+
+        DEPTHAI_SERIALIZE(QuadThresholds, minClusterPixels, maxNmaxima, criticalDegree, maxLineFitMse, minWhiteBlackDiff, deglitch);
+    };
+
+    /**
+     * AprilTag quad threshold parameters.
+     */
+    QuadThresholds quadThresholds;
+
+    DEPTHAI_SERIALIZE(AprilTagConfig,
+                      Buffer::sequenceNum,
+                      Buffer::ts,
+                      Buffer::tsDevice,
+                      family,
+                      quadDecimate,
+                      quadSigma,
+                      refineEdges,
+                      decodeSharpening,
+                      maxHammingDistance,
+                      quadThresholds);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/AprilTags.hpp b/include/depthai/pipeline/datatype/AprilTags.hpp
index f11d31f40..b7e8689bd 100644
--- a/include/depthai/pipeline/datatype/AprilTags.hpp
+++ b/include/depthai/pipeline/datatype/AprilTags.hpp
@@ -3,42 +3,79 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawAprilTags.hpp"
+#include "depthai/common/Point2f.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
 
 /**
- * AprilTags message.
+ * AprilTag structure.
  */
-class AprilTags : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawAprilTags& rawdata;
+struct AprilTag {
+    /**
+     * The decoded ID of the tag
+     */
+    int id = 0;
 
-   public:
     /**
-     * Construct AprilTags message.
+     * How many error bits were corrected? Note: accepting large numbers of
+     * corrected errors leads to greatly increased false positive rates.
+     * As of this implementation, the detector cannot detect tags with
+     * a hamming distance greater than 2.
      */
-    AprilTags();
-    explicit AprilTags(std::shared_ptr<RawAprilTags> ptr);
-    virtual ~AprilTags() = default;
+    int hamming = 0;
 
-    std::vector<AprilTag>& aprilTags;
+    /**
+     * A measure of the quality of the binary decoding process; the
+     * average difference between the intensity of a data bit versus
+     * the decision threshold. Higher numbers roughly indicate better
+     * decodes. This is a reasonable measure of detection accuracy
+     * only for very small tags-- not effective for larger tags (where
+     * we could have sampled anywhere within a bit cell and still
+     * gotten a good detection.
+     */
+    float decisionMargin = 0.f;
+
+    /**
+     * The detected top left coordinates.
+     */
+    Point2f topLeft;
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * The detected top right coordinates.
      */
-    AprilTags& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    Point2f topRight;
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * The detected bottom right coordinates.
      */
-    AprilTags& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    Point2f bottomRight;
 
     /**
-     * Retrieves image sequence number
+     * The detected bottom left coordinates.
      */
-    AprilTags& setSequenceNum(int64_t sequenceNum);
+    Point2f bottomLeft;
+};
+DEPTHAI_SERIALIZE_EXT(AprilTag, id, hamming, decisionMargin, topLeft, topRight, bottomRight, bottomLeft);
+
+/**
+ * AprilTags message.
+ */
+class AprilTags : public Buffer {
+   public:
+    /**
+     * Construct AprilTags message.
+     */
+    AprilTags() = default;
+    virtual ~AprilTags() = default;
+
+   public:
+    std::vector<AprilTag> aprilTags;
+    DEPTHAI_SERIALIZE(AprilTags, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, aprilTags);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::AprilTags;
+    };
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/BenchmarkReport.hpp b/include/depthai/pipeline/datatype/BenchmarkReport.hpp
new file mode 100644
index 000000000..4d496449f
--- /dev/null
+++ b/include/depthai/pipeline/datatype/BenchmarkReport.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include "depthai/pipeline/datatype/Buffer.hpp"
+namespace dai {
+
+// TODO(before mainline) - API not supported on RVC2
+/**
+ * BenchmarkReport message.
+ */
+class BenchmarkReport : public Buffer {
+   public:
+    BenchmarkReport() = default;
+    virtual ~BenchmarkReport() = default;
+
+    float fps;
+    float timeTotal;  // seconds
+    float numMessagesReceived;
+    float averageLatency;
+    std::vector<float> latencies;
+    // TODO Add jitter, timestamps for start/end, possibly a vector of timestamps for all messages
+    // TODO BEFORE MAINLINE add setters and getters
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::BenchmarkReport;
+    };
+
+    DEPTHAI_SERIALIZE(BenchmarkReport, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, fps, timeTotal, numMessagesReceived, averageLatency, latencies);
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/datatype/Buffer.hpp b/include/depthai/pipeline/datatype/Buffer.hpp
index 57198590b..e5ef91f88 100644
--- a/include/depthai/pipeline/datatype/Buffer.hpp
+++ b/include/depthai/pipeline/datatype/Buffer.hpp
@@ -4,27 +4,32 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawBuffer.hpp"
+#include "depthai/common/Timestamp.hpp"
 #include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/utility/span.hpp"
 
 namespace dai {
 
 /// Base message - buffer of binary data
 class Buffer : public ADatatype {
-    std::shared_ptr<dai::RawBuffer> serialize() const override;
-
    public:
-    /// Creates Buffer message
-    Buffer();
-    explicit Buffer(std::shared_ptr<dai::RawBuffer> ptr);
+    Buffer() = default;
+    Buffer(size_t size);
     virtual ~Buffer() = default;
 
-    // helpers
+    virtual void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::Buffer;
+    };
+
     /**
      * @brief Get non-owning reference to internal buffer
      * @returns Reference to internal buffer
      */
-    std::vector<std::uint8_t>& getData() const;
+    span<uint8_t> getData();
+    span<const uint8_t> getData() const;
 
     /**
      * @param data Copies data to internal buffer
@@ -48,24 +53,30 @@ class Buffer : public ADatatype {
     std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const;
 
     /**
-     * Retrieves sequence number
+     * Sets image timestamp related to dai::Clock::now()
      */
-    int64_t getSequenceNum() const;
+    void setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
     /**
-     * Sets timestamp related to dai::Clock::now()
+     * Sets image timestamp related to dai::Clock::now()
      */
-    Buffer& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    void setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
     /**
-     * Sets timestamp related to dai::Clock::now()
+     * Retrieves image sequence number
      */
-    Buffer& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    int64_t getSequenceNum() const;
 
     /**
-     * Retrieves sequence number
+     * Sets image sequence number
      */
-    Buffer& setSequenceNum(int64_t sequenceNum);
+    void setSequenceNum(int64_t sequenceNum);
+
+    // TODO(Morato) // Make this private
+    int64_t sequenceNum = 0;  // increments for each message
+    Timestamp ts = {};        // generation timestamp, synced to host time
+    Timestamp tsDevice = {};  // generation timestamp, direct device monotonic clock
+    DEPTHAI_SERIALIZE(Buffer, sequenceNum, ts, tsDevice);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/CameraControl.hpp b/include/depthai/pipeline/datatype/CameraControl.hpp
index 6d006a8b9..22437fe1c 100644
--- a/include/depthai/pipeline/datatype/CameraControl.hpp
+++ b/include/depthai/pipeline/datatype/CameraControl.hpp
@@ -4,7 +4,6 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawCameraControl.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
@@ -31,24 +30,398 @@ namespace dai {
  *
  */
 class CameraControl : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawCameraControl& cfg;
-
    public:
-    using AutoFocusMode = RawCameraControl::AutoFocusMode;
-    using AntiBandingMode = RawCameraControl::AntiBandingMode;
-    using AutoWhiteBalanceMode = RawCameraControl::AutoWhiteBalanceMode;
-    using SceneMode = RawCameraControl::SceneMode;
-    using EffectMode = RawCameraControl::EffectMode;
-    using ControlMode = RawCameraControl::ControlMode;
-    using CaptureIntent = RawCameraControl::CaptureIntent;
-    using FrameSyncMode = RawCameraControl::FrameSyncMode;
-
-    /// Construct CameraControl message
-    CameraControl();
-    explicit CameraControl(std::shared_ptr<RawCameraControl> ptr);
+    CameraControl() = default;
     virtual ~CameraControl() = default;
 
+    enum class Command : uint8_t {
+        START_STREAM = 1,
+        STOP_STREAM = 2,
+        STILL_CAPTURE = 3,
+        MOVE_LENS = 4, /* [1] lens position: 0-255
+                        */
+        AF_TRIGGER = 5,
+        AE_MANUAL = 6, /* [1] exposure time [us]
+                        * [2] sensitivity [iso]
+                        * [3] frame duration [us]
+                        */
+        AE_AUTO = 7,
+        AWB_MODE = 8,                  /* [1] awb_mode: AutoWhiteBalanceMode
+                                        */
+        SCENE_MODE = 9,                /* [1] scene_mode: SceneMode
+                                        */
+        ANTIBANDING_MODE = 10,         /* [1] antibanding_mode: AntiBandingMode
+                                        */
+        EXPOSURE_COMPENSATION = 11,    /* [1] value
+                                        */
+        AE_LOCK = 13,                  /* [1] ae_lock_mode: bool
+                                        */
+        AE_TARGET_FPS_RANGE = 14,      /* [1] min_fps
+                                        * [2] max_fps
+                                        */
+        AWB_LOCK = 16,                 /* [1] awb_lock_mode: bool
+                                        */
+        CAPTURE_INTENT = 17,           /* [1] capture_intent_mode: CaptureIntent
+                                        */
+        CONTROL_MODE = 18,             /* [1] control_mode: ControlMode
+                                        */
+        FRAME_DURATION = 21,           /* [1] frame_duration
+                                        */
+        SENSITIVITY = 23,              /* [1] iso_val
+                                        */
+        EFFECT_MODE = 24,              /* [1] effect_mode: EffectMode
+                                        */
+        AF_MODE = 26,                  /* [1] af_mode: AutoFocusMode
+                                        */
+        NOISE_REDUCTION_STRENGTH = 27, /* [1] value
+                                        */
+        SATURATION = 28,               /* [1] value
+                                        */
+        BRIGHTNESS = 31,               /* [1] value
+                                        */
+        STREAM_FORMAT = 33,            /* [1] format
+                                        */
+        RESOLUTION = 34,               /* [1] width
+                                        * [2] height
+                                        */
+        SHARPNESS = 35,                /* [1] value
+                                        */
+        CUSTOM_USECASE = 40,           /* [1] value
+                                        */
+        CUSTOM_CAPT_MODE = 41,         /* [1] value
+                                        */
+        CUSTOM_EXP_BRACKETS = 42,      /* [1] val1
+                                        * [2] val2
+                                        * [3] val3
+                                        */
+        CUSTOM_CAPTURE = 43,           /* [1] value
+                                        */
+        CONTRAST = 44,                 /* [1] value
+                                        */
+        AE_REGION = 45,                /* [1] x
+                                        * [2] y
+                                        * [3] width
+                                        * [4] height
+                                        * [5] priority
+                                        */
+        AF_REGION = 46,                /* [1] x
+                                        * [2] y
+                                        * [3] width
+                                        * [4] height
+                                        * [5] priority
+                                        */
+        LUMA_DENOISE = 47,             /* [1] value
+                                        */
+        CHROMA_DENOISE = 48,           /* [1] value
+                                        */
+        WB_COLOR_TEMP = 49,            /* [1] value
+                                        */
+        EXTERNAL_TRIGGER = 50,
+        AF_LENS_RANGE = 51,
+        FRAME_SYNC = 52,
+        STROBE_CONFIG = 53,
+        STROBE_TIMINGS = 54,
+        MOVE_LENS_RAW = 55, /* lens position: 0.0 - 1.0 */
+    };
+
+    enum class AutoFocusMode : uint8_t {
+        /**
+         * Autofocus disabled. Suitable for manual focus
+         */
+        OFF = 0,
+        /**
+         * Basic automatic focus mode. In this mode, the lens does not move unless the autofocus trigger action is called.
+         */
+        AUTO,
+        /**
+         * Close-up focusing mode - this mode is optimized for focusing on objects very close to the camera.
+         */
+        MACRO,
+        /**
+         * In this mode, the AF algorithm modifies the lens position continually to attempt to provide a constantly-in-focus image stream.
+         * The focusing behavior should be suitable for good quality video recording; typically this means slower focus movement and no overshoots.
+         */
+        CONTINUOUS_VIDEO,
+        /**
+         * In this mode, the AF algorithm modifies the lens position continually to attempt to provide a constantly-in-focus image stream.
+         * The focusing behavior should be suitable for still image capture; typically this means focusing as fast as possible
+         */
+        CONTINUOUS_PICTURE,
+        /**
+         * Extended depth of field (digital focus) mode. The camera device will produce images with an extended depth of field automatically.
+         * AF triggers are ignored.
+         */
+        EDOF,
+    };
+
+    enum class AutoWhiteBalanceMode : uint8_t {
+        /**
+         * The camera device's auto-white balance routine is disabled.
+         */
+        OFF = 0,
+        /**
+         * The camera device's auto-white balance routine is active.
+         */
+        AUTO,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses incandescent light as the assumed scene illumination for white
+         * balance.
+         */
+        INCANDESCENT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses fluorescent light as the assumed scene illumination for white
+         * balance.
+         */
+        FLUORESCENT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses warm fluorescent light as the assumed scene illumination for white
+         * balance.
+         */
+        WARM_FLUORESCENT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses daylight light as the assumed scene illumination for white
+         * balance.
+         */
+        DAYLIGHT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses cloudy daylight light as the assumed scene illumination for white
+         * balance.
+         */
+        CLOUDY_DAYLIGHT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses twilight light as the assumed scene illumination for white
+         * balance.
+         */
+        TWILIGHT,
+        /**
+         * The camera device's auto-white balance routine is disabled; the camera device uses shade light as the assumed scene illumination for white balance.
+         */
+        SHADE,
+    };
+
+    enum class SceneMode : uint8_t {
+        /**
+         * Indicates that no scene modes are set for a given capture request.
+         */
+        UNSUPPORTED = 0,
+        /**
+         * If face detection support exists, use face detection data for auto-focus, auto-white balance, and auto-exposure routines.
+         */
+        FACE_PRIORITY,
+        /**
+         * Optimized for photos of quickly moving objects. Similar to SPORTS scene mode.
+         */
+        ACTION,
+        /**
+         * Optimized for still photos of people.
+         */
+        PORTRAIT,
+        /**
+         * Optimized for photos of distant macroscopic objects.
+         */
+        LANDSCAPE,
+        /**
+         * Optimized for low-light settings.
+         */
+        NIGHT,
+        /**
+         * Optimized for still photos of people in low-light settings.
+         */
+        NIGHT_PORTRAIT,
+        /**
+         * Optimized for dim, indoor settings where flash must remain off.
+         */
+        THEATRE,
+        /**
+         * Optimized for bright, outdoor beach settings.
+         */
+        BEACH,
+        /**
+         * Optimized for bright, outdoor settings containing snow.
+         */
+        SNOW,
+        /**
+         * Optimized for scenes of the setting sun.
+         */
+        SUNSET,
+        /**
+         * Optimized to avoid blurry photos due to small amounts of device motion (for example: due to hand shake).
+         */
+        STEADYPHOTO,
+        /**
+         * Optimized for nighttime photos of fireworks.
+         */
+        FIREWORKS,
+        /**
+         * Optimized for photos of quickly moving people.
+         */
+        SPORTS,
+        /**
+         * Optimized for dim, indoor settings with multiple moving people.
+         */
+        PARTY,
+        /**
+         * Optimized for dim settings where the main light source is a candle.
+         */
+        CANDLELIGHT,
+        /**
+         * Optimized for accurately capturing a photo of barcode for use by camera applications that wish to read the barcode value.
+         */
+        BARCODE,
+    };
+
+    enum class AntiBandingMode : uint8_t {
+        /**
+         * The camera device will not adjust exposure duration to avoid banding problems.
+         */
+        OFF = 0,
+        /**
+         * The camera device will adjust exposure duration to avoid banding problems with 50Hz illumination sources.
+         */
+        MAINS_50_HZ,
+        /**
+         * The camera device will adjust exposure duration to avoid banding problems with 60Hz illumination sources.
+         */
+        MAINS_60_HZ,
+        /**
+         * The camera device will automatically adapt its antibanding routine to the current illumination condition. This is the default mode if AUTO is
+         * available on given camera device.
+         */
+        AUTO,
+    };
+
+    enum class CaptureIntent : uint8_t {
+        /**
+         * The goal of this request doesn't fall into the other categories. The camera device will default to preview-like behavior.
+         */
+        CUSTOM = 0,
+        /**
+         * This request is for a preview-like use case.
+         */
+        PREVIEW,
+        /**
+         * This request is for a still capture-type use case.
+         */
+        STILL_CAPTURE,
+        /**
+         * This request is for a video recording use case.
+         */
+        VIDEO_RECORD,
+        /**
+         * This request is for a video snapshot (still image while recording video) use case.
+         * The camera device should take the highest-quality image possible (given the other settings)
+         * without disrupting the frame rate of video recording.
+         */
+        VIDEO_SNAPSHOT,
+        /**
+         * This request is for a ZSL usecase; the application will stream full-resolution images and reprocess one or several later for a final capture.
+         */
+        ZERO_SHUTTER_LAG,
+    };
+
+    enum class ControlMode : uint8_t {
+        /**
+         * Full application control of pipeline. All control by the device's metering and focusing (3A) routines is disabled.
+         */
+        OFF = 0,
+        /**
+         * Use settings for each individual 3A routine. Manual control of capture parameters is disabled.
+         */
+        AUTO,
+        /**
+         * Use a specific scene mode. Enabling this disables Auto-Exposure, AWB and AF controls;
+         */
+        USE_SCENE_MODE,
+    };
+
+    enum class EffectMode : uint8_t {
+        /**
+         *  No color effect will be applied.
+         */
+        OFF = 0,
+        /**
+         * A "monocolor" effect where the image is mapped into a single color. This will typically be grayscale.
+         */
+        MONO,
+        /**
+         * A "photo-negative" effect where the image's colors are inverted.
+         */
+        NEGATIVE,
+        /**
+         * A "solarisation" effect (Sabattier effect) where the image is wholly or partially reversed in tone.
+         */
+        SOLARIZE,
+        /**
+         * A "sepia" effect where the image is mapped into warm gray, red, and brown tones.
+         */
+        SEPIA,
+        /**
+         * A "posterization" effect where the image uses discrete regions of tone rather than a continuous gradient of tones.
+         */
+        POSTERIZE,
+        /**
+         * A "whiteboard" effect where the image is typically displayed as regions of white, with black or grey details.
+         */
+        WHITEBOARD,
+        /**
+         * A "blackboard" effect where the image is typically displayed as regions of black, with white or grey details.
+         */
+        BLACKBOARD,
+        /**
+         * An "aqua" effect where a blue hue is added to the image.
+         */
+        AQUA,
+    };
+
+    enum class FrameSyncMode : uint8_t {
+        OFF = 0,
+        OUTPUT,
+        INPUT,
+        // TODO soft sync modes?
+    };
+
+    struct ManualExposureParams {
+        uint32_t exposureTimeUs;
+        uint32_t sensitivityIso;
+        uint32_t frameDurationUs;
+
+        DEPTHAI_SERIALIZE(ManualExposureParams, exposureTimeUs, sensitivityIso, frameDurationUs);
+    };
+
+    // AE_REGION / AF_REGION
+    struct RegionParams {
+        uint16_t x;
+        uint16_t y;
+        uint16_t width;
+        uint16_t height;
+        // Set to 1 for now. TODO
+        uint32_t priority;
+
+        DEPTHAI_SERIALIZE(RegionParams, x, y, width, height, priority);
+    };
+
+    struct StrobeTimings {
+        /// Start offset in microseconds, relative to exposure window
+        int32_t exposureBeginOffsetUs;
+        /// End offset in microseconds, relative to exposure window
+        int32_t exposureEndOffsetUs;
+        /// Fixed duration in microseconds. If set (non-zero), overrides `exposureEndOffsetUs`
+        uint32_t durationUs;
+
+        DEPTHAI_SERIALIZE(StrobeTimings, exposureBeginOffsetUs, exposureEndOffsetUs, durationUs);
+    };
+
+    struct StrobeConfig {
+        /// Enable strobe output
+        uint8_t enable;
+        /// 1 for normal polarity (high-active), 0 otherwise
+        uint8_t activeLevel;
+        /// GPIO number to drive, or -1 if sensor driven
+        int8_t gpioNumber;
+
+        DEPTHAI_SERIALIZE(StrobeConfig, enable, activeLevel, gpioNumber);
+    };
+
     /**
      * Set a command to capture a still image
      */
@@ -133,6 +506,14 @@ class CameraControl : public Buffer {
      */
     CameraControl& setManualFocus(uint8_t lensPosition);
 
+    /**
+     * Set a command to specify manual focus position (more precise control).
+     *
+     * @param lensPositionRaw specify lens position 0.0f .. 1.0f
+     * @return CameraControl&
+     */
+    CameraControl& setManualFocusRaw(float lensPositionRaw);
+
     // Exposure
     /**
      * Set a command to enable auto exposure
@@ -272,6 +653,45 @@ class CameraControl : public Buffer {
      */
     CameraControl& setEffectMode(EffectMode mode);
 
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as a string
+     */
+    CameraControl& setMisc(std::string control, std::string value);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as an integer number
+     */
+    CameraControl& setMisc(std::string control, int value);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Set a miscellaneous control. The controls set by this function get appended
+     * to a list, processed after the standard controls
+     * @param control Control name
+     * @param value Value as a floating point number
+     */
+    CameraControl& setMisc(std::string control, float value);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Clear the list of miscellaneous controls set by `setControl`
+     */
+    void clearMiscControls();
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Get the list of miscellaneous controls set by `setControl`
+     * @returns A list of <key, value> pairs as strings
+     */
+    std::vector<std::pair<std::string, std::string>> getMiscControls();
     /**
      * Set a command to specify control mode
      * @param mode Control mode
@@ -306,17 +726,105 @@ class CameraControl : public Buffer {
      */
     int getLensPosition() const;
 
-    /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
-     */
-    CameraControl& set(dai::RawCameraControl config);
-
-    /**
-     * Retrieve configuration data for CameraControl.
-     * @returns config for CameraControl
-     */
-    dai::RawCameraControl get() const;
+    uint64_t cmdMask = 0;
+
+    AutoFocusMode autoFocusMode = AutoFocusMode::CONTINUOUS_VIDEO;
+
+    /**
+     * Lens/VCM position, range: 0..255. Used with `autoFocusMode = OFF`.
+     * With current IMX378 modules:
+     * - max 255: macro focus, at 8cm distance
+     * - infinite focus at about 120..130 (may vary from module to module)
+     * - lower values lead to out-of-focus (lens too close to the sensor array)
+     */
+    uint8_t lensPosition = 0;
+    float lensPositionRaw = 0;
+
+    uint8_t lensPosAutoInfinity, lensPosAutoMacro;
+
+    ManualExposureParams expManual;
+    RegionParams aeRegion, afRegion;
+    AutoWhiteBalanceMode awbMode;
+    SceneMode sceneMode;
+    AntiBandingMode antiBandingMode;
+    CaptureIntent captureIntent;
+    ControlMode controlMode;
+    EffectMode effectMode;
+    FrameSyncMode frameSyncMode;
+    StrobeConfig strobeConfig;
+    StrobeTimings strobeTimings;
+    uint32_t aeMaxExposureTimeUs;
+    bool aeLockMode;
+    bool awbLockMode;
+    int8_t expCompensation;  //  -9 ..  9
+    int8_t brightness;       // -10 .. 10
+    int8_t contrast;         // -10 .. 10
+    int8_t saturation;       // -10 .. 10
+    uint8_t sharpness;       //   0 ..  4
+    uint8_t lumaDenoise;     //   0 ..  4
+    uint8_t chromaDenoise;   //   0 ..  4
+    uint16_t wbColorTemp;    // 1000 .. 12000
+    uint8_t lowPowerNumFramesBurst;
+    uint8_t lowPowerNumFramesDiscard;
+    std::vector<std::pair<std::string, std::string>> miscControls;
+
+    void setCommand(Command cmd, bool value = true) {
+        uint64_t mask = 1ull << (uint8_t)cmd;
+        if(value) {
+            cmdMask |= mask;
+        } else {
+            cmdMask &= ~mask;
+        }
+    }
+    void clearCommand(Command cmd) {
+        setCommand(cmd, false);
+    }
+    bool getCommand(Command cmd) const {
+        return !!(cmdMask & (1ull << (uint8_t)cmd));
+    }
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::CameraControl;
+    };
+
+    DEPTHAI_SERIALIZE(CameraControl,
+                      cmdMask,
+                      autoFocusMode,
+                      lensPosition,
+                      lensPositionRaw,
+                      lensPosAutoInfinity,
+                      lensPosAutoMacro,
+                      expManual,
+                      aeRegion,
+                      afRegion,
+                      awbMode,
+                      sceneMode,
+                      antiBandingMode,
+                      aeLockMode,
+                      awbLockMode,
+                      captureIntent,
+                      controlMode,
+                      effectMode,
+                      frameSyncMode,
+                      strobeConfig,
+                      strobeTimings,
+                      aeMaxExposureTimeUs,
+                      expCompensation,
+                      brightness,
+                      contrast,
+                      saturation,
+                      sharpness,
+                      lumaDenoise,
+                      chromaDenoise,
+                      wbColorTemp,
+                      lowPowerNumFramesBurst,
+                      lowPowerNumFramesDiscard,
+                      miscControls);
+    /**
+     * Retrieves lens position, range 0.0f..1.0f.
+     */
+    float getLensPositionRaw() const;
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/DatatypeEnum.hpp b/include/depthai/pipeline/datatype/DatatypeEnum.hpp
new file mode 100644
index 000000000..d5f6d0b92
--- /dev/null
+++ b/include/depthai/pipeline/datatype/DatatypeEnum.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <cstdint>
+
+namespace dai {
+
+enum class DatatypeEnum : std::int32_t {
+    ADatatype,
+    Buffer,
+    ImgFrame,
+    EncodedFrame,
+    NNData,
+    ImageManipConfig,
+    CameraControl,
+    ImgDetections,
+    SpatialImgDetections,
+    SystemInformation,
+    SystemInformationS3,
+    SpatialLocationCalculatorConfig,
+    SpatialLocationCalculatorData,
+    EdgeDetectorConfig,
+    AprilTagConfig,
+    AprilTags,
+    Tracklets,
+    IMUData,
+    StereoDepthConfig,
+    FeatureTrackerConfig,
+    ToFConfig,
+    TrackedFeatures,
+    BenchmarkReport,
+    MessageGroup,
+    PointCloudConfig,
+    PointCloudData
+};
+bool isDatatypeSubclassOf(DatatypeEnum parent, DatatypeEnum children);
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/datatype/EdgeDetectorConfig.hpp b/include/depthai/pipeline/datatype/EdgeDetectorConfig.hpp
index f14a931e1..0222a5f19 100644
--- a/include/depthai/pipeline/datatype/EdgeDetectorConfig.hpp
+++ b/include/depthai/pipeline/datatype/EdgeDetectorConfig.hpp
@@ -3,7 +3,6 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawEdgeDetectorConfig.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
@@ -12,17 +11,27 @@ namespace dai {
  * EdgeDetectorConfig message. Carries sobel edge filter config.
  */
 class EdgeDetectorConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawEdgeDetectorConfig& cfg;
-
    public:
-    /**
-     * Construct EdgeDetectorConfig message.
-     */
-    EdgeDetectorConfig();
-    explicit EdgeDetectorConfig(std::shared_ptr<RawEdgeDetectorConfig> ptr);
+    EdgeDetectorConfig() = default;
     virtual ~EdgeDetectorConfig() = default;
 
+    struct EdgeDetectorConfigData {
+        /**
+         * Used for horizontal gradient computation in 3x3 Sobel filter
+         * Format - 3x3 matrix, 2nd column must be 0
+         * Default - +1 0 -1; +2 0 -2; +1 0 -1
+         */
+        std::vector<std::vector<int>> sobelFilterHorizontalKernel;
+        /**
+         * Used for vertical gradient computation in 3x3 Sobel filter
+         * Format - 3x3 matrix, 2nd row must be 0
+         * Default - +1 +2 +1; 0 0 0; -1 -2 -1
+         */
+        std::vector<std::vector<int>> sobelFilterVerticalKernel;
+
+        DEPTHAI_SERIALIZE(EdgeDetectorConfigData, sobelFilterHorizontalKernel, sobelFilterVerticalKernel);
+    };
+
     /**
      * Set sobel filter horizontal and vertical 3x3 kernels
      * @param horizontalKernel Used for horizontal gradient computation in 3x3 Sobel filter
@@ -36,17 +45,14 @@ class EdgeDetectorConfig : public Buffer {
      */
     EdgeDetectorConfigData getConfigData() const;
 
-    /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
-     */
-    EdgeDetectorConfig& set(dai::RawEdgeDetectorConfig config);
+    EdgeDetectorConfigData config;
 
-    /**
-     * Retrieve configuration data for EdgeDetector.
-     * @returns config for EdgeDetector
-     */
-    dai::RawEdgeDetectorConfig get() const;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::EdgeDetectorConfig;
+    };
+
+    DEPTHAI_SERIALIZE(EdgeDetectorConfig, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, config);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/EncodedFrame.hpp b/include/depthai/pipeline/datatype/EncodedFrame.hpp
index 99db79ba0..5b053ae36 100644
--- a/include/depthai/pipeline/datatype/EncodedFrame.hpp
+++ b/include/depthai/pipeline/datatype/EncodedFrame.hpp
@@ -4,31 +4,34 @@
 
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
-// shared
-#include "depthai-shared/datatype/RawEncodedFrame.hpp"
-
-// optional
-#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
-    #include <opencv2/opencv.hpp>
-#endif
-
 namespace dai {
 
 class EncodedFrame : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawEncodedFrame& frame;
-
    public:
-    // Raw* mirror
-    using Profile = RawEncodedFrame::Profile;
-    using FrameType = RawEncodedFrame::FrameType;
+    enum class Profile : std::uint8_t { JPEG, AVC, HEVC };
+    enum class FrameType : std::uint8_t { I, P, B, Unknown };
+    struct CameraSettings {
+        int32_t exposureTimeUs;
+        int32_t sensitivityIso;
+        int32_t lensPosition;
+        int32_t wbColorTemp;
+        float lensPositionRaw;
+        DEPTHAI_SERIALIZE(CameraSettings, exposureTimeUs, sensitivityIso, lensPosition, wbColorTemp, lensPositionRaw);
+    };
+
+    CameraSettings cam;
+    uint32_t instanceNum = 0;  // Which source created this frame (color, mono, ...)
+
+    uint32_t quality;
+    uint32_t bitrate;
+    Profile profile;
+
+    bool lossless;   // jpeg
+    FrameType type;  // h264
+
+    uint32_t frameOffset = 0;
+    uint32_t frameSize = 0;
 
-    /**
-     * Construct EncodedFrame message.
-     * Timestamp is set to now
-     */
-    EncodedFrame();
-    explicit EncodedFrame(std::shared_ptr<RawEncodedFrame> ptr);
     virtual ~EncodedFrame() = default;
 
     // getters
@@ -55,6 +58,12 @@ class EncodedFrame : public Buffer {
      * Retrieves lens position, range 0..255. Returns -1 if not available
      */
     int getLensPosition() const;
+
+    /**
+     * Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available
+     */
+    float getLensPositionRaw() const;
+
     /**
      * Retrieves the encoding quality
      */
@@ -73,31 +82,13 @@ class EncodedFrame : public Buffer {
     /**
      * Retrieves frame type (H26x only)
      */
-    FrameType getFrameType() const;
+    FrameType getFrameType();
 
     /**
      * Retrieves the encoding profile (JPEG, AVC or HEVC)
      */
     Profile getProfile() const;
 
-    // setters
-    /**
-     * Retrieves image timestamp related to dai::Clock::now()
-     */
-    EncodedFrame& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp);
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    EncodedFrame& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp);
-
-    /**
-     * Specifies sequence number
-     *
-     * @param seq Sequence number
-     */
-    EncodedFrame& setSequenceNum(int64_t seq);
-
     /**
      * Instance number relates to the origin of the frame (which camera)
      *
@@ -139,6 +130,14 @@ class EncodedFrame : public Buffer {
      * @param profile Encoding profile
      */
     EncodedFrame& setProfile(Profile profile);
+
+    DEPTHAI_SERIALIZE(
+        EncodedFrame, cam, instanceNum, quality, bitrate, profile, lossless, type, frameOffset, frameSize, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice);
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::EncodedFrame;
+    };
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/FeatureTrackerConfig.hpp b/include/depthai/pipeline/datatype/FeatureTrackerConfig.hpp
index bb80edd52..a3544a113 100644
--- a/include/depthai/pipeline/datatype/FeatureTrackerConfig.hpp
+++ b/include/depthai/pipeline/datatype/FeatureTrackerConfig.hpp
@@ -3,7 +3,6 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawFeatureTrackerConfig.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
@@ -12,33 +11,242 @@ namespace dai {
  * FeatureTrackerConfig message. Carries config for feature tracking algorithm
  */
 class FeatureTrackerConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawFeatureTrackerConfig& cfg;
-
    public:
-    // Raw* mirror
-    using CornerDetector = RawFeatureTrackerConfig::CornerDetector;
-    using MotionEstimator = RawFeatureTrackerConfig::MotionEstimator;
-    using FeatureMaintainer = RawFeatureTrackerConfig::FeatureMaintainer;
-
     /**
      * Construct FeatureTrackerConfig message.
      */
-    FeatureTrackerConfig();
-    explicit FeatureTrackerConfig(std::shared_ptr<RawFeatureTrackerConfig> ptr);
+    FeatureTrackerConfig() = default;
     virtual ~FeatureTrackerConfig() = default;
 
+    static constexpr const std::int32_t AUTO = 0;
+
+    /**
+     * Corner detector configuration structure.
+     */
+    struct CornerDetector {
+        enum class Type : std::int32_t {
+            /**
+             * Harris corner detector.
+             */
+            HARRIS,
+            /**
+             * Shi-Thomasi corner detector.
+             */
+            SHI_THOMASI
+        };
+        /**
+         * Corner detector algorithm type.
+         */
+        Type type = Type::HARRIS;
+
+        /**
+         * Ensures distributed feature detection across the image.
+         * Image is divided into horizontal and vertical cells,
+         * each cell has a target feature count = numTargetFeatures / cellGridDimension.
+         * Each cell has its own feature threshold.
+         * A value of 4 means that the image is divided into 4x4 cells of equal width/height.
+         * Maximum 4, minimum 1.
+         */
+        std::int32_t cellGridDimension = 4;
+
+        /**
+         * Target number of features to detect.
+         * Maximum number of features is determined at runtime based on algorithm type.
+         */
+        std::int32_t numTargetFeatures = 320;
+
+        /**
+         * Hard limit for the maximum number of features that can be detected.
+         * 0 means auto, will be set to the maximum value based on memory constraints.
+         */
+        std::int32_t numMaxFeatures = AUTO;
+
+        /**
+         * Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed.
+         * If disabled, a simple 1D row/column differentiator is used for gradient.
+         */
+        bool enableSobel = true;
+
+        /**
+         * Enable sorting detected features based on their score or not.
+         */
+        bool enableSorting = true;
+
+        /**
+         * Threshold settings structure for corner detector.
+         */
+        struct Thresholds {
+            /**
+             * Minimum strength of a feature which will be detected.
+             * 0 means automatic threshold update. Recommended so the tracker can adapt to different scenes/textures.
+             * Each cell has its own threshold.
+             * Empirical value.
+             */
+            float initialValue = AUTO;
+
+            /**
+             * Minimum limit for threshold.
+             * Applicable when automatic threshold update is enabled.
+             * 0 means auto, 6000000 for HARRIS, 1200 for SHI_THOMASI.
+             * Empirical value.
+             */
+            float min = AUTO;
+
+            /**
+             * Maximum limit for threshold.
+             * Applicable when automatic threshold update is enabled.
+             * 0 means auto.
+             * Empirical value.
+             */
+            float max = AUTO;
+
+            /**
+             * When detected number of features exceeds the maximum in a cell threshold is lowered
+             * by multiplying its value with this factor.
+             */
+            float decreaseFactor = 0.9f;
+
+            /**
+             * When detected number of features doesn't exceed the maximum in a cell, threshold is increased
+             * by multiplying its value with this factor.
+             */
+            float increaseFactor = 1.1f;
+            DEPTHAI_SERIALIZE(Thresholds, initialValue, min, max, decreaseFactor, increaseFactor);
+        };
+
+        /**
+         * Threshold settings.
+         * These are advanced settings, suitable for debugging/special cases.
+         */
+        Thresholds thresholds;
+
+        DEPTHAI_SERIALIZE(CornerDetector, type, cellGridDimension, numTargetFeatures, numMaxFeatures, thresholds, enableSobel, enableSorting);
+    };
+
+    /**
+     * Used for feature reidentification between current and previous features.
+     */
+    struct MotionEstimator {
+        /**
+         * Enable motion estimation or not.
+         */
+        bool enable = true;
+
+        enum class Type : std::int32_t {
+            /**
+             * Using the pyramidal Lucas-Kanade optical flow method.
+             */
+            LUCAS_KANADE_OPTICAL_FLOW,
+            /**
+             * Using a dense motion estimation hardware block (Block matcher).
+             */
+            HW_MOTION_ESTIMATION
+        };
+        /**
+         * Motion estimator algorithm type.
+         */
+        Type type = Type::LUCAS_KANADE_OPTICAL_FLOW;
+
+        /**
+         * Optical flow configuration structure.
+         */
+        struct OpticalFlow {
+            /**
+             * Number of pyramid levels, only for optical flow.
+             * AUTO means it's decided based on input resolution: 3 if image width <= 640, else 4.
+             * Valid values are either 3/4 for VGA, 4 for 720p and above.
+             */
+            std::int32_t pyramidLevels = AUTO;
+
+            /**
+             * Image patch width used to track features.
+             * Must be an odd number, maximum 9.
+             * N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level.
+             * Increasing this number increases runtime
+             */
+            std::int32_t searchWindowWidth = 5;
+            /**
+             * Image patch height used to track features.
+             * Must be an odd number, maximum 9.
+             * N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level.
+             * Increasing this number increases runtime
+             */
+            std::int32_t searchWindowHeight = 5;
+
+            /**
+             * Feature tracking termination criteria.
+             * Optical flow will refine the feature position on each pyramid level until
+             * the displacement between two refinements is smaller than this value.
+             * Decreasing this number increases runtime.
+             */
+            float epsilon = 0.01f;
+
+            /**
+             * Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times
+             * on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number
+             * of iterations, the algorithm will continue with the current calculated value.
+             * Increasing this number increases runtime.
+             */
+            std::int32_t maxIterations = 9;
+
+            DEPTHAI_SERIALIZE(OpticalFlow, pyramidLevels, searchWindowWidth, searchWindowHeight, epsilon, maxIterations);
+        };
+
+        /**
+         * Optical flow configuration.
+         * Takes effect only if MotionEstimator algorithm type set to LUCAS_KANADE_OPTICAL_FLOW.
+         */
+        OpticalFlow opticalFlow;
+
+        DEPTHAI_SERIALIZE(MotionEstimator, enable, type, opticalFlow);
+    };
+
+    /**
+     * FeatureMaintainer configuration structure.
+     */
+    struct FeatureMaintainer {
+        /**
+         * Enable feature maintaining or not.
+         */
+        bool enable = true;
+
+        /**
+         * Used to filter out detected feature points that are too close.
+         * Requires sorting enabled in detector.
+         * Unit of measurement is squared euclidean distance in pixels.
+         */
+        float minimumDistanceBetweenFeatures = 50;
+
+        /**
+         * Optical flow measures the tracking error for every feature.
+         * If the point can’t be tracked or it’s out of the image it will set this error to a maximum value.
+         * This threshold defines the level where the tracking accuracy is considered too bad to keep the point.
+         */
+        float lostFeatureErrorThreshold = 50000;
+
+        /**
+         * Once a feature was detected and we started tracking it, we need to update its Harris score on each image.
+         * This is needed because a feature point can disappear, or it can become too weak to be tracked. This
+         * threshold defines the point where such a feature must be dropped.
+         * As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until
+         * they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.
+         */
+        float trackedFeatureThreshold = 200000;
+
+        DEPTHAI_SERIALIZE(FeatureMaintainer, enable, minimumDistanceBetweenFeatures, lostFeatureErrorThreshold, trackedFeatureThreshold);
+    };
+
     /**
      * Set corner detector algorithm type.
      * @param cornerDetector Corner detector type, HARRIS or SHI_THOMASI
      */
-    FeatureTrackerConfig& setCornerDetector(dai::FeatureTrackerConfig::CornerDetector::Type cornerDetector);
+    FeatureTrackerConfig& setCornerDetector(CornerDetector::Type cornerDetector);
 
     /**
      * Set corner detector full configuration.
      * @param config Corner detector configuration
      */
-    FeatureTrackerConfig& setCornerDetector(dai::FeatureTrackerConfig::CornerDetector config);
+    FeatureTrackerConfig& setCornerDetector(CornerDetector config);
 
     /**
      * Set optical flow as motion estimation algorithm type.
@@ -49,7 +257,7 @@ class FeatureTrackerConfig : public Buffer {
      * Set optical flow full configuration.
      * @param config Optical flow configuration
      */
-    FeatureTrackerConfig& setOpticalFlow(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow config);
+    FeatureTrackerConfig& setOpticalFlow(MotionEstimator::OpticalFlow config);
 
     /**
      * Set hardware accelerated motion estimation using block matching.
@@ -73,7 +281,7 @@ class FeatureTrackerConfig : public Buffer {
      * Set motion estimator full configuration.
      * @param config Motion estimator configuration
      */
-    FeatureTrackerConfig& setMotionEstimator(dai::FeatureTrackerConfig::MotionEstimator config);
+    FeatureTrackerConfig& setMotionEstimator(MotionEstimator config);
 
     /**
      * Enable or disable feature maintainer.
@@ -85,19 +293,34 @@ class FeatureTrackerConfig : public Buffer {
      * Set feature maintainer full configuration.
      * @param config feature maintainer configuration
      */
-    FeatureTrackerConfig& setFeatureMaintainer(dai::FeatureTrackerConfig::FeatureMaintainer config);
+    FeatureTrackerConfig& setFeatureMaintainer(FeatureMaintainer config);
+
+   public:
+    /**
+     * Corner detector configuration.
+     * Used for feature detection.
+     */
+    CornerDetector cornerDetector;
 
     /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
+     * Motion estimator configuration.
+     * Used for feature reidentification between current and previous features.
      */
-    FeatureTrackerConfig& set(dai::RawFeatureTrackerConfig config);
+    MotionEstimator motionEstimator;
 
     /**
-     * Retrieve configuration data for FeatureTracker.
-     * @returns config for feature tracking algorithm
+     * FeatureMaintainer configuration.
+     * Used for feature maintaining.
      */
-    dai::RawFeatureTrackerConfig get() const;
+    FeatureMaintainer featureMaintainer;
+
+   public:
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::FeatureTrackerConfig;
+    };
+
+    DEPTHAI_SERIALIZE(FeatureTrackerConfig, cornerDetector, motionEstimator, featureMaintainer);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/IMUData.hpp b/include/depthai/pipeline/datatype/IMUData.hpp
index a6ed0ea0d..472986669 100644
--- a/include/depthai/pipeline/datatype/IMUData.hpp
+++ b/include/depthai/pipeline/datatype/IMUData.hpp
@@ -4,25 +4,227 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawIMUData.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 namespace dai {
 
+struct IMUReport {
+    enum class Accuracy : std::uint8_t {
+        UNRELIABLE = 0,
+        LOW = 1,
+        MEDIUM = 2,
+        HIGH = 3,
+    };
+    /**
+     * The sequence number increments once for each report sent.  Gaps
+     * in the sequence numbers indicate missing or dropped reports.
+     * Max value 2^32 after which resets to 0.
+     */
+    int32_t sequence = 0;
+
+    /** Accuracy of sensor */
+    Accuracy accuracy = Accuracy::UNRELIABLE;
+
+    /** Generation timestamp, synced to host time */
+    Timestamp timestamp = {};
+
+    /** Generation timestamp, direct device monotonic clock */
+    Timestamp tsDevice = {};
+
+    /**
+     * Retrieves timestamp related to dai::Clock::now()
+     */
+    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const {
+        return timestamp.get();
+    }
+
+    /**
+     * Retrieves timestamp directly captured from device's monotonic clock,
+     * not synchronized to host time. Used mostly for debugging
+     */
+    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const {
+        return tsDevice.get();
+    }
+
+    /**
+     * Retrieves IMU report sequence number
+     */
+    int32_t getSequenceNum() const {
+        return sequence;
+    }
+};
+DEPTHAI_SERIALIZE_EXT(IMUReport, sequence, accuracy, timestamp, tsDevice);
+
+/**
+ * @brief Accelerometer
+ *
+ * Units are [m/s^2]
+ */
+struct IMUReportAccelerometer : public IMUReport {
+    float x = 0;
+    float y = 0;
+    float z = 0;
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportAccelerometer, x, y, z, sequence, accuracy, timestamp, tsDevice);
+
+/**
+ * @brief Gyroscope
+ *
+ * Units are [rad/s]
+ */
+struct IMUReportGyroscope : public IMUReport {
+    float x = 0;
+    float y = 0;
+    float z = 0;
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportGyroscope, x, y, z, sequence, accuracy, timestamp, tsDevice);
+
+/**
+ * @brief Magnetic field
+ *
+ * Units are [uTesla]
+ */
+struct IMUReportMagneticField : public IMUReport {
+    float x = 0;
+    float y = 0;
+    float z = 0;
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportMagneticField, x, y, z, sequence, accuracy, timestamp, tsDevice);
+
+/**
+ * @brief Rotation Vector with Accuracy
+ *
+ * Contains quaternion components: i,j,k,real
+ */
+struct IMUReportRotationVectorWAcc : public IMUReport {
+    float i = 0;                      /**< @brief Quaternion component i */
+    float j = 0;                      /**< @brief Quaternion component j */
+    float k = 0;                      /**< @brief Quaternion component k */
+    float real = 0;                   /**< @brief Quaternion component, real */
+    float rotationVectorAccuracy = 0; /**< @brief Accuracy estimate [radians], 0 means no estimate */
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportRotationVectorWAcc, i, j, k, real, rotationVectorAccuracy, sequence, accuracy, timestamp, tsDevice);
+
+#if 0
+
+/**
+ * @brief Uncalibrated gyroscope
+ *
+ * See the SH-2 Reference Manual for more detail.
+ */
+struct IMUReportGyroscopeUncalibrated : public IMUReport {
+    /* Units are rad/s */
+    float x = 0;     /**< @brief [rad/s] */
+    float y = 0;     /**< @brief [rad/s] */
+    float z = 0;     /**< @brief [rad/s] */
+    float biasX = 0; /**< @brief [rad/s] */
+    float biasY = 0; /**< @brief [rad/s] */
+    float biasZ = 0; /**< @brief [rad/s] */
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportGyroscopeUncalibrated, x, y, z, biasX, biasY, biasZ, sequence, accuracy, timestamp, tsDevice);
+
+
+
+/**
+ * @brief Uncalibrated magnetic field
+ *
+ * See the SH-2 Reference Manual for more detail.
+ */
+struct IMUReportMagneticFieldUncalibrated : public IMUReport {
+    /* Units are uTesla */
+    float x = 0;     /**< @brief [uTesla] */
+    float y = 0;     /**< @brief [uTesla] */
+    float z = 0;     /**< @brief [uTesla] */
+    float biasX = 0; /**< @brief [uTesla] */
+    float biasY = 0; /**< @brief [uTesla] */
+    float biasZ = 0; /**< @brief [uTesla] */
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportMagneticFieldUncalibrated, x, y, z, biasX, biasY, biasZ, sequence, accuracy, timestamp, tsDevice);
+
+
+
+/**
+ * @brief Rotation Vector
+ *
+ * See the SH-2 Reference Manual for more detail.
+ */
+struct IMUReportRotationVector : public IMUReport {
+    float i = 0;    /**< @brief Quaternion component i */
+    float j = 0;    /**< @brief Quaternion component j */
+    float k = 0;    /**< @brief Quaternion component k */
+    float real = 0; /**< @brief Quaternion component real */
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportRotationVector, i, j, k, real, sequence, accuracy, timestamp, tsDevice);
+
+
+/**
+ * @brief Gyro integrated rotation vector
+ *
+ * See SH-2 Reference Manual for details.
+ */
+struct IMUReportGyroIntegratedRV : public IMUReport {
+    float i = 0;       /**< @brief Quaternion component i */
+    float j = 0;       /**< @brief Quaternion component j */
+    float k = 0;       /**< @brief Quaternion component k */
+    float real = 0;    /**< @brief Quaternion component real */
+    float angVelX = 0; /**< @brief Angular velocity about x [rad/s] */
+    float angVelY = 0; /**< @brief Angular velocity about y [rad/s] */
+    float angVelZ = 0; /**< @brief Angular velocity about z [rad/s] */
+};
+DEPTHAI_SERIALIZE_EXT(IMUReportGyroIntegratedRV, i, j, k, real, angVelX, angVelY, angVelZ, sequence, accuracy, timestamp, tsDevice);
+
+#endif
+
+/**
+ * IMU output
+ *
+ * Contains combined output for all possible modes. Only the enabled outputs are populated.
+ */
+struct IMUPacket {
+    IMUReportAccelerometer acceleroMeter;
+    IMUReportGyroscope gyroscope;
+    IMUReportMagneticField magneticField;
+    IMUReportRotationVectorWAcc rotationVector;
+
+#if 0
+    IMUReportAccelerometer rawAcceleroMeter;
+
+    IMUReportAccelerometer linearAcceleroMeter;
+    IMUReportAccelerometer gravity;
+
+    IMUReportGyroscope rawGyroscope;
+    IMUReportGyroscopeUncalibrated gyroscopeUncalibrated;
+
+    IMUReportMagneticField rawMagneticField;
+    IMUReportMagneticFieldUncalibrated magneticFieldUncalibrated;
+
+    IMUReportRotationVector gameRotationVector;
+    IMUReportRotationVectorWAcc geoMagRotationVector;
+
+    IMUReportRotationVectorWAcc arvrStabilizedRotationVector;
+    IMUReportRotationVector arvrStabilizedGameRotationVector;
+    IMUReportGyroIntegratedRV gyroIntegratedRotationVector;
+#endif
+};
+
+DEPTHAI_SERIALIZE_EXT(IMUPacket, acceleroMeter, gyroscope, magneticField, rotationVector);
+
 /**
  * IMUData message. Carries normalized detection results
  */
 class IMUData : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawIMUData& rawIMU;
-
    public:
-    /// Construct IMUData message
-    IMUData();
-    explicit IMUData(std::shared_ptr<RawIMUData> ptr);
+    // Construct IMUData message
+    IMUData() = default;
     virtual ~IMUData() = default;
 
     /// Detections
-    std::vector<IMUPacket>& packets;
+    std::vector<IMUPacket> packets;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::IMUData;
+    };
+
+    DEPTHAI_SERIALIZE(IMUData, packets);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/ImageManipConfig.hpp b/include/depthai/pipeline/datatype/ImageManipConfig.hpp
index f74742042..85c72b28d 100644
--- a/include/depthai/pipeline/datatype/ImageManipConfig.hpp
+++ b/include/depthai/pipeline/datatype/ImageManipConfig.hpp
@@ -3,10 +3,11 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawImageManipConfig.hpp"
+#include "depthai/common/Colormap.hpp"
+#include "depthai/common/Interpolation.hpp"
+#include "depthai/common/RotatedRect.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 #include "depthai/pipeline/datatype/ImgFrame.hpp"
-
 namespace dai {
 
 /**
@@ -21,20 +22,89 @@ namespace dai {
  *  - ...
  */
 class ImageManipConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawImageManipConfig& cfg;
-
    public:
-    // Alias
-    using CropConfig = RawImageManipConfig::CropConfig;
-    using ResizeConfig = RawImageManipConfig::ResizeConfig;
-    using FormatConfig = RawImageManipConfig::FormatConfig;
-
-    /// Construct ImageManipConfig message
-    ImageManipConfig();
-    explicit ImageManipConfig(std::shared_ptr<RawImageManipConfig> ptr);
+    ImageManipConfig() = default;
     virtual ~ImageManipConfig() = default;
 
+    struct CropRect {
+        // Normalized range 0-1
+        float xmin = 0.0f, ymin = 0.0f, xmax = 0.0f, ymax = 0.0f;
+
+        DEPTHAI_SERIALIZE(CropRect, xmin, ymin, xmax, ymax);
+    };
+
+    struct CropConfig {
+        CropRect cropRect;
+        RotatedRect cropRotatedRect;
+
+        bool enableCenterCropRectangle = false;
+        // if enableCenterCropRectangle -> automatically calculated crop parameters
+        float cropRatio = 1.0f, widthHeightAspectRatio = 1.0f;
+
+        bool enableRotatedRect = false;
+
+        // Range 0..1 by default. Set 'false' to specify in pixels
+        bool normalizedCoords = true;
+
+        DEPTHAI_SERIALIZE(
+            CropConfig, cropRect, cropRotatedRect, enableCenterCropRectangle, cropRatio, widthHeightAspectRatio, enableRotatedRect, normalizedCoords);
+    };
+
+    struct ResizeConfig {
+        int width = 0, height = 0;
+        bool lockAspectRatioFill = false;
+        char bgRed = 0, bgGreen = 0, bgBlue = 0;
+
+        //  clockwise order, pt[0] is mapped to the top-left output corner
+        std::vector<Point2f> warpFourPoints;
+        bool normalizedCoords = true;
+        bool enableWarp4pt = false;
+
+        std::vector<float> warpMatrix3x3;
+        bool enableWarpMatrix = false;
+
+        // Warp background / border mode: replicates pixels if true,
+        // otherwise fills with a constant color defined by: bgRed, bgGreen, bgBlue
+        bool warpBorderReplicate = false;
+
+        // clockwise
+        float rotationAngleDeg;
+        bool enableRotation = false;
+
+        /**
+         * Whether to keep aspect ratio of input or not
+         */
+        bool keepAspectRatio = true;
+
+        DEPTHAI_SERIALIZE(ResizeConfig,
+                          width,
+                          height,
+                          lockAspectRatioFill,
+                          bgRed,
+                          bgGreen,
+                          bgBlue,
+                          warpFourPoints,
+                          normalizedCoords,
+                          enableWarp4pt,
+                          warpMatrix3x3,
+                          enableWarpMatrix,
+                          warpBorderReplicate,
+                          rotationAngleDeg,
+                          enableRotation,
+                          keepAspectRatio);
+    };
+
+    struct FormatConfig {
+        ImgFrame::Type type = ImgFrame::Type::NONE;
+        bool flipHorizontal = false;
+        bool flipVertical = false;
+        Colormap colormap = Colormap::NONE;
+        int colormapMin = 0;
+        int colormapMax = 255;
+
+        DEPTHAI_SERIALIZE(FormatConfig, type, flipHorizontal, flipVertical, colormap, colormapMin, colormapMax);
+    };
+
     // Functions to set properties
     /**
      * Specifies crop with rectangle with normalized values (0..1)
@@ -245,21 +315,41 @@ class ImageManipConfig : public Buffer {
     bool isResizeThumbnail() const;
 
     /**
-     * @returns specified colormap
+     * Instruct ImageManip to not remove current image from its queue and use the same for next message.
+     * @returns True to enable reuse, false otherwise
      */
-    Colormap getColormap() const;
+    bool getReusePreviousImage() const;
 
     /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
+     * Instructs ImageManip to skip current image and wait for next in queue.
+     * @returns True to skip current image, false otherwise
      */
-    ImageManipConfig& set(dai::RawImageManipConfig config);
+    bool getSkipCurrentImage() const;
 
     /**
-     * Retrieve configuration data for ImageManip.
-     * @returns config for ImageManip
+     * @returns specified colormap
      */
-    dai::RawImageManipConfig get() const;
+    Colormap getColormap() const;
+
+    CropConfig cropConfig;
+    ResizeConfig resizeConfig;
+    FormatConfig formatConfig;
+
+    bool enableCrop = false;
+    bool enableResize = false;
+    bool enableFormat = false;
+
+    // Usable with runtime config only,
+    // when ImageManipProperties.inputConfig.setWaitForMessage(true) is set
+    bool reusePreviousImage = false;
+    bool skipCurrentImage = false;
+    Interpolation interpolation = Interpolation::AUTO;
+    DEPTHAI_SERIALIZE(
+        ImageManipConfig, cropConfig, resizeConfig, formatConfig, enableCrop, enableResize, enableFormat, reusePreviousImage, skipCurrentImage, interpolation);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::ImageManipConfig;
+    };
 
     /// Retrieve which interpolation method to use
     dai::Interpolation getInterpolation() const;
diff --git a/include/depthai/pipeline/datatype/ImgDetections.hpp b/include/depthai/pipeline/datatype/ImgDetections.hpp
index 53ba49fe3..0115c7db0 100644
--- a/include/depthai/pipeline/datatype/ImgDetections.hpp
+++ b/include/depthai/pipeline/datatype/ImgDetections.hpp
@@ -1,43 +1,41 @@
 #pragma once
 
-#include <chrono>
-#include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawImgDetections.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 namespace dai {
 
+struct ImgDetection {
+    uint32_t label = 0;
+    float confidence = 0.f;
+    float xmin = 0.f;
+    float ymin = 0.f;
+    float xmax = 0.f;
+    float ymax = 0.f;
+};
+
+DEPTHAI_SERIALIZE_EXT(ImgDetection, label, confidence, xmin, ymin, xmax, ymax);
+
 /**
  * ImgDetections message. Carries normalized detection results
  */
 class ImgDetections : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawImgDetections& dets;
-
    public:
-    /// Construct ImgDetections message
-    ImgDetections();
-    explicit ImgDetections(std::shared_ptr<RawImgDetections> ptr);
+    /**
+     * Construct ImgDetections message.
+     */
+    ImgDetections() = default;
     virtual ~ImgDetections() = default;
 
     /// Detections
-    std::vector<ImgDetection>& detections;
+    std::vector<ImgDetection> detections;
 
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    ImgDetections& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    ImgDetections& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::ImgDetections;
+    };
 
-    /**
-     * Retrieves image sequence number
-     */
-    ImgDetections& setSequenceNum(int64_t sequenceNum);
+    DEPTHAI_SERIALIZE(ImgDetections, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, detections);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/ImgFrame.hpp b/include/depthai/pipeline/datatype/ImgFrame.hpp
index f41ef5c4b..9f3edc357 100644
--- a/include/depthai/pipeline/datatype/ImgFrame.hpp
+++ b/include/depthai/pipeline/datatype/ImgFrame.hpp
@@ -5,12 +5,14 @@
 #include <vector>
 
 // project
-#include "depthai/build/config.hpp"
 #include "depthai/common/CameraExposureOffset.hpp"
+#include "depthai/config/config.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 // shared
-#include "depthai-shared/datatype/RawImgFrame.hpp"
+#include "depthai/common/FrameEvent.hpp"
+#include "depthai/common/ImgTransformations.hpp"
+#include "depthai/common/Rect.hpp"
 
 // optional
 #ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
@@ -23,25 +25,60 @@ namespace dai {
  * ImgFrame message. Carries image data and metadata.
  */
 class ImgFrame : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawImgFrame& img;
-
    public:
-    // Raw* mirror
-    using Type = RawImgFrame::Type;
-    using Specs = RawImgFrame::Specs;
-    using CameraSettings = RawImgFrame::CameraSettings;
     using Buffer::getTimestamp;
     using Buffer::getTimestampDevice;
+    enum class Type {
+        YUV422i,    // interleaved 8 bit
+        YUV444p,    // planar 4:4:4 format
+        YUV420p,    // planar 4:2:0 format
+        YUV422p,    // planar 8 bit
+        YUV400p,    // 8-bit greyscale
+        RGBA8888,   // RGBA interleaved stored in 32 bit word
+        RGB161616,  // Planar 16 bit RGB data
+        RGB888p,    // Planar 8 bit RGB data
+        BGR888p,    // Planar 8 bit BGR data
+        RGB888i,    // Interleaved 8 bit RGB data
+        BGR888i,    // Interleaved 8 bit BGR data
+        LUT2,       // 1 bit  per pixel, Lookup table (used for graphics layers)
+        LUT4,       // 2 bits per pixel, Lookup table (used for graphics layers)
+        LUT16,      // 4 bits per pixel, Lookup table (used for graphics layers)
+        RAW16,      // save any raw type (8, 10, 12bit) on 16 bits
+        RAW14,      // 14bit value in 16bit storage
+        RAW12,      // 12bit value in 16bit storage
+        RAW10,      // 10bit value in 16bit storage
+        RAW8,
+        PACK10,  // SIPP 10bit packed format
+        PACK12,  // SIPP 12bit packed format
+        YUV444i,
+        NV12,
+        NV21,
+        BITSTREAM,  // used for video encoder bitstream
+        HDR,
+        RGBF16F16F16p,  // Planar FP16 RGB data
+        BGRF16F16F16p,  // Planar FP16 BGR data
+        RGBF16F16F16i,  // Interleaved FP16 RGB data
+        BGRF16F16F16i,  // Interleaved FP16 BGR data
+        GRAY8,          // 8 bit grayscale (1 plane)
+        GRAYF16,        // FP16 grayscale (normalized)
+        RAW32,          // 32 bits raw
+        NONE
+    };
 
     /**
      * Construct ImgFrame message.
      * Timestamp is set to now
      */
     ImgFrame();
-    explicit ImgFrame(std::shared_ptr<RawImgFrame> ptr);
+    ImgFrame(size_t size);
     virtual ~ImgFrame() = default;
 
+    ImgTransformations transformations;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::ImgFrame;
+    };
+
     // getters
     /**
      * Retrieves image timestamp (at the specified offset of exposure) related to dai::Clock::now()
@@ -69,16 +106,48 @@ class ImgFrame : public Buffer {
      */
     unsigned int getWidth() const;
 
+    /**
+     * Retrieves image line stride in bytes
+     */
+    unsigned int getStride() const;
+
+    /**
+     * Retrieves image plane stride (offset to next plane) in bytes
+     *
+     * @param current plane index, 0 or 1
+     */
+    unsigned int getPlaneStride(int planeIndex = 0) const;
+
     /**
      * Retrieves image height in pixels
      */
     unsigned int getHeight() const;
 
+    /**
+     * Retrieves image plane height in lines
+     */
+    unsigned int getPlaneHeight() const;
+
+    /**
+     * Retrieves source image width in pixels
+     */
+    unsigned int getSourceWidth() const;
+
+    /**
+     * Retrieves source image height in pixels
+     */
+    unsigned int getSourceHeight() const;
+
     /**
      * Retrieves image type
      */
     Type getType() const;
 
+    /**
+     * Retrieves image bytes per pixel
+     */
+    float getBytesPerPixel() const;
+
     /**
      * Retrieves exposure time
      */
@@ -99,16 +168,10 @@ class ImgFrame : public Buffer {
      */
     int getLensPosition() const;
 
-    // setters
-    /**
-     * Retrieves image timestamp related to dai::Clock::now()
-     */
-    ImgFrame& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * Retrieves lens position, range 0.0f..1.0f. Returns -1 if not available
      */
-    ImgFrame& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    float getLensPositionRaw() const;
 
     /**
      * Instance number relates to the origin of the frame (which camera)
@@ -122,13 +185,6 @@ class ImgFrame : public Buffer {
      */
     ImgFrame& setCategory(unsigned int category);
 
-    /**
-     * Specifies sequence number
-     *
-     * @param seq Sequence number
-     */
-    ImgFrame& setSequenceNum(int64_t seq);
-
     /**
      * Specifies frame width
      *
@@ -158,6 +214,23 @@ class ImgFrame : public Buffer {
      */
     ImgFrame& setSize(std::tuple<unsigned int, unsigned int> size);
 
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Specifies source frame size
+     *
+     * @param height frame height
+     * @param width frame width
+     */
+    ImgFrame& setSourceSize(unsigned int width, unsigned int height);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Specifies source frame size
+     *
+     * @param size frame size
+     */
+    ImgFrame& setSourceSize(std::tuple<unsigned int, unsigned int> size);
+
     /**
      * Specifies frame type, RGB, BGR, ...
      *
@@ -165,6 +238,119 @@ class ImgFrame : public Buffer {
      */
     ImgFrame& setType(Type type);
 
+    /**
+     * Remap a point from the current frame to the source frame
+     * @param point point to remap
+     * @returns remapped point
+     */
+    Point2f remapPointFromSource(const Point2f& point) const;
+
+    /**
+     * Remap a point from the source frame to the current frame
+     * @param point point to remap
+     * @returns remapped point
+     */
+    Point2f remapPointToSource(const Point2f& point) const;
+
+    /**
+     * Remap a rectangle from the source frame to the current frame
+     *
+     * @param rect rectangle to remap
+     * @returns remapped rectangle
+     */
+    Rect remapRectFromSource(const Rect& rect) const;
+
+    /**
+     * Remap a rectangle from the current frame to the source frame
+     *
+     * @param rect rectangle to remap
+     * @returns remapped rectangle
+     */
+    Rect remapRectToSource(const Rect& rect) const;
+
+    /**
+     * Convience function to initialize meta data from another frame
+     * Copies over timestamps, transformations done on the image, etc.
+     * @param sourceFrame source frame from which the metadata is taken from
+     */
+    ImgFrame& setMetadata(const ImgFrame& sourceFrame);
+
+    /**
+     * Convience function to initialize meta data from another frame
+     * Copies over timestamps, transformations done on the image, etc.
+     * @param sourceFrame shared pointer to source frame from which the metadata is taken from
+     */
+    ImgFrame& setMetadata(const std::shared_ptr<ImgFrame>& sourceFrame);
+
+    /**
+     * @note Fov API works correctly only on rectilinear frames
+     * Set the source horizontal field of view
+     *
+     * @param degrees field of view in degrees
+     */
+    ImgFrame& setSourceHFov(float degrees);
+
+    /**
+     * @note Fov API works correctly only on rectilinear frames
+     * Get the source diagonal field of view in degrees
+     *
+     * @returns field of view in degrees
+     */
+    float getSourceDFov() const;
+
+    /**
+     * @note Fov API works correctly only on rectilinear frames
+     * Get the source horizontal field of view
+     *
+     * @param degrees field of view in degrees
+     */
+    float getSourceHFov() const;
+
+    /**
+     * @note Fov API works correctly only on rectilinear frames
+     * Get the source vertical field of view
+     *
+     * @param degrees field of view in degrees
+     */
+    float getSourceVFov() const;
+
+    /**
+     * Check that the image transformation match the image size
+     *
+     * @returns true if the transformations are valid
+     */
+    bool validateTransformations() const;
+
+    /**
+     * Remap point between two source frames
+     * @param point point to remap
+     * @param sourceImage source image
+     * @param destImage destination image
+     *
+     * @returns remapped point
+     */
+    static Point2f remapPointBetweenSourceFrames(const Point2f& originPoint, const ImgFrame& sourceImage, const ImgFrame& destImage);
+
+    /**
+     * Remap point between two frames
+     * @param originPoint point to remap
+     * @param originFrame origin frame
+     * @param destFrame destination frame
+     *
+     * @returns remapped point
+     */
+    static Point2f remapPointBetweenFrames(const Point2f& originPoint, const ImgFrame& originFrame, const ImgFrame& destFrame);
+
+    /**
+     * Remap rectangle between two frames
+     * @param originRect rectangle to remap
+     * @param originFrame origin frame
+     * @param destFrame destination frame
+     *
+     * @returns remapped rectangle
+     */
+    static Rect remapRectBetweenFrames(const Rect& originRect, const ImgFrame& originFrame, const ImgFrame& destFrame);
+
 // Optional - OpenCV support
 #ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
     /**
@@ -219,6 +405,283 @@ class ImgFrame : public Buffer {
     }
 
 #endif
+   public:
+    static constexpr int typeToBpp(Type type) {
+        switch(type) {
+            case Type::YUV422i:
+                return 1;
+                break;
+            case Type::YUV444p:
+                return 1;
+                break;
+            case Type::YUV420p:
+                return 1;
+                break;
+            case Type::YUV422p:
+                return 1;
+                break;
+            case Type::YUV400p:
+                return 1;
+                break;
+            case Type::RGBA8888:
+                return 1;
+                break;
+            case Type::RGB161616:
+                return 2;
+                break;
+            case Type::RGB888p:
+                return 1;
+                break;
+            case Type::BGR888p:
+                return 1;
+                break;
+            case Type::RGB888i:
+                return 1;
+                break;
+            case Type::BGR888i:
+                return 1;
+                break;
+            case Type::RGBF16F16F16p:
+                return 2;
+                break;
+            case Type::BGRF16F16F16p:
+                return 2;
+                break;
+            case Type::RGBF16F16F16i:
+                return 2;
+                break;
+            case Type::BGRF16F16F16i:
+                return 2;
+                break;
+            case Type::GRAY8:
+                return 1;
+                break;
+            case Type::GRAYF16:
+                return 2;
+                break;
+            case Type::LUT2:
+                return 1;
+                break;
+            case Type::LUT4:
+                return 1;
+                break;
+            case Type::LUT16:
+                return 1;
+                break;
+            case Type::RAW16:
+                return 2;
+                break;
+            case Type::RAW14:
+                return 2;
+                break;
+            case Type::RAW12:
+                return 2;
+                break;
+            case Type::RAW10:
+                return 2;
+                break;
+            case Type::RAW8:
+                return 1;
+                break;
+            case Type::PACK10:
+                return 2;
+                break;
+            case Type::PACK12:
+                return 2;
+                break;
+            case Type::YUV444i:
+                return 1;
+                break;
+            case Type::NV12:
+                return 1;
+                break;
+            case Type::NV21:
+                return 1;
+                break;
+            case Type::BITSTREAM:
+                return 1;
+                break;
+            case Type::HDR:
+                return 1;
+                break;
+            case Type::RAW32:
+                return 4;
+                break;
+            case Type::NONE:
+                return 0;
+                break;
+        }
+        return 0;
+    }
+
+    static constexpr bool isInterleaved(Type type) {
+        switch(type) {
+            case Type::YUV422i:
+            case Type::RGB888i:
+            case Type::BGR888i:
+            case Type::RGBF16F16F16i:
+            case Type::BGRF16F16F16i:
+            case Type::YUV444i:
+                return true;
+            case Type::YUV400p:
+            case Type::YUV422p:
+            case Type::RGB888p:
+            case Type::BGR888p:
+            case Type::RGBF16F16F16p:
+            case Type::BGRF16F16F16p:
+            case Type::YUV444p:
+            case Type::YUV420p:
+            case Type::RGBA8888:
+            case Type::RGB161616:
+            case Type::GRAY8:
+            case Type::GRAYF16:
+            case Type::LUT2:
+            case Type::LUT4:
+            case Type::LUT16:
+            case Type::RAW16:
+            case Type::RAW14:
+            case Type::RAW12:
+            case Type::RAW10:
+            case Type::RAW8:
+            case Type::PACK10:
+            case Type::PACK12:
+            case Type::NV12:
+            case Type::NV21:
+            case Type::BITSTREAM:
+            case Type::HDR:
+            case Type::RAW32:
+            case Type::NONE:
+                return false;
+        }
+        return false;
+    }
+
+    static constexpr Type toPlanar(Type type) {
+        switch(type) {
+            case Type::YUV422i:
+                return Type::YUV422p;
+            case Type::RGB888i:
+                return Type::RGB888p;
+            case Type::BGR888i:
+                return Type::BGR888p;
+            case Type::RGBF16F16F16i:
+                return Type::RGBF16F16F16p;
+            case Type::BGRF16F16F16i:
+                return Type::BGRF16F16F16p;
+            case Type::YUV444i:
+                return Type::YUV444p;
+            case Type::YUV400p:
+            case Type::YUV422p:
+            case Type::RGB888p:
+            case Type::BGR888p:
+            case Type::RGBF16F16F16p:
+            case Type::BGRF16F16F16p:
+            case Type::YUV444p:
+            case Type::YUV420p:
+            case Type::RGBA8888:
+            case Type::RGB161616:
+            case Type::GRAY8:
+            case Type::GRAYF16:
+            case Type::LUT2:
+            case Type::LUT4:
+            case Type::LUT16:
+            case Type::RAW16:
+            case Type::RAW14:
+            case Type::RAW12:
+            case Type::RAW10:
+            case Type::RAW8:
+            case Type::PACK10:
+            case Type::PACK12:
+            case Type::NV12:
+            case Type::NV21:
+            case Type::BITSTREAM:
+            case Type::HDR:
+            case Type::RAW32:
+            case Type::NONE:
+                return type;
+        }
+        return type;
+    }
+
+    static constexpr Type toInterleaved(Type type) {
+        switch(type) {
+            case Type::YUV422p:
+                return Type::YUV422i;
+            case Type::RGB888p:
+                return Type::RGB888i;
+            case Type::BGR888p:
+                return Type::BGR888i;
+            case Type::RGBF16F16F16p:
+                return Type::RGBF16F16F16i;
+            case Type::BGRF16F16F16p:
+                return Type::BGRF16F16F16i;
+            case Type::YUV444p:
+                return Type::YUV444i;
+            case Type::YUV400p:
+            case Type::YUV420p:
+            case Type::YUV422i:
+            case Type::RGB888i:
+            case Type::BGR888i:
+            case Type::RGBF16F16F16i:
+            case Type::BGRF16F16F16i:
+            case Type::YUV444i:
+            case Type::RGBA8888:
+            case Type::RGB161616:
+            case Type::GRAY8:
+            case Type::GRAYF16:
+            case Type::LUT2:
+            case Type::LUT4:
+            case Type::LUT16:
+            case Type::RAW16:
+            case Type::RAW14:
+            case Type::RAW12:
+            case Type::RAW10:
+            case Type::RAW8:
+            case Type::PACK10:
+            case Type::PACK12:
+            case Type::NV12:
+            case Type::NV21:
+            case Type::BITSTREAM:
+            case Type::HDR:
+            case Type::RAW32:
+            case Type::NONE:
+                return type;
+        }
+        return type;
+    }
+
+    struct Specs {
+        Type type = Type::NONE;
+        unsigned int width;     // width in pixels
+        unsigned int height;    // height in pixels
+        unsigned int stride;    // defined as distance in bytes from pix(y,x) to pix(y+1,x)
+        unsigned int bytesPP;   // bytes per pixel (for LUT types 1)
+        unsigned int p1Offset;  // Offset to first plane
+        unsigned int p2Offset;  // Offset to second plane
+        unsigned int p3Offset;  // Offset to third plane
+
+        DEPTHAI_SERIALIZE(Specs, type, width, height, stride, bytesPP, p1Offset, p2Offset, p3Offset);
+    };
+    struct CameraSettings {
+        int32_t exposureTimeUs;
+        int32_t sensitivityIso;
+        int32_t lensPosition;
+        int32_t wbColorTemp;
+        float lensPositionRaw;
+
+        DEPTHAI_SERIALIZE(CameraSettings, exposureTimeUs, sensitivityIso, lensPosition, wbColorTemp, lensPositionRaw);
+    };
+
+    Specs fb = {};
+    Specs sourceFb = {};
+    CameraSettings cam;
+    float HFovDegrees = 0.0;   // Horizontal field of view in degrees
+    uint32_t category = 0;     //
+    uint32_t instanceNum = 0;  // Which source created this frame (color, mono, ...)
+    dai::FrameEvent event = dai::FrameEvent::NONE;
+
+   public:
+    DEPTHAI_SERIALIZE(ImgFrame, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum, fb, sourceFb, cam, HFovDegrees, category, instanceNum, transformations);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/MessageGroup.hpp b/include/depthai/pipeline/datatype/MessageGroup.hpp
index a8b792195..e1b1fac6d 100644
--- a/include/depthai/pipeline/datatype/MessageGroup.hpp
+++ b/include/depthai/pipeline/datatype/MessageGroup.hpp
@@ -1,27 +1,21 @@
 #pragma once
 
-#include <chrono>
 #include <memory>
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawMessageGroup.hpp"
+#include "depthai/common/ADatatypeSharedPtrSerialization.hpp"
+#include "depthai/pipeline/datatype/ADatatype.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
-
+#include "depthai/utility/Serialization.hpp"
 namespace dai {
-
 /**
  * MessageGroup message. Carries multiple messages in one.
  */
 class MessageGroup : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawMessageGroup& rawGrp;
-    std::unordered_map<std::string, std::shared_ptr<ADatatype>> group;
-
    public:
-    /// Construct MessageGroup message
-    MessageGroup();
-    explicit MessageGroup(std::shared_ptr<RawMessageGroup> ptr);
+    std::map<std::string, std::shared_ptr<ADatatype>> group;
+
     virtual ~MessageGroup() = default;
 
     /// Group
@@ -30,17 +24,22 @@ class MessageGroup : public Buffer {
     std::shared_ptr<T> get(const std::string& name) {
         return std::dynamic_pointer_cast<T>(group[name]);
     }
-    void add(const std::string& name, const std::shared_ptr<ADatatype>& value);
-    template <typename T>
-    void add(const std::string& name, const T& value) {
-        static_assert(std::is_base_of<ADatatype, T>::value, "T must derive from ADatatype");
-        group[name] = std::make_shared<T>(value);
-        rawGrp.group[name] = {value.getRaw(), 0};
+
+    std::shared_ptr<ADatatype> get(const std::string& name) {
+        return group[name];
     }
 
+    // TODO(Morato) - this API is dangerous, when T is a base reference to a derived class
+    // template <typename T>
+    // void add(const std::string& name, const T& value) {
+    //     static_assert(std::is_base_of<ADatatype, T>::value, "T must derive from ADatatype");
+    //     group[name] = std::make_shared<T>(value);
+    // }
+    void add(const std::string& name, const std::shared_ptr<ADatatype>& value);
+
     // Iterators
-    std::unordered_map<std::string, std::shared_ptr<ADatatype>>::iterator begin();
-    std::unordered_map<std::string, std::shared_ptr<ADatatype>>::iterator end();
+    std::map<std::string, std::shared_ptr<ADatatype>>::iterator begin();
+    std::map<std::string, std::shared_ptr<ADatatype>>::iterator end();
 
     /**
      * True if all messages in the group are in the interval
@@ -60,20 +59,11 @@ class MessageGroup : public Buffer {
      */
     std::vector<std::string> getMessageNames() const;
 
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    MessageGroup& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    MessageGroup& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Retrieves image sequence number
-     */
-    MessageGroup& setSequenceNum(int64_t sequenceNum);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::MessageGroup;
+    };
+    DEPTHAI_SERIALIZE(MessageGroup, group, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum);
 };
 
-}  // namespace dai
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/pipeline/datatype/NNData.hpp b/include/depthai/pipeline/datatype/NNData.hpp
index 814f4c948..f60de8989 100644
--- a/include/depthai/pipeline/datatype/NNData.hpp
+++ b/include/depthai/pipeline/datatype/NNData.hpp
@@ -1,12 +1,48 @@
 #pragma once
 
+#include <algorithm>
 #include <chrono>
 #include <limits>
 #include <unordered_map>
 #include <vector>
 
 #include "Buffer.hpp"
-#include "depthai-shared/datatype/RawNNData.hpp"
+#include "depthai/common/TensorInfo.hpp"
+#include "depthai/utility/VectorMemory.hpp"
+#include "depthai/utility/span.hpp"
+
+#if defined(__clang__)
+    #if __has_warning("-Wswitch-enum")
+        #pragma clang diagnostic push
+        #pragma clang diagnostic ignored "-Wswitch-enum"
+    #endif
+#elif defined(__GNUC__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wswitch-enum"
+#elif defined(_MSC_VER)
+    #pragma warning(push)
+    #pragma warning(disable : 4061)
+#endif
+#if defined(ON)
+    #define _ON_DEF ON
+    #undef ON
+#endif
+#ifdef DEPTHAI_XTENSOR_SUPPORT
+    #include "xtensor/xadapt.hpp"
+    #include "xtensor/xarray.hpp"
+#endif
+#if defined(_ON_DEF)
+    #define ON _ON_DEF
+#endif
+#if defined(__clang__)
+    #if __has_warning("-Wswitch-enum")
+        #pragma clang diagnostic pop
+    #endif
+#elif defined(__GNUC__)
+    #pragma GCC diagnostic pop
+#elif defined(_MSC_VER)
+    #pragma warning(pop)
+#endif
 
 namespace dai {
 
@@ -15,53 +51,55 @@ namespace dai {
  */
 class NNData : public Buffer {
     static constexpr int DATA_ALIGNMENT = 64;
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawNNData& rawNn;
+    static uint16_t fp32_to_fp16(float);
+    static float fp16_to_fp32(uint16_t);
 
     // store the data
     // uint8_t
-    std::unordered_map<std::string, std::vector<std::uint8_t>> u8Data;
-    // FP16
-    std::unordered_map<std::string, std::vector<std::uint16_t>> fp16Data;
+    // std::unordered_map<std::string, std::vector<std::uint8_t>> u8Data;
+    // // FP16
+    // std::unordered_map<std::string, std::vector<std::uint16_t>> fp16Data;
 
    public:
+    std::vector<TensorInfo> tensors;
+    unsigned int batchSize;
     /**
      * Construct NNData message.
      */
-    NNData();
-    explicit NNData(std::shared_ptr<RawNNData> ptr);
+    NNData() = default;
+    NNData(size_t size);
     virtual ~NNData() = default;
 
-    // Expose
-    // uint8_t
-    /**
-     * Set a layer with datatype U8.
-     * @param name Name of the layer
-     * @param data Data to store
-     */
-    NNData& setLayer(const std::string& name, std::vector<std::uint8_t> data);
+    // // Expose
+    // // uint8_t
+    // /**
+    //  * Set a layer with datatype U8.
+    //  * @param name Name of the layer
+    //  * @param data Data to store
+    //  */
+    // [[deprecated("Use 'addTensor()' instead")]] NNData& setLayer(const std::string& name, std::vector<std::uint8_t> data);
 
-    /**
-     * Set a layer with datatype U8. Integers are cast to bytes.
-     * @param name Name of the layer
-     * @param data Data to store
-     */
-    NNData& setLayer(const std::string& name, const std::vector<int>& data);
+    // /**
+    //  * Set a layer with datatype U8. Integers are cast to bytes.
+    //  * @param name Name of the layer
+    //  * @param data Data to store
+    //  */
+    // [[deprecated("Use 'addTensor()' instead")]] NNData& setLayer(const std::string& name, const std::vector<int>& data);
 
-    // fp16
-    /**
-     * Set a layer with datatype FP16. Float values are converted to FP16.
-     * @param name Name of the layer
-     * @param data Data to store
-     */
-    NNData& setLayer(const std::string& name, std::vector<float> data);
+    // // fp16
+    // /**
+    //  * Set a layer with datatype FP16. Float values are converted to FP16.
+    //  * @param name Name of the layer
+    //  * @param data Data to store
+    //  */
+    // [[deprecated("Use 'addTensor()' instead")]] NNData& setLayer(const std::string& name, std::vector<float> data);
 
-    /**
-     * Set a layer with datatype FP16. Double values are converted to FP16.
-     * @param name Name of the layer
-     * @param data Data to store
-     */
-    NNData& setLayer(const std::string& name, std::vector<double> data);
+    // /**
+    //  * Set a layer with datatype FP16. Double values are converted to FP16.
+    //  * @param name Name of the layer
+    //  * @param data Data to store
+    //  */
+    // [[deprecated("Use 'addTensor()' instead")]] NNData& setLayer(const std::string& name, std::vector<double> data);
 
     // getters
     /**
@@ -97,63 +135,203 @@ class NNData : public Buffer {
      */
     bool getLayerDatatype(const std::string& name, TensorInfo::DataType& datatype) const;
 
-    // uint8
-    /**
-     * Convenience function to retrieve U8 data from layer
-     * @param name Name of the layer
-     * @returns U8 binary data
-     */
-    std::vector<std::uint8_t> getLayerUInt8(const std::string& name) const;
+    // // uint8
+    // /**
+    //  * Convenience function to retrieve U8 data from layer
+    //  * @param name Name of the layer
+    //  * @returns U8 binary data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<std::uint8_t> getLayerUInt8(const std::string& name) const;
+
+    // // fp16
+    // /**
+    //  * Convenience function to retrieve float values from layers FP16 tensor
+    //  * @param name Name of the layer
+    //  * @returns Float data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<float> getLayerFp16(const std::string& name) const;
+
+    // // int32
+    // /**
+    //  * Convenience function to retrieve INT32 values from layers tensor
+    //  * @param name Name of the layer
+    //  * @returns INT32 data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<std::int32_t> getLayerInt32(const std::string& name) const;
+
+    // // first layer
+    // /**
+    //  * Convenience function to retrieve U8 data from first layer
+    //  * @returns U8 binary data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<std::uint8_t> getFirstLayerUInt8() const;
+
+    // /**
+    //  * Convenience function to retrieve float values from first layers FP16 tensor
+    //  * @returns Float data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<float> getFirstLayerFp16() const;
+
+    // /**
+    //  * Convenience function to retrieve INT32 values from first layers tensor
+    //  * @returns INT32 data
+    //  */
+    // [[deprecated("Use 'getTensor()' instead")]] std::vector<std::int32_t> getFirstLayerInt32() const;
 
-    // fp16
     /**
-     * Convenience function to retrieve float values from layers FP16 tensor
-     * @param name Name of the layer
-     * @returns Float data
+     * Emplace a tensor
+     * This function allocates memory for the tensor and return over the said memory.
+     * It is up to the caller to fill the memory out with meaningful data.
+     * @return Span over the allocated memory
      */
-    std::vector<float> getLayerFp16(const std::string& name) const;
+    span<std::uint8_t> emplaceTensor(TensorInfo& tensor);
 
-    // int32
+#ifdef DEPTHAI_XTENSOR_SUPPORT
     /**
-     * Convenience function to retrieve INT32 values from layers tensor
+     * Set a layer with datatype FP16. Double values are converted to FP16.
      * @param name Name of the layer
-     * @returns INT32 data
+     * @param data Data to store
      */
-    std::vector<std::int32_t> getLayerInt32(const std::string& name) const;
+    template <typename _Ty = double>
+    NNData& addTensor(const std::string& name, const std::vector<_Ty>& data) {
+        return addTensor<_Ty>(name, xt::adapt(data, std::vector<size_t>{1, data.size()}));
+    };
 
-    // first layer
     /**
-     * Convenience function to retrieve U8 data from first layer
-     * @returns U8 binary data
+     * Add a tensor. Float values are converted to FP16 and integers are cast to bytes.
+     * @param name Name of the tensor
+     * @param tensor Tensor to store
      */
-    std::vector<std::uint8_t> getFirstLayerUInt8() const;
+    template <typename _Ty = double>
+    NNData& addTensor(const std::string& name, const xt::xarray<_Ty>& tensor) {
+        static_assert(std::is_integral<_Ty>::value || std::is_floating_point<_Ty>::value, "Tensor type needs to be integral or floating point");
 
-    /**
-     * Convenience function to retrieve float values from first layers FP16 tensor
-     * @returns Float data
-     */
-    std::vector<float> getFirstLayerFp16() const;
+        // Check if data is vector type of data
+        if(std::dynamic_pointer_cast<VectorMemory>(data) == nullptr) {
+            auto prev = std::vector<uint8_t>(data->getData().begin(), data->getData().end());
+            data = std::make_shared<VectorMemory>(std::move(prev));
+        }
+        auto vecData = std::dynamic_pointer_cast<VectorMemory>(data);
 
-    /**
-     * Convenience function to retrieve INT32 values from first layers tensor
-     * @returns INT32 data
-     */
-    std::vector<std::int32_t> getFirstLayerInt32() const;
+        // Get size in bytes of the converted tensor data, u8 for integral and fp16 for floating point
+        const size_t sConvertedData = std::is_integral<_Ty>::value ? tensor.size() : 2 * tensor.size();
+
+        // Append bytes so that each new tensor is DATA_ALIGNMENT aligned
+        size_t remainder = (vecData->end() - vecData->begin()) % DATA_ALIGNMENT;
+        if(remainder > 0) {
+            vecData->insert(vecData->end(), DATA_ALIGNMENT - remainder, 0);
+        }
+
+        // Then get offset to beginning of data
+        size_t offset = vecData->end() - vecData->begin();
+
+        // Reserve space
+        vecData->resize(offset + sConvertedData);
+
+        // Convert data to u8 or fp16 and write to data
+        if(std::is_integral<_Ty>::value) {
+            for(uint32_t i = 0; i < tensor.size(); i++) {
+                vecData->data()[i + offset] = (uint8_t)tensor.data()[i];
+            }
+        } else {
+            for(uint32_t i = 0; i < tensor.size(); i++) {
+                *(uint16_t*)(&vecData->data()[2 * i + offset]) = fp32_to_fp16(tensor.data()[i]);
+            }
+        }
+
+        // Add entry in tensors
+        TensorInfo info;
+        info.name = name;
+        info.offset = static_cast<unsigned int>(offset);
+        info.dataType = std::is_integral<_Ty>::value ? TensorInfo::DataType::U8F : TensorInfo::DataType::FP16;
+        info.numDimensions = tensor.dimension();
+        for(uint32_t i = 0; i < tensor.dimension(); i++) {
+            info.dims.push_back(tensor.shape()[i]);
+            info.strides.push_back(tensor.strides()[i] * sizeof(uint16_t));
+        }
+
+        tensors.push_back(info);
+        return *this;
+    }
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * Convenience function to retrieve values from a tensor
+     * @returns xt::xarray<_Ty> tensor
      */
-    NNData& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    template <typename _Ty>
+    xt::xarray<_Ty> getTensor(const std::string& name) {
+        const auto it = std::find_if(tensors.begin(), tensors.end(), [&name](const TensorInfo& ti) { return ti.name == name; });
+
+        if(it == tensors.end()) throw std::runtime_error("Tensor does not exist");
+
+        std::vector<size_t> dims;
+        for(const auto v : it->dims) {
+            dims.push_back(v);
+        }
+
+        std::vector<size_t> strides;
+        for(const auto v : it->strides) {
+            strides.push_back(v);
+        }
+
+        xt::xarray<_Ty, xt::layout_type::row_major> tensor(dims);
+
+        switch(it->dataType) {
+            case TensorInfo::DataType::U8F:
+                for(uint32_t i = 0; i < tensor.size(); i++) {
+                    tensor.data()[i] = data->getData().data()[it->offset + i];
+                }
+                break;
+            case TensorInfo::DataType::I8:
+                for(uint32_t i = 0; i < tensor.size(); i++) {
+                    tensor.data()[i] = reinterpret_cast<int8_t*>(data->getData().data())[it->offset + i];
+                }
+                break;
+            case TensorInfo::DataType::INT:
+                for(uint32_t i = 0; i < tensor.size(); i++) {
+                    tensor.data()[i] = reinterpret_cast<int32_t*>(data->getData().data())[it->offset / sizeof(int32_t) + i];
+                }
+                break;
+            case TensorInfo::DataType::FP16:
+                for(uint32_t i = 0; i < tensor.size(); i++) {
+                    tensor.data()[i] = fp16_to_fp32(reinterpret_cast<uint16_t*>(data->getData().data())[it->offset / sizeof(uint16_t) + i]);
+                }
+                break;
+            case TensorInfo::DataType::FP32:
+                for(uint32_t i = 0; i < tensor.size(); i++) {
+                    tensor.data()[i] = reinterpret_cast<float_t*>(data->getData().data())[it->offset / sizeof(float_t) + i];
+                }
+                break;
+        }
+
+        return tensor;
+    }
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * Get the datatype of a given tensor
+     * @returns TensorInfo::DataType tensor datatype
      */
-    NNData& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    TensorInfo::DataType getTensorDatatype(const std::string& name);
 
     /**
-     * Retrieves image sequence number
+     * Convenience function to retrieve values from the first tensor
+     * @returns xt::xarray<_Ty> tensor
      */
-    NNData& setSequenceNum(int64_t sequenceNum);
+    template <typename _Ty>
+    xt::xarray<_Ty> getFirstTensor() {
+        if(!tensors.empty()) {
+            return getTensor<_Ty>(tensors[0].name);
+        }
+
+        return {};
+    }
+#endif
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::NNData;
+    };
+
+    DEPTHAI_SERIALIZE(NNData, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, tensors, batchSize);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/PointCloudConfig.hpp b/include/depthai/pipeline/datatype/PointCloudConfig.hpp
new file mode 100644
index 000000000..9cf1af806
--- /dev/null
+++ b/include/depthai/pipeline/datatype/PointCloudConfig.hpp
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <unordered_map>
+#include <vector>
+
+#include "depthai/pipeline/datatype/Buffer.hpp"
+
+namespace dai {
+
+/**
+ * PointCloudConfig message. Carries ROI (region of interest) and threshold for depth calculation
+ */
+class PointCloudConfig : public Buffer {
+    bool sparse = false;
+
+    std::array<std::array<float, 4>, 4> transformationMatrix = {{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}};
+
+   public:
+    /**
+     * Construct PointCloudConfig message.
+     */
+    PointCloudConfig() = default;
+    virtual ~PointCloudConfig() = default;
+
+    /**
+     * Retrieve sparse point cloud calculation status.
+     * @returns true if sparse point cloud calculation is enabled, false otherwise
+     */
+    bool getSparse() const;
+
+    /**
+     * Retrieve transformation matrix for point cloud calculation.
+     * @returns 4x4 transformation matrix
+     */
+    std::array<std::array<float, 4>, 4> getTransformationMatrix() const;
+
+    /**
+     * Enable or disable sparse point cloud calculation.
+     * @param enable
+     */
+    PointCloudConfig& setSparse(bool enable);
+
+    /**
+     * Set 4x4 transformation matrix for point cloud calculation. Default is an identity matrix.
+     * @param transformationMatrix
+     */
+    PointCloudConfig& setTransformationMatrix(const std::array<std::array<float, 4>, 4>& transformationMatrix);
+
+    /**
+     * Set 3x3 transformation matrix for point cloud calculation. Default is an identity matrix.
+     * @param transformationMatrix
+     */
+    PointCloudConfig& setTransformationMatrix(const std::array<std::array<float, 3>, 3>& transformationMatrix);
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::PointCloudConfig;
+    };
+
+    DEPTHAI_SERIALIZE(PointCloudConfig, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, sparse, transformationMatrix);
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/datatype/PointCloudData.hpp b/include/depthai/pipeline/datatype/PointCloudData.hpp
new file mode 100644
index 000000000..d6bb34295
--- /dev/null
+++ b/include/depthai/pipeline/datatype/PointCloudData.hpp
@@ -0,0 +1,200 @@
+#pragma once
+
+#include <unordered_map>
+#include <vector>
+
+#include "depthai/common/Point3f.hpp"
+#include "depthai/pipeline/datatype/Buffer.hpp"
+
+// optional
+#ifdef DEPTHAI_HAVE_PCL_SUPPORT
+    #include <pcl/point_types.h>
+    #include <pcl/visualization/cloud_viewer.h>
+#endif
+
+namespace dai {
+
+/**
+ * PointCloudData message. Carries point cloud data.
+ */
+class PointCloudData : public Buffer {
+    unsigned int width;        // width in pixels
+    unsigned int height;       // height in pixels
+    uint32_t instanceNum = 0;  // Which source created this frame (color, mono, ...)
+    float minx, miny, minz;
+    float maxx, maxy, maxz;
+    bool sparse = false;
+
+   public:
+    using Buffer::getSequenceNum;
+    using Buffer::getTimestamp;
+    using Buffer::getTimestampDevice;
+
+    /**
+     * Construct PointCloudData message.
+     */
+    PointCloudData() = default;
+    virtual ~PointCloudData() = default;
+
+    std::vector<Point3f> getPoints();
+
+    /**
+     * Retrieves instance number
+     */
+    unsigned int getInstanceNum() const;
+
+    /**
+     * Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud
+     */
+    unsigned int getWidth() const;
+
+    /**
+     * Retrieves the height in pixels - in case of a sparse point cloud, this represents the hight of the frame which was used to generate the point cloud
+     */
+    unsigned int getHeight() const;
+
+    /**
+     * Retrieves minimal x coordinate in depth units (millimeter by default)
+     */
+    float getMinX() const;
+
+    /**
+     * Retrieves minimal y coordinate in depth units (millimeter by default)
+     */
+    float getMinY() const;
+
+    /**
+     * Retrieves minimal z coordinate in depth units (millimeter by default)
+     */
+    float getMinZ() const;
+
+    /**
+     * Retrieves maximal x coordinate in depth units (millimeter by default)
+     */
+    float getMaxX() const;
+
+    /**
+     * Retrieves maximal y coordinate in depth units (millimeter by default)
+     */
+    float getMaxY() const;
+
+    /**
+     * Retrieves maximal z coordinate in depth units (millimeter by default)
+     */
+    float getMaxZ() const;
+
+    /**
+     * Retrieves whether point cloud is sparse
+     */
+    bool isSparse() const;
+
+    /**
+     * Specifies frame width
+     *
+     * @param width frame width
+     */
+    PointCloudData& setWidth(unsigned int width);
+
+    /**
+     * Specifies frame height
+     *
+     * @param height frame height
+     */
+    PointCloudData& setHeight(unsigned int height);
+
+    /**
+     * Specifies frame size
+     *
+     * @param height frame height
+     * @param width frame width
+     */
+    PointCloudData& setSize(unsigned int width, unsigned int height);
+
+    /**
+     * Specifies frame size
+     *
+     * @param size frame size
+     */
+    PointCloudData& setSize(std::tuple<unsigned int, unsigned int> size);
+
+    /**
+     * Specifies minimal x coordinate in depth units (millimeter by default)
+     *
+     * @param val minimal x coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMinX(float val);
+
+    /**
+     * Specifies minimal y coordinate in depth units (millimeter by default)
+     *
+     * @param val minimal y coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMinY(float val);
+
+    /**
+     * Specifies minimal z coordinate in depth units (millimeter by default)
+     *
+     * @param val minimal z coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMinZ(float val);
+
+    /**
+     * Specifies maximal x coordinate in depth units (millimeter by default)
+     *
+     * @param val maximal x coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMaxX(float val);
+
+    /**
+     * Specifies maximal y coordinate in depth units (millimeter by default)
+     *
+     * @param val maximal y coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMaxY(float val);
+
+    /**
+     * Specifies maximal z coordinate in depth units (millimeter by default)
+     *
+     * @param val maximal z coordinate in depth units (millimeter by default)
+     */
+    PointCloudData& setMaxZ(float val);
+
+    /**
+     * Specifies whether point cloud is sparse
+     *
+     * @param val whether point cloud is sparse
+     */
+    PointCloudData& setSparse(bool val);
+
+    /**
+     * Specifies instance number
+     *
+     * @param instanceNum instance number
+     */
+    PointCloudData& setInstanceNum(unsigned int instanceNum);
+
+#ifdef DEPTHAI_HAVE_PCL_SUPPORT
+    /**
+     * Converts PointCloudData to pcl::PointCloud<pcl::PointXYZ>
+     */
+    pcl::PointCloud<pcl::PointXYZ>::Ptr getPclData() const;
+
+#else
+    template <typename... T>
+    struct dependent_false {
+        static constexpr bool value = false;
+    };
+    template <typename... T>
+    void getPclData() const {
+        static_assert(dependent_false<T...>::value, "Library not configured with PCL support");
+    }
+#endif
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::PointCloudData;
+    };
+    DEPTHAI_SERIALIZE(
+        PointCloudData, width, height, minx, miny, minz, maxx, maxy, maxz, sparse, instanceNum, Buffer::ts, Buffer::tsDevice, Buffer::sequenceNum);
+};
+
+}  // namespace dai
diff --git a/include/depthai/pipeline/datatype/SpatialImgDetections.hpp b/include/depthai/pipeline/datatype/SpatialImgDetections.hpp
index 30876a462..4b67d4df8 100644
--- a/include/depthai/pipeline/datatype/SpatialImgDetections.hpp
+++ b/include/depthai/pipeline/datatype/SpatialImgDetections.hpp
@@ -4,45 +4,47 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawSpatialImgDetections.hpp"
+#include "depthai/common/Point3f.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/ImgDetections.hpp"
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
+#include "depthai/utility/Serialization.hpp"
 
 namespace dai {
 
+/**
+ * SpatialImgDetection structure
+ *
+ * Contains image detection results together with spatial location data.
+ */
+struct SpatialImgDetection : public ImgDetection {
+    Point3f spatialCoordinates;
+    SpatialLocationCalculatorConfigData boundingBoxMapping;
+};
+
+DEPTHAI_SERIALIZE_EXT(SpatialImgDetection, label, confidence, xmin, ymin, xmax, ymax, spatialCoordinates, boundingBoxMapping);
+
 /**
  * SpatialImgDetections message. Carries detection results together with spatial location data
  */
 class SpatialImgDetections : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawSpatialImgDetections& dets;
-
    public:
     /**
      * Construct SpatialImgDetections message.
      */
-    SpatialImgDetections();
-    explicit SpatialImgDetections(std::shared_ptr<RawSpatialImgDetections> ptr);
+    SpatialImgDetections() = default;
     virtual ~SpatialImgDetections() = default;
 
     /**
      * Detection results.
      */
-    std::vector<SpatialImgDetection>& detections;
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    SpatialImgDetections& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    std::vector<SpatialImgDetection> detections;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::SpatialImgDetections;
+    };
 
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    SpatialImgDetections& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Retrieves image sequence number
-     */
-    SpatialImgDetections& setSequenceNum(int64_t sequenceNum);
+    DEPTHAI_SERIALIZE(SpatialImgDetections, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, detections);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp b/include/depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp
index 740c6ff4d..b6adc4db1 100644
--- a/include/depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp
+++ b/include/depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp
@@ -3,24 +3,77 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/common/Rect.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
-
 namespace dai {
 
+/**
+ * SpatialLocation configuration thresholds structure
+ *
+ * Contains configuration data for lower and upper threshold in depth units (millimeter by default) for ROI.
+ * Values outside of threshold range will be ignored when calculating spatial coordinates from depth map.
+ */
+struct SpatialLocationCalculatorConfigThresholds {
+    /**
+     * Values less or equal than this threshold are not taken into calculation.
+     */
+    uint32_t lowerThreshold = 0;
+    /**
+     * Values greater or equal than this threshold are not taken into calculation.
+     */
+    uint32_t upperThreshold = 65535;
+};
+DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorConfigThresholds, lowerThreshold, upperThreshold);
+
+/**
+ * SpatialLocationCalculatorAlgorithm configuration modes
+ *
+ * Contains calculation method used to obtain spatial locations.
+ */
+enum class SpatialLocationCalculatorAlgorithm : uint32_t { AVERAGE = 0, MEAN = AVERAGE, MIN, MAX, MODE, MEDIAN };
+
+/// SpatialLocation configuration data structure
+struct SpatialLocationCalculatorConfigData {
+    static constexpr std::int32_t AUTO = -1;
+
+    /**
+     * Region of interest for spatial location calculation.
+     */
+    Rect roi;
+    /**
+     * Upper and lower thresholds for depth values to take into consideration.
+     */
+    SpatialLocationCalculatorConfigThresholds depthThresholds;
+    /**
+     * Calculation method used to obtain spatial locations
+     * Average/mean: the average of ROI is used for calculation.
+     * Min: the minimum value inside ROI is used for calculation.
+     * Max: the maximum value inside ROI is used for calculation.
+     * Mode: the most frequent value inside ROI is used for calculation.
+     * Median: the median value inside ROI is used for calculation.
+     * Default: median.
+     */
+    SpatialLocationCalculatorAlgorithm calculationAlgorithm = SpatialLocationCalculatorAlgorithm::MEDIAN;
+
+    /**
+     * Step size for calculation.
+     * Step size 1 means that every pixel is taken into calculation, size 2 means every second etc.
+     * Default value AUTO: for AVERAGE, MIN, MAX step size is 1; for MODE/MEDIAN it's 2.
+     */
+    std::int32_t stepSize = AUTO;
+};
+DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorConfigData, roi, depthThresholds, calculationAlgorithm, stepSize);
+
 /**
  * SpatialLocationCalculatorConfig message. Carries ROI (region of interest) and threshold for depth calculation
  */
 class SpatialLocationCalculatorConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawSpatialLocationCalculatorConfig& cfg;
-
    public:
     /**
      * Construct SpatialLocationCalculatorConfig message.
      */
-    SpatialLocationCalculatorConfig();
-    explicit SpatialLocationCalculatorConfig(std::shared_ptr<RawSpatialLocationCalculatorConfig> ptr);
+    SpatialLocationCalculatorConfig() = default;
     virtual ~SpatialLocationCalculatorConfig() = default;
 
     /**
@@ -39,18 +92,12 @@ class SpatialLocationCalculatorConfig : public Buffer {
      * @returns Vector of configuration parameters for ROIs (region of interests)
      */
     std::vector<SpatialLocationCalculatorConfigData> getConfigData() const;
-
-    /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
-     */
-    SpatialLocationCalculatorConfig& set(dai::RawSpatialLocationCalculatorConfig config);
-
-    /**
-     * Retrieve configuration data for SpatialLocationCalculator.
-     * @returns config for SpatialLocationCalculator
-     */
-    dai::RawSpatialLocationCalculatorConfig get() const;
+    std::vector<SpatialLocationCalculatorConfigData> config;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::SpatialLocationCalculatorConfig;
+    };
+    DEPTHAI_SERIALIZE(SpatialLocationCalculatorConfig, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, config);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp b/include/depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp
index c6a5586a9..add80170c 100644
--- a/include/depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp
+++ b/include/depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp
@@ -3,48 +3,83 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawSpatialLocations.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
 
 namespace dai {
 
+/**
+ * SpatialLocations structure
+ *
+ * Contains configuration data, average depth for the calculated ROI on depth map.
+ * Together with spatial coordinates: x,y,z relative to the center of depth map.
+ * Units are in depth units (millimeter by default).
+ */
+struct SpatialLocations {
+    /**
+     *  Configuration for selected ROI
+     */
+    SpatialLocationCalculatorConfigData config;
+    /**
+     *  Average of depth values inside the ROI between the specified thresholds in config.
+     *  Calculated only if calculation method is set to AVERAGE or MIN oR MAX.
+     */
+    float depthAverage = 0.f;
+    /**
+     *  Most frequent of depth values inside the ROI between the specified thresholds in config.
+     * Calculated only if calculation method is set to MODE.
+     */
+    float depthMode = 0.f;
+    /**
+     *  Median of depth values inside the ROI between the specified thresholds in config.
+     * Calculated only if calculation method is set to MEDIAN.
+     */
+    float depthMedian = 0.f;
+    /**
+     *  Minimum of depth values inside the ROI between the specified thresholds in config.
+     * Calculated only if calculation method is set to AVERAGE or MIN oR MAX.
+     */
+    std::uint16_t depthMin = 0;
+    /**
+     *  Maximum of depth values inside the ROI between the specified thresholds in config.
+     * Calculated only if calculation method is set to AVERAGE or MIN oR MAX.
+     */
+    std::uint16_t depthMax = 0;
+    /**
+     *  Number of depth values used in calculations.
+     */
+    std::uint32_t depthAveragePixelCount = 0;
+    /**
+     *  Spatial coordinates - x,y,z; x,y are the relative positions of the center of ROI to the center of depth map
+     */
+    Point3f spatialCoordinates;
+};
+DEPTHAI_SERIALIZE_EXT(SpatialLocations, config, depthAverage, depthMode, depthMedian, depthMin, depthMax, depthAveragePixelCount, spatialCoordinates);
+
 /**
  * SpatialLocationCalculatorData message. Carries spatial information (X,Y,Z) and their configuration parameters
  */
 class SpatialLocationCalculatorData : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawSpatialLocations& rawdata;
-
    public:
     /**
      * Construct SpatialLocationCalculatorData message.
      */
-    SpatialLocationCalculatorData();
-    explicit SpatialLocationCalculatorData(std::shared_ptr<RawSpatialLocations> ptr);
+    SpatialLocationCalculatorData() = default;
     virtual ~SpatialLocationCalculatorData() = default;
 
     /**
      * Retrieve configuration data for SpatialLocationCalculatorData.
      * @returns Vector of spatial location data, carrying spatial information (X,Y,Z)
      */
-    std::vector<SpatialLocations>& getSpatialLocations() const;
+    std::vector<SpatialLocations> getSpatialLocations() const;  // TODO - should we return a copy instead?
+    // TODO(Morato) - make this private
+    std::vector<SpatialLocations> spatialLocations;
 
-    std::vector<SpatialLocations>& spatialLocations;
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    SpatialLocationCalculatorData& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Sets image timestamp related to dai::Clock::now()
-     */
-    SpatialLocationCalculatorData& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
-
-    /**
-     * Retrieves image sequence number
-     */
-    SpatialLocationCalculatorData& setSequenceNum(int64_t sequenceNum);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::SpatialLocationCalculatorData;
+    };
+    DEPTHAI_SERIALIZE(SpatialLocationCalculatorData, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, spatialLocations);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/StereoDepthConfig.hpp b/include/depthai/pipeline/datatype/StereoDepthConfig.hpp
index e709d1140..6583f395f 100644
--- a/include/depthai/pipeline/datatype/StereoDepthConfig.hpp
+++ b/include/depthai/pipeline/datatype/StereoDepthConfig.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
+#include <depthai/common/optional.hpp>
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
 namespace dai {
@@ -12,24 +12,540 @@ namespace dai {
  * StereoDepthConfig message.
  */
 class StereoDepthConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawStereoDepthConfig& cfg;
-
    public:
-    using MedianFilter = dai::MedianFilter;
-    using AlgorithmControl = RawStereoDepthConfig::AlgorithmControl;
-    using PostProcessing = RawStereoDepthConfig::PostProcessing;
-    using CensusTransform = RawStereoDepthConfig::CensusTransform;
-    using CostMatching = RawStereoDepthConfig::CostMatching;
-    using CostAggregation = RawStereoDepthConfig::CostAggregation;
-
     /**
      * Construct StereoDepthConfig message.
      */
-    StereoDepthConfig();
-    explicit StereoDepthConfig(std::shared_ptr<RawStereoDepthConfig> ptr);
+    StereoDepthConfig() = default;
     virtual ~StereoDepthConfig() = default;
 
+    /**
+     * Median filter config for disparity post-processing
+     */
+    enum class MedianFilter : int32_t { MEDIAN_OFF = 0, KERNEL_3x3 = 3, KERNEL_5x5 = 5, KERNEL_7x7 = 7 };
+
+    struct AlgorithmControl {
+        /**
+         * Align the disparity/depth to the perspective of a rectified output, or center it
+         */
+        enum class DepthAlign : int32_t { RECTIFIED_RIGHT, RECTIFIED_LEFT, CENTER };
+
+        /**
+         * Measurement unit for depth data
+         */
+        enum class DepthUnit : int32_t { METER, CENTIMETER, MILLIMETER, INCH, FOOT, CUSTOM };
+
+        /**
+         * Set the disparity/depth alignment to the perspective of a rectified output, or center it
+         */
+        DepthAlign depthAlign = DepthAlign::RECTIFIED_LEFT;
+
+        /**
+         * Measurement unit for depth data.
+         * Depth data is integer value, multiple of depth unit.
+         */
+        DepthUnit depthUnit = DepthUnit::MILLIMETER;
+
+        /**
+         * Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter.
+         * A multiplier of 1000 effectively means depth unit in millimeter.
+         */
+        float customDepthUnitMultiplier = 1000.f;
+
+        /**
+         * Computes and combines disparities in both L-R and R-L directions, and combine them.
+         * For better occlusion handling
+         */
+        bool enableLeftRightCheck = true;
+
+        /**
+         * Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
+         * Suitable for short range objects
+         */
+        bool enableExtended = false;
+
+        /**
+         * Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
+         */
+        bool enableSubpixel = true;
+
+        /**
+         * Left-right check threshold for left-right, right-left disparity map combine, 0..128
+         * Used only when left-right check mode is enabled.
+         * Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps
+         */
+        std::int32_t leftRightCheckThreshold = 10;
+
+        /**
+         * Number of fractional bits for subpixel mode
+         *
+         * Valid values: 3,4,5
+         *
+         * Defines the number of fractional disparities: 2^x
+         *
+         * Median filter postprocessing is supported only for 3 fractional bits
+         */
+        std::int32_t subpixelFractionalBits = 5;
+
+        /**
+         * Shift input frame by a number of pixels to increase minimum depth.
+         * For example shifting by 48 will change effective disparity search range from (0,95] to [48,143].
+         * An alternative approach to reducing the minZ.
+         * We normally only recommend doing this when it is known that there will be no objects
+         * farther away than MaxZ, such as having a depth camera mounted above a table
+         * pointing down at the table surface.
+         */
+        std::int32_t disparityShift = 0;
+
+        /**
+         * Replace of invalid disparity with computed spatial kernel average.
+         */
+        bool replaceInvalidDisparity = false;
+
+        /**
+         * Outliers Remove Threshold
+         */
+        uint8_t outlierRemoveThreshold = 15;
+        /**
+         * Census Threshold
+         */
+        uint8_t outlierCensusThreshold = 32;
+        /**
+         * Kernel radius difference threshold
+         */
+        uint8_t outlierDiffThreshold = 4;
+        /*
+         * Used only for debug purposes. centerAlignmentShiftFactor is set automatically in firmware,
+         * from camera extrinsics when depth alignment to camera is enabled.
+         * Center alignment is achieved by shifting the obtained disparity map by a scale factor.
+         * It's used to align to a different camera that is on the same horizontal baseline as the two stereo cameras.
+         * E.g. if we have a device with 10 cm stereo baseline, and we have another camera inbetween,
+         * 9cm from the LEFT camera and 1 cm from the RIGHT camera we can align the obtained disparity map using a scale factor of 0.9.
+         * Note that aligning disparity map to a different camera involves 2 steps:
+         * 1. Shifting obtained disparity map.
+         * 2. Warping the image to counter rotate and scaling to match the FOV.
+         * Center alignment factor 1 is equivalent to RECTIFIED_RIGHT
+         * Center alignment factor 0 is equivalent to RECTIFIED_LEFT
+         */
+        std::optional<float> centerAlignmentShiftFactor;
+
+        /**
+         * Invalidate X amount of pixels at the edge of disparity frame.
+         * For right and center alignment X pixels will be invalidated from the right edge,
+         * for left alignment from the left edge.
+         */
+        std::int32_t numInvalidateEdgePixels = 0;
+
+        DEPTHAI_SERIALIZE(AlgorithmControl,
+                          depthAlign,
+                          depthUnit,
+                          customDepthUnitMultiplier,
+                          enableLeftRightCheck,
+                          enableExtended,
+                          enableSubpixel,
+                          leftRightCheckThreshold,
+                          subpixelFractionalBits,
+                          disparityShift,
+                          replaceInvalidDisparity,
+                          outlierRemoveThreshold,
+                          outlierCensusThreshold,
+                          outlierDiffThreshold,
+                          centerAlignmentShiftFactor,
+                          numInvalidateEdgePixels);
+    };
+
+    /**
+     * Post-processing filters, all the filters are applied in disparity domain.
+     */
+    struct PostProcessing {
+        /**
+         * Set kernel size for disparity/depth median filtering, or disable
+         */
+        MedianFilter median = MedianFilter::MEDIAN_OFF;
+
+        /**
+         * Sigma value for bilateral filter. 0 means disabled.
+         * A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.
+         */
+        std::int16_t bilateralSigmaValue = 0;
+
+        /**
+         * 1D edge-preserving spatial filter using high-order domain transform.
+         */
+        struct SpatialFilter {
+            static constexpr const std::int32_t DEFAULT_DELTA_VALUE = 3;
+
+            /**
+             * Whether to enable or disable the filter.
+             */
+            bool enable = false;
+
+            /**
+             * An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes.
+             * Intended to rectify minor artefacts with minimal performance impact.
+             * Search radius for hole filling.
+             */
+            std::uint8_t holeFillingRadius = 2;
+
+            /**
+             * The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter.
+             * Determines the amount of smoothing.
+             */
+            float alpha = 0.5f;
+
+            /**
+             * Step-size boundary. Establishes the threshold used to preserve "edges".
+             * If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter,
+             * then filtering will be temporarily disabled.
+             * Default value 0 means auto: 3 disparity integer levels.
+             * In case of subpixel mode it's 3*number of subpixel levels.
+             */
+            std::int32_t delta = 0;
+
+            /**
+             * Number of iterations over the image in both horizontal and vertical direction.
+             */
+            std::int32_t numIterations = 1;
+
+            DEPTHAI_SERIALIZE(SpatialFilter, enable, holeFillingRadius, alpha, delta, numIterations);
+        };
+
+        /**
+         * Edge-preserving filtering: This type of filter will smooth the depth noise while attempting to preserve edges.
+         */
+        SpatialFilter spatialFilter;
+
+        /**
+         * Temporal filtering with optional persistence.
+         */
+        struct TemporalFilter {
+            static constexpr const std::int32_t DEFAULT_DELTA_VALUE = 3;
+
+            /**
+             * Whether to enable or disable the filter.
+             */
+            bool enable = false;
+
+            /**
+             * Persistency algorithm type.
+             */
+            enum class PersistencyMode : int32_t {
+                PERSISTENCY_OFF = 0,
+                VALID_8_OUT_OF_8 = 1,
+                VALID_2_IN_LAST_3 = 2,
+                VALID_2_IN_LAST_4 = 3,
+                VALID_2_OUT_OF_8 = 4,
+                VALID_1_IN_LAST_2 = 5,
+                VALID_1_IN_LAST_5 = 6,
+                VALID_1_IN_LAST_8 = 7,
+                PERSISTENCY_INDEFINITELY = 8,
+            };
+
+            /**
+             * Persistency mode.
+             * If the current disparity/depth value is invalid, it will be replaced by an older value, based on persistency mode.
+             */
+            PersistencyMode persistencyMode = PersistencyMode::VALID_2_IN_LAST_4;
+
+            /**
+             * The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter.
+             * Determines the extent of the temporal history that should be averaged.
+             */
+            float alpha = 0.4f;
+
+            /**
+             * Step-size boundary. Establishes the threshold used to preserve surfaces (edges).
+             * If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter,
+             * then filtering will be temporarily disabled.
+             * Default value 0 means auto: 3 disparity integer levels.
+             * In case of subpixel mode it's 3*number of subpixel levels.
+             */
+            std::int32_t delta = 0;
+
+            DEPTHAI_SERIALIZE(TemporalFilter, enable, persistencyMode, alpha, delta);
+        };
+
+        /**
+         * Temporal filtering with optional persistence.
+         */
+        TemporalFilter temporalFilter;
+
+        /**
+         * Threshold filtering.
+         * Filters out distances outside of a given interval.
+         */
+        struct ThresholdFilter {
+            /**
+             * Minimum range in depth units.
+             * Depth values under this value are invalidated.
+             */
+            std::int32_t minRange = 0;
+            /**
+             * Maximum range in depth units.
+             * Depth values over this value are invalidated.
+             */
+            std::int32_t maxRange = 65535;
+
+            DEPTHAI_SERIALIZE(ThresholdFilter, minRange, maxRange);
+        };
+
+        /**
+         * Threshold filtering.
+         * Filters out distances outside of a given interval.
+         */
+        ThresholdFilter thresholdFilter;
+
+        /**
+         * Brightness filtering.
+         * If input frame pixel is too dark or too bright, disparity will be invalidated.
+         * The idea is that for too dark/too bright pixels we have low confidence,
+         * since that area was under/over exposed and details were lost.
+         */
+        struct BrightnessFilter {
+            /**
+             * Minimum pixel brightness.
+             * If input pixel is less or equal than this value the depth value is invalidated.
+             */
+            std::int32_t minBrightness = 0;
+            /**
+             * Maximum range in depth units.
+             * If input pixel is less or equal than this value the depth value is invalidated.
+             */
+            std::int32_t maxBrightness = 256;
+
+            DEPTHAI_SERIALIZE(BrightnessFilter, minBrightness, maxBrightness);
+        };
+
+        /**
+         * Brightness filtering.
+         * If input frame pixel is too dark or too bright, disparity will be invalidated.
+         * The idea is that for too dark/too bright pixels we have low confidence,
+         * since that area was under/over exposed and details were lost.
+         */
+        BrightnessFilter brightnessFilter;
+
+        /**
+         * Speckle filtering.
+         * Removes speckle noise.
+         */
+        struct SpeckleFilter {
+            /**
+             * Whether to enable or disable the filter.
+             */
+            bool enable = false;
+            /**
+             * Speckle search range.
+             */
+            std::uint32_t speckleRange = 50;
+
+            DEPTHAI_SERIALIZE(SpeckleFilter, enable, speckleRange);
+        };
+
+        /**
+         * Speckle filtering.
+         * Removes speckle noise.
+         */
+        SpeckleFilter speckleFilter;
+
+        /**
+         * Decimation filter.
+         * Reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels.
+         */
+        struct DecimationFilter {
+            /**
+             * Decimation factor.
+             * Valid values are 1,2,3,4.
+             * Disparity/depth map x/y resolution will be decimated with this value.
+             */
+            std::uint32_t decimationFactor = 1;
+            /**
+             * Decimation algorithm type.
+             */
+            enum class DecimationMode : int32_t {
+                PIXEL_SKIPPING = 0,
+                NON_ZERO_MEDIAN = 1,
+                NON_ZERO_MEAN = 2,
+            };
+            /**
+             * Decimation algorithm type.
+             */
+            DecimationMode decimationMode = DecimationMode::PIXEL_SKIPPING;
+
+            DEPTHAI_SERIALIZE(DecimationFilter, decimationFactor, decimationMode);
+        };
+
+        /**
+         * Decimation filter.
+         * Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.
+         */
+        DecimationFilter decimationFilter;
+
+        DEPTHAI_SERIALIZE(
+            PostProcessing, median, bilateralSigmaValue, spatialFilter, temporalFilter, thresholdFilter, brightnessFilter, speckleFilter, decimationFilter);
+    };
+
+    /**
+     * The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census
+     * Transform. It works on a block of pixels and computes a bit vector which represents the structure of the
+     * image in that block.
+     * There are two types of Census Transform based on how the middle pixel is used:
+     * Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded.
+     * In some cases a mask can be applied to filter out only specific bits from the entire bit stream.
+     * All these approaches are:
+     * Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each
+     * comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor.
+     * Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel
+     * with its neighbors, the window mean will be compared with each pixel over the window.
+     * Thresholding Census Transform: same as classic Census Transform, but it is not enough that a
+     * neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold).
+     * Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from
+     * the support window are part of the binary descriptor. We use a ma sk “M� to define which pixels are part
+     * of the binary descriptor (1), and which pixels should be skipped (0).
+     */
+    struct CensusTransform {
+        /**
+         * Census transform kernel size possible values.
+         */
+        enum class KernelSize : std::int32_t { AUTO = -1, KERNEL_5x5 = 0, KERNEL_7x7, KERNEL_7x9 };
+
+        /**
+         * Census transform kernel size.
+         */
+        KernelSize kernelSize = KernelSize::AUTO;
+
+        /**
+         * Census transform mask, default - auto, mask is set based on resolution and kernel size.
+         * Disabled for 400p input resolution.
+         * Enabled for 720p.
+         * 0XA82415 for 5x5 census transform kernel.
+         * 0XAA02A8154055 for 7x7 census transform kernel.
+         * 0X2AA00AA805540155 for 7x9 census transform kernel.
+         * Empirical values.
+         */
+        uint64_t kernelMask = 0;
+
+        /**
+         * If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.
+         */
+        bool enableMeanMode = true;
+
+        /**
+         * Census transform comparison threshold value.
+         */
+        uint32_t threshold = 0;
+
+        DEPTHAI_SERIALIZE(CensusTransform, kernelSize, kernelMask, enableMeanMode, threshold);
+    };
+
+    /**
+     * The matching cost is way of measuring the similarity of image locations in stereo correspondence
+     * algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation
+     * is applied to computing the cost for each candidate disparity at each pixel.
+     */
+    struct CostMatching {
+        /**
+         * Disparity search range: 64 or 96 pixels are supported by the HW.
+         */
+        enum class DisparityWidth : std::uint32_t { DISPARITY_64, DISPARITY_96 };
+
+        /**
+         * Disparity search range, default 96 pixels.
+         */
+        DisparityWidth disparityWidth = DisparityWidth::DISPARITY_96;
+
+        /**
+         * Disparity companding using sparse matching.
+         * Matching pixel by pixel for N disparities.
+         * Matching every 2nd pixel for M disparitites.
+         * Matching every 4th pixel for T disparities.
+         * In case of 96 disparities: N=48, M=32, T=16.
+         * This way the search range is extended to 176 disparities, by sparse matching.
+         * Note: when enabling this flag only depth map will be affected, disparity map is not.
+         */
+        bool enableCompanding = false;
+
+        /**
+         * Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.
+         */
+        uint8_t invalidDisparityValue = 0;
+
+        /**
+         * Disparities with confidence value under this threshold are accepted.
+         * Higher confidence threshold means disparities with less confidence are accepted too.
+         */
+        uint8_t confidenceThreshold = 245;
+
+        /**
+         * The linear equation applied for computing the cost is:
+         * COMB_COST = α*AD + β*(CTC<<3).
+         * CLAMP(COMB_COST >> 5, threshold).
+         * Where AD is the Absolute Difference between 2 pixels values.
+         * CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor).
+         * The α and β parameters are subject to fine tuning by the user.
+         */
+        struct LinearEquationParameters {
+            uint8_t alpha = 0;
+            uint8_t beta = 2;
+            uint8_t threshold = 127;
+
+            DEPTHAI_SERIALIZE(LinearEquationParameters, alpha, beta, threshold);
+        };
+
+        /**
+         * Cost calculation linear equation parameters.
+         */
+        LinearEquationParameters linearEquationParameters;
+
+        DEPTHAI_SERIALIZE(CostMatching, disparityWidth, enableCompanding, invalidDisparityValue, confidenceThreshold, linearEquationParameters);
+    };
+
+    /**
+     * Cost Aggregation is based on Semi Global Block Matching (SGBM). This algorithm uses a semi global
+     * technique to aggregate the cost map. Ultimately the idea is to build inertia into the stereo algorithm. If
+     * a pixel has very little texture information, then odds are the correct disparity for this pixel is close to
+     * that of the previous pixel considered. This means that we get improved results in areas with low
+     * texture.
+     */
+    struct CostAggregation {
+        static constexpr const int defaultPenaltyP1 = 250;
+        static constexpr const int defaultPenaltyP2 = 500;
+
+        /**
+         * Cost calculation linear equation parameters.
+         */
+        uint8_t divisionFactor = 1;
+
+        /**
+         * Horizontal P1 penalty cost parameter.
+         */
+        uint16_t horizontalPenaltyCostP1 = defaultPenaltyP1;
+        /**
+         * Horizontal P2 penalty cost parameter.
+         */
+        uint16_t horizontalPenaltyCostP2 = defaultPenaltyP2;
+
+        /**
+         * Vertical P1 penalty cost parameter.
+         */
+        uint16_t verticalPenaltyCostP1 = defaultPenaltyP1;
+        /**
+         * Vertical P2 penalty cost parameter.
+         */
+        uint16_t verticalPenaltyCostP2 = defaultPenaltyP2;
+
+        enum class LocalAggregationMode : std::uint32_t { AVG3x3, CLAMP3x3, PASS3x3 };
+
+        LocalAggregationMode localAggregationMode = LocalAggregationMode::AVG3x3;
+
+        DEPTHAI_SERIALIZE(CostAggregation,
+                          divisionFactor,
+                          horizontalPenaltyCostP1,
+                          horizontalPenaltyCostP2,
+                          verticalPenaltyCostP1,
+                          verticalPenaltyCostP2,
+                          localAggregationMode);
+    };
+
     /**
      * @param align Set the disparity/depth alignment: centered (between the 'left' and 'right' inputs),
      * or from the perspective of a rectified output stream
@@ -121,6 +637,7 @@ class StereoDepthConfig : public Buffer {
      */
     StereoDepthConfig& setDisparityShift(int disparityShift);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Invalidate X amount of pixels at the edge of disparity frame.
      * For right and center alignment X pixels will be invalidated from the right edge,
@@ -140,16 +657,35 @@ class StereoDepthConfig : public Buffer {
     float getMaxDisparity() const;
 
     /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
+     * Controls the flow of stereo algorithm - left-right check, subpixel etc.
+     */
+    AlgorithmControl algorithmControl;
+
+    /**
+     * Controls the postprocessing of disparity and/or depth map.
      */
-    StereoDepthConfig& set(dai::RawStereoDepthConfig config);
+    PostProcessing postProcessing;
 
     /**
-     * Retrieve configuration data for StereoDepth.
-     * @returns config for stereo depth algorithm
+     * Census transform settings.
      */
-    dai::RawStereoDepthConfig get() const;
+    CensusTransform censusTransform;
+
+    /**
+     * Cost matching settings.
+     */
+    CostMatching costMatching;
+
+    /**
+     * Cost aggregation settings.
+     */
+    CostAggregation costAggregation;
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::StereoDepthConfig;
+    };
+    DEPTHAI_SERIALIZE(StereoDepthConfig, algorithmControl, postProcessing, censusTransform, costMatching, costAggregation);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/StreamMessageParser.hpp b/include/depthai/pipeline/datatype/StreamMessageParser.hpp
index 3e0c99e54..967c92e59 100644
--- a/include/depthai/pipeline/datatype/StreamMessageParser.hpp
+++ b/include/depthai/pipeline/datatype/StreamMessageParser.hpp
@@ -7,12 +7,8 @@
 #include <XLink/XLinkPublicDefines.h>
 
 // project
-#include "depthai-shared/datatype/DatatypeEnum.hpp"
-#include "depthai-shared/datatype/RawMessageGroup.hpp"
 #include "depthai/pipeline/datatype/ADatatype.hpp"
-
-// shared
-#include "depthai-shared/datatype/RawBuffer.hpp"
+#include "depthai/xlink/XLinkStream.hpp"
 
 // StreamPacket structure ->  || imgframepixels... , serialized_object, object_type, serialized_object_size ||
 // object_type -> DataType(int), serialized_object_size -> int
@@ -20,12 +16,11 @@
 namespace dai {
 class StreamMessageParser {
    public:
-    static std::shared_ptr<RawBuffer> parseMessage(streamPacketDesc_t* const packet);
-    static std::shared_ptr<ADatatype> parseMessageToADatatype(streamPacketDesc_t* const packet);
-    static std::shared_ptr<ADatatype> parseMessageToADatatype(streamPacketDesc_t* const packet, DatatypeEnum& type);
-    static std::vector<std::uint8_t> serializeMessage(const std::shared_ptr<const RawBuffer>& data);
-    static std::vector<std::uint8_t> serializeMessage(const RawBuffer& data);
-    static std::vector<std::uint8_t> serializeMessage(const std::shared_ptr<const ADatatype>& data);
-    static std::vector<std::uint8_t> serializeMessage(const ADatatype& data);
+    static std::shared_ptr<ADatatype> parseMessage(StreamPacketDesc packet);
+    static std::shared_ptr<ADatatype> parseMessage(streamPacketDesc_t* const packet);
+    // static std::vector<std::uint8_t> serializeMessage(const std::shared_ptr<const ADatatype>& data);
+    // static std::vector<std::uint8_t> serializeMessage(const ADatatype& data);
+    static std::vector<std::uint8_t> serializeMetadata(const std::shared_ptr<const ADatatype>& data);
+    static std::vector<std::uint8_t> serializeMetadata(const ADatatype& data);
 };
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/SystemInformation.hpp b/include/depthai/pipeline/datatype/SystemInformation.hpp
index 7f32b6583..0652cac47 100644
--- a/include/depthai/pipeline/datatype/SystemInformation.hpp
+++ b/include/depthai/pipeline/datatype/SystemInformation.hpp
@@ -4,32 +4,40 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawSystemInformation.hpp"
+#include "depthai/common/ChipTemperature.hpp"
+#include "depthai/common/CpuUsage.hpp"
+#include "depthai/common/MemoryInfo.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Serialization.hpp"
 namespace dai {
 
 /**
  * SystemInformation message. Carries memory usage, cpu usage and chip temperatures.
  */
 class SystemInformation : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawSystemInformation& systemInformation;
-
    public:
     /**
      * Construct SystemInformation message.
      */
-    SystemInformation();
-    explicit SystemInformation(std::shared_ptr<RawSystemInformation> ptr);
+    SystemInformation() = default;
     virtual ~SystemInformation() = default;
 
-    MemoryInfo& ddrMemoryUsage;
-    MemoryInfo& cmxMemoryUsage;
-    MemoryInfo& leonCssMemoryUsage;
-    MemoryInfo& leonMssMemoryUsage;
-    CpuUsage& leonCssCpuUsage;
-    CpuUsage& leonMssCpuUsage;
-    ChipTemperature& chipTemperature;
+    MemoryInfo ddrMemoryUsage;
+    MemoryInfo cmxMemoryUsage;
+    MemoryInfo leonCssMemoryUsage;
+    MemoryInfo leonMssMemoryUsage;
+    CpuUsage leonCssCpuUsage;
+    CpuUsage leonMssCpuUsage;
+    ChipTemperature chipTemperature;
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::SystemInformation;
+    };
+
+    DEPTHAI_SERIALIZE(
+        SystemInformation, ddrMemoryUsage, cmxMemoryUsage, leonCssMemoryUsage, leonMssMemoryUsage, leonCssCpuUsage, leonMssCpuUsage, chipTemperature);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/SystemInformationS3.hpp b/include/depthai/pipeline/datatype/SystemInformationS3.hpp
new file mode 100644
index 000000000..d4770937f
--- /dev/null
+++ b/include/depthai/pipeline/datatype/SystemInformationS3.hpp
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/ChipTemperatureS3.hpp"
+#include "depthai/common/CpuUsage.hpp"
+#include "depthai/common/MemoryInfo.hpp"
+#include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Serialization.hpp"
+namespace dai {
+
+/**
+ * SystemInformation message for series 3 devices.
+ * Carries memory usage, cpu usage and chip temperatures.
+ */
+class SystemInformationS3 : public Buffer {
+   public:
+    /**
+     * Construct SystemInformation message.
+     */
+    SystemInformationS3() = default;
+    virtual ~SystemInformationS3() = default;
+
+    MemoryInfo ddrMemoryUsage;
+    CpuUsage cpuAvgUsage;
+    std::vector<CpuUsage> cpuUsages;
+    ChipTemperatureS3 chipTemperature;
+
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::SystemInformationS3;
+    };
+
+    DEPTHAI_SERIALIZE(SystemInformationS3, ddrMemoryUsage, cpuAvgUsage, cpuUsages, chipTemperature);
+};
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/pipeline/datatype/ToFConfig.hpp b/include/depthai/pipeline/datatype/ToFConfig.hpp
index 0d877ee99..dd6f0ce1d 100644
--- a/include/depthai/pipeline/datatype/ToFConfig.hpp
+++ b/include/depthai/pipeline/datatype/ToFConfig.hpp
@@ -1,51 +1,70 @@
 #pragma once
-
-#include <unordered_map>
-#include <vector>
-
-#include "depthai-shared/datatype/RawToFConfig.hpp"
+#include "depthai/common/MedianFilter.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
-
+#include "depthai/utility/Serialization.hpp"
 namespace dai {
 
 /**
  * ToFConfig message. Carries config for feature tracking algorithm
  */
 class ToFConfig : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawToFConfig& cfg;
-
    public:
-    // Raw* mirror
-    using DepthParams = RawToFConfig::DepthParams;
+    struct DepthParams {
+        /**
+         * Enable feature maintaining or not.
+         */
+        bool enable = true;
+
+        /**
+         * Enable averaging between phases with same modulation frequency(e.g. for ToF cameras with phase shuffle).
+         * The depth frame rate will be half if this is enabled
+         */
+        bool avgPhaseShuffle = false;
+
+        /**
+         * Perform depth calculation only for pixels with amplitude greater than provided value
+         */
+        float minimumAmplitude = 5.0;
+
+        /**
+         * Frequency modulation frames used for depth calculation. If the ToF sensor supports multiple modulation frequencies,
+         * all will be used for depth calculation.
+         */
+        enum class TypeFMod : std::int32_t { F_MOD_ALL, F_MOD_MIN, F_MOD_MAX };
 
+        TypeFMod freqModUsed = TypeFMod::F_MOD_MIN;
+        /**
+         * Set kernel size for depth median filtering, or disable
+         */
+        MedianFilter median = MedianFilter::KERNEL_5x5;
+
+        DEPTHAI_SERIALIZE(DepthParams, enable, avgPhaseShuffle, minimumAmplitude, freqModUsed, median);
+    };
+
+    DepthParams depthParams;
     /**
      * Construct ToFConfig message.
      */
-    ToFConfig();
-    explicit ToFConfig(std::shared_ptr<RawToFConfig> ptr);
+    ToFConfig() = default;
     virtual ~ToFConfig() = default;
 
+    // TODO(before mainline) - API not supported on RVC3
     ToFConfig& setDepthParams(dai::ToFConfig::DepthParams config);
     ToFConfig& setFreqModUsed(dai::ToFConfig::DepthParams::TypeFMod fmod);
     ToFConfig& setAvgPhaseShuffle(bool enable);
     ToFConfig& setMinAmplitude(float minamp);
+
     /**
      * @param median Set kernel size for median filtering, or disable
      */
     ToFConfig& setMedianFilter(MedianFilter median);
 
-    /**
-     * Set explicit configuration.
-     * @param config Explicit configuration
-     */
-    ToFConfig& set(dai::RawToFConfig config);
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::ToFConfig;
+    };
 
-    /**
-     * Retrieve configuration data for ToF.
-     * @returns config for feature tracking algorithm
-     */
-    dai::RawToFConfig get() const;
+    DEPTHAI_SERIALIZE(ToFConfig, depthParams);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/TrackedFeatures.hpp b/include/depthai/pipeline/datatype/TrackedFeatures.hpp
index 45817658e..1d83160a1 100644
--- a/include/depthai/pipeline/datatype/TrackedFeatures.hpp
+++ b/include/depthai/pipeline/datatype/TrackedFeatures.hpp
@@ -1,44 +1,65 @@
 #pragma once
 
-#include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawTrackedFeatures.hpp"
+#include "depthai/common/Point2f.hpp"
+#include "depthai/common/Timestamp.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Serialization.hpp"
 
 namespace dai {
 
 /**
- * TrackedFeatures message. Carries position (X, Y) of tracked features and their ID.
+ * TrackedFeature structure
+ *
  */
-class TrackedFeatures : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawTrackedFeatures& rawdata;
+struct TrackedFeature {
+    /**
+     *  x, y position of the detected feature
+     */
+    Point2f position;
 
-   public:
     /**
-     * Construct TrackedFeatures message.
+     *  Feature ID. Persistent between frames if motion estimation is enabled.
      */
-    TrackedFeatures();
-    explicit TrackedFeatures(std::shared_ptr<RawTrackedFeatures> ptr);
-    virtual ~TrackedFeatures() = default;
+    uint32_t id = 0;
 
-    std::vector<TrackedFeature>& trackedFeatures;
+    /**
+     *  Feature age in frames
+     */
+    uint32_t age = 0;
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     *  Feature harris score
      */
-    TrackedFeatures& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    float harrisScore = 0.f;
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     *  Feature tracking error
      */
-    TrackedFeatures& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    float trackingError = 0.f;
+};
+DEPTHAI_SERIALIZE_EXT(TrackedFeature, position, id, age, harrisScore, trackingError);
 
+/**
+ * TrackedFeatures message. Carries position (X, Y) of tracked features and their ID.
+ */
+class TrackedFeatures : public Buffer {
+   public:
     /**
-     * Retrieves image sequence number
+     * Construct TrackedFeatures message.
      */
-    TrackedFeatures& setSequenceNum(int64_t sequenceNum);
+    TrackedFeatures() = default;
+    virtual ~TrackedFeatures() = default;
+
+    std::vector<TrackedFeature> trackedFeatures;
+    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
+        metadata = utility::serialize(*this);
+        datatype = DatatypeEnum::TrackedFeatures;
+    };
+
+    DEPTHAI_SERIALIZE(TrackedFeatures, trackedFeatures, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice);
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatype/Tracklets.hpp b/include/depthai/pipeline/datatype/Tracklets.hpp
index 278818d4b..39da1ba95 100644
--- a/include/depthai/pipeline/datatype/Tracklets.hpp
+++ b/include/depthai/pipeline/datatype/Tracklets.hpp
@@ -1,49 +1,76 @@
 #pragma once
 
 #include <ostream>
-#include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawTracklets.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/common/Rect.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/ImgDetections.hpp"
 
 namespace dai {
 
 /**
- * Tracklets message. Carries object tracking information.
+ * Tracklet structure
+ *
+ * Contains tracklets from object tracker output.
  */
-class Tracklets : public Buffer {
-    std::shared_ptr<RawBuffer> serialize() const override;
-    RawTracklets& rawdata;
-
-   public:
+struct Tracklet {
+    enum class TrackingStatus : std::int32_t {
+        NEW,     /**< The object is newly added. */
+        TRACKED, /**< The object is being tracked. */
+        LOST,   /**< The object gets lost now. The object can be tracked again automatically(long term tracking) or by specifying detected object manually(short
+                  term and zero term tracking). */
+        REMOVED /**< The object is removed. */
+    };
     /**
-     * Construct Tracklets message.
+     * Tracked region of interest.
      */
-    Tracklets();
-    explicit Tracklets(std::shared_ptr<RawTracklets> ptr);
-    virtual ~Tracklets() = default;
-
+    Rect roi;
     /**
-     * Retrieve data for Tracklets.
-     * @returns Vector of object tracker data, carrying tracking information.
+     * Tracklet's ID.
+     */
+    std::int32_t id = 0;
+    /**
+     * Tracklet's label ID.
      */
-    std::vector<Tracklet>& tracklets;
+    std::int32_t label = 0;
+    /**
+     * Number of frames it is being tracked for.
+     */
+    std::int32_t age = 0;
+    /**
+     * Status of tracklet.
+     */
+    TrackingStatus status = TrackingStatus::LOST;
 
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * Image detection that is tracked.
+     */
+    ImgDetection srcImgDetection;
+    /**
+     * Spatial coordinates of tracklet.
      */
-    Tracklets& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    Point3f spatialCoordinates;
+    DEPTHAI_SERIALIZE(Tracklet, roi, id, label, age, status, srcImgDetection, spatialCoordinates);
+};
 
+/**
+ * Tracklets message. Carries object tracking information.
+ */
+class Tracklets : public Buffer {
+   public:
     /**
-     * Sets image timestamp related to dai::Clock::now()
+     * Construct Tracklets message.
      */
-    Tracklets& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
+    Tracklets() = default;
+    virtual ~Tracklets() = default;
 
     /**
-     * Retrieves image sequence number
+     * Retrieve data for Tracklets.
+     * @returns Vector of object tracker data, carrying tracking information.
      */
-    Tracklets& setSequenceNum(int64_t sequenceNum);
+    std::vector<Tracklet> tracklets;
 };
 
 }  // namespace dai
diff --git a/include/depthai/pipeline/datatypes.hpp b/include/depthai/pipeline/datatypes.hpp
index 82462e456..f97951300 100644
--- a/include/depthai/pipeline/datatypes.hpp
+++ b/include/depthai/pipeline/datatypes.hpp
@@ -4,9 +4,11 @@
 #include "datatype/ADatatype.hpp"
 #include "datatype/AprilTagConfig.hpp"
 #include "datatype/AprilTags.hpp"
+#include "datatype/BenchmarkReport.hpp"
 #include "datatype/Buffer.hpp"
 #include "datatype/CameraControl.hpp"
 #include "datatype/EdgeDetectorConfig.hpp"
+#include "datatype/EncodedFrame.hpp"
 #include "datatype/FeatureTrackerConfig.hpp"
 #include "datatype/IMUData.hpp"
 #include "datatype/ImageManipConfig.hpp"
@@ -14,11 +16,14 @@
 #include "datatype/ImgFrame.hpp"
 #include "datatype/MessageGroup.hpp"
 #include "datatype/NNData.hpp"
+#include "datatype/PointCloudConfig.hpp"
+#include "datatype/PointCloudData.hpp"
 #include "datatype/SpatialImgDetections.hpp"
 #include "datatype/SpatialLocationCalculatorConfig.hpp"
 #include "datatype/SpatialLocationCalculatorData.hpp"
 #include "datatype/StereoDepthConfig.hpp"
 #include "datatype/SystemInformation.hpp"
+#include "datatype/SystemInformationS3.hpp"
 #include "datatype/ToFConfig.hpp"
 #include "datatype/TrackedFeatures.hpp"
 #include "datatype/Tracklets.hpp"
diff --git a/include/depthai/pipeline/node/AprilTag.hpp b/include/depthai/pipeline/node/AprilTag.hpp
index 41c7f1828..4b67e5194 100644
--- a/include/depthai/pipeline/node/AprilTag.hpp
+++ b/include/depthai/pipeline/node/AprilTag.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/AprilTagProperties.hpp>
+#include <depthai/properties/AprilTagProperties.hpp>
 
 #include "depthai/pipeline/datatype/AprilTagConfig.hpp"
 
@@ -13,19 +13,17 @@ namespace node {
 /**
  * @brief AprilTag node.
  */
-class AprilTag : public NodeCRTP<Node, AprilTag, AprilTagProperties> {
+class AprilTag : public DeviceNodeCRTP<DeviceNode, AprilTag, AprilTagProperties> {
    public:
     constexpr static const char* NAME = "AprilTag";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawAprilTagConfig> rawConfig;
-
    public:
-    AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    AprilTag() = default;
+    AprilTag(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use when calculating spatial location data.
@@ -36,28 +34,28 @@ class AprilTag : public NodeCRTP<Node, AprilTag, AprilTagProperties> {
      * Input AprilTagConfig message with ability to modify parameters in runtime.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::AprilTagConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::AprilTagConfig, false}}};
     /**
      * Input message with depth data used to retrieve spatial information about detected object.
      * Default queue is non-blocking with size 4.
      */
-    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputImage{true, *this, "inputImage", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs AprilTags message that carries spatial location results.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::AprilTags, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::AprilTags, false}}};
 
     /**
      * Outputs AprilTagConfig message that contains current configuration.
      */
-    Output outConfig{*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::AprilTagConfig, false}}};
+    Output outConfig{true, *this, "outConfig", Output::Type::MSender, {{DatatypeEnum::AprilTagConfig, false}}};
 
     /**
      * Passthrough message on which the calculation was performed.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughInputImage{*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughInputImage{true, *this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     // Functions to set properties
     /**
diff --git a/include/depthai/pipeline/node/BenchmarkIn.hpp b/include/depthai/pipeline/node/BenchmarkIn.hpp
new file mode 100644
index 000000000..71daf13b6
--- /dev/null
+++ b/include/depthai/pipeline/node/BenchmarkIn.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <depthai/pipeline/DeviceNode.hpp>
+
+// shared
+#include <depthai/properties/BenchmarkPropertiesIn.hpp>
+
+namespace dai {
+namespace node {
+
+// TODO(before mainline) - API not supported on RVC2
+class BenchmarkIn : public DeviceNodeCRTP<DeviceNode, BenchmarkIn, BenchmarkPropertiesIn> {
+   public:
+    constexpr static const char* NAME = "BenchmarkIn";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+
+    /**
+     * Receive messages as fast as possible
+     */
+    Input input{true, *this, "input", Input::Type::SReceiver, true, 4, {{DatatypeEnum::Buffer, true}}};
+
+    /**
+     * Passthrough for input messages (so the node can be placed between other nodes)
+     */
+    Output passthrough{true, *this, "passthrough", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+
+    /**
+     * Send a benchmark report when the set number of messages are received
+     */
+    Output report{true, *this, "report", Output::Type::MSender, {{DatatypeEnum::BenchmarkReport, false}}};
+
+    /**
+     * Set number of messages that the nodes retrieves before sending the report
+     * The passthrough keeps getting forwarded after the report is sent
+     * @param num of messages to get for report
+     */
+    void setNumMessagesToGet(int num);
+};
+
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/node/BenchmarkOut.hpp b/include/depthai/pipeline/node/BenchmarkOut.hpp
new file mode 100644
index 000000000..5f7ff6d29
--- /dev/null
+++ b/include/depthai/pipeline/node/BenchmarkOut.hpp
@@ -0,0 +1,43 @@
+#pragma once
+
+#include <depthai/pipeline/DeviceNode.hpp>
+
+// shared
+#include <depthai/properties/BenchmarkPropertiesOut.hpp>
+
+namespace dai {
+namespace node {
+
+class BenchmarkOut : public DeviceNodeCRTP<DeviceNode, BenchmarkOut, BenchmarkPropertiesOut> {
+   public:
+    constexpr static const char* NAME = "BenchmarkOut";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+
+    void build() {
+        properties.numMessages = -1;  // By default send messages indefinitely
+    }
+
+    /**
+     *  Send messages out as fast as possible
+     */
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+
+    /**
+     * Message that will be sent repeatably
+     */
+    Input input{true, *this, "input", Input::Type::SReceiver, true, 1, {{DatatypeEnum::Buffer, true}}};
+
+    /**
+     * Sets number of messages to send, by default send messages indefinitely
+     * @param num number of messages to send
+     */
+    void setNumMessagesToSend(int num);
+
+    /**
+     * Set FPS at which the node is sending out messages. 0 means as fast as possible
+     */
+    void setFps(float fps);
+};
+
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/node/Camera.hpp b/include/depthai/pipeline/node/Camera.hpp
index 6d657be4b..d9593d77b 100644
--- a/include/depthai/pipeline/node/Camera.hpp
+++ b/include/depthai/pipeline/node/Camera.hpp
@@ -2,35 +2,34 @@
 
 #include <depthai/pipeline/datatype/CameraControl.hpp>
 
-#include "depthai/pipeline/Node.hpp"
-#include "depthai/pipeline/datatype/ImgFrame.hpp"
+#include "depthai/pipeline/DeviceNode.hpp"
 #include "depthai/utility/span.hpp"
 
 // shared
-#include <depthai-shared/properties/CameraProperties.hpp>
+#include <depthai/properties/CameraProperties.hpp>
 
 namespace dai {
 namespace node {
 
+// TODO(before mainline) - API not supported on RVC3 - Camera node needs to be implemented
 /**
  * @brief Camera node. Experimental node, for both mono and color types of sensors
  */
-class Camera : public NodeCRTP<Node, Camera, CameraProperties> {
+class Camera : public DeviceNodeCRTP<DeviceNode, Camera, CameraProperties> {
    public:
     constexpr static const char* NAME = "Camera";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawCameraControl> rawControl;
-
    public:
     /**
      * Constructs Camera node.
      */
-    Camera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    Camera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    Camera() = default;
+    Camera(std::unique_ptr<Properties> props);
 
     /**
      * Computes the scaled size given numerator and denominator
@@ -47,49 +46,49 @@ class Camera : public NodeCRTP<Node, Camera, CameraProperties> {
      *
      * Default queue is non-blocking with size 8
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}};
 
     /**
      * Input for CameraControl message, which can modify camera parameters in runtime
      *
      * Default queue is blocking with size 8
      */
-    Input inputControl{*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
+    Input inputControl{true, *this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
 
     /**
      * Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.
      *
      * Suitable for use with VideoEncoder node
      */
-    Output video{*this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output video{true, *this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.
      *
      * Suitable for use with NeuralNetwork node
      */
-    Output preview{*this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output preview{true, *this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.
      *
      * The message is sent only when a CameraControl message arrives to inputControl with captureStill command set.
      */
-    Output still{*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output still{true, *this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.
      *
      * Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs
      */
-    Output isp{*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output isp{true, *this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
      *
      * Captured directly from the camera sensor, and the source for the 'isp' output.
      */
-    Output raw{*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output raw{true, *this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.
@@ -99,7 +98,7 @@ class Camera : public NodeCRTP<Node, Camera, CameraProperties> {
      * Could be used to synchronize various processes with camera capture.
      * Fields populated: camera id, sequence number, timestamp
      */
-    Output frameEvent{*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output frameEvent{true, *this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Input for mocking 'isp' functionality.
@@ -333,7 +332,7 @@ class Camera : public NodeCRTP<Node, Camera, CameraProperties> {
     /// Set calibration alpha parameter that determines FOV of undistorted frames
     void setCalibrationAlpha(float alpha);
     /// Get calibration alpha parameter that determines FOV of undistorted frames
-    tl::optional<float> getCalibrationAlpha() const;
+    std::optional<float> getCalibrationAlpha() const;
 
     /**
      * Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
diff --git a/include/depthai/pipeline/node/ColorCamera.hpp b/include/depthai/pipeline/node/ColorCamera.hpp
index 01fc2623a..dc715f092 100644
--- a/include/depthai/pipeline/node/ColorCamera.hpp
+++ b/include/depthai/pipeline/node/ColorCamera.hpp
@@ -1,11 +1,10 @@
 #pragma once
 
+#include <depthai/pipeline/DeviceNode.hpp>
 #include <depthai/pipeline/datatype/CameraControl.hpp>
-
-#include "depthai/pipeline/Node.hpp"
-
+#include <depthai/pipeline/datatype/ImgFrame.hpp>
 // shared
-#include <depthai-shared/properties/ColorCameraProperties.hpp>
+#include <depthai/properties/ColorCameraProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -13,22 +12,21 @@ namespace node {
 /**
  * @brief ColorCamera node. For use with color sensors.
  */
-class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
+class ColorCamera : public DeviceNodeCRTP<DeviceNode, ColorCamera, ColorCameraProperties> {
    public:
     constexpr static const char* NAME = "ColorCamera";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawCameraControl> rawControl;
-
    public:
     /**
      * Constructs ColorCamera node.
      */
-    ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    ColorCamera() = default;
+    ColorCamera(std::unique_ptr<Properties> props);
 
     /**
      * Computes the scaled size given numerator and denominator
@@ -45,14 +43,14 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      *
      * Default queue is non-blocking with size 8
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 8, {{DatatypeEnum::ImageManipConfig, false}}};
 
     /**
      * Input for CameraControl message, which can modify camera parameters in runtime
      *
      * Default queue is blocking with size 8
      */
-    Input inputControl{*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
+    Input inputControl{true, *this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
 
     /**
      * Input for mocking 'isp' functionality.
@@ -66,35 +64,35 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      *
      * Suitable for use with VideoEncoder node
      */
-    Output video{*this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output video{true, *this, "video", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries BGR/RGB planar/interleaved encoded frame data.
      *
      * Suitable for use with NeuralNetwork node
      */
-    Output preview{*this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output preview{true, *this, "preview", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries NV12 encoded (YUV420, UV plane interleaved) frame data.
      *
      * The message is sent only when a CameraControl message arrives to inputControl with captureStill command set.
      */
-    Output still{*this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output still{true, *this, "still", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries YUV420 planar (I420/IYUV) frame data.
      *
      * Generated by the ISP engine, and the source for the 'video', 'preview' and 'still' outputs
      */
-    Output isp{*this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output isp{true, *this, "isp", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
      *
      * Captured directly from the camera sensor, and the source for the 'isp' output.
      */
-    Output raw{*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output raw{true, *this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.
@@ -104,7 +102,7 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      * Could be used to synchronize various processes with camera capture.
      * Fields populated: camera id, sequence number, timestamp
      */
-    Output frameEvent{*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output frameEvent{true, *this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Specify which board socket to use
@@ -143,22 +141,28 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
     CameraImageOrientation getImageOrientation() const;
 
     /// Set color order of preview output images. RGB or BGR
-    void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
+    [[deprecated("Use 'setPreviewType()' instead")]] void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
 
     /// Get color order of preview output frames. RGB or BGR
-    ColorCameraProperties::ColorOrder getColorOrder() const;
+    [[deprecated("Use 'getPreviewType()' instead")]] ColorCameraProperties::ColorOrder getColorOrder() const;
 
     /// Set planar or interleaved data of preview output frames
-    void setInterleaved(bool interleaved);
+    [[deprecated("Use 'setPreviewType()' instead")]] void setInterleaved(bool interleaved);
 
     /// Get planar or interleaved data of preview output frames
-    bool getInterleaved() const;
+    [[deprecated("Use 'getPreviewType()' instead")]] bool getInterleaved() const;
+
+    /// Set type of preview output images.
+    void setPreviewType(ImgFrame::Type type);
+
+    /// Get the preview type
+    ImgFrame::Type getPreviewType() const;
 
     /// Set fp16 (0..255) data type of preview output frames
-    void setFp16(bool fp16);
+    [[deprecated("Use 'setPreviewType()' instead")]] void setFp16(bool fp16);
 
     /// Get fp16 (0..255) data of preview output frames
-    bool getFp16() const;
+    [[deprecated("Use 'getPreviewType()' instead")]] bool getFp16() const;
 
     /// Set preview output size
     void setPreviewSize(int width, int height);
@@ -229,6 +233,7 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      */
     void setFps(float fps);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).
      * Default (0) matches the camera FPS, meaning that 3A is running on each frame.
@@ -239,6 +244,7 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
      */
     void setIsp3aFps(int isp3aFps);
 
+    // TODO(before mainline) - API not supported on RVC3
     // Set events on which frames will be received
     void setFrameEventFilter(const std::vector<dai::FrameEvent>& events);
 
@@ -350,6 +356,65 @@ class ColorCamera : public NodeCRTP<Node, ColorCamera, ColorCameraProperties> {
     /// Get number of frames in isp pool
     int getIspNumFramesPool();
 
+    // TODO(before mainline) - API not supported on RVC2
+    /// Set the source of the warp mesh or disable
+    void setMeshSource(Properties::WarpMeshSource source);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /// Gets the source of the warp mesh
+    Properties::WarpMeshSource getMeshSource() const;
+
+    /**
+     * Specify local filesystem paths to the undistort mesh calibration files.
+     *
+     * When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices.
+     * Overrides useHomographyRectification behavior.
+     * Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image
+     * to be mapped in the output. The mesh can be subsampled, configured by `setMeshStep`.
+     *
+     * With a 1280x800 resolution and the default (16,16) step, the required mesh size is:
+     *
+     * width: 1280 / 16 + 1 = 81
+     *
+     * height: 800 / 16 + 1 = 51
+     */
+    // void loadMeshFile(const dai::Path& warpMesh);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Specify mesh calibration data for undistortion
+     * See `loadMeshFiles` for the expected data format
+     */
+    void loadMeshData(const std::vector<std::uint8_t> warpMesh);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Set the distance between mesh points. Default: (32, 32)
+     */
+    void setMeshStep(int width, int height);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Set mesh size
+     */
+    void setMeshSize(int width, int height);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /// Gets the distance between mesh points
+    std::tuple<int, int> getMeshStep() const;
+
+    // TODO(before mainline) - API not supported on RVC2
+    /// Gets the mesh size
+    std::tuple<int, int> getMeshSize() const;
+
+    // TODO(before mainline) - API not supported on RVC2
+    /// Set calibration alpha parameter that determines FOV of undistorted frames
+    void setCalibrationAlpha(float alpha);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /// Get calibration alpha parameter that determines FOV of undistorted frames
+    float getCalibrationAlpha() const;
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
      * The packed format is more efficient, consuming less memory on device, and less data
diff --git a/include/depthai/pipeline/node/DetectionNetwork.hpp b/include/depthai/pipeline/node/DetectionNetwork.hpp
index 85ba70d79..2c45780da 100644
--- a/include/depthai/pipeline/node/DetectionNetwork.hpp
+++ b/include/depthai/pipeline/node/DetectionNetwork.hpp
@@ -1,15 +1,12 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/NodeGroup.hpp>
+#include <depthai/pipeline/node/DetectionParser.hpp>
 #include <depthai/pipeline/node/NeuralNetwork.hpp>
 
+#include "depthai/nn_archive/NNArchive.hpp"
 #include "depthai/openvino/OpenVINO.hpp"
-
-// standard
-#include <fstream>
-
-// shared
-#include <depthai-shared/properties/DetectionNetworkProperties.hpp>
+#include "depthai/utility/Pimpl.hpp"
 
 namespace dai {
 namespace node {
@@ -17,25 +14,125 @@ namespace node {
 /**
  * @brief DetectionNetwork, base for different network specializations
  */
-class DetectionNetwork : public NodeCRTP<NeuralNetwork, DetectionNetwork, DetectionNetworkProperties> {
+class DetectionNetwork : public NodeGroup {
    public:
-    constexpr static const char* NAME = "DetectionNetwork";
+    DetectionNetwork();
+    ~DetectionNetwork() override;
 
-   protected:
-    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    [[nodiscard]] static std::shared_ptr<DetectionNetwork> create() {
+        auto n = std::make_shared<DetectionNetwork>();
+        n->build();
+        return n;
+    }
+    void build();
 
    public:
+    Subnode<NeuralNetwork> neuralNetwork{*this, "neuralNetwork"};
+    Subnode<DetectionParser> detectionParser{*this, "detectionParser"};
     /**
      * Outputs ImgDetections message that carries parsed detection results.
      * Overrides NeuralNetwork 'out' with ImgDetections output message type.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgDetections, false}}};
+    Output& out;
 
     /**
      * Outputs unparsed inference results.
      */
-    Output outNetwork{*this, "outNetwork", Output::Type::MSender, {{DatatypeEnum::NNData, false}}};
+    Output& outNetwork;
+
+    /**
+     * Input message with data to be inferred upon
+     * Default queue is blocking with size 5
+     */
+    Input& input;
+
+    /**
+     * Passthrough message on which the inference was performed.
+     *
+     * Suitable for when input queue is set to non-blocking behavior.
+     */
+    Output& passthrough;
+
+    /**
+     * Apply NNArchive config to this Node and load network blob into assets and use once pipeline is started.
+     *
+     */
+    void setNNArchive(const NNArchive& nnArchive);
+
+    // Specify local filesystem path to load the blob (which gets loaded at loadAssets)
+    /**
+     * Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlobPath(const dai::Path& path);
+
+    /**
+     * Load network blob into assets and use once pipeline is started.
+     *
+     * @param blob Network blob
+     */
+    void setBlob(OpenVINO::Blob blob);
+
+    /**
+     * Same functionality as the setBlobPath(). Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlob(const dai::Path& path);
+
+    /**
+     * Load network xml and bin files into assets.
+     * @param xmlModelPath Path to the .xml model file.
+     * @param binModelPath Path to the .bin file of the model. If left empty, it is assumed that the
+     *                     name is the same as the xml model with a .bin extension.
+     * @note If this function is called, the device automatically loads the model from the XML and not the blob
+     */
+    void setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath = "");
+
+    /**
+     * Specifies how many frames will be available in the pool
+     * @param numFrames How many frames will pool have
+     */
+    void setNumPoolFrames(int numFrames);
+
+    /**
+     * How many threads should the node use to run the network.
+     * @param numThreads Number of threads to dedicate to this node
+     */
+    void setNumInferenceThreads(int numThreads);
+
+    /**
+     * How many Neural Compute Engines should a single thread use for inference
+     * @param numNCEPerThread Number of NCE per thread
+     */
+    void setNumNCEPerInferenceThread(int numNCEPerThread);
+
+    /**
+     * How many Shaves should a single thread use for inference
+     * @param numShavesPerThread Number of shaves per thread
+     */
+    void setNumShavesPerInferenceThread(int numShavesPerThread);
+
+    /**
+     * Specifies backend to use
+     * @param backend String specifying backend to use
+     */
+    void setBackend(std::string backend);
+
+    /**
+     * Set backend properties
+     * @param backendProperties backend properties map
+     */
+    void setBackendProperties(std::map<std::string, std::string> properties);
+
+    /**
+     * How many inference threads will be used to run the network
+     * @returns Number of threads, 0, 1 or 2. Zero means AUTO
+     */
+    int getNumInferenceThreads();
 
     /**
      * Specifies confidence threshold at which to filter the rest of the detections.
@@ -48,33 +145,89 @@ class DetectionNetwork : public NodeCRTP<NeuralNetwork, DetectionNetwork, Detect
      * @returns Detection confidence
      */
     float getConfidenceThreshold() const;
+
+   private:
+    class Impl;
+    Pimpl<Impl> pimpl;
 };
 
 /**
  * @brief MobileNetDetectionNetwork node. Parses MobileNet results
  */
-class MobileNetDetectionNetwork : public NodeCRTP<DetectionNetwork, MobileNetDetectionNetwork, DetectionNetworkProperties> {
+class MobileNetDetectionNetwork : public DetectionNetwork {
    public:
-    MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    [[nodiscard]] static std::shared_ptr<MobileNetDetectionNetwork> create() {
+        auto n = std::make_shared<MobileNetDetectionNetwork>();
+        n->build();
+        return n;
+    }
+    void build();
 };
 
 /**
  * @brief YoloDetectionNetwork node. Parses Yolo results
  */
-class YoloDetectionNetwork : public NodeCRTP<DetectionNetwork, YoloDetectionNetwork, DetectionNetworkProperties> {
+class YoloDetectionNetwork : public DetectionNetwork {
    public:
-    YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    void build();
+    [[nodiscard]] static std::shared_ptr<YoloDetectionNetwork> create() {
+        auto n = std::make_shared<YoloDetectionNetwork>();
+        n->build();
+        return n;
+    }
 
     /// Set num classes
     void setNumClasses(int numClasses);
     /// Set coordianate size
     void setCoordinateSize(int coordinates);
     /// Set anchors
-    void setAnchors(std::vector<float> anchors);
+    [[deprecated("Use setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors) instead")]] void setAnchors(std::vector<float> anchors);
     /// Set anchor masks
-    void setAnchorMasks(std::map<std::string, std::vector<int>> anchorMasks);
+    [[deprecated("Use setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors) instead")]] void setAnchorMasks(
+        std::map<std::string, std::vector<int>> anchorMasks);
+
+    /**
+     * Sets anchors with masks included.
+     *
+     * @param anchors Anchors grouped by masks from biggest mask(ex.: side26) to smallest(ex.: side13)
+     *
+     * Ordering should be from biggest to smallest (example: { side26Anchors, side13Anchors, side7Anchors }).
+     * Format is:
+     * {
+     *   { // side26Anchors
+     *     {
+     *       10, // width
+     *       14 // height
+     *     },
+     *     {
+     *       23, // width
+     *       27 // height
+     *     },
+     *     {
+     *       37, // width
+     *       58 // height
+     *     }
+     *   },
+     *   { // side13Anchors
+     *     {
+     *       81, // width
+     *       82 // height
+     *     },
+     *     {
+     *       135, // width
+     *       169 // height
+     *     },
+     *     {
+     *       344, // width
+     *       319 // height
+     *     },
+     *     ... other anchors for side13
+     *   },
+     *   ... other sides (ordered from biggest to smallest) anchors
+     * }
+     */
+    void setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors);
+
     /// Set Iou threshold
     void setIouThreshold(float thresh);
 
diff --git a/include/depthai/pipeline/node/DetectionParser.hpp b/include/depthai/pipeline/node/DetectionParser.hpp
index e1db19003..57a2d2a07 100644
--- a/include/depthai/pipeline/node/DetectionParser.hpp
+++ b/include/depthai/pipeline/node/DetectionParser.hpp
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // standard
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/DetectionParserProperties.hpp>
+#include <depthai/properties/DetectionParserProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -15,30 +15,26 @@ namespace node {
  * @brief DetectionParser node. Parses detection results from different neural networks and is being used internally by MobileNetDetectionNetwork and
  * YoloDetectionNetwork.
  */
-class DetectionParser : public NodeCRTP<Node, DetectionParser, DetectionParserProperties> {
+class DetectionParser : public DeviceNodeCRTP<DeviceNode, DetectionParser, DetectionParserProperties> {
    public:
     constexpr static const char* NAME = "DetectionParser";
-
-   protected:
-    Properties& getProperties();
-
-   private:
-    std::shared_ptr<RawEdgeDetectorConfig> rawConfig;
-
-   public:
-    DetectionParser(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    DetectionParser(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
     /**
      * Input NN results with detection data to parse
      * Default queue is blocking with size 5
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::NNData, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::NNData, true}}};
 
     /**
      * Outputs image frame with detected edges
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgDetections, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::ImgDetections, false}}};
+
+    /**
+     * Input for image that produced the detection - image size can be taken from here
+     */
+    Input imageIn{true, *this, "imageIn", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Specify number of frames in pool.
@@ -52,12 +48,41 @@ class DetectionParser : public NodeCRTP<Node, DetectionParser, DetectionParserPr
      */
     int getNumFramesPool();
 
+    // Specify local filesystem path to load the blob (which gets loaded at loadAssets)
+    /**
+     * Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlobPath(const dai::Path& path);
+
     /**
      * Retrieves some input tensor information from the blob
      *
      * @param blob OpenVINO blob to retrieve the information from
      */
-    void setBlob(const OpenVINO::Blob& blob);
+    void setBlob(OpenVINO::Blob blob);
+
+    /**
+     * Same functionality as the setBlobPath(). Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlob(const dai::Path& path);
+
+    /**
+     * Set input image size
+     *
+     * This should only be used instead of setBlob, not besides it
+     */
+    void setInputImageSize(int width, int height);
+
+    /*
+     * Set preview output size, as a tuple<width, height>
+     */
+    void setInputImageSize(std::tuple<int, int> size);
 
     /**
      * Sets NN Family to parse
@@ -89,6 +114,8 @@ class DetectionParser : public NodeCRTP<Node, DetectionParser, DetectionParserPr
     void setAnchors(std::vector<float> anchors);
     /// Set anchor masks
     void setAnchorMasks(std::map<std::string, std::vector<int>> anchorMasks);
+    /// Set anchors with masks
+    void setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors);
     /// Set Iou threshold
     void setIouThreshold(float thresh);
 
diff --git a/include/depthai/pipeline/node/EdgeDetector.hpp b/include/depthai/pipeline/node/EdgeDetector.hpp
index 1950cc0f2..be2a9a447 100644
--- a/include/depthai/pipeline/node/EdgeDetector.hpp
+++ b/include/depthai/pipeline/node/EdgeDetector.hpp
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // standard
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/EdgeDetectorProperties.hpp>
+#include <depthai/properties/EdgeDetectorProperties.hpp>
 
 #include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
 
@@ -16,19 +16,17 @@ namespace node {
 /**
  * @brief EdgeDetector node. Performs edge detection using 3x3 Sobel filter
  */
-class EdgeDetector : public NodeCRTP<Node, EdgeDetector, EdgeDetectorProperties> {
+class EdgeDetector : public DeviceNodeCRTP<DeviceNode, EdgeDetector, EdgeDetectorProperties> {
    public:
     constexpr static const char* NAME = "EdgeDetector";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawEdgeDetectorConfig> rawConfig;
-
    public:
-    EdgeDetector(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    EdgeDetector(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    EdgeDetector() = default;
+    EdgeDetector(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use for edge detection.
@@ -39,22 +37,22 @@ class EdgeDetector : public NodeCRTP<Node, EdgeDetector, EdgeDetectorProperties>
      * Input EdgeDetectorConfig message with ability to modify parameters in runtime.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::EdgeDetectorConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::EdgeDetectorConfig, false}}};
     /**
      * Input image on which edge detection is performed.
      * Default queue is non-blocking with size 4.
      */
-    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputImage{true, *this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs image frame with detected edges
      */
-    Output outputImage{*this, "outputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output outputImage{true, *this, "outputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Passthrough message on which the calculation was performed.
      */
-    Output passthroughInputImage{*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughInputImage{true, *this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     // Functions to set properties
     /**
diff --git a/include/depthai/pipeline/node/FeatureTracker.hpp b/include/depthai/pipeline/node/FeatureTracker.hpp
index 44563ba02..e535098a7 100644
--- a/include/depthai/pipeline/node/FeatureTracker.hpp
+++ b/include/depthai/pipeline/node/FeatureTracker.hpp
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // standard
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/FeatureTrackerProperties.hpp>
+#include <depthai/properties/FeatureTrackerProperties.hpp>
 
 #include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
 
@@ -17,19 +17,17 @@ namespace node {
  * @brief FeatureTracker node.
  * Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.
  */
-class FeatureTracker : public NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties> {
+class FeatureTracker : public DeviceNodeCRTP<DeviceNode, FeatureTracker, FeatureTrackerProperties> {
    public:
     constexpr static const char* NAME = "FeatureTracker";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawFeatureTrackerConfig> rawConfig;
-
    public:
-    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    FeatureTracker() = default;
+    FeatureTracker(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use for feature tracking.
@@ -40,23 +38,23 @@ class FeatureTracker : public NodeCRTP<Node, FeatureTracker, FeatureTrackerPrope
      * Input FeatureTrackerConfig message with ability to modify parameters in runtime.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}};
     /**
      * Input message with frame data on which feature tracking is performed.
      * Default queue is non-blocking with size 4.
      */
-    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputImage{true, *this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs TrackedFeatures message that carries tracked features results.
      */
-    Output outputFeatures{*this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}};
+    Output outputFeatures{true, *this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}};
 
     /**
      * Passthrough message on which the calculation was performed.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughInputImage{*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughInputImage{true, *this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     // Functions to set properties
     /**
diff --git a/include/depthai/pipeline/node/IMU.hpp b/include/depthai/pipeline/node/IMU.hpp
index b645481e5..1c8dfc731 100644
--- a/include/depthai/pipeline/node/IMU.hpp
+++ b/include/depthai/pipeline/node/IMU.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include "depthai/pipeline/Node.hpp"
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/IMUProperties.hpp>
+#include <depthai/properties/IMUProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,20 +11,15 @@ namespace node {
 /**
  * @brief IMU node for BNO08X.
  */
-class IMU : public NodeCRTP<Node, IMU, IMUProperties> {
+class IMU : public DeviceNodeCRTP<DeviceNode, IMU, IMUProperties> {
    public:
     constexpr static const char* NAME = "IMU";
-
-    /**
-     * Constructs IMU node.
-     */
-    IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
     /**
      * Outputs IMUData message that carries IMU packets.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}};
 
     /**
      * Enable a new IMU sensor with explicit configuration
diff --git a/include/depthai/pipeline/node/ImageManip.hpp b/include/depthai/pipeline/node/ImageManip.hpp
index 93a8a700c..b1c4ae118 100644
--- a/include/depthai/pipeline/node/ImageManip.hpp
+++ b/include/depthai/pipeline/node/ImageManip.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 #include <depthai/pipeline/datatype/ImageManipConfig.hpp>
 
 // shared
-#include <depthai-shared/properties/ImageManipProperties.hpp>
+#include <depthai/properties/ImageManipProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -12,21 +12,19 @@ namespace node {
 /**
  * @brief ImageManip node. Capability to crop, resize, warp, ... incoming image frames
  */
-class ImageManip : public NodeCRTP<Node, ImageManip, ImageManipProperties> {
+class ImageManip : public DeviceNodeCRTP<DeviceNode, ImageManip, ImageManipProperties> {
    public:
     constexpr static const char* NAME = "ImageManip";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawImageManipConfig> rawConfig;
-
     void setWarpMesh(const float* meshData, int numMeshPoints, int width, int height);
 
    public:
-    ImageManip(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    ImageManip(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    ImageManip() = default;
+    ImageManip(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use when manipulating frames
@@ -37,18 +35,18 @@ class ImageManip : public NodeCRTP<Node, ImageManip, ImageManipProperties> {
      * Input ImageManipConfig message with ability to modify parameters in runtime
      * Default queue is blocking with size 8
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImageManipConfig, true}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImageManipConfig, true}}};
 
     /**
      * Input image to be modified
      * Default queue is blocking with size 8
      */
-    Input inputImage{*this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+    Input inputImage{true, *this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Outputs ImgFrame message that carries modified image.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
 
     // Functions to set ImageManipConfig - deprecated
     [[deprecated("Use 'initialConfig.setCropRect()' instead")]] void setCropRect(float xmin, float ymin, float xmax, float ymax);
diff --git a/include/depthai/pipeline/node/MessageDemux.hpp b/include/depthai/pipeline/node/MessageDemux.hpp
index 8039bd18b..174d9928d 100644
--- a/include/depthai/pipeline/node/MessageDemux.hpp
+++ b/include/depthai/pipeline/node/MessageDemux.hpp
@@ -1,27 +1,24 @@
 #pragma once
 
-#include "depthai-shared/properties/MessageDemuxProperties.hpp"
-#include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/DeviceNode.hpp"
+#include "depthai/properties/MessageDemuxProperties.hpp"
 
 namespace dai {
 namespace node {
 
-class MessageDemux : public NodeCRTP<Node, MessageDemux, MessageDemuxProperties> {
+class MessageDemux : public DeviceNodeCRTP<DeviceNode, MessageDemux, MessageDemuxProperties> {
    public:
     constexpr static const char* NAME = "MessageDemux";
-    MessageDemux(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-
-    MessageDemux(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
+    using DeviceNodeCRTP::DeviceNodeCRTP;
     /**
      * Input message of type MessageGroup
      */
-    Input input{*this, "input", Input::Type::SReceiver, {{DatatypeEnum::MessageGroup, false}}};
+    Input input{true, *this, "input", Input::Type::SReceiver, {{DatatypeEnum::MessageGroup, false}}};
 
     /**
      * A map of outputs, where keys are same as in the input MessageGroup
      */
-    OutputMap outputs;
+    OutputMap outputs{true, *this, "outputs", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})};
 };
 
 }  // namespace node
diff --git a/include/depthai/pipeline/node/MonoCamera.hpp b/include/depthai/pipeline/node/MonoCamera.hpp
index f016cec09..7d5a28359 100644
--- a/include/depthai/pipeline/node/MonoCamera.hpp
+++ b/include/depthai/pipeline/node/MonoCamera.hpp
@@ -1,12 +1,12 @@
 #pragma once
 
+#include <depthai/pipeline/DeviceNode.hpp>
 #include <depthai/pipeline/datatype/CameraControl.hpp>
 
 #include "depthai/common/CameraBoardSocket.hpp"
-#include "depthai/pipeline/Node.hpp"
 
 // shared
-#include <depthai-shared/properties/MonoCameraProperties.hpp>
+#include <depthai/properties/MonoCameraProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -14,19 +14,18 @@ namespace node {
 /**
  * @brief MonoCamera node. For use with grayscale sensors.
  */
-class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
+class MonoCamera : public DeviceNodeCRTP<DeviceNode, MonoCamera, MonoCameraProperties> {
    public:
     constexpr static const char* NAME = "MonoCamera";
-
-   private:
-    std::shared_ptr<RawCameraControl> rawControl;
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    protected:
     Properties& getProperties();
 
    public:
-    MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    MonoCamera() = default;
+    MonoCamera(std::unique_ptr<Properties> props);
 
     /**
      * Initial control options to apply to sensor
@@ -37,7 +36,7 @@ class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
      * Input for CameraControl message, which can modify camera parameters in runtime
      * Default queue is blocking with size 8
      */
-    Input inputControl{*this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
+    Input inputControl{true, *this, "inputControl", Input::Type::SReceiver, true, 8, {{DatatypeEnum::CameraControl, false}}};
 
     /**
      * Input for mocking 'isp' functionality.
@@ -51,14 +50,14 @@ class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
      *
      * Suitable for use StereoDepth node. Processed by ISP
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW10-packed (MIPI CSI-2 format) frame data.
      *
      * Captured directly from the camera sensor
      */
-    Output raw{*this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output raw{true, *this, "raw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs metadata-only ImgFrame message as an early indicator of an incoming frame.
@@ -68,7 +67,7 @@ class MonoCamera : public NodeCRTP<Node, MonoCamera, MonoCameraProperties> {
      * Could be used to synchronize various processes with camera capture.
      * Fields populated: camera id, sequence number, timestamp
      */
-    Output frameEvent{*this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output frameEvent{true, *this, "frameEvent", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Specify which board socket to use
diff --git a/include/depthai/pipeline/node/NeuralNetwork.hpp b/include/depthai/pipeline/node/NeuralNetwork.hpp
index 407f962c4..7ec7b4578 100644
--- a/include/depthai/pipeline/node/NeuralNetwork.hpp
+++ b/include/depthai/pipeline/node/NeuralNetwork.hpp
@@ -1,13 +1,14 @@
 #pragma once
 
+#include <depthai/pipeline/DeviceNode.hpp>
+
 #include "depthai/openvino/OpenVINO.hpp"
-#include "depthai/pipeline/Node.hpp"
 
 // standard
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/NeuralNetworkProperties.hpp>
+#include <depthai/properties/NeuralNetworkProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -15,46 +16,44 @@ namespace node {
 /**
  * @brief NeuralNetwork node. Runs a neural inference on input data.
  */
-class NeuralNetwork : public NodeCRTP<Node, NeuralNetwork, NeuralNetworkProperties> {
+class NeuralNetwork : public DeviceNodeCRTP<DeviceNode, NeuralNetwork, NeuralNetworkProperties> {
    public:
     constexpr static const char* NAME = "NeuralNetwork";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
-    tl::optional<OpenVINO::Version> getRequiredOpenVINOVersion() override;
-    tl::optional<OpenVINO::Version> networkOpenvinoVersion;
+    std::optional<OpenVINO::Version> getRequiredOpenVINOVersion() override;
+    std::optional<OpenVINO::Version> networkOpenvinoVersion;
 
    public:
-    NeuralNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    NeuralNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
     /**
      * Input message with data to be inferred upon
      * Default queue is blocking with size 5
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::Buffer, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Outputs NNData message that carries inference results
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::NNData, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::NNData, false}}};
 
     /**
      * Passthrough message on which the inference was performed.
      *
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthrough{*this, "passthrough", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+    Output passthrough{true, *this, "passthrough", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Inputs mapped to network inputs. Useful for inferring from separate data sources
      * Default input is non-blocking with queue size 1 and waits for messages
      */
-    InputMap inputs;
+    InputMap inputs{true, *this, "inputs", Input(*this, "", Input::Type::SReceiver, false, 1, true, {{DatatypeEnum::Buffer, true}})};
 
     /**
      * Passthroughs which correspond to specified input
      */
-    OutputMap passthroughs;
+    OutputMap passthroughs{true, *this, "passthroughs", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})};
 
     // Specify local filesystem path to load the blob (which gets loaded at loadAssets)
     /**
@@ -80,6 +79,15 @@ class NeuralNetwork : public NodeCRTP<Node, NeuralNetwork, NeuralNetworkProperti
      */
     void setBlob(const dai::Path& path);
 
+    /**
+     * Load network xml and bin files into assets.
+     * @param xmlModelPath Path to the .xml model file.
+     * @param binModelPath Path to the .bin file of the model. If left empty, it is assumed that the
+     *                     name is the same as the xml model with a .bin extension.
+     * @note If this function is called, the device automatically loads the model from the XML and not the blob
+     */
+    void setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath = "");
+
     /**
      * Specifies how many frames will be available in the pool
      * @param numFrames How many frames will pool have
@@ -98,6 +106,24 @@ class NeuralNetwork : public NodeCRTP<Node, NeuralNetwork, NeuralNetworkProperti
      */
     void setNumNCEPerInferenceThread(int numNCEPerThread);
 
+    /**
+     * How many Shaves should a single thread use for inference
+     * @param numShavesPerThread Number of shaves per thread
+     */
+    void setNumShavesPerInferenceThread(int numShavesPerThread);
+
+    /**
+     * Specifies backend to use
+     * @param backend String specifying backend to use
+     */
+    void setBackend(std::string backend);
+
+    /**
+     * Set backend properties
+     * @param backendProperties backend properties map
+     */
+    void setBackendProperties(std::map<std::string, std::string> properties);
+
     /**
      * How many inference threads will be used to run the network
      * @returns Number of threads, 0, 1 or 2. Zero means AUTO
diff --git a/include/depthai/pipeline/node/ObjectTracker.hpp b/include/depthai/pipeline/node/ObjectTracker.hpp
index b1e76bb72..58fe7ffa9 100644
--- a/include/depthai/pipeline/node/ObjectTracker.hpp
+++ b/include/depthai/pipeline/node/ObjectTracker.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 #include "depthai/pipeline/datatype/Tracklets.hpp"
 
@@ -8,7 +8,7 @@
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/ObjectTrackerProperties.hpp>
+#include <depthai/properties/ObjectTrackerProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -16,53 +16,50 @@ namespace node {
 /**
  * @brief ObjectTracker node. Performs object tracking using Kalman filter and hungarian algorithm.
  */
-class ObjectTracker : public NodeCRTP<Node, ObjectTracker, ObjectTrackerProperties> {
+class ObjectTracker : public DeviceNodeCRTP<DeviceNode, ObjectTracker, ObjectTrackerProperties> {
    public:
     constexpr static const char* NAME = "ObjectTracker";
-
-    ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
+    using DeviceNodeCRTP::DeviceNodeCRTP;
     /**
      * Input ImgFrame message on which tracking will be performed. RGBp, BGRp, NV12, YUV420p types are supported.
      * Default queue is non-blocking with size 4.
      */
-    Input inputTrackerFrame{*this, "inputTrackerFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputTrackerFrame{true, *this, "inputTrackerFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Input ImgFrame message on which object detection was performed.
      * Default queue is non-blocking with size 4.
      */
-    Input inputDetectionFrame{*this, "inputDetectionFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputDetectionFrame{true, *this, "inputDetectionFrame", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Input message with image detection from neural network.
      * Default queue is non-blocking with size 4.
      */
-    Input inputDetections{*this, "inputDetections", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgDetections, true}}};
+    Input inputDetections{true, *this, "inputDetections", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgDetections, true}}};
 
     /**
      * Outputs Tracklets message that carries object tracking results.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::Tracklets, false}}};
 
     /**
      * Passthrough ImgFrame message on which tracking was performed.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughTrackerFrame{*this, "passthroughTrackerFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughTrackerFrame{true, *this, "passthroughTrackerFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Passthrough ImgFrame message on which object detection was performed.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughDetectionFrame{*this, "passthroughDetectionFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughDetectionFrame{true, *this, "passthroughDetectionFrame", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Passthrough image detections message from neural network output.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughDetections{*this, "passthroughDetections", Output::Type::MSender, {{DatatypeEnum::ImgDetections, true}}};
+    Output passthroughDetections{true, *this, "passthroughDetections", Output::Type::MSender, {{DatatypeEnum::ImgDetections, true}}};
 
     /**
      * Specify tracker threshold.
diff --git a/include/depthai/pipeline/node/PointCloud.hpp b/include/depthai/pipeline/node/PointCloud.hpp
new file mode 100644
index 000000000..a7b9586fb
--- /dev/null
+++ b/include/depthai/pipeline/node/PointCloud.hpp
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <depthai/pipeline/DeviceNode.hpp>
+
+// standard
+#include <fstream>
+
+// shared
+#include <depthai/properties/PointCloudProperties.hpp>
+#include <memory>
+
+#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
+
+namespace dai {
+namespace node {
+
+/**
+ * @brief PointCloud node. Computes point cloud from depth frames.
+ */
+class PointCloud : public DeviceNodeCRTP<DeviceNode, PointCloud, PointCloudProperties> {
+   public:
+    constexpr static const char* NAME = "PointCloud";
+
+   protected:
+    Properties& getProperties();
+
+   public:
+    PointCloud() = default;
+    PointCloud(std::unique_ptr<Properties> props);
+    /**
+     * Initial config to use when computing the point cloud.
+     */
+    PointCloudConfig initialConfig;
+
+    /**
+     * Input PointCloudConfig message with ability to modify parameters in runtime.
+     * Default queue is non-blocking with size 4.
+     */
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::PointCloudConfig, false}}};
+
+    /**
+     * Input message with depth data used to create the point cloud.
+     * Default queue is non-blocking with size 4.
+     */
+    Input inputDepth{true, *this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+
+    /**
+     * Outputs PointCloudData message
+     */
+    Output outputPointCloud{true, *this, "outputPointCloud", Output::Type::MSender, {{DatatypeEnum::PointCloudData, false}}};
+
+    /**
+     * Passthrough depth from which the point cloud was calculated.
+     * Suitable for when input queue is set to non-blocking behavior.
+     */
+    Output passthroughDepth{true, *this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
+    /**
+     * Specify number of frames in pool.
+     * @param numFramesPool How many frames should the pool have
+     */
+    void setNumFramesPool(int numFramesPool);
+};
+
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/node/Pool.hpp b/include/depthai/pipeline/node/Pool.hpp
new file mode 100644
index 000000000..6e5ed52dd
--- /dev/null
+++ b/include/depthai/pipeline/node/Pool.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <depthai/pipeline/DeviceNode.hpp>
+
+#include "depthai/openvino/OpenVINO.hpp"
+
+// standard
+#include <fstream>
+
+// shared
+#include <depthai/properties/PoolProperties.hpp>
+
+namespace dai {
+namespace node {
+
+// TODO(before mainline) - API not supported on RVC2
+class Pool : public DeviceNodeCRTP<DeviceNode, Pool, PoolProperties> {
+   public:
+    constexpr static const char* NAME = "Pool";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+
+    /**
+     *  Pool output in pull orientation
+     */
+    Output out{true, *this, "out", Output::Type::SSender, {{DatatypeEnum::Buffer, true}}};
+
+    /**
+     * Sets number of messages in pool
+     * @param num number of messages in pool
+     */
+    void setNumMessages(std::optional<int> num);
+
+    /// Retrieves pool size
+    std::optional<int> getNumMessages() const;
+
+    /**
+     * Sets reserved data size of each message in the pool
+     * @param size data size allocated for each message
+     */
+    void setMaxMessageSize(std::optional<std::int64_t> size);
+
+    /// Retrieves pool size
+    std::optional<std::int64_t> getMaxMessageSize() const;
+
+    /**
+     * Sets optional type of the pool. TODO(themarpe) - might be required
+     * @param datatype Type of the pool messages
+     */
+    void setDatatype(std::optional<DatatypeEnum> type);
+
+    /// Retrieves optional pool type
+    std::optional<DatatypeEnum> getDatatype() const;
+
+    /**
+     * Set on which processor the pool should be placed
+     * @param type Processor type - Leon CSS or Leon MSS
+     */
+    void setProcessor(std::optional<ProcessorType> type);
+
+    /**
+     * Get on which processor the pool should be placed
+     * @returns Processor type - Leon CSS or Leon MSS
+     */
+    std::optional<ProcessorType> getProcessor() const;
+};
+
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/node/SPIIn.hpp b/include/depthai/pipeline/node/SPIIn.hpp
index eb13c4602..c24282bcc 100644
--- a/include/depthai/pipeline/node/SPIIn.hpp
+++ b/include/depthai/pipeline/node/SPIIn.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/SPIInProperties.hpp>
+#include <depthai/properties/SPIInProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,17 +11,16 @@ namespace node {
 /**
  * @brief SPIIn node. Receives messages over SPI.
  */
-class SPIIn : public NodeCRTP<Node, SPIIn, SPIInProperties> {
+class SPIIn : public DeviceNodeCRTP<DeviceNode, SPIIn, SPIInProperties> {
    public:
     constexpr static const char* NAME = "SPIIn";
-
-    SPIIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    SPIIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
     /**
      * Outputs message of same type as send from host.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Specifies stream name over which the node will receive data
diff --git a/include/depthai/pipeline/node/SPIOut.hpp b/include/depthai/pipeline/node/SPIOut.hpp
index ae7daa57a..b0cfcb775 100644
--- a/include/depthai/pipeline/node/SPIOut.hpp
+++ b/include/depthai/pipeline/node/SPIOut.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/SPIOutProperties.hpp>
+#include <depthai/properties/SPIOutProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,24 +11,20 @@ namespace node {
 /**
  * @brief SPIOut node. Sends messages over SPI.
  */
-class SPIOut : public NodeCRTP<Node, SPIOut, SPIOutProperties> {
+class SPIOut : public DeviceNodeCRTP<DeviceNode, SPIOut, SPIOutProperties> {
    public:
     constexpr static const char* NAME = "SPIOut";
-
-    SPIOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-        : NodeCRTP<Node, SPIOut, SPIOutProperties>(par, nodeId, std::move(props)) {
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build() {
         properties.busId = 0;
-
-        setInputRefs({&input});
     }
-    SPIOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : SPIOut(par, nodeId, std::make_unique<SPIOut::Properties>()) {}
 
     /**
      * Input for any type of messages to be transferred over SPI stream
      *
      * Default queue is blocking with size 8
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Specifies stream name over which the node will send data
diff --git a/include/depthai/pipeline/node/Script.hpp b/include/depthai/pipeline/node/Script.hpp
index 250550cf9..1f4586d4c 100644
--- a/include/depthai/pipeline/node/Script.hpp
+++ b/include/depthai/pipeline/node/Script.hpp
@@ -1,38 +1,38 @@
 #pragma once
 
+#include <depthai/pipeline/DeviceNode.hpp>
+
 #include "depthai/openvino/OpenVINO.hpp"
-#include "depthai/pipeline/Node.hpp"
 
 // standard
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/ScriptProperties.hpp>
+#include <depthai/properties/ScriptProperties.hpp>
 
 namespace dai {
 namespace node {
 
-class Script : public NodeCRTP<Node, Script, ScriptProperties> {
+class Script : public DeviceNodeCRTP<DeviceNode, Script, ScriptProperties> {
    public:
     constexpr static const char* NAME = "Script";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    private:
     dai::Path scriptPath;
 
    public:
-    Script(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    Script(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
     /**
      *  Inputs to Script node. Can be accessed using subscript operator (Eg: inputs['in1'])
      *  By default inputs are set to blocking with queue size 8
      */
-    InputMap inputs;
+    InputMap inputs{true, *this, "io", Input(*this, "", Input::Type::SReceiver, {{DatatypeEnum::Buffer, true}})};
 
     /**
      * Outputs from Script node. Can be accessed subscript operator (Eg: outputs['out1'])
      */
-    OutputMap outputs;
+    OutputMap outputs{true, *this, "io", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})};
 
     /**
      * Specify local filesystem path to load the script
diff --git a/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp b/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp
index e782afa67..62ffc165a 100644
--- a/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp
+++ b/include/depthai/pipeline/node/SpatialDetectionNetwork.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 #include <depthai/pipeline/node/DetectionNetwork.hpp>
 
 #include "depthai/openvino/OpenVINO.hpp"
@@ -9,7 +9,7 @@
 #include <fstream>
 
 // shared
-#include <depthai-shared/properties/SpatialDetectionNetworkProperties.hpp>
+#include <depthai/properties/SpatialDetectionNetworkProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -17,60 +17,171 @@ namespace node {
 /**
  * @brief SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data.
  */
-class SpatialDetectionNetwork : public NodeCRTP<DetectionNetwork, SpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
+class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
    public:
-    constexpr static const char* NAME = "SpatialDetectionNetwork";
+    SpatialDetectionNetwork() : input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {};
+    SpatialDetectionNetwork(std::unique_ptr<Properties> props)
+        : DeviceNodeCRTP(std::move(props)), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {};
+    SpatialDetectionNetwork(std::unique_ptr<Properties> props, bool confMode)
+        : DeviceNodeCRTP(std::move(props), confMode), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {};
 
-   protected:
-    SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    constexpr static const char* NAME = "SpatialDetectionNetwork";
+    Subnode<NeuralNetwork> neuralNetwork{*this, "neuralNetwork"};
+    Subnode<DetectionParser> detectionParser{*this, "detectionParser"};
+    void build();
 
    public:
     /**
      * Input message with data to be inferred upon
      * Default queue is blocking with size 5
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input& input;
+
+    /**
+     * Outputs unparsed inference results.
+     */
+    Output& outNetwork;
+
+    /**
+     * Passthrough message on which the inference was performed.
+     *
+     * Suitable for when input queue is set to non-blocking behavior.
+     */
+    Output& passthrough;
 
     /**
      * Input message with depth data used to retrieve spatial information about detected object
      * Default queue is non-blocking with size 4
      */
-    Input inputDepth{*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputDepth{true, *this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
-     * Outputs ImgDetections message that carries parsed detection results.
+     * Input message with image data used to retrieve image transformation from detected object
+     * Default queue is blocking with size 1
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialImgDetections, false}}};
+    Input inputImg{true, *this, "inputImg", Input::Type::SReceiver, true, 2, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
-     * Outputs mapping of detected bounding boxes relative to depth map
-     *
-     * Suitable for when displaying remapped bounding boxes on depth frame
+     * Input message with input detections object
+     * Default queue is blocking with size 1
      */
-    Output boundingBoxMapping{*this, "boundingBoxMapping", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}};
+    Input inputDetections{true, *this, "inputDetections", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::ImgDetections, false}}};
 
     /**
-     * Passthrough message on which the inference was performed.
+     * Outputs ImgDetections message that carries parsed detection results.
+     */
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialImgDetections, false}}};
+
+    /**
+     * Outputs mapping of detected bounding boxes relative to depth map
      *
-     * Suitable for when input queue is set to non-blocking behavior.
+     * Suitable for when displaying remapped bounding boxes on depth frame
      */
-    Output passthrough{*this, "passthrough", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output boundingBoxMapping{true, *this, "boundingBoxMapping", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}};
 
     /**
      * Passthrough message for depth frame on which the spatial location calculation was performed.
      *
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughDepth{*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughDepth{true, *this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork.
      * Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.
      */
     Output spatialLocationCalculatorOutput{
-        *this, "spatialLocationCalculatorOutput", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorData, false}}};
+        true, *this, "spatialLocationCalculatorOutput", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorData, false}}};
+
+    /** Backwards compatibility interface **/
+    // Specify local filesystem path to load the blob (which gets loaded at loadAssets)
+    /**
+     * Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlobPath(const dai::Path& path);
+
+    /**
+     * Load network blob into assets and use once pipeline is started.
+     *
+     * @param blob Network blob
+     */
+    void setBlob(OpenVINO::Blob blob);
+
+    /**
+     * Same functionality as the setBlobPath(). Load network blob into assets and use once pipeline is started.
+     *
+     * @throws Error if file doesn't exist or isn't a valid network blob.
+     * @param path Path to network blob
+     */
+    void setBlob(const dai::Path& path);
+
+    /**
+     * Load network xml and bin files into assets.
+     * @param xmlModelPath Path to the .xml model file.
+     * @param binModelPath Path to the .bin file of the model. If left empty, it is assumed that the
+     *                     name is the same as the xml model with a .bin extension.
+     * @note If this function is called, the device automatically loads the model from the XML and not the blob
+     */
+    void setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath = "");
+
+    /**
+     * Specifies how many frames will be available in the pool
+     * @param numFrames How many frames will pool have
+     */
+    void setNumPoolFrames(int numFrames);
+
+    /**
+     * How many threads should the node use to run the network.
+     * @param numThreads Number of threads to dedicate to this node
+     */
+    void setNumInferenceThreads(int numThreads);
+
+    /**
+     * How many Neural Compute Engines should a single thread use for inference
+     * @param numNCEPerThread Number of NCE per thread
+     */
+    void setNumNCEPerInferenceThread(int numNCEPerThread);
+
+    /**
+     * How many Shaves should a single thread use for inference
+     * @param numShavesPerThread Number of shaves per thread
+     */
+    void setNumShavesPerInferenceThread(int numShavesPerThread);
+
+    /**
+     * Specifies backend to use
+     * @param backend String specifying backend to use
+     */
+    void setBackend(std::string backend);
+
+    /**
+     * Set backend properties
+     * @param backendProperties backend properties map
+     */
+    void setBackendProperties(std::map<std::string, std::string> properties);
+
+    /**
+     * How many inference threads will be used to run the network
+     * @returns Number of threads, 0, 1 or 2. Zero means AUTO
+     */
+    int getNumInferenceThreads();
+
+    /**
+     * Specifies confidence threshold at which to filter the rest of the detections.
+     * @param thresh Detection confidence must be greater than specified threshold to be added to the list
+     */
+    void setConfidenceThreshold(float thresh);
+
+    /**
+     * Retrieves threshold at which to filter the rest of the detections.
+     * @returns Detection confidence
+     */
+    float getConfidenceThreshold() const;
 
+    /** Custom interface **/
     /**
      * Specifies scale factor for detected bounding boxes.
      * @param scaleFactor Scale factor must be in the interval (0,1].
@@ -106,17 +217,27 @@ class SpatialDetectionNetwork : public NodeCRTP<DetectionNetwork, SpatialDetecti
 /**
  * MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial location data.
  */
-class MobileNetSpatialDetectionNetwork : public NodeCRTP<SpatialDetectionNetwork, MobileNetSpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
+class MobileNetSpatialDetectionNetwork : public SpatialDetectionNetwork {
    public:
-    MobileNetSpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
+    void build();
+    [[nodiscard]] static std::shared_ptr<MobileNetSpatialDetectionNetwork> create() {
+        auto n = std::make_shared<MobileNetSpatialDetectionNetwork>();
+        n->build();
+        return n;
+    }
 };
 
 /**
  * YoloSpatialDetectionNetwork node. Yolo-based network with spatial location data.
  */
-class YoloSpatialDetectionNetwork : public NodeCRTP<SpatialDetectionNetwork, YoloSpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
+class YoloSpatialDetectionNetwork : public SpatialDetectionNetwork {
    public:
-    YoloSpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
+    void build();
+    [[nodiscard]] static std::shared_ptr<YoloSpatialDetectionNetwork> create() {
+        auto n = std::make_shared<YoloSpatialDetectionNetwork>();
+        n->build();
+        return n;
+    }
 
     /// Set num classes
     void setNumClasses(const int numClasses);
diff --git a/include/depthai/pipeline/node/SpatialLocationCalculator.hpp b/include/depthai/pipeline/node/SpatialLocationCalculator.hpp
index e9563796f..23520282b 100644
--- a/include/depthai/pipeline/node/SpatialLocationCalculator.hpp
+++ b/include/depthai/pipeline/node/SpatialLocationCalculator.hpp
@@ -1,12 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
-
-// standard
-#include <fstream>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/SpatialLocationCalculatorProperties.hpp>
+#include <depthai/properties/SpatialLocationCalculatorProperties.hpp>
 
 #include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
 
@@ -16,19 +13,17 @@ namespace node {
 /**
  * @brief SpatialLocationCalculator node. Calculates spatial location data on a set of ROIs on depth map.
  */
-class SpatialLocationCalculator : public NodeCRTP<Node, SpatialLocationCalculator, SpatialLocationCalculatorProperties> {
+class SpatialLocationCalculator : public DeviceNodeCRTP<DeviceNode, SpatialLocationCalculator, SpatialLocationCalculatorProperties> {
    public:
     constexpr static const char* NAME = "SpatialLocationCalculator";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawSpatialLocationCalculatorConfig> rawConfig;
-
    public:
-    SpatialLocationCalculator(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    SpatialLocationCalculator(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    SpatialLocationCalculator() = default;
+    SpatialLocationCalculator(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use when calculating spatial location data.
@@ -39,23 +34,23 @@ class SpatialLocationCalculator : public NodeCRTP<Node, SpatialLocationCalculato
      * Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}};
     /**
      * Input message with depth data used to retrieve spatial information about detected object.
      * Default queue is non-blocking with size 4.
      */
-    Input inputDepth{*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
+    Input inputDepth{true, *this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs SpatialLocationCalculatorData message that carries spatial location results.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorData, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorData, false}}};
 
     /**
      * Passthrough message on which the calculation was performed.
      * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output passthroughDepth{*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output passthroughDepth{true, *this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     // Functions to set properties
     /**
diff --git a/include/depthai/pipeline/node/StereoDepth.hpp b/include/depthai/pipeline/node/StereoDepth.hpp
index 8976e2bdb..4c2df5216 100644
--- a/include/depthai/pipeline/node/StereoDepth.hpp
+++ b/include/depthai/pipeline/node/StereoDepth.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "depthai/pipeline/Node.hpp"
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include "depthai-shared/properties/StereoDepthProperties.hpp"
 #include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
+#include "depthai/properties/StereoDepthProperties.hpp"
 
 namespace dai {
 namespace node {
@@ -12,9 +12,11 @@ namespace node {
 /**
  * @brief StereoDepth node. Compute stereo disparity and depth from left-right image pair.
  */
-class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
+class StereoDepth : public DeviceNodeCRTP<DeviceNode, StereoDepth, StereoDepthProperties> {
    public:
     constexpr static const char* NAME = "StereoDepth";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
     /**
      * Preset modes for stereo depth.
@@ -35,11 +37,11 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
 
    private:
     PresetMode presetMode = PresetMode::HIGH_DENSITY;
-    std::shared_ptr<RawStereoDepthConfig> rawConfig;
 
    public:
-    StereoDepth(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    StereoDepth(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using MedianFilter = dai::StereoDepthConfig::MedianFilter;
+    StereoDepth() = default;
+    StereoDepth(std::unique_ptr<Properties> props);
 
     /**
      * Initial config to use for StereoDepth.
@@ -50,28 +52,44 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      * Input StereoDepthConfig message with ability to modify parameters in runtime.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::StereoDepthConfig, false}}};
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::StereoDepthConfig, false}}};
 
     /**
      * Input for left ImgFrame of left-right pair
      *
      * Default queue is non-blocking with size 8
      */
-    Input left{*this, "left", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+    Input left{true, *this, "left", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Input for right ImgFrame of left-right pair
      *
      * Default queue is non-blocking with size 8
      */
-    Input right{*this, "right", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+    Input right{true, *this, "right", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Input pixel descriptor for left ImgFrame.
+     * Input type must be 4 bytes per pixel
+     * Default queue is non-blocking with size 8
+     */
+    Input inputLeftPixelDescriptor{true, *this, "inputLeftPixelDescriptor", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Input pixel descriptor for right ImgFrame.
+     * Input type must be 4 bytes per pixel
+     * Default queue is non-blocking with size 8
+     */
+    Input inputRightPixelDescriptor{true, *this, "inputRightPixelDescriptor", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in depth units (millimeter by default).
      *
      * Non-determined / invalid depth values are set to 0
      */
-    Output depth{*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output depth{true, *this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data:
@@ -82,69 +100,75 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      * - 0..1520 for 4 fractional bits
      * - 0..3040 for 5 fractional bits
      */
-    Output disparity{*this, "disparity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output disparity{true, *this, "disparity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Passthrough ImgFrame message from 'left' Input.
      */
-    Output syncedLeft{*this, "syncedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output syncedLeft{true, *this, "syncedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Passthrough ImgFrame message from 'right' Input.
      */
-    Output syncedRight{*this, "syncedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output syncedRight{true, *this, "syncedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
      */
-    Output rectifiedLeft{*this, "rectifiedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output rectifiedLeft{true, *this, "rectifiedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
      */
-    Output rectifiedRight{*this, "rectifiedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output rectifiedRight{true, *this, "rectifiedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs StereoDepthConfig message that contains current stereo configuration.
      */
-    Output outConfig{*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::StereoDepthConfig, false}}};
+    Output outConfig{true, *this, "outConfig", Output::Type::MSender, {{DatatypeEnum::StereoDepthConfig, false}}};
 
     /**
      * Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map.
      * Useful for debugging/fine tuning.
      */
-    Output debugDispLrCheckIt1{*this, "debugDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output debugDispLrCheckIt1{true, *this, "debugDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map.
      * Useful for debugging/fine tuning.
      */
-    Output debugDispLrCheckIt2{*this, "debugDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output debugDispLrCheckIt2{true, *this, "debugDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map.
      * Useful for debugging/fine tuning.
      */
-    Output debugExtDispLrCheckIt1{*this, "debugExtDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output debugExtDispLrCheckIt1{true, *this, "debugExtDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map.
      * Useful for debugging/fine tuning.
      */
-    Output debugExtDispLrCheckIt2{*this, "debugExtDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output debugExtDispLrCheckIt2{true, *this, "debugExtDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries cost dump of disparity map.
      * Useful for debugging/fine tuning.
      */
-    Output debugDispCostDump{*this, "debugDispCostDump", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output debugDispCostDump{true, *this, "debugDispCostDump", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs ImgFrame message that carries RAW8 confidence map.
      * Lower values means higher confidence of the calculated disparity value.
      * RGB alignment, left-right check or any postproccessing (e.g. median filter) is not performed on confidence map.
      */
-    Output confidenceMap{*this, "confidenceMap", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output confidenceMap{true, *this, "confidenceMap", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
+    // TODO(before mainline) - API not supported on RVC2
+    Output pixelDescriptorsLeft{true, *this, "pixelDescriptorsLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+
+    // TODO(before mainline) - API not supported on RVC2
+    Output pixelDescriptorsRight{true, *this, "pixelDescriptorsRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Specify that a passthrough/dummy calibration should be used,
@@ -210,7 +234,7 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
     /**
      * @param median Set kernel size for disparity/depth median filtering, or disable
      */
-    [[deprecated("Use 'initialConfig.setMedianFilter()' instead")]] void setMedianFilter(dai::MedianFilter median);
+    [[deprecated("Use 'initialConfig.setMedianFilter()' instead")]] void setMedianFilter(MedianFilter median);
 
     /**
      * @param align Set the disparity/depth alignment: centered (between the 'left' and 'right' inputs),
@@ -347,11 +371,31 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      */
     void useHomographyRectification(bool useHomographyRectification);
 
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Whether to perform vertical stereo matching or not.
+     * Default value is false.
+     * If set to true rectification process includes 90 degree clock wise rotation to perform vertical matching.
+     */
+    void setVerticalStereo(bool verticalStereo);
+
+    // TODO(before mainline) - API not supported on RVC2
+    /**
+     * Whether to use custom pixel descriptors sent from host to device for debugging purposes.
+     * Default value is false.
+     */
+    void setCustomPixelDescriptors(bool customPixelDescriptors);
+
     /**
      * Equivalent to useHomographyRectification(!enableDistortionCorrection)
      */
     void enableDistortionCorrection(bool enableDistortionCorrection);
 
+    /**
+     * Whether to enable frame syncing inside stereo node or not. Suitable if inputs are known to be synced.
+     */
+    void setFrameSync(bool enableFrameSync);
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Override baseline from calibration.
      * Used only in disparity to depth conversion.
@@ -359,6 +403,7 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      */
     void setBaseline(float baseline);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Override focal length from calibration.
      * Used only in disparity to depth conversion.
@@ -366,12 +411,14 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      */
     void setFocalLength(float focalLength);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Use baseline information for disparity to depth conversion from specs (design data) or from calibration.
      * Default: true
      */
     void setDisparityToDepthUseSpecTranslation(bool specTranslation);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Obtain rectification matrices using spec translation (design data) or from calibration in calculations.
      * Should be used only for debugging.
@@ -379,12 +426,14 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
      */
     void setRectificationUseSpecTranslation(bool specTranslation);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Use baseline information for depth alignment from specs (design data) or from calibration.
      * Default: true
      */
     void setDepthAlignmentUseSpecTranslation(bool specTranslation);
 
+    // TODO(before mainline) - API not supported on RVC3
     /**
      * Free scaling parameter between 0 (when all the pixels in the undistorted image are valid)
      * and 1 (when all the source image pixels are retained in the undistorted image).
diff --git a/include/depthai/pipeline/node/Sync.hpp b/include/depthai/pipeline/node/Sync.hpp
index 2168e49ef..943ce1c6a 100644
--- a/include/depthai/pipeline/node/Sync.hpp
+++ b/include/depthai/pipeline/node/Sync.hpp
@@ -1,29 +1,34 @@
 #pragma once
 
-#include <chrono>
+#include <depthai/pipeline/DeviceNode.hpp>
 
-#include "depthai-shared/properties/SyncProperties.hpp"
-#include "depthai/pipeline/Node.hpp"
+// standard
+#include <fstream>
+
+// shared
+#include <depthai/properties/SyncProperties.hpp>
 
 namespace dai {
 namespace node {
 
-class Sync : public NodeCRTP<Node, Sync, SyncProperties> {
+// TODO(before mainline) - API not supported on RVC3
+/**
+ * @brief Sync node. Performs syncing between image frames
+ */
+class Sync : public DeviceNodeCRTP<DeviceNode, Sync, SyncProperties> {
    public:
     constexpr static const char* NAME = "Sync";
-    Sync(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-
-    Sync(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
     /**
      * A map of inputs
      */
-    InputMap inputs;
+    InputMap inputs{true, *this, "inputs", Input(*this, "", Input::Type::SReceiver, {{DatatypeEnum::Buffer, true}})};
 
     /**
      * Output message of type MessageGroup
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::MessageGroup, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::MessageGroup, false}}};
 
     /**
      * Set the maximal interval between messages in the group
diff --git a/include/depthai/pipeline/node/SystemLogger.hpp b/include/depthai/pipeline/node/SystemLogger.hpp
index 7b4cc3380..696482f03 100644
--- a/include/depthai/pipeline/node/SystemLogger.hpp
+++ b/include/depthai/pipeline/node/SystemLogger.hpp
@@ -1,9 +1,10 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
+#include <depthai/pipeline/node/Pool.hpp>
 
 // shared
-#include <depthai-shared/properties/SystemLoggerProperties.hpp>
+#include <depthai/properties/SystemLoggerProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,18 +12,33 @@ namespace node {
 /**
  * @brief SystemLogger node. Send system information periodically.
  */
-class SystemLogger : public NodeCRTP<Node, SystemLogger, SystemLoggerProperties> {
+class SystemLogger : public DeviceNodeCRTP<DeviceNode, SystemLogger, SystemLoggerProperties> {
    public:
     constexpr static const char* NAME = "SystemLogger";
-
-    SystemLogger(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    SystemLogger(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
     /**
-     * Outputs SystemInformation message that carries various system information
+     * Outputs SystemInformation[S3] message that carries various system information
      * like memory and CPU usage, temperatures, ...
+     * For series 2 devices outputs SystemInformation message,
+     * for series 3 devices outputs SystemInformationS3 message
+     */
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::SystemInformation, false}, {DatatypeEnum::SystemInformationS3, false}}};
+
+    /**
+     * Optional - consumes an SystemInformation message from pool to send outwards
+     * Otherwise uses dynamic allocation and/or default pool
+     */
+
+    // TODO(before mainline) - Clean up - add pools back in when ready
+    // Input inputPool{
+    //     true, *this, "inputPool", Input::Type::MReceiver, false, 4, {{DatatypeEnum::SystemInformation, false}, {DatatypeEnum::SystemInformationS3, false}}};
+
+    /**
+     * Default pool that is linked to inputPool input
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::SystemInformation, false}}};
+    // Subnode<Pool> pool{*this, "pool"};
 
     /**
      * Specify logging rate, at which messages will be sent out
diff --git a/include/depthai/pipeline/node/ToF.hpp b/include/depthai/pipeline/node/ToF.hpp
index 2f4e055e0..cd57192e3 100644
--- a/include/depthai/pipeline/node/ToF.hpp
+++ b/include/depthai/pipeline/node/ToF.hpp
@@ -1,9 +1,12 @@
 #pragma once
 
-#include "depthai/pipeline/Node.hpp"
+#include <depthai/pipeline/DeviceNode.hpp>
+
+// standard
+#include <fstream>
 
 // shared
-#include <depthai-shared/properties/ToFProperties.hpp>
+#include <depthai/properties/ToFProperties.hpp>
 
 #include "depthai/pipeline/datatype/ToFConfig.hpp"
 
@@ -11,44 +14,50 @@ namespace dai {
 namespace node {
 
 /**
- * @brief ToF node
+ * @brief ToF node.
+ * Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.
  */
-class ToF : public NodeCRTP<Node, ToF, ToFProperties> {
+class ToF : public DeviceNodeCRTP<DeviceNode, ToF, ToFProperties> {
    public:
     constexpr static const char* NAME = "ToF";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    protected:
     Properties& getProperties();
 
-   private:
-    std::shared_ptr<RawToFConfig> rawConfig;
-
-    /**
-     * Constructs ToF node.
-     */
    public:
-    ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    ToF() = default;
+    ToF(std::unique_ptr<Properties> props);
 
     /**
-     * Initial config to use for depth calculation.
+     * Initial config to use for feature tracking.
      */
     ToFConfig initialConfig;
 
     /**
-     * Input ToF message with ability to modify parameters in runtime.
+     * Input ToFConfig message with ability to modify parameters in runtime.
+     * Default queue is non-blocking with size 4.
+     */
+    Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}};
+    /**
+     * Input message with frame data on which feature tracking is performed.
      * Default queue is non-blocking with size 4.
      */
-    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}};
+    Input inputRaw{true, *this, "inputRaw", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
-    Input input{*this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}};
+    Output depth{true, *this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    // TODO(before mainline) - API not supported on RVC3
+    Input input{true, *this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
-     * Outputs ImgFrame message that carries modified image.
+     * Passthrough message on which the calculation was performed.
+     * Suitable for when input queue is set to non-blocking behavior.
      */
-    Output depth{*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
-    Output amplitude{*this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
-    Output error{*this, "error", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
+    Output passthroughInputRaw{true, *this, "passthroughInputRaw", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    // TODO(before mainline) - API not supported on RVC3
+    Output amplitude{true, *this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
+    Output intensity{true, *this, "intensity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
+    Output error{true, *this, "error", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
 };
 
 }  // namespace node
diff --git a/include/depthai/pipeline/node/UVC.hpp b/include/depthai/pipeline/node/UVC.hpp
index 65fd84e27..eeafecfe9 100644
--- a/include/depthai/pipeline/node/UVC.hpp
+++ b/include/depthai/pipeline/node/UVC.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/UVCProperties.hpp>
+#include <depthai/properties/UVCProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,20 +11,22 @@ namespace node {
 /**
  * @brief UVC (USB Video Class) node
  */
-class UVC : public NodeCRTP<Node, UVC, UVCProperties> {
+class UVC : public DeviceNodeCRTP<DeviceNode, UVC, UVCProperties> {
    public:
     constexpr static const char* NAME = "UVC";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    public:
-    UVC(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    UVC(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    UVC() = default;
+    UVC(std::unique_ptr<Properties> props);
 
     /**
      * Input for image frames to be streamed over UVC
      *
      * Default queue is blocking with size 8
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
 
     /// Set GPIO list <gpio_number, value> for GPIOs to set (on/off) at init
     void setGpiosOnInit(std::unordered_map<int, int> list);
diff --git a/include/depthai/pipeline/node/VideoEncoder.hpp b/include/depthai/pipeline/node/VideoEncoder.hpp
index 59c186e52..f8668ef26 100644
--- a/include/depthai/pipeline/node/VideoEncoder.hpp
+++ b/include/depthai/pipeline/node/VideoEncoder.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/VideoEncoderProperties.hpp>
+#include <depthai/properties/VideoEncoderProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,28 +11,26 @@ namespace node {
 /**
  * @brief VideoEncoder node. Encodes frames into MJPEG, H264 or H265.
  */
-class VideoEncoder : public NodeCRTP<Node, VideoEncoder, VideoEncoderProperties> {
+class VideoEncoder : public DeviceNodeCRTP<DeviceNode, VideoEncoder, VideoEncoderProperties> {
    public:
     constexpr static const char* NAME = "VideoEncoder";
-
-    VideoEncoder(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    VideoEncoder(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
     /**
      * Input for NV12 ImgFrame to be encoded
      * Default queue is blocking with size set by 'setNumFramesPool' (4).
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 4, true, {{DatatypeEnum::ImgFrame, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 4, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Outputs ImgFrame message that carries BITSTREAM encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with out.
      */
-    Output bitstream{*this, "bitstream", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
+    Output bitstream{true, *this, "bitstream", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
     /**
      * Outputs EncodedFrame message that carries encoded (MJPEG, H264 or H265) frame data. Mutually exclusive with bitstream.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::EncodedFrame, false}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::EncodedFrame, false}}};
 
     // Sets default options for a specified size and profile
     /**
diff --git a/include/depthai/pipeline/node/Warp.hpp b/include/depthai/pipeline/node/Warp.hpp
index 836a69516..d13f4d684 100644
--- a/include/depthai/pipeline/node/Warp.hpp
+++ b/include/depthai/pipeline/node/Warp.hpp
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 // #include <depthai/pipeline/datatype/WarpConfig.hpp>
 
 // shared
-#include <depthai-shared/common/Point2f.hpp>
-#include <depthai-shared/properties/WarpProperties.hpp>
+#include <depthai/common/Point2f.hpp>
+#include <depthai/properties/WarpProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -13,20 +13,15 @@ namespace node {
 /**
  * @brief Warp node. Capability to crop, resize, warp, ... incoming image frames
  */
-class Warp : public NodeCRTP<Node, Warp, WarpProperties> {
+class Warp : public DeviceNodeCRTP<DeviceNode, Warp, WarpProperties> {
    public:
     constexpr static const char* NAME = "Warp";
-
-   protected:
-    Properties& getProperties();
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    private:
     void setWarpMesh(const float* meshData, int numMeshPoints, int width, int height);
 
    public:
-    Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
     // /**
     //  * Initial config to use when manipulating frames
     //  */
@@ -36,18 +31,18 @@ class Warp : public NodeCRTP<Node, Warp, WarpProperties> {
     //  * Input WarpConfig message with ability to modify parameters in runtime
     //  * Default queue is blocking with size 8
     //  */
-    // Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::WarpConfig, true}}};
+    // Input inputConfig{true, *this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::WarpConfig, true}}};
 
     /**
      * Input image to be modified
      * Default queue is blocking with size 8
      */
-    Input inputImage{*this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}};
+    Input inputImage{true, *this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Outputs ImgFrame message that carries warped image.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
 
     /**
      * Sets output frame size in pixels
diff --git a/include/depthai/pipeline/node/XLinkIn.hpp b/include/depthai/pipeline/node/XLinkIn.hpp
index 137d668dc..60e380e85 100644
--- a/include/depthai/pipeline/node/XLinkIn.hpp
+++ b/include/depthai/pipeline/node/XLinkIn.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/XLinkInProperties.hpp>
+#include <depthai/properties/XLinkInProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,18 +11,18 @@ namespace node {
 /**
  * @brief XLinkIn node. Receives messages over XLink.
  */
-class XLinkIn : public NodeCRTP<Node, XLinkIn, XLinkInProperties> {
+class XLinkIn : public DeviceNodeCRTP<DeviceNode, XLinkIn, XLinkInProperties> {
    public:
     constexpr static const char* NAME = "XLinkIn";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
 
    public:
-    XLinkIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    XLinkIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
+    virtual ~XLinkIn() = default;
 
     /**
      * Outputs message of same type as send from host.
      */
-    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Specifies XLink stream name to use.
diff --git a/include/depthai/pipeline/node/XLinkOut.hpp b/include/depthai/pipeline/node/XLinkOut.hpp
index 06fcab2ae..0a495e56f 100644
--- a/include/depthai/pipeline/node/XLinkOut.hpp
+++ b/include/depthai/pipeline/node/XLinkOut.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <depthai/pipeline/Node.hpp>
+#include <depthai/pipeline/DeviceNode.hpp>
 
 // shared
-#include <depthai-shared/properties/XLinkOutProperties.hpp>
+#include <depthai/properties/XLinkOutProperties.hpp>
 
 namespace dai {
 namespace node {
@@ -11,20 +11,19 @@ namespace node {
 /**
  * @brief XLinkOut node. Sends messages over XLink.
  */
-class XLinkOut : public NodeCRTP<Node, XLinkOut, XLinkOutProperties> {
+class XLinkOut : public DeviceNodeCRTP<DeviceNode, XLinkOut, XLinkOutProperties> {
    public:
     constexpr static const char* NAME = "XLinkOut";
+    using DeviceNodeCRTP::DeviceNodeCRTP;
+    void build();
 
    public:
-    XLinkOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
-    XLinkOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
-
     /**
      * Input for any type of messages to be transferred over XLink stream
      *
      * Default queue is blocking with size 8
      */
-    Input input{*this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
 
     /**
      * Specifies XLink stream name to use.
diff --git a/include/depthai/pipeline/node/test/MyConsumer.hpp b/include/depthai/pipeline/node/test/MyConsumer.hpp
new file mode 100644
index 000000000..13d2c8ac5
--- /dev/null
+++ b/include/depthai/pipeline/node/test/MyConsumer.hpp
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <depthai/pipeline/ThreadedNode.hpp>
+
+// shared
+#include <depthai/properties/XLinkOutProperties.hpp>
+
+// project
+#include <depthai/pipeline/datatype/Buffer.hpp>
+
+namespace dai {
+namespace node {
+namespace test {
+
+/**
+ * @brief XLinkOut node. Sends messages over XLink.
+ */
+class MyConsumer : public NodeCRTP<ThreadedNode, MyConsumer> {
+   public:
+    constexpr static const char* NAME = "MyConsumer";
+    void build();
+
+    /**
+     * Input for any type of messages to be transferred over XLink stream
+     *
+     * Default queue is blocking with size 8
+     */
+    Input input{true, *this, "in", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::Buffer, true}}};
+
+    void run() override {
+        while(isRunning()) {
+            auto msg = input.queue.get<dai::Buffer>();
+            std::cout << "got message (ptr: " << msg.get() << ", data (size: " << msg->data->getData().size() << "): ";
+
+            for(int b : msg->getData()) {
+                std::cout << b;
+            }
+            std::cout << "\n";
+        }
+    }
+};
+
+}  // namespace test
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/node/test/MyProducer.hpp b/include/depthai/pipeline/node/test/MyProducer.hpp
new file mode 100644
index 000000000..17d4395ec
--- /dev/null
+++ b/include/depthai/pipeline/node/test/MyProducer.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include <depthai/pipeline/ThreadedNode.hpp>
+
+// shared
+#include <depthai/properties/XLinkOutProperties.hpp>
+
+namespace dai {
+namespace node {
+namespace test {
+
+/**
+ * @brief XLinkOut node. Sends messages over XLink.
+ */
+class MyProducer : public NodeCRTP<ThreadedNode, MyProducer> {
+   public:
+    constexpr static const char* NAME = "MyProducer";
+    void build();
+
+   public:
+    /**
+     * Outputs message of same type as send from host.
+     */
+    Output out{true, *this, "out", Output::Type::MSender, {{DatatypeEnum::Buffer, true}}};
+
+    void run() override;
+};
+
+}  // namespace test
+}  // namespace node
+}  // namespace dai
diff --git a/include/depthai/pipeline/nodes.hpp b/include/depthai/pipeline/nodes.hpp
index 73ac61b1f..1a52f8883 100644
--- a/include/depthai/pipeline/nodes.hpp
+++ b/include/depthai/pipeline/nodes.hpp
@@ -2,6 +2,8 @@
 
 // all the nodes
 #include "node/AprilTag.hpp"
+#include "node/BenchmarkIn.hpp"
+#include "node/BenchmarkOut.hpp"
 #include "node/Camera.hpp"
 #include "node/ColorCamera.hpp"
 #include "node/DetectionNetwork.hpp"
@@ -14,6 +16,8 @@
 #include "node/MonoCamera.hpp"
 #include "node/NeuralNetwork.hpp"
 #include "node/ObjectTracker.hpp"
+#include "node/PointCloud.hpp"
+#include "node/Pool.hpp"
 #include "node/SPIIn.hpp"
 #include "node/SPIOut.hpp"
 #include "node/Script.hpp"
@@ -23,6 +27,7 @@
 #include "node/Sync.hpp"
 #include "node/SystemLogger.hpp"
 #include "node/ToF.hpp"
+#include "node/UVC.hpp"
 #include "node/VideoEncoder.hpp"
 #include "node/Warp.hpp"
 #include "node/XLinkIn.hpp"
diff --git a/include/depthai/properties/AprilTagProperties.hpp b/include/depthai/properties/AprilTagProperties.hpp
new file mode 100644
index 000000000..acdc117de
--- /dev/null
+++ b/include/depthai/properties/AprilTagProperties.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <depthai/pipeline/datatype/AprilTagConfig.hpp>
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for AprilTag
+ */
+struct AprilTagProperties : PropertiesSerializable<Properties, AprilTagProperties> {
+    AprilTagConfig initialConfig;
+
+    /// Whether to wait for config at 'inputConfig' IO
+    bool inputConfigSync = false;
+};
+
+DEPTHAI_SERIALIZE_EXT(AprilTagProperties, initialConfig, inputConfigSync);
+
+}  // namespace dai
diff --git a/include/depthai/properties/BenchmarkProperties.hpp b/include/depthai/properties/BenchmarkProperties.hpp
new file mode 100644
index 000000000..2b02f7361
--- /dev/null
+++ b/include/depthai/properties/BenchmarkProperties.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify benchmark properties (number of messages to send/receive)
+ */
+struct BenchmarkProperties : PropertiesSerializable<Properties, BenchmarkProperties> {
+    /**
+     * Number of messages to send
+     */
+    int numMessages = 50;
+};
+
+DEPTHAI_SERIALIZE_EXT(BenchmarkProperties, numMessages);
+
+}  // namespace dai
diff --git a/include/depthai/properties/BenchmarkPropertiesIn.hpp b/include/depthai/properties/BenchmarkPropertiesIn.hpp
new file mode 100644
index 000000000..8bbe350f3
--- /dev/null
+++ b/include/depthai/properties/BenchmarkPropertiesIn.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify benchmark properties (number of messages to send/receive)
+ */
+struct BenchmarkPropertiesIn : PropertiesSerializable<Properties, BenchmarkPropertiesIn> {
+    /**
+     * Number of messages to send
+     */
+    int numMessages = 50;
+};
+
+DEPTHAI_SERIALIZE_EXT(BenchmarkPropertiesIn, numMessages);
+
+}  // namespace dai
diff --git a/include/depthai/properties/BenchmarkPropertiesOut.hpp b/include/depthai/properties/BenchmarkPropertiesOut.hpp
new file mode 100644
index 000000000..19ee57c22
--- /dev/null
+++ b/include/depthai/properties/BenchmarkPropertiesOut.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify benchmark properties (number of messages to send/receive)
+ */
+struct BenchmarkPropertiesOut : PropertiesSerializable<Properties, BenchmarkPropertiesOut> {
+    /**
+     * Number of messages to send
+     */
+    int numMessages = 50;
+
+    /**
+     * FPS for sending, 0 means as fast as possible
+     */
+    float fps = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(BenchmarkPropertiesOut, numMessages, fps);
+
+}  // namespace dai
diff --git a/include/depthai/properties/CameraProperties.hpp b/include/depthai/properties/CameraProperties.hpp
new file mode 100644
index 000000000..b9ad3e540
--- /dev/null
+++ b/include/depthai/properties/CameraProperties.hpp
@@ -0,0 +1,217 @@
+#pragma once
+#include <optional>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/common/CameraSensorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/CameraControl.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ *  Specify properties for ColorCamera such as camera ID, ...
+ */
+struct CameraProperties : PropertiesSerializable<Properties, CameraProperties> {
+    static constexpr int AUTO = -1;
+
+    struct IspScale {
+        int32_t horizNumerator = 0;
+        int32_t horizDenominator = 0;
+        int32_t vertNumerator = 0;
+        int32_t vertDenominator = 0;
+
+        DEPTHAI_SERIALIZE(IspScale, horizNumerator, horizDenominator, vertNumerator, vertDenominator);
+    };
+
+    /**
+     * For 24 bit color these can be either RGB or BGR
+     */
+    enum class ColorOrder : int32_t { BGR, RGB };
+
+    /**
+     * Initial controls applied to ColorCamera node
+     */
+    CameraControl initialControl;
+
+    /**
+     * Which socket will color camera use
+     */
+    CameraBoardSocket boardSocket = CameraBoardSocket::AUTO;
+
+    /**
+     * Which camera name will color camera use
+     */
+    std::string cameraName = "";
+
+    /**
+     * Camera sensor image orientation / pixel readout
+     */
+    CameraImageOrientation imageOrientation = CameraImageOrientation::AUTO;
+
+    /**
+     * For 24 bit color these can be either RGB or BGR
+     */
+    ColorOrder colorOrder = ColorOrder::BGR;
+    /**
+     * Are colors interleaved (R1G1B1, R2G2B2, ...) or planar (R1R2..., G1G2..., B1B2)
+     */
+    bool interleaved = true;
+    /**
+     * Are values FP16 type (0.0 - 255.0)
+     */
+    bool fp16 = false;
+
+    static constexpr uint32_t DEFAULT_PREVIEW_HEIGHT = 300;
+    static constexpr uint32_t DEFAULT_PREVIEW_WIDTH = 300;
+
+    /**
+     * Preview frame output height
+     */
+    uint32_t previewHeight = DEFAULT_PREVIEW_HEIGHT;
+    /**
+     * Preview frame output width
+     */
+    uint32_t previewWidth = DEFAULT_PREVIEW_WIDTH;
+
+    /**
+     * Preview frame output width
+     */
+    int32_t videoWidth = AUTO;
+
+    /**
+     * Preview frame output height
+     */
+    int32_t videoHeight = AUTO;
+
+    /**
+     * Preview frame output width
+     */
+    int32_t stillWidth = AUTO;
+
+    /**
+     * Preview frame output height
+     */
+    int32_t stillHeight = AUTO;
+
+    /**
+     * Select the camera sensor width
+     */
+    int32_t resolutionWidth = AUTO;
+    /**
+     * Select the camera sensor height
+     */
+    int32_t resolutionHeight = AUTO;
+
+    /**
+     * Camera sensor FPS
+     */
+    float fps = 30.0;
+
+    /**
+     * Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).
+     * Default (0) matches the camera FPS, meaning that 3A is running on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A.
+     * Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame,
+     * but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.
+
+     */
+    int isp3aFps = 0;
+
+    /**
+     * Initial sensor crop, -1 signifies center crop
+     */
+    float sensorCropX = AUTO;
+    float sensorCropY = AUTO;
+
+    /**
+     * Whether to keep aspect ratio of input (video/preview size) or not
+     */
+    bool previewKeepAspectRatio = false;
+
+    /**
+     * Configure scaling for `isp` output.
+     */
+    IspScale ispScale;
+
+    /// Type of sensor, specifies what kind of postprocessing is performed
+    CameraSensorType sensorType = CameraSensorType::AUTO;
+
+    /**
+     * Pool sizes
+     */
+    int numFramesPoolRaw = 3;
+    int numFramesPoolIsp = 3;
+    int numFramesPoolVideo = 4;
+    int numFramesPoolPreview = 4;
+    int numFramesPoolStill = 4;
+
+    /**
+     * Warp mesh source
+     */
+    enum class WarpMeshSource { AUTO = -1, NONE, CALIBRATION, URI };
+    WarpMeshSource warpMeshSource = WarpMeshSource::AUTO;
+    std::string warpMeshUri = "";
+    int warpMeshWidth, warpMeshHeight;
+    /**
+     * Free scaling parameter between 0 (when all the pixels in the undistorted image are valid)
+     * and 1 (when all the source image pixels are retained in the undistorted image).
+     * On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0,
+     * in these cases alpha < 0.0 helps removing invalid areas.
+     * See getOptimalNewCameraMatrix from opencv for more details.
+     */
+    std::optional<float> calibAlpha;
+    int warpMeshStepWidth = 32;
+    int warpMeshStepHeight = 32;
+
+    /**
+     * Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
+     * The packed format is more efficient, consuming less memory on device, and less data
+     * to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes.
+     * When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel
+     * will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
+     * Default is auto: enabled for standard color/monochrome cameras where ISP can work
+     * with both packed/unpacked, but disabled for other cameras like ToF.
+     */
+    std::optional<bool> rawPacked;
+};
+
+DEPTHAI_SERIALIZE_EXT(CameraProperties,
+                      initialControl,
+                      boardSocket,
+                      cameraName,
+                      imageOrientation,
+                      colorOrder,
+                      interleaved,
+                      fp16,
+                      previewHeight,
+                      previewWidth,
+                      videoWidth,
+                      videoHeight,
+                      stillWidth,
+                      stillHeight,
+                      resolutionWidth,
+                      resolutionHeight,
+                      fps,
+                      isp3aFps,
+                      sensorCropX,
+                      sensorCropY,
+                      previewKeepAspectRatio,
+                      ispScale,
+                      sensorType,
+                      numFramesPoolRaw,
+                      numFramesPoolIsp,
+                      numFramesPoolVideo,
+                      numFramesPoolPreview,
+                      numFramesPoolStill,
+                      warpMeshSource,
+                      warpMeshUri,
+                      warpMeshWidth,
+                      warpMeshHeight,
+                      calibAlpha,
+                      warpMeshStepWidth,
+                      warpMeshStepHeight,
+                      rawPacked);
+
+}  // namespace dai
diff --git a/include/depthai/properties/ColorCameraProperties.hpp b/include/depthai/properties/ColorCameraProperties.hpp
new file mode 100644
index 000000000..54f26e077
--- /dev/null
+++ b/include/depthai/properties/ColorCameraProperties.hpp
@@ -0,0 +1,239 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/common/FrameEvent.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/CameraControl.hpp"
+#include "depthai/pipeline/datatype/ImgFrame.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ *  Specify properties for ColorCamera such as camera ID, ...
+ */
+struct ColorCameraProperties : PropertiesSerializable<Properties, ColorCameraProperties> {
+    static constexpr int AUTO = -1;
+
+    struct IspScale {
+        int32_t horizNumerator = 0;
+        int32_t horizDenominator = 0;
+        int32_t vertNumerator = 0;
+        int32_t vertDenominator = 0;
+
+        DEPTHAI_SERIALIZE(IspScale, horizNumerator, horizDenominator, vertNumerator, vertDenominator);
+    };
+
+    /**
+     * Select the camera sensor resolution
+     */
+    enum class SensorResolution : int32_t {
+        /// 1920 × 1080
+        THE_1080_P,
+        /// 3840 × 2160
+        THE_4_K,
+        /// 4056 × 3040
+        THE_12_MP,
+        /// 4208 × 3120
+        THE_13_MP,
+        /// 1280 × 720
+        THE_720_P,
+        /// 1280 × 800
+        THE_800_P,
+        /// 1920 × 1200
+        THE_1200_P,
+        /// 2592 × 1944
+        THE_5_MP,
+        /// 4000 × 3000
+        THE_4000X3000,
+        /// 5312 × 6000
+        THE_5312X6000,
+        /// 8000 × 6000
+        THE_48_MP,
+        /// 240 x 180
+        THE_240X180,
+        /// 1280 x 962
+        THE_1280X962,
+        /// 2000 × 1500
+        THE_2000X1500,
+        /// 2028 × 1520
+        THE_2028X1520,
+        /// 2104 × 1560
+        THE_2104X1560,
+        /// 1440 × 1080
+        THE_1440X1080,
+        /// 1352 × 1012
+        THE_1352X1012,
+        /// 2024 × 1520
+        THE_2024X1520,
+    };
+
+    /**
+     * For 24 bit color these can be either RGB or BGR
+     */
+    enum class ColorOrder : int32_t { BGR, RGB };
+
+    /*
+     * Initial controls applied to ColorCamera node
+     */
+    CameraControl initialControl;
+
+    /**
+     * Which socket will color camera use
+     */
+    CameraBoardSocket boardSocket = CameraBoardSocket::AUTO;
+
+    /**
+     * Which camera name will color camera use
+     */
+    std::string cameraName = "";
+
+    /**
+     * Camera sensor image orientation / pixel readout
+     */
+    CameraImageOrientation imageOrientation = CameraImageOrientation::AUTO;
+
+    /**
+     * Frame type
+     */
+    ImgFrame::Type previewType = ImgFrame::Type::BGR888p;
+
+    /**
+     * Preview frame output height
+     */
+    uint32_t previewHeight = 300;
+    /**
+     * Preview frame output width
+     */
+    uint32_t previewWidth = 300;
+
+    /**
+     * Preview frame output width
+     */
+    int32_t videoWidth = AUTO;
+
+    /**
+     * Preview frame output height
+     */
+    int32_t videoHeight = AUTO;
+
+    /**
+     * Preview frame output width
+     */
+    int32_t stillWidth = AUTO;
+
+    /**
+     * Preview frame output height
+     */
+    int32_t stillHeight = AUTO;
+
+    /**
+     * Select the camera sensor resolution
+     */
+    SensorResolution resolution = SensorResolution::THE_1080_P;
+    /**
+     * Camera sensor FPS
+     */
+    float fps = 30.0;
+
+    /**
+     * Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).
+     * Default (0) matches the camera FPS, meaning that 3A is running on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A.
+     * Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame,
+     * but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.
+
+     */
+    int isp3aFps = 0;
+
+    /**
+     * Initial sensor crop, -1 signifies center crop
+     */
+    float sensorCropX = AUTO;
+    float sensorCropY = AUTO;
+
+    /**
+     * Whether to keep aspect ratio of input (video size) or not
+     */
+    bool previewKeepAspectRatio = true;
+
+    /**
+     * Configure scaling for `isp` output.
+     */
+    IspScale ispScale;
+
+    /**
+     * Pool sizes
+     */
+    int numFramesPoolRaw = 3;
+    int numFramesPoolIsp = 3;
+    int numFramesPoolVideo = 4;
+    int numFramesPoolPreview = 4;
+    int numFramesPoolStill = 4;
+
+    /**
+     * Warp mesh source
+     */
+    enum class WarpMeshSource { AUTO = -1, NONE, CALIBRATION, URI };
+    WarpMeshSource warpMeshSource = WarpMeshSource::AUTO;
+    std::string warpMeshUri = "";
+    int warpMeshWidth, warpMeshHeight;
+    float calibAlpha = 1.0f;
+    int warpMeshStepWidth = 32;
+    int warpMeshStepHeight = 32;
+
+    /*
+     * List of events to receive, the rest will be ignored
+     */
+    std::vector<dai::FrameEvent> eventFilter = {dai::FrameEvent::READOUT_START};
+
+    /**
+     * Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
+     * The packed format is more efficient, consuming less memory on device, and less data
+     * to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes.
+     * When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel
+     * will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
+     * Default is auto: enabled for standard color/monochrome cameras where ISP can work
+     * with both packed/unpacked, but disabled for other cameras like ToF.
+     */
+    std::optional<bool> rawPacked;
+};
+
+DEPTHAI_SERIALIZE_EXT(ColorCameraProperties,
+                      initialControl,
+                      boardSocket,
+                      cameraName,
+                      imageOrientation,
+                      previewType,
+                      previewHeight,
+                      previewWidth,
+                      videoWidth,
+                      videoHeight,
+                      stillWidth,
+                      stillHeight,
+                      resolution,
+                      fps,
+                      isp3aFps,
+                      sensorCropX,
+                      sensorCropY,
+                      previewKeepAspectRatio,
+                      ispScale,
+                      numFramesPoolRaw,
+                      numFramesPoolIsp,
+                      numFramesPoolVideo,
+                      numFramesPoolPreview,
+                      numFramesPoolStill,
+                      warpMeshSource,
+                      warpMeshUri,
+                      warpMeshWidth,
+                      warpMeshHeight,
+                      calibAlpha,
+                      warpMeshStepWidth,
+                      warpMeshStepHeight,
+                      eventFilter,
+                      rawPacked);
+
+}  // namespace dai
diff --git a/include/depthai/properties/DetectionParserProperties.hpp b/include/depthai/properties/DetectionParserProperties.hpp
new file mode 100644
index 000000000..ba771a62c
--- /dev/null
+++ b/include/depthai/properties/DetectionParserProperties.hpp
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/DetectionParserOptions.hpp"
+#include "depthai/common/TensorInfo.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for DetectionParser
+ */
+struct DetectionParserProperties : PropertiesSerializable<Properties, DetectionParserProperties> {
+    /// Num frames in output pool
+    int numFramesPool = 8;
+
+    /// Network inputs
+    std::unordered_map<std::string, TensorInfo> networkInputs;
+
+    /// Options for parser
+    DetectionParserOptions parser;
+};
+
+DEPTHAI_SERIALIZE_EXT(DetectionParserProperties, numFramesPool, networkInputs, parser);
+
+}  // namespace dai
diff --git a/include/depthai/properties/EdgeDetectorProperties.hpp b/include/depthai/properties/EdgeDetectorProperties.hpp
new file mode 100644
index 000000000..db44f9941
--- /dev/null
+++ b/include/depthai/properties/EdgeDetectorProperties.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for EdgeDetector
+ */
+struct EdgeDetectorProperties : PropertiesSerializable<Properties, EdgeDetectorProperties> {
+    /// Initial edge detector config
+    EdgeDetectorConfig initialConfig;
+
+    /**
+     * Maximum output frame size in bytes (eg: 300x300 BGR image -> 300*300*3 bytes)
+     */
+    int outputFrameSize = 1 * 1024 * 1024;
+
+    /// Num frames in output pool
+    int numFramesPool = 4;
+};
+
+DEPTHAI_SERIALIZE_EXT(EdgeDetectorProperties, initialConfig, outputFrameSize, numFramesPool);
+
+}  // namespace dai
diff --git a/include/depthai/properties/FeatureTrackerProperties.hpp b/include/depthai/properties/FeatureTrackerProperties.hpp
new file mode 100644
index 000000000..519f990fc
--- /dev/null
+++ b/include/depthai/properties/FeatureTrackerProperties.hpp
@@ -0,0 +1,40 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for FeatureTracker
+ */
+struct FeatureTrackerProperties : PropertiesSerializable<Properties, FeatureTrackerProperties> {
+    /**
+     * Initial feature tracker config
+     */
+    FeatureTrackerConfig initialConfig;
+
+    /**
+     * Number of shaves reserved for feature tracking.
+     * Optical flow can use 1 or 2 shaves, while for corner detection only 1 is enough.
+     * Hardware motion estimation doesn't require shaves.
+     * Maximum 2, minimum 1.
+     */
+    std::int32_t numShaves = 1;
+
+    /**
+     * Number of memory slices reserved for feature tracking.
+     * Optical flow can use 1 or 2 memory slices, while for corner detection only 1 is enough.
+     * Maximum number of features depends on the number of allocated memory slices.
+     * Hardware motion estimation doesn't require memory slices.
+     * Maximum 2, minimum 1.
+     */
+    std::int32_t numMemorySlices = 1;
+};
+
+DEPTHAI_SERIALIZE_EXT(FeatureTrackerProperties, initialConfig, numShaves, numMemorySlices);
+
+}  // namespace dai
diff --git a/include/depthai/properties/GlobalProperties.hpp b/include/depthai/properties/GlobalProperties.hpp
new file mode 100644
index 000000000..cf697d951
--- /dev/null
+++ b/include/depthai/properties/GlobalProperties.hpp
@@ -0,0 +1,80 @@
+#pragma once
+
+#include "depthai/common/EepromData.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties which apply for whole pipeline
+ */
+struct GlobalProperties : PropertiesSerializable<Properties, GlobalProperties> {
+    constexpr static uint32_t SIPP_BUFFER_DEFAULT_SIZE = 18 * 1024;
+    constexpr static uint32_t SIPP_DMA_BUFFER_DEFAULT_SIZE = 16 * 1024;
+
+    /**
+     * Set frequency of Leon OS - Increasing can improve performance, at the cost of higher power
+     * draw
+     */
+    double leonCssFrequencyHz = 700 * 1000 * 1000;
+    /**
+     * Set frequency of Leon RT - Increasing can improve performance, at the cost of higher power
+     * draw
+     */
+    double leonMssFrequencyHz = 700 * 1000 * 1000;
+    std::optional<std::string> pipelineName;
+    std::optional<std::string> pipelineVersion;
+    /**
+     * Calibration data sent through pipeline
+     */
+
+    std::optional<dai::EepromData> calibData;
+
+    /**
+     * Camera tuning blob size in bytes
+     */
+    std::optional<std::uint32_t> cameraTuningBlobSize;
+    /**
+     * Uri which points to camera tuning blob
+     */
+    std::string cameraTuningBlobUri;
+
+    /**
+     * Chunk size for splitting device-sent XLink packets, in bytes. A larger value could
+     * increase performance, with 0 disabling chunking. A negative value won't modify the
+     * device defaults - configured per protocol, currently 64*1024 for both USB and Ethernet.
+     */
+    int32_t xlinkChunkSize = -1;
+
+    /**
+     * SIPP (Signal Image Processing Pipeline) internal memory pool.
+     * SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc.
+     * Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW.
+     * By default memory is allocated in high speed CMX memory. Setting to 0 will allocate in DDR 256 kilobytes.
+     * Units are bytes.
+     */
+    uint32_t sippBufferSize = SIPP_BUFFER_DEFAULT_SIZE;
+    /**
+     * SIPP (Signal Image Processing Pipeline) internal DMA memory pool.
+     * SIPP is a framework used to schedule HW filters, e.g. ISP, Warp, Median filter etc.
+     * Changing the size of this pool is meant for advanced use cases, pushing the limits of the HW.
+     * Memory is allocated in high speed CMX memory
+     * Units are bytes.
+     */
+    uint32_t sippDmaBufferSize = SIPP_DMA_BUFFER_DEFAULT_SIZE;
+};
+
+DEPTHAI_SERIALIZE_EXT(GlobalProperties,
+                      leonCssFrequencyHz,
+                      leonMssFrequencyHz,
+                      pipelineName,
+                      pipelineVersion,
+                      cameraTuningBlobSize,
+                      cameraTuningBlobUri,
+                      calibData,
+                      xlinkChunkSize,
+                      sippBufferSize,
+                      sippDmaBufferSize);
+
+}  // namespace dai
diff --git a/include/depthai/properties/IMUProperties.hpp b/include/depthai/properties/IMUProperties.hpp
new file mode 100644
index 000000000..5a7be1605
--- /dev/null
+++ b/include/depthai/properties/IMUProperties.hpp
@@ -0,0 +1,183 @@
+#pragma once
+
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Available IMU sensors.
+ * More details about each sensor can be found in the datasheet:
+ *
+ * https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf
+ */
+enum class IMUSensor : std::int32_t {
+    /**
+     * Section 2.1.1
+     *
+     * Acceleration of the device without any postprocessing, straight from the sensor.
+     * Units are [m/s^2]
+     */
+    ACCELEROMETER_RAW = 0x14,
+    /**
+     * Section 2.1.1
+     *
+     * Acceleration of the device including gravity.
+     * Units are [m/s^2]
+     */
+    ACCELEROMETER = 0x01,
+    /**
+     * Section 2.1.1
+     *
+     * Acceleration of the device with gravity removed.
+     * Units are [m/s^2]
+     */
+    LINEAR_ACCELERATION = 0x04,
+    /**
+     * Section 2.1.1
+     *
+     * Gravity.
+     * Units are [m/s^2]
+     */
+    GRAVITY = 0x06,
+    /**
+     * Section 2.1.2
+     *
+     * The angular velocity of the device without any postprocessing, straight from the sensor.
+     * Units are [rad/s]
+     */
+    GYROSCOPE_RAW = 0x15,
+    /**
+     * Section 2.1.2
+     *
+     * The angular velocity of the device.
+     * Units are [rad/s]
+     */
+    GYROSCOPE_CALIBRATED = 0x02,
+    /**
+     * Section 2.1.2
+     *
+     * Angular velocity without bias compensation.
+     * Units are [rad/s]
+     */
+    GYROSCOPE_UNCALIBRATED = 0x07,
+    /**
+     * Section 2.1.3
+     *
+     * Magnetic field measurement without any postprocessing, straight from the sensor.
+     * Units are [uTesla]
+     */
+    MAGNETOMETER_RAW = 0x16,
+    /**
+     * Section 2.1.3
+     *
+     * The fully calibrated magnetic field measurement.
+     * Units are [uTesla]
+     */
+    MAGNETOMETER_CALIBRATED = 0x03,
+    /**
+     * Section 2.1.3
+     *
+     * The magnetic field measurement without hard-iron offset applied.
+     * Units are [uTesla]
+     */
+    MAGNETOMETER_UNCALIBRATED = 0x0f,
+    /**
+     * Section 2.2
+     *
+     * The rotation vector provides an orientation output that is expressed as a quaternion referenced to magnetic north
+     * and gravity. It is produced by fusing the outputs of the accelerometer, gyroscope and magnetometer. The rotation
+     * vector is the most accurate orientation estimate available. The magnetometer provides correction in yaw to
+     * reduce drift and the gyroscope enables the most responsive performance.
+     */
+    ROTATION_VECTOR = 0x05,
+    /**
+     * Section 2.2
+     *
+     * The game rotation vector is an orientation output that is expressed as a quaternion with no specific reference for
+     * heading, while roll and pitch are referenced against gravity. It is produced by fusing the outputs of the
+     * accelerometer and the gyroscope (i.e. no magnetometer). The game rotation vector does not use the
+     * magnetometer to correct the gyroscopes drift in yaw. This is a deliberate omission (as specified by Google) to
+     * allow gaming applications to use a smoother representation of the orientation without the jumps that an
+     * instantaneous correction provided by a magnetic field update could provide. Long term the output will likely drift in
+     * yaw due to the characteristics of gyroscopes, but this is seen as preferable for this output versus a corrected output.
+     */
+    GAME_ROTATION_VECTOR = 0x08,
+    /**
+     * Section 2.2
+     *
+     * The geomagnetic rotation vector is an orientation output that is expressed as a quaternion referenced to magnetic
+     * north and gravity. It is produced by fusing the outputs of the accelerometer and magnetometer. The gyroscope is
+     * specifically excluded in order to produce a rotation vector output using less power than is required to produce the
+     * rotation vector of section 2.2.4. The consequences of removing the gyroscope are:
+     * Less responsive output since the highly dynamic outputs of the gyroscope are not used
+     * More errors in the presence of varying magnetic fields.
+     */
+    GEOMAGNETIC_ROTATION_VECTOR = 0x09,
+    /**
+     * Section 2.2
+     *
+     * Estimates of the magnetic field and the roll/pitch of the device can create a potential correction in the rotation
+     * vector produced. For applications (typically augmented or virtual reality applications) where a sudden jump can be
+     * disturbing, the output is adjusted to prevent these jumps in a manner that takes account of the velocity of the
+     * sensor system.
+     */
+    ARVR_STABILIZED_ROTATION_VECTOR = 0x28,
+    /**
+     * Section 2.2
+     *
+     * While the magnetometer is removed from the calculation of the game rotation vector, the accelerometer itself can
+     * create a potential correction in the rotation vector produced (i.e. the estimate of gravity changes). For applications
+     * (typically augmented or virtual reality applications) where a sudden jump can be disturbing, the output is adjusted
+     * to prevent these jumps in a manner that takes account of the velocity of the sensor system. This process is called
+     * AR/VR stabilization.
+     */
+    ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29,
+    // GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A,
+};
+
+struct IMUSensorConfig {
+    /* Sensitivity enabled */
+    bool sensitivityEnabled = false;
+
+    /* Change sensitivity - true if relative; false if absolute */
+    bool sensitivityRelative = false; /**< @brief Change reports relative (vs absolute) */
+
+    // TODO write utility function to convert float to Q point notation, sensor specific
+    /* 16-bit signed fixed point integer.
+     * In case of absolute sensitivity represents the value a
+     * sensor output must exceed in order to trigger another input
+     * report.
+     * In case of relative sensitivity represents the the amount
+     * by which a sensor output must change from the previous
+     * input report in order to trigger another input report
+     * A setting of 0 causes all reports to be sent.
+     */
+    uint16_t changeSensitivity = 0; /**< @brief Report-on-change threshold */
+
+    /* Rate of reports per second. (hertz)
+     * 0 means disabled
+     */
+    uint32_t reportRate = 100;
+
+    IMUSensor sensorId = IMUSensor::ACCELEROMETER;
+};
+DEPTHAI_SERIALIZE_EXT(IMUSensorConfig, sensitivityEnabled, sensitivityRelative, changeSensitivity, reportRate, sensorId);
+
+struct IMUProperties : PropertiesSerializable<Properties, IMUProperties> {
+    /* Enabled IMU sensors */
+    std::vector<IMUSensorConfig> imuSensors;
+    /* Above this packet threshold data will be sent to host, if queue is not blocked */
+    std::int32_t batchReportThreshold = 1;
+    /* Maximum number of IMU packets in a batch. Maximum 5. */
+    std::int32_t maxBatchReports = 5;
+    /*
+     * Whether to perform firmware update or not.
+     * Default value: false.
+     */
+    std::optional<bool> enableFirmwareUpdate = false;
+};
+
+DEPTHAI_SERIALIZE_EXT(IMUProperties, imuSensors, batchReportThreshold, maxBatchReports, enableFirmwareUpdate);
+
+}  // namespace dai
diff --git a/include/depthai/properties/ImageManipProperties.hpp b/include/depthai/properties/ImageManipProperties.hpp
new file mode 100644
index 000000000..0919af4e5
--- /dev/null
+++ b/include/depthai/properties/ImageManipProperties.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/ImageManipConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for ImageManip
+ */
+struct ImageManipProperties : PropertiesSerializable<Properties, ImageManipProperties> {
+    /// Initial configuration for ImageManip node
+    ImageManipConfig initialConfig;
+
+    /// Maximum output frame size in bytes (eg: 300x300 BGR image -> 300*300*3 bytes)
+    int outputFrameSize = 1 * 1024 * 1024;
+
+    /// Num frames in output pool
+    int numFramesPool = 4;
+
+    /// Custom warp mesh width. Set to zero to disable
+    int meshWidth = 0;
+    /// Custom warp mesh height. Set to zero to disable.
+    int meshHeight = 0;
+    /// Custom warp mesh uri. Set to empty string to disable.
+    std::string meshUri = "";
+};
+
+DEPTHAI_SERIALIZE_EXT(ImageManipProperties, initialConfig, outputFrameSize, numFramesPool, meshWidth, meshHeight, meshUri);
+
+}  // namespace dai
diff --git a/include/depthai/properties/MessageDemuxProperties.hpp b/include/depthai/properties/MessageDemuxProperties.hpp
new file mode 100644
index 000000000..907448859
--- /dev/null
+++ b/include/depthai/properties/MessageDemuxProperties.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * MessageDemux does not have any properties to set
+ */
+struct MessageDemuxProperties : PropertiesSerializable<Properties, MessageDemuxProperties> {
+    // Needed for serialization
+    char dummy = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(MessageDemuxProperties, dummy);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/properties/MonoCameraProperties.hpp b/include/depthai/properties/MonoCameraProperties.hpp
new file mode 100644
index 000000000..8edb7f8a9
--- /dev/null
+++ b/include/depthai/properties/MonoCameraProperties.hpp
@@ -0,0 +1,90 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/common/FrameEvent.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/CameraControl.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for MonoCamera such as camera ID, ...
+ */
+struct MonoCameraProperties : PropertiesSerializable<Properties, MonoCameraProperties> {
+    static constexpr int AUTO = -1;
+
+    /**
+     * Select the camera sensor resolution: 1280×720, 1280×800, 640×400, 640×480, 1920×1200, ...
+     */
+    enum class SensorResolution : int32_t { THE_720_P, THE_800_P, THE_400_P, THE_480_P, THE_1200_P, THE_4000X3000, THE_4224X3136 };
+
+    /*
+     * Initial controls applied to MonoCamera node
+     */
+    CameraControl initialControl;
+
+    /**
+     * Which socket will mono camera use
+     */
+    CameraBoardSocket boardSocket = CameraBoardSocket::AUTO;
+
+    /**
+     * Which camera name will mono camera use
+     */
+    std::string cameraName = "";
+
+    /**
+     * Camera sensor image orientation / pixel readout
+     */
+    CameraImageOrientation imageOrientation = CameraImageOrientation::AUTO;
+
+    /**
+     * Select the camera sensor resolution
+     */
+    SensorResolution resolution = SensorResolution::THE_720_P;
+    /**
+     * Camera sensor FPS
+     */
+    float fps = 30.0;
+    /**
+     * Isp 3A rate (auto focus, auto exposure, auto white balance, camera controls etc.).
+     * Default (0) matches the camera FPS, meaning that 3A is running on each frame.
+     * Reducing the rate of 3A reduces the CPU usage on CSS, but also increases the convergence rate of 3A.
+     * Note that camera controls will be processed at this rate. E.g. if camera is running at 30 fps, and camera control is sent at every frame,
+     * but 3A fps is set to 15, the camera control messages will be processed at 15 fps rate, which will lead to queueing.
+
+     */
+    int isp3aFps = 0;
+    /**
+     * Frame pool size for the main output, ISP processed
+     */
+    int numFramesPool = 3;
+    /**
+     * Frame pool size for the `raw` output
+     */
+    int numFramesPoolRaw = 3;
+    /**
+     * List of events to receive, the rest will be ignored
+     */
+    std::vector<dai::FrameEvent> eventFilter = {dai::FrameEvent::READOUT_START};
+
+    /**
+     * Configures whether the camera `raw` frames are saved as MIPI-packed to memory.
+     * The packed format is more efficient, consuming less memory on device, and less data
+     * to send to host: RAW10: 4 pixels saved on 5 bytes, RAW12: 2 pixels saved on 3 bytes.
+     * When packing is disabled (`false`), data is saved lsb-aligned, e.g. a RAW10 pixel
+     * will be stored as uint16, on bits 9..0: 0b0000'00pp'pppp'pppp.
+     * Default is auto: enabled for standard color/monochrome cameras where ISP can work
+     * with both packed/unpacked, but disabled for other cameras like ToF.
+     */
+    std::optional<bool> rawPacked;
+};
+
+DEPTHAI_SERIALIZE_EXT(
+    MonoCameraProperties, initialControl, boardSocket, cameraName, imageOrientation, resolution, fps, isp3aFps, numFramesPool, numFramesPoolRaw, rawPacked);
+
+}  // namespace dai
diff --git a/include/depthai/properties/NeuralNetworkProperties.hpp b/include/depthai/properties/NeuralNetworkProperties.hpp
new file mode 100644
index 000000000..72967d274
--- /dev/null
+++ b/include/depthai/properties/NeuralNetworkProperties.hpp
@@ -0,0 +1,72 @@
+#pragma once
+
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for NeuralNetwork such as blob path, ...
+ */
+struct NeuralNetworkProperties : PropertiesSerializable<Properties, NeuralNetworkProperties> {
+    /**
+     * Specify where the node should source the model
+     */
+    enum class ModelSource { BLOB, XML };
+    ModelSource modelSource = ModelSource::BLOB;  // Default to blob source
+    /**
+     * Blob binary size in bytes
+     */
+    std::optional<std::uint32_t> blobSize;
+    /**
+     * Uri which points to blob
+     */
+    std::string blobUri;
+    /**
+     * Uri which points to the xml model description
+     */
+    std::string xmlUri;
+    /**
+     * Uri which points to the bin model description
+     */
+    std::string binUri;
+    /**
+     * Number of available output tensors in pool
+     */
+    std::uint32_t numFrames = 8;
+    /**
+     * Number of threads to create for running inference. 0 = auto
+     */
+    std::uint32_t numThreads = 0;
+    /**
+     * Number of NCE (Neural Compute Engine) per inference thread. 0 = auto
+     */
+    std::uint32_t numNCEPerThread = 0;
+    /**
+     * Number of Shaves per inference thread. 0 = auto
+     */
+    std::uint32_t numShavesPerThread = 0;
+    /**
+     * Specify which backend is used. "" = auto
+     */
+    std::string backend;
+    /**
+     * Specify backend properties
+     */
+    std::map<std::string, std::string> backendProperties;
+};
+
+DEPTHAI_SERIALIZE_EXT(NeuralNetworkProperties,
+                      modelSource,
+                      blobSize,
+                      blobUri,
+                      xmlUri,
+                      binUri,
+                      numFrames,
+                      numThreads,
+                      numNCEPerThread,
+                      numShavesPerThread,
+                      backend,
+                      backendProperties);
+
+}  // namespace dai
diff --git a/include/depthai/properties/ObjectTrackerProperties.hpp b/include/depthai/properties/ObjectTrackerProperties.hpp
new file mode 100644
index 000000000..5442c1b93
--- /dev/null
+++ b/include/depthai/properties/ObjectTrackerProperties.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+// std
+#include <vector>
+
+// project
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+enum class TrackerType : std::int32_t {
+    /// Kernelized Correlation Filter tracking
+    SHORT_TERM_KCF = 1,
+    /// Short term tracking without using image data
+    SHORT_TERM_IMAGELESS = 3,
+    /// Ability to track the objects without accessing image data.
+    ZERO_TERM_IMAGELESS = 5,
+    /// Tracking using image data too.
+    ZERO_TERM_COLOR_HISTOGRAM = 6
+};
+
+enum class TrackerIdAssignmentPolicy : std::int32_t {
+    /// Always take a new, unique ID
+    UNIQUE_ID,
+    /// Take the smallest available ID
+    SMALLEST_ID
+};
+
+/**
+ * Specify properties for ObjectTracker
+ */
+struct ObjectTrackerProperties : PropertiesSerializable<Properties, ObjectTrackerProperties> {
+    /**
+     * Confidence threshold for tracklets.
+     * Above this threshold detections will be tracked.
+     * Default 0, all detections are tracked.
+     */
+    float trackerThreshold = 0.0;
+    /**
+     * Maximum number of objects to track.
+     * Maximum 60 for SHORT_TERM_KCF, maximum 1000 for other tracking methods.
+     * Default 60.
+     */
+    std::int32_t maxObjectsToTrack = 60;
+    /**
+     * Which detections labels to track.
+     * Default all labels are tracked.
+     */
+    std::vector<std::uint32_t> detectionLabelsToTrack;
+    /**
+     * Tracking method.
+     */
+    TrackerType trackerType = TrackerType::ZERO_TERM_IMAGELESS;
+    /**
+     * New ID assignment policy.
+     */
+    TrackerIdAssignmentPolicy trackerIdAssignmentPolicy = TrackerIdAssignmentPolicy::UNIQUE_ID;
+    /**
+     * Whether tracker should take into consideration class label for tracking.
+     */
+    bool trackingPerClass = true;
+};
+
+DEPTHAI_SERIALIZE_EXT(
+    ObjectTrackerProperties, trackerThreshold, maxObjectsToTrack, detectionLabelsToTrack, trackerType, trackerIdAssignmentPolicy, trackingPerClass);
+
+}  // namespace dai
diff --git a/include/depthai/properties/PointCloudProperties.hpp b/include/depthai/properties/PointCloudProperties.hpp
new file mode 100644
index 000000000..59664bfda
--- /dev/null
+++ b/include/depthai/properties/PointCloudProperties.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for PointCloud
+ */
+struct PointCloudProperties : PropertiesSerializable<Properties, PointCloudProperties> {
+    PointCloudConfig initialConfig;
+
+    int numFramesPool = 4;
+};
+
+DEPTHAI_SERIALIZE_EXT(PointCloudProperties, initialConfig, numFramesPool);
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/properties/PoolProperties.hpp b/include/depthai/properties/PoolProperties.hpp
new file mode 100644
index 000000000..371d12d23
--- /dev/null
+++ b/include/depthai/properties/PoolProperties.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify PoolProperties options such as pool uri, pool name, ...
+ */
+struct PoolProperties : PropertiesSerializable<Properties, PoolProperties> {
+    /**
+     * Number of messages in pool
+     */
+    std::optional<int> numMessages = std::nullopt;
+
+    /**
+     * Size of data allocated for each message
+     */
+    std::optional<std::int64_t> maxMessageSize = std::nullopt;
+
+    /**
+     * Optional datatype of messages in the pool
+     */
+    std::optional<DatatypeEnum> datatype = std::nullopt;
+
+    /**
+     * Which processor should hold the pool
+     */
+    std::optional<ProcessorType> processor = std::nullopt;
+};
+
+DEPTHAI_SERIALIZE_EXT(PoolProperties, numMessages, maxMessageSize, datatype, processor);
+
+}  // namespace dai
diff --git a/include/depthai/properties/Properties.hpp b/include/depthai/properties/Properties.hpp
new file mode 100644
index 000000000..2dec660dc
--- /dev/null
+++ b/include/depthai/properties/Properties.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "depthai/utility/Serialization.hpp"
+
+namespace dai {
+
+/// Base Properties structure
+struct Properties {
+    virtual void serialize(std::vector<std::uint8_t>& data, SerializationType type) const = 0;
+    virtual std::unique_ptr<Properties> clone() const = 0;
+    virtual ~Properties() = default;
+};
+
+/// Serializable properties
+template <typename Base, typename Derived>
+struct PropertiesSerializable : Base {
+    virtual void serialize(std::vector<std::uint8_t>& data, SerializationType type = SerializationType::LIBNOP) const override {
+        utility::serialize(static_cast<const Derived&>(*this), data, type);
+    }
+
+    virtual std::unique_ptr<Properties> clone() const override {
+        return std::make_unique<Derived>(static_cast<const Derived&>(*this));
+    }
+};
+
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/properties/SPIInProperties.hpp b/include/depthai/properties/SPIInProperties.hpp
new file mode 100644
index 000000000..318fa876b
--- /dev/null
+++ b/include/depthai/properties/SPIInProperties.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
+
+namespace dai {
+
+/**
+ * Properties for SPIIn node
+ */
+struct SPIInProperties : PropertiesSerializable<Properties, SPIInProperties> {
+    /**
+     * Name of stream
+     */
+    std::string streamName;
+
+    /**
+     * SPI bus to use
+     */
+    int busId = 0;
+
+    /**
+     * Maximum input data size
+     */
+    std::uint32_t maxDataSize = dai::device::XLINK_USB_BUFFER_MAX_SIZE;
+
+    /**
+     * Number of frames in pool
+     */
+    std::uint32_t numFrames = 4;
+};
+
+DEPTHAI_SERIALIZE_EXT(SPIInProperties, streamName, busId, maxDataSize, numFrames);
+
+}  // namespace dai
diff --git a/include/depthai/properties/SPIOutProperties.hpp b/include/depthai/properties/SPIOutProperties.hpp
new file mode 100644
index 000000000..7261c5f19
--- /dev/null
+++ b/include/depthai/properties/SPIOutProperties.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for SPIOut node
+ */
+struct SPIOutProperties : PropertiesSerializable<Properties, SPIOutProperties> {
+    /**
+     * Name of stream
+     */
+    std::string streamName;
+
+    /**
+     * SPI bus to use
+     */
+    int busId = 0;
+};
+
+DEPTHAI_SERIALIZE_EXT(SPIOutProperties, streamName, busId);
+
+}  // namespace dai
diff --git a/include/depthai/properties/ScriptProperties.hpp b/include/depthai/properties/ScriptProperties.hpp
new file mode 100644
index 000000000..aaac56f7e
--- /dev/null
+++ b/include/depthai/properties/ScriptProperties.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include "depthai/common/ProcessorType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify ScriptProperties options such as script uri, script name, ...
+ */
+struct ScriptProperties : PropertiesSerializable<Properties, ScriptProperties> {
+    /**
+     * Uri which points to actual script
+     */
+    std::string scriptUri;
+
+    /**
+     * Name of script
+     */
+    std::string scriptName = "<script>";
+
+    /**
+     * Which processor should execute the script
+     */
+    ProcessorType processor = ProcessorType::LEON_CSS;
+};
+
+DEPTHAI_SERIALIZE_EXT(ScriptProperties, scriptUri, scriptName, processor);
+
+}  // namespace dai
diff --git a/include/depthai/properties/SpatialDetectionNetworkProperties.hpp b/include/depthai/properties/SpatialDetectionNetworkProperties.hpp
new file mode 100644
index 000000000..51a0f0beb
--- /dev/null
+++ b/include/depthai/properties/SpatialDetectionNetworkProperties.hpp
@@ -0,0 +1,28 @@
+#pragma once
+
+// std
+#include <vector>
+
+// libraries
+
+// project
+#include "depthai/common/DetectionNetworkType.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for SpatialDetectionNetwork
+ */
+struct SpatialDetectionNetworkProperties : PropertiesSerializable<Properties, SpatialDetectionNetworkProperties> {
+    float detectedBBScaleFactor = 1.0;
+    SpatialLocationCalculatorConfigThresholds depthThresholds;
+    SpatialLocationCalculatorAlgorithm calculationAlgorithm = SpatialLocationCalculatorAlgorithm::MEDIAN;
+    std::int32_t stepSize = SpatialLocationCalculatorConfigData::AUTO;
+};
+
+DEPTHAI_SERIALIZE_EXT(SpatialDetectionNetworkProperties, detectedBBScaleFactor, depthThresholds, calculationAlgorithm);
+
+}  // namespace dai
diff --git a/include/depthai/properties/SpatialLocationCalculatorProperties.hpp b/include/depthai/properties/SpatialLocationCalculatorProperties.hpp
new file mode 100644
index 000000000..1a0537991
--- /dev/null
+++ b/include/depthai/properties/SpatialLocationCalculatorProperties.hpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <vector>
+
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for SpatialLocationCalculator
+ */
+struct SpatialLocationCalculatorProperties : PropertiesSerializable<Properties, SpatialLocationCalculatorProperties> {
+    SpatialLocationCalculatorConfig roiConfig;
+};
+
+DEPTHAI_SERIALIZE_EXT(SpatialLocationCalculatorProperties, roiConfig);
+
+}  // namespace dai
diff --git a/include/depthai/properties/StereoDepthProperties.hpp b/include/depthai/properties/StereoDepthProperties.hpp
new file mode 100644
index 000000000..158fe196b
--- /dev/null
+++ b/include/depthai/properties/StereoDepthProperties.hpp
@@ -0,0 +1,231 @@
+#pragma once
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/EepromData.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for StereoDepth
+ */
+struct StereoDepthProperties : PropertiesSerializable<Properties, StereoDepthProperties> {
+    static constexpr const std::int32_t AUTO = -1;
+
+    struct RectificationMesh {
+        /**
+         * Uri which points to the mesh array for 'left' input rectification
+         */
+        std::string meshLeftUri;
+        /**
+         * Uri which points to the mesh array for 'right' input rectification
+         */
+        std::string meshRightUri;
+        /**
+         * Mesh array size in bytes, for each of 'left' and 'right' (need to match)
+         */
+        std::optional<std::uint32_t> meshSize;
+        /**
+         * Distance between mesh points, in the horizontal direction
+         */
+        uint16_t stepWidth = 16;
+        /**
+         * Distance between mesh points, in the vertical direction
+         */
+        uint16_t stepHeight = 16;
+
+        DEPTHAI_SERIALIZE(RectificationMesh, meshLeftUri, meshRightUri, meshSize, stepWidth, stepHeight);
+    };
+
+    /// Initial stereo config
+    StereoDepthConfig initialConfig;
+
+    using MedianFilter = dai::StereoDepthConfig::MedianFilter;
+
+    using DepthAlign = dai::StereoDepthConfig::AlgorithmControl::DepthAlign;
+
+    /**
+     * Which camera to align disparity/depth to.
+     * When configured (not AUTO), takes precedence over 'depthAlign'
+     */
+    CameraBoardSocket depthAlignCamera = CameraBoardSocket::AUTO;
+
+    /**
+     * Enable stereo rectification/dewarp or not.
+     * Useful to disable when replaying pre-recorded rectified frames.
+     */
+    bool enableRectification = true;
+
+    /**
+     * Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels
+     */
+    std::int32_t rectifyEdgeFillColor = 0;
+    /**
+     * Input frame width. Optional (taken from MonoCamera nodes if they exist)
+     */
+    std::optional<std::int32_t> width;
+    /**
+     * Input frame height. Optional (taken from MonoCamera nodes if they exist)
+     */
+    std::optional<std::int32_t> height;
+    /**
+     * Output disparity/depth width. Currently only used when aligning to RGB
+     */
+    std::optional<std::int32_t> outWidth;
+    /**
+     * Output disparity/depth height. Currently only used when aligning to RGB
+     */
+    std::optional<std::int32_t> outHeight;
+    /**
+     * Whether to keep aspect ratio of the input (rectified) or not
+     */
+    bool outKeepAspectRatio = true;
+
+    /**
+     * Specify a direct warp mesh to be used for rectification,
+     * instead of intrinsics + extrinsic matrices
+     */
+    RectificationMesh mesh;
+
+    /**
+     * Whether to enable switching stereo modes at runtime or not.
+     * E.g. standard to subpixel, standard+LR-check to subpixel + LR-check.
+     * Note: It will allocate resources for worst cases scenario,
+     * should be enabled only if dynamic mode switch is required.
+     * Default value: false.
+     */
+    bool enableRuntimeStereoModeSwitch = false;
+
+    /// Num frames in output pool
+    int numFramesPool = 3;
+
+    /**
+     * Number of shaves reserved for stereo depth post processing.
+     * Post processing can use multiple shaves to increase performance.
+     * -1 means auto, resources will be allocated based on enabled filters.
+     * 0 means that it will reuse the shave assigned for main stereo algorithm.
+     * For optimal performance it's recommended to allocate more than 0,
+     * so post processing will run in parallel with main stereo algorithm.
+     * Minimum 1, maximum 10.
+     */
+    std::int32_t numPostProcessingShaves = AUTO;
+
+    /**
+     * Number of memory slices reserved for stereo depth post processing.
+     * -1 means auto, memory will be allocated based on initial stereo settings and number of shaves.
+     * 0 means that it will reuse the memory slices assigned for main stereo algorithm.
+     * For optimal performance it's recommended to allocate more than 0,
+     * so post processing will run in parallel with main stereo algorithm.
+     * Minimum 1, maximum 6.
+     */
+    std::int32_t numPostProcessingMemorySlices = AUTO;
+
+    /**
+     * Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV.
+     * Default value is true.
+     * If set to false it's calculated from FOV and image resolution: focalLength = calib.width / (2.f * tan(calib.fov / 2 / 180.f * pi));
+     */
+    bool focalLengthFromCalibration = true;
+
+    /**
+     * Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device.
+     * Default behaviour is AUTO, for lenses with FOV over 85 degrees sparse mesh is used, otherwise 3x3 homography.
+     * If custom mesh data is provided through loadMeshData or loadMeshFiles this option is ignored.
+     * true: 3x3 homography matrix generated from calibration data is used for stereo rectification, can't correct lens
+     * distortion.
+     * false: sparse mesh is generated on-device from calibration data with mesh step specified with setMeshStep (Default: (16, 16)), can correct lens
+     * distortion. Implementation for generating the mesh is same as opencv's initUndistortRectifyMap function. Only the first 8 distortion coefficients are
+     * used from calibration data.
+     */
+    std::optional<bool> useHomographyRectification;
+
+    /**
+     * Whether to perform vertical stereo matching or not.
+     * Default value is false.
+     * If set to true rectification process includes 90 degree clock wise rotation to perform vertical matching.
+     */
+    bool verticalStereo = false;
+
+    /**
+     * Whether to use custom pixel descriptors sent from host to device for debugging purposes.
+     * Default value is false.
+     */
+    bool customPixelDescriptors = false;
+
+    /**
+     * Whether to enable frame syncing inside stereo node or not. Suitable if inputs are known to be synced.
+     */
+    bool enableFrameSync = true;
+
+    /*
+     * Override baseline from calibration.
+     * Used only in disparity to depth conversion.
+     * Units are centimeters.
+     */
+    std::optional<float> baseline;
+
+    /**
+     * Override focal length from calibration.
+     * Used only in disparity to depth conversion.
+     * Units are pixels.
+     */
+    std::optional<float> focalLength;
+
+    /**
+     * Use baseline information for disparity to depth conversion from specs (design data) or from calibration.
+     * Suitable for debugging. Utilizes calibrated value as default
+     */
+    std::optional<bool> disparityToDepthUseSpecTranslation = std::nullopt;
+
+    /**
+     * Obtain rectification matrices using spec translation (design data) or from calibration in calculations.
+     * Suitable for debugging.
+     * Default: false
+     */
+    std::optional<bool> rectificationUseSpecTranslation = std::nullopt;
+
+    /**
+     * Use baseline information for depth alignment from specs (design data) or from calibration.
+     * Suitable for debugging. Utilizes calibrated value as default
+     */
+    std::optional<bool> depthAlignmentUseSpecTranslation = std::nullopt;
+
+    /**
+     * Free scaling parameter between 0 (when all the pixels in the undistorted image are valid)
+     * and 1 (when all the source image pixels are retained in the undistorted image).
+     * On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0,
+     * in these cases alpha < 0.0 helps removing invalid areas.
+     * See getOptimalNewCameraMatrix from opencv for more details.
+     */
+    std::optional<float> alphaScaling;
+};
+
+DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
+                      initialConfig,
+                      depthAlignCamera,
+                      enableRectification,
+                      rectifyEdgeFillColor,
+                      width,
+                      height,
+                      outWidth,
+                      outHeight,
+                      outKeepAspectRatio,
+                      mesh,
+                      enableRuntimeStereoModeSwitch,
+                      numFramesPool,
+                      numPostProcessingShaves,
+                      numPostProcessingMemorySlices,
+                      focalLengthFromCalibration,
+                      useHomographyRectification,
+                      verticalStereo,
+                      customPixelDescriptors,
+                      enableFrameSync,
+                      baseline,
+                      focalLength,
+                      disparityToDepthUseSpecTranslation,
+                      rectificationUseSpecTranslation,
+                      depthAlignmentUseSpecTranslation,
+                      alphaScaling);
+}  // namespace dai
diff --git a/include/depthai/properties/SyncProperties.hpp b/include/depthai/properties/SyncProperties.hpp
new file mode 100644
index 000000000..09d8231cd
--- /dev/null
+++ b/include/depthai/properties/SyncProperties.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for Sync.
+ */
+struct SyncProperties : PropertiesSerializable<Properties, SyncProperties> {
+    /**
+     * The maximal interval the messages can be apart in nanoseconds.
+     */
+    uint64_t syncThresholdNs = 10e6;
+
+    /**
+     * The number of syncing attempts before fail (num of replaced messages).
+     */
+    int32_t syncAttempts = -1;
+};
+
+DEPTHAI_SERIALIZE_EXT(SyncProperties, syncThresholdNs, syncAttempts);
+
+}  // namespace dai
diff --git a/include/depthai/properties/SystemLoggerProperties.hpp b/include/depthai/properties/SystemLoggerProperties.hpp
new file mode 100644
index 000000000..e1ac6d911
--- /dev/null
+++ b/include/depthai/properties/SystemLoggerProperties.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/common/CameraImageOrientation.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * SystemLoggerProperties structure
+ */
+struct SystemLoggerProperties : PropertiesSerializable<Properties, SystemLoggerProperties> {
+    /**
+     * Rate at which the messages are going to be sent in hertz
+     */
+    float rateHz = 1.0f;
+};
+
+DEPTHAI_SERIALIZE_EXT(SystemLoggerProperties, rateHz);
+
+}  // namespace dai
diff --git a/include/depthai/properties/ToFProperties.hpp b/include/depthai/properties/ToFProperties.hpp
new file mode 100644
index 000000000..e455d04a9
--- /dev/null
+++ b/include/depthai/properties/ToFProperties.hpp
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "depthai/pipeline/datatype/ToFConfig.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for ToF
+ */
+struct ToFProperties : PropertiesSerializable<Properties, ToFProperties> {
+    /**
+     * Initial ToF config
+     */
+    ToFConfig initialConfig;
+};
+
+DEPTHAI_SERIALIZE_EXT(ToFProperties, initialConfig);
+
+}  // namespace dai
diff --git a/include/depthai/properties/UVCProperties.hpp b/include/depthai/properties/UVCProperties.hpp
new file mode 100644
index 000000000..f6d7dfbeb
--- /dev/null
+++ b/include/depthai/properties/UVCProperties.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Properties for UVC node
+ */
+struct UVCProperties : PropertiesSerializable<Properties, UVCProperties> {
+    /// <gpio_number, value> list for GPIOs to set at init
+    std::unordered_map<int, int> gpioInit;
+
+    /// <gpio_number, value> list for GPIOs to set when streaming is enabled
+    std::unordered_map<int, int> gpioStreamOn;
+
+    /// <gpio_number, value> list for GPIOs to set when streaming is disabled
+    std::unordered_map<int, int> gpioStreamOff;
+};
+
+DEPTHAI_SERIALIZE_EXT(UVCProperties, gpioInit, gpioStreamOn, gpioStreamOff);
+
+}  // namespace dai
diff --git a/include/depthai/properties/VideoEncoderProperties.hpp b/include/depthai/properties/VideoEncoderProperties.hpp
new file mode 100644
index 000000000..88df45dc5
--- /dev/null
+++ b/include/depthai/properties/VideoEncoderProperties.hpp
@@ -0,0 +1,90 @@
+#pragma once
+
+#include <depthai/common/optional.hpp>
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for VideoEncoder such as profile, bitrate, ...
+ */
+struct VideoEncoderProperties : PropertiesSerializable<Properties, VideoEncoderProperties> {
+    /**
+     * Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)
+     */
+    enum class RateControlMode : int { CBR, VBR };
+
+    /**
+     * Encoding profile, H264 (AVC), H265 (HEVC) or MJPEG
+     */
+    enum class Profile : int { H264_BASELINE, H264_HIGH, H264_MAIN, H265_MAIN, MJPEG };
+    /**
+     * Specifies preferred bitrate (in bit/s) of compressed output bitstream in CBR mode
+     *
+     * "0" for automatic computation, based on input resolution and FPS:
+     * 720p30: 4Mbps, 1080p30: 8.5Mbps, 1440p30: 14Mbps, 2160p30: 20Mbps
+     */
+    std::int32_t bitrate = 0;
+    /**
+     * Every x number of frames a keyframe will be inserted
+     */
+    std::int32_t keyframeFrequency = 30;
+    /**
+     * Specifies maximum bitrate (in bit/s) of compressed output bitstream in CBR mode
+     *
+     * "0" to follow `bitrate` setting
+     */
+    std::int32_t maxBitrate = 0;
+    /**
+     * Specifies number of B frames to be inserted
+     */
+    std::int32_t numBFrames = 0;
+    /**
+     * This options specifies how many frames are available in this node's pool.
+     * Helps when receiver is slow at consuming.
+     *
+     * Value "0" indicates automatic number of frames assignment
+     */
+    std::uint32_t numFramesPool = 0;
+    /**
+     * Specifies max output frame size in pool.
+     * Value "0" indicates auto
+     */
+    std::int32_t outputFrameSize = 0;
+    /**
+     * Encoding profile, H264, H265 or MJPEG
+     */
+    Profile profile = Profile::H264_BASELINE;
+    /**
+     * Value between 0-100% (approximates quality)
+     */
+    std::int32_t quality = 80;
+    /**
+     * Lossless mode ([M]JPEG only)
+     */
+    bool lossless = false;
+    /**
+     * Rate control mode specifies if constant or variable bitrate should be used (H264 / H265)
+     */
+    RateControlMode rateCtrlMode = RateControlMode::CBR;
+    /**
+     * Frame rate
+     */
+    float frameRate = 30.0f;
+};
+
+DEPTHAI_SERIALIZE_EXT(VideoEncoderProperties,
+                      bitrate,
+                      keyframeFrequency,
+                      maxBitrate,
+                      numBFrames,
+                      numFramesPool,
+                      outputFrameSize,
+                      profile,
+                      quality,
+                      lossless,
+                      rateCtrlMode,
+                      frameRate);
+
+}  // namespace dai
diff --git a/include/depthai/properties/WarpProperties.hpp b/include/depthai/properties/WarpProperties.hpp
new file mode 100644
index 000000000..a1b2fd748
--- /dev/null
+++ b/include/depthai/properties/WarpProperties.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "depthai/common/EepromData.hpp"
+#include "depthai/common/Interpolation.hpp"
+#include "depthai/common/optional.hpp"
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for Warp
+ */
+struct WarpProperties : PropertiesSerializable<Properties, WarpProperties> {
+    /// Output width
+    int outputWidth = 0;
+
+    /// Output height
+    int outputHeight = 0;
+
+    /// Maximum output frame size in bytes (eg: 300x300 BGR image -> 300*300*3 bytes)
+    int outputFrameSize = 1 * 1024 * 1024;
+
+    /// Num frames in output pool
+    int numFramesPool = 4;
+
+    /// Custom warp mesh width. Set to zero to disable
+    int meshWidth = 0;
+    /// Custom warp mesh height. Set to zero to disable.
+    int meshHeight = 0;
+    /// Custom warp mesh uri. Set to empty string to disable.
+    std::string meshUri = "";
+
+    /// Warp HW IDs to use, if empty, use auto/default
+    std::vector<int> warpHwIds;
+
+    Interpolation interpolation = Interpolation::AUTO;
+};
+
+DEPTHAI_SERIALIZE_EXT(WarpProperties, outputWidth, outputHeight, outputFrameSize, numFramesPool, meshWidth, meshHeight, meshUri, warpHwIds, interpolation);
+
+}  // namespace dai
diff --git a/include/depthai/properties/XLinkInProperties.hpp b/include/depthai/properties/XLinkInProperties.hpp
new file mode 100644
index 000000000..8edcc00f9
--- /dev/null
+++ b/include/depthai/properties/XLinkInProperties.hpp
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for XLinkIn such as stream name, ...
+ */
+struct XLinkInProperties : PropertiesSerializable<Properties, XLinkInProperties> {
+    /**
+     * Name of stream
+     */
+    std::string streamName;
+
+    /**
+     * Maximum input data size
+     */
+    std::uint32_t maxDataSize = dai::device::XLINK_USB_BUFFER_MAX_SIZE;
+
+    /**
+     * Number of frames in pool
+     */
+    std::uint32_t numFrames = 8;
+};
+
+DEPTHAI_SERIALIZE_EXT(XLinkInProperties, streamName, maxDataSize, numFrames);
+
+}  // namespace dai
diff --git a/include/depthai/properties/XLinkOutProperties.hpp b/include/depthai/properties/XLinkOutProperties.hpp
new file mode 100644
index 000000000..5135bd7ca
--- /dev/null
+++ b/include/depthai/properties/XLinkOutProperties.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include "depthai/properties/Properties.hpp"
+
+namespace dai {
+
+/**
+ * Specify properties for XLinkOut such as stream name, ...
+ */
+struct XLinkOutProperties : PropertiesSerializable<Properties, XLinkOutProperties> {
+    /**
+     * Set a limit to how many packets will be sent further to host
+     */
+    float maxFpsLimit = -1;
+
+    /**
+     * Name of stream
+     */
+    std::string streamName;
+
+    /**
+     * Whether to transfer data or only object attributes
+     */
+    bool metadataOnly = false;
+};
+
+DEPTHAI_SERIALIZE_EXT(XLinkOutProperties, maxFpsLimit, streamName, metadataOnly);
+
+}  // namespace dai
diff --git a/include/depthai/utility/AtomicBool.hpp b/include/depthai/utility/AtomicBool.hpp
new file mode 100644
index 000000000..cb572b50b
--- /dev/null
+++ b/include/depthai/utility/AtomicBool.hpp
@@ -0,0 +1,26 @@
+#pragma once
+#include <atomic>
+#include <cstdint>
+
+namespace dai {
+
+class AtomicBool : public std::atomic<bool> {
+   public:
+    using std::atomic<bool>::atomic;
+    AtomicBool() = default;
+    ~AtomicBool() = default;
+    AtomicBool(const AtomicBool& othr) : AtomicBool() {
+        store(othr.load());
+    }
+    AtomicBool& operator=(const AtomicBool& othr) {
+        store(othr);
+        return *this;
+    };
+    AtomicBool(AtomicBool&&) : AtomicBool() {}
+    AtomicBool& operator=(AtomicBool&& othr) {
+        store(othr);
+        return *this;
+    };
+};
+
+}  // namespace dai
diff --git a/include/depthai/utility/Checksum.hpp b/include/depthai/utility/Checksum.hpp
new file mode 100644
index 000000000..76b60ea66
--- /dev/null
+++ b/include/depthai/utility/Checksum.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+// std
+#include <cstddef>
+#include <cstdint>
+
+namespace dai {
+namespace utility {
+
+/**
+ * Simple hash function - djb2
+ * @param buffer Pointer to buffer of data to hash
+ * @param size Size of buffer in bytes
+ * @param prevChecksum Previous checksum - useful for doing hash on blocks of data
+ */
+std::uint32_t checksum(const void* buffer, std::size_t size, uint32_t prevChecksum);
+
+/**
+ * Simple hash function - djb2
+ * @param buffer Pointer to buffer of data to hash
+ * @param size Size of buffer in bytes
+ */
+std::uint32_t checksum(const void* buffer, std::size_t size);
+
+}  // namespace utility
+}  // namespace dai
diff --git a/include/depthai/utility/JoiningThread.hpp b/include/depthai/utility/JoiningThread.hpp
new file mode 100644
index 000000000..989f85599
--- /dev/null
+++ b/include/depthai/utility/JoiningThread.hpp
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <thread>
+
+namespace dai {
+
+class JoiningThread : private std::thread {
+   public:
+    using std::thread::thread;
+    JoiningThread() = default;
+    // Create an empty copy constructor
+    JoiningThread(const JoiningThread&) : JoiningThread() {}
+    JoiningThread(JoiningThread&&) = default;
+    JoiningThread& operator=(JoiningThread&& thr) {
+        if(joinable()) {
+            join();
+        }
+        swap(thr);
+        return *this;
+    };
+    ~JoiningThread() {
+        if(joinable()) {
+            join();
+        }
+    }
+    JoiningThread(std::thread t) : std::thread(std::move(t)) {}
+
+    using std::thread::detach;
+    using std::thread::get_id;
+    using std::thread::hardware_concurrency;
+    using std::thread::join;
+    using std::thread::joinable;
+    using std::thread::native_handle;
+
+    void swap(JoiningThread& x) {
+        std::thread::swap(x);
+    }
+};
+
+inline void swap(JoiningThread& x, JoiningThread& y) {
+    x.swap(y);
+}
+
+}  // namespace dai
diff --git a/include/depthai/utility/LockingQueue.hpp b/include/depthai/utility/LockingQueue.hpp
index 653a01f16..7d3fe9a95 100644
--- a/include/depthai/utility/LockingQueue.hpp
+++ b/include/depthai/utility/LockingQueue.hpp
@@ -8,11 +8,39 @@
 
 namespace dai {
 
+// class Mutex : public std::mutex {
+//    public:
+//     using std::mutex::mutex;
+//     Mutex() = default;
+//     ~Mutex() = default;
+//     Mutex(const Mutex&) : Mutex() {}
+//     Mutex& operator=(const Mutex&) = delete;
+//     Mutex(Mutex&&) : Mutex() {}
+//     Mutex& operator=(Mutex&&) = delete;
+// };
+
 template <typename T>
 class LockingQueue {
    public:
     LockingQueue() = default;
-    explicit LockingQueue(unsigned maxSize, bool blocking = true) : maxSize(maxSize), blocking(blocking) {}
+    explicit LockingQueue(unsigned maxSize, bool blocking = true) {
+        this->maxSize = maxSize;
+        this->blocking = blocking;
+    }
+    LockingQueue(const LockingQueue& q) {
+        std::unique_lock<std::mutex> lock;
+        maxSize = q.maxSize;
+        blocking = q.blocking;
+        queue = q.queue;
+        destructed = q.destructed;
+    }
+    LockingQueue(LockingQueue&& q) {
+        std::unique_lock<std::mutex> lock;
+        maxSize = std::move(q.maxSize);
+        blocking = std::move(q.blocking);
+        queue = std::move(q.queue);
+        destructed = std::move(q.destructed);
+    }
 
     void setMaxSize(unsigned sz) {
         // Lock first
@@ -46,6 +74,11 @@ class LockingQueue {
             destructed = true;
         }
     }
+
+    bool isDestroyed() const {
+        return destructed;
+    }
+
     ~LockingQueue() = default;
 
     template <typename Rep, typename Period>
@@ -130,6 +163,33 @@ class LockingQueue {
         return true;
     }
 
+    bool push(T&& data) {
+        {
+            std::unique_lock<std::mutex> lock(guard);
+            if(maxSize == 0) {
+                // necessary if maxSize was changed
+                while(!queue.empty()) {
+                    queue.pop();
+                }
+                return true;
+            }
+            if(!blocking) {
+                // if non blocking, remove as many oldest elements as necessary, so next one will fit
+                // necessary if maxSize was changed
+                while(queue.size() >= maxSize) {
+                    queue.pop();
+                }
+            } else {
+                signalPop.wait(lock, [this]() { return queue.size() < maxSize || destructed; });
+                if(destructed) return false;
+            }
+
+            queue.push(std::move(data));
+        }
+        signalPush.notify_all();
+        return true;
+    }
+
     template <typename Rep, typename Period>
     bool tryWaitAndPush(T const& data, std::chrono::duration<Rep, Period> timeout) {
         {
@@ -160,6 +220,36 @@ class LockingQueue {
         return true;
     }
 
+    template <typename Rep, typename Period>
+    bool tryWaitAndPush(T&& data, std::chrono::duration<Rep, Period> timeout) {
+        {
+            std::unique_lock<std::mutex> lock(guard);
+            if(maxSize == 0) {
+                // necessary if maxSize was changed
+                while(!queue.empty()) {
+                    queue.pop();
+                }
+                return true;
+            }
+            if(!blocking) {
+                // if non blocking, remove as many oldest elements as necessary, so next one will fit
+                // necessary if maxSize was changed
+                while(queue.size() >= maxSize) {
+                    queue.pop();
+                }
+            } else {
+                // First checks predicate, then waits
+                bool pred = signalPop.wait_for(lock, timeout, [this]() { return queue.size() < maxSize || destructed; });
+                if(!pred) return false;
+                if(destructed) return false;
+            }
+
+            queue.push(std::move(data));
+        }
+        signalPush.notify_all();
+        return true;
+    }
+
     bool empty() const {
         std::lock_guard<std::mutex> lock(guard);
         return queue.empty();
diff --git a/include/depthai/utility/Memory.hpp b/include/depthai/utility/Memory.hpp
new file mode 100644
index 000000000..d5a813820
--- /dev/null
+++ b/include/depthai/utility/Memory.hpp
@@ -0,0 +1,125 @@
+#pragma once
+
+// std
+#include <cstdint>
+#include <cstring>
+#include <functional>
+
+// project
+#include "depthai/utility/span.hpp"
+
+namespace dai {
+
+/*
+class Memory {
+    public:
+    uint8_t* data = nullptr;
+    size_t offset = 0;
+    size_t size = 0;
+    size_t maxSize = 0;
+    linb::any holder;
+    void* pool = nullptr;
+
+    Memory(const Memory&) = delete;
+    Memory& operator=(const Memory&) = delete;
+    // std::function<void(Memory*)> accessStart, accessEnd;
+
+
+    // Memory() = default;
+    ~Memory() = default;
+
+    Memory(uint8_t* data, size_t offset, size_t size, size_t maxSize) : data(data), offset(offset), size(size), maxSize(maxSize) {}
+    Memory(uint8_t* data, size_t offset, size_t size, size_t maxSize, linb::any holder) : data(data), offset(offset), size(size), maxSize(maxSize),
+holder(std::move(holder)) {}
+    // Memory(linb::any holder, uint8_t* data, size_t size, size_t maxSize) : holder(holder), data(data), size(size), maxSize(maxSize) {}
+    // Memory(linb::any holder, uint8_t* data, size_t size, size_t maxSize, void* pool) : holder(holder), data(data), size(size), maxSize(maxSize), pool(pool)
+{} Memory(Memory&&) = default; Memory& operator=(Memory&&) = default;
+
+    // public:
+    static std::shared_ptr<Memory> create(uint8_t* data, size_t offset, size_t size, size_t maxSize) {
+        return std::shared_ptr<Memory>(new Memory{data, offset, size, maxSize});
+    }
+    static std::shared_ptr<Memory> create(uint8_t* data, size_t offset, size_t size, size_t maxSize, std::function<void(Memory*)> del) {
+        return std::shared_ptr<Memory>(new Memory{data, offset, size, maxSize}, del);
+    }
+    static std::shared_ptr<Memory> create(uint8_t* data, size_t offset, size_t size, size_t maxSize, linb::any holder) {
+        return std::shared_ptr<Memory>(new Memory{data, offset, size, maxSize, std::move(holder)});
+    }
+    // std::shared_ptr<Memory> create(linb::any obj, uint8_t* data, size_t size, size_t maxSize) {
+    //     return std::shared_ptr<Memory>(new Memory{obj, data, size, maxSize});
+    // }
+    // std::shared_ptr<Memory> create(linb::any obj, uint8_t* data, size_t size, size_t maxSize, std::function<void(Memory*)> del) {
+    //     return std::shared_ptr<Memory>(new Memory{obj, data, size, maxSize}, del);
+    // }
+    // std::shared_ptr<Memory> create(linb::any obj, uint8_t* data, size_t size, size_t maxSize, void* pool, std::function<void(Memory*)> del = nullptr) {
+    //     return std::shared_ptr<Memory>(new Memory{obj, data, size, maxSize, pool}, del);
+    // }
+
+    // template<typename T>
+    // class Access : public span<T> {
+    //     Memory& parent;
+    //     public:
+    //     Access(Memory& mem, span<T>::pointer ptr, span<T>::size_type count) : span(ptr, count), parent(mem) {
+    //         parent.accessStart(&parent);
+    //     }
+    //     ~Access() {
+    //         if(parent.accessEnd) {
+    //             parent.accessEnd(&parent);
+    //         }
+    //     }
+    // };
+    // Access<uint8_t> getData() {
+    //     return {*this, data, size};
+    // }
+    // Access<const uint8_t> getData() const {
+    //     return {data, data + size};
+    // }
+
+
+    span<uint8_t> getData() {
+        return {data + offset, size};
+    }
+
+    void setData(span<const uint8_t> d) {
+        if(d.size() <= maxSize) {
+            memcpy(data, d.data(), d.size());
+            size = d.size();
+        } else {
+            throw std::invalid_argument("Memory object too small to set given data");
+        }
+    }
+    void setSize(size_t size) {
+        this->size = size;
+    }
+    size_t getSize() {
+        return size;
+    }
+
+    size_t getMaxSize() {
+        return maxSize;
+    }
+    void* getPool() {
+        return pool;
+    }
+    const void* getPool() const {
+        return pool;
+    }
+};
+*/
+
+// memory as interface
+class Memory {
+   public:
+    virtual ~Memory(){};
+    virtual span<std::uint8_t> getData() = 0;
+    virtual span<const std::uint8_t> getData() const = 0;
+    virtual std::size_t getMaxSize() const = 0;
+    virtual std::size_t getOffset() const = 0;
+    virtual void setSize(std::size_t) = 0;
+
+    std::size_t getSize() const {
+        return getData().size();
+    };
+};
+
+}  // namespace dai
diff --git a/include/depthai/utility/NlohmannJsonCompat.hpp b/include/depthai/utility/NlohmannJsonCompat.hpp
new file mode 100644
index 000000000..c138bea8d
--- /dev/null
+++ b/include/depthai/utility/NlohmannJsonCompat.hpp
@@ -0,0 +1,3416 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+// Check version of nlohmann json
+#if(defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR))
+    #if((NLOHMANN_JSON_VERSION_MAJOR < 3) || ((NLOHMANN_JSON_VERSION_MAJOR == 3) && (NLOHMANN_JSON_VERSION_MINOR < 6)))
+static_assert(0, "DepthAI requires nlohmann library version 3.6.0 or higher");
+    #else
+        // Set up compat macros for nlohmann json (independent of version)
+        #define DEPTHAI_NLOHMANN_JSON_EXPAND(x) x
+        #define DEPTHAI_NLOHMANN_JSON_GET_MACRO(_1,   \
+                                                _2,   \
+                                                _3,   \
+                                                _4,   \
+                                                _5,   \
+                                                _6,   \
+                                                _7,   \
+                                                _8,   \
+                                                _9,   \
+                                                _10,  \
+                                                _11,  \
+                                                _12,  \
+                                                _13,  \
+                                                _14,  \
+                                                _15,  \
+                                                _16,  \
+                                                _17,  \
+                                                _18,  \
+                                                _19,  \
+                                                _20,  \
+                                                _21,  \
+                                                _22,  \
+                                                _23,  \
+                                                _24,  \
+                                                _25,  \
+                                                _26,  \
+                                                _27,  \
+                                                _28,  \
+                                                _29,  \
+                                                _30,  \
+                                                _31,  \
+                                                _32,  \
+                                                _33,  \
+                                                _34,  \
+                                                _35,  \
+                                                _36,  \
+                                                _37,  \
+                                                _38,  \
+                                                _39,  \
+                                                _40,  \
+                                                _41,  \
+                                                _42,  \
+                                                _43,  \
+                                                _44,  \
+                                                _45,  \
+                                                _46,  \
+                                                _47,  \
+                                                _48,  \
+                                                _49,  \
+                                                _50,  \
+                                                _51,  \
+                                                _52,  \
+                                                _53,  \
+                                                _54,  \
+                                                _55,  \
+                                                _56,  \
+                                                _57,  \
+                                                _58,  \
+                                                _59,  \
+                                                _60,  \
+                                                _61,  \
+                                                _62,  \
+                                                _63,  \
+                                                _64,  \
+                                                NAME, \
+                                                ...)  \
+            NAME
+        #define DEPTHAI_NLOHMANN_JSON_PASTE(...)                                                        \
+            DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_GET_MACRO(__VA_ARGS__,                   \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE64, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE63, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE62, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE61, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE60, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE59, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE58, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE57, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE56, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE55, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE54, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE53, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE52, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE51, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE50, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE49, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE48, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE47, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE46, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE45, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE44, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE43, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE42, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE41, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE40, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE39, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE38, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE37, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE36, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE35, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE34, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE33, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE32, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE31, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE30, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE29, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE28, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE27, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE26, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE25, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE24, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE23, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE22, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE21, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE20, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE19, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE18, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE17, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE16, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE15, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE14, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE13, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE12, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE11, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE10, \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE9,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE8,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE7,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE6,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE5,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE4,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE3,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE2,  \
+                                                                         DEPTHAI_NLOHMANN_JSON_PASTE1)(__VA_ARGS__))
+        #define DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) func(v1)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE3(func, v1, v2) DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE2(func, v2)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE4(func, v1, v2, v3) DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE3(func, v2, v3)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE4(func, v2, v3, v4)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1) DEPTHAI_NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                   \
+            DEPTHAI_NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                        \
+            DEPTHAI_NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                             \
+            DEPTHAI_NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                  \
+            DEPTHAI_NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                       \
+            DEPTHAI_NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                            \
+            DEPTHAI_NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE25(                                                                                   \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                               \
+            DEPTHAI_NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE26(                                                                                        \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                    \
+            DEPTHAI_NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE27(                                                                                             \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                         \
+            DEPTHAI_NLOHMANN_JSON_PASTE26(                                                                                                 \
+                func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE28(                                                                                                  \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                              \
+            DEPTHAI_NLOHMANN_JSON_PASTE27(                                                                                                      \
+                func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE29(                                                                                                       \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                   \
+            DEPTHAI_NLOHMANN_JSON_PASTE28(                                                                                                           \
+                func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE30(                                                                                                            \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                        \
+            DEPTHAI_NLOHMANN_JSON_PASTE29(                                                                                                                \
+                func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE31(                                                                                                                 \
+            func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)                                                                                                             \
+            DEPTHAI_NLOHMANN_JSON_PASTE30(                                                                                                                     \
+                func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE32(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE31(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE33(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE32(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE34(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE33(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE35(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE34(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE36(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE35(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE37(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE36(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE38(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE37(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE39(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE38(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE40(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE39(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE41(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE40(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE42(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE41(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE43(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE42(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE44(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE43(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE45(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE44(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE46(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE45(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE47(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE46(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE48(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE47(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE49(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE48(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE50(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE49(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE51(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE50(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE52(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE51(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE53(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE52(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE54(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE53(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE55(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE54(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE56(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE55(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE57(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE56(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE58(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE57(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE59(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE58(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE60(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58,  \
+                                              v59)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE59(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58,      \
+                                          v59)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE61(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58,  \
+                                              v59,  \
+                                              v60)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE60(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58,      \
+                                          v59,      \
+                                          v60)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE62(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58,  \
+                                              v59,  \
+                                              v60,  \
+                                              v61)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE61(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58,      \
+                                          v59,      \
+                                          v60,      \
+                                          v61)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE63(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58,  \
+                                              v59,  \
+                                              v60,  \
+                                              v61,  \
+                                              v62)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE62(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58,      \
+                                          v59,      \
+                                          v60,      \
+                                          v61,      \
+                                          v62)
+        #define DEPTHAI_NLOHMANN_JSON_PASTE64(func, \
+                                              v1,   \
+                                              v2,   \
+                                              v3,   \
+                                              v4,   \
+                                              v5,   \
+                                              v6,   \
+                                              v7,   \
+                                              v8,   \
+                                              v9,   \
+                                              v10,  \
+                                              v11,  \
+                                              v12,  \
+                                              v13,  \
+                                              v14,  \
+                                              v15,  \
+                                              v16,  \
+                                              v17,  \
+                                              v18,  \
+                                              v19,  \
+                                              v20,  \
+                                              v21,  \
+                                              v22,  \
+                                              v23,  \
+                                              v24,  \
+                                              v25,  \
+                                              v26,  \
+                                              v27,  \
+                                              v28,  \
+                                              v29,  \
+                                              v30,  \
+                                              v31,  \
+                                              v32,  \
+                                              v33,  \
+                                              v34,  \
+                                              v35,  \
+                                              v36,  \
+                                              v37,  \
+                                              v38,  \
+                                              v39,  \
+                                              v40,  \
+                                              v41,  \
+                                              v42,  \
+                                              v43,  \
+                                              v44,  \
+                                              v45,  \
+                                              v46,  \
+                                              v47,  \
+                                              v48,  \
+                                              v49,  \
+                                              v50,  \
+                                              v51,  \
+                                              v52,  \
+                                              v53,  \
+                                              v54,  \
+                                              v55,  \
+                                              v56,  \
+                                              v57,  \
+                                              v58,  \
+                                              v59,  \
+                                              v60,  \
+                                              v61,  \
+                                              v62,  \
+                                              v63)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE2(func, v1)  \
+            DEPTHAI_NLOHMANN_JSON_PASTE63(func,     \
+                                          v2,       \
+                                          v3,       \
+                                          v4,       \
+                                          v5,       \
+                                          v6,       \
+                                          v7,       \
+                                          v8,       \
+                                          v9,       \
+                                          v10,      \
+                                          v11,      \
+                                          v12,      \
+                                          v13,      \
+                                          v14,      \
+                                          v15,      \
+                                          v16,      \
+                                          v17,      \
+                                          v18,      \
+                                          v19,      \
+                                          v20,      \
+                                          v21,      \
+                                          v22,      \
+                                          v23,      \
+                                          v24,      \
+                                          v25,      \
+                                          v26,      \
+                                          v27,      \
+                                          v28,      \
+                                          v29,      \
+                                          v30,      \
+                                          v31,      \
+                                          v32,      \
+                                          v33,      \
+                                          v34,      \
+                                          v35,      \
+                                          v36,      \
+                                          v37,      \
+                                          v38,      \
+                                          v39,      \
+                                          v40,      \
+                                          v41,      \
+                                          v42,      \
+                                          v43,      \
+                                          v44,      \
+                                          v45,      \
+                                          v46,      \
+                                          v47,      \
+                                          v48,      \
+                                          v49,      \
+                                          v50,      \
+                                          v51,      \
+                                          v52,      \
+                                          v53,      \
+                                          v54,      \
+                                          v55,      \
+                                          v56,      \
+                                          v57,      \
+                                          v58,      \
+                                          v59,      \
+                                          v60,      \
+                                          v61,      \
+                                          v62,      \
+                                          v63)
+
+        #define DEPTHAI_NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1;
+        #define DEPTHAI_NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1);
+
+        /// Backward ported from nlohmann 3.9.0
+        #define DEPTHAI_NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...)                                                  \
+            friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) {                    \
+                DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_TO, __VA_ARGS__))   \
+            }                                                                                                      \
+            friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) {                  \
+                DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_FROM, __VA_ARGS__)) \
+            }
+
+        /// Backward ported from nlohmann 3.9.0
+        #define DEPTHAI_NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)                                              \
+            inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) {                    \
+                DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_TO, __VA_ARGS__))   \
+            }                                                                                                      \
+            inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) {                  \
+                DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_FROM, __VA_ARGS__)) \
+            }
+
+    #endif
+#endif
diff --git a/include/depthai/utility/Serialization.hpp b/include/depthai/utility/Serialization.hpp
new file mode 100644
index 000000000..2b73bada4
--- /dev/null
+++ b/include/depthai/utility/Serialization.hpp
@@ -0,0 +1,273 @@
+#pragma once
+
+// std
+#include <cstddef>
+#include <cstdint>
+#include <vector>
+
+// libraries
+#include <nop/serializer.h>
+#include <nop/structure.h>
+#include <nop/utility/buffer_reader.h>
+#include <nop/utility/stream_writer.h>
+
+// project
+#include "NlohmannJsonCompat.hpp"
+
+// To not require exceptions for embedded usecases.
+#ifndef __has_feature           // Optional of course.
+    #define __has_feature(x) 0  // Compatibility with non-clang compilers.
+#endif
+#if __has_feature(cxx_exceptions) || defined(__cpp_exceptions) || (defined(_MSC_VER) && defined(_CPPUNWIND)) || defined(__EXCEPTIONS)
+    #define DEPTHAI_EXCEPTIONS
+#endif
+
+namespace dai {
+
+enum class SerializationType {
+    LIBNOP,
+    JSON,
+    JSON_MSGPACK,
+};
+constexpr auto static DEFAULT_SERIALIZATION_TYPE = SerializationType::LIBNOP;
+
+namespace utility {
+
+// JSON-msgpack serialization
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::JSON_MSGPACK, bool> = true>
+inline bool serialize(const T& obj, std::vector<std::uint8_t>& data) {
+    nlohmann::json j = obj;
+    data = nlohmann::json::to_msgpack(j);
+    return true;
+}
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::JSON_MSGPACK, bool> = true>
+inline bool deserialize(const std::uint8_t* data, std::size_t size, T& obj) {
+    nlohmann::from_json(nlohmann::json::from_msgpack(data, data + size), obj);
+    return true;
+}
+
+// JSON serialization
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::JSON, bool> = true>
+inline bool serialize(const T& obj, std::vector<std::uint8_t>& data) {
+    nlohmann::json j = obj;
+    auto json = j.dump();
+    data = std::vector<std::uint8_t>(reinterpret_cast<const std::uint8_t*>(json.data()), reinterpret_cast<const std::uint8_t*>(json.data()) + json.size());
+    return true;
+}
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::JSON, bool> = true>
+inline bool deserialize(const std::uint8_t* data, std::size_t size, T& obj) {
+    nlohmann::from_json(nlohmann::json::parse(data, data + size), obj);
+    return true;
+}
+
+// NOLINTBEGIN
+class VectorWriter {
+   public:
+    template <typename... Args>
+    VectorWriter(Args&&... args) : vector{std::forward<Args>(args)...} {}
+    VectorWriter(const VectorWriter&) = default;
+    VectorWriter& operator=(const VectorWriter&) = default;
+
+    nop::Status<void> Prepare(std::size_t /*size*/) {
+        return {};
+    }
+
+    nop::Status<void> Write(std::uint8_t byte) {
+        vector.push_back(byte);
+        return ReturnStatus();
+    }
+
+    nop::Status<void> Write(const void* begin, const void* end) {
+        vector.insert(vector.end(), static_cast<const std::uint8_t*>(begin), static_cast<const std::uint8_t*>(end));
+        return ReturnStatus();
+    }
+
+    nop::Status<void> Skip(std::size_t padding_bytes, std::uint8_t padding_value = 0x00) {
+        for(std::size_t i = 0; i < padding_bytes; i++) {
+            vector.push_back(padding_value);
+            auto status = ReturnStatus();
+            if(!status) return status;
+        }
+
+        return {};
+    }
+
+    const std::vector<std::uint8_t>& ref() const {
+        return vector;
+    }
+    std::vector<std::uint8_t>& ref() {
+        return vector;
+    }
+    std::vector<std::uint8_t>&& take() {
+        return std::move(vector);
+    }
+
+   private:
+    nop::Status<void> ReturnStatus() {
+        return {};
+    }
+
+    std::vector<std::uint8_t> vector;
+};
+// NOLINTEND
+
+// libnop serialization
+// If exceptions are available it throws in error cases
+// Otherwise return value can be checked
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::LIBNOP, bool> = true>
+inline bool serialize(const T& obj, std::vector<std::uint8_t>& data) {
+    nop::Serializer<VectorWriter> serializer{std::move(data)};
+    auto status = serializer.Write(obj);
+    if(!status) {
+#ifdef DEPTHAI_EXCEPTIONS
+        throw std::runtime_error(status.GetErrorMessage());
+#else
+        return false;
+#endif
+    }
+    data = std::move(serializer.writer().take());
+    return true;
+}
+template <SerializationType TYPE, typename T, std::enable_if_t<TYPE == SerializationType::LIBNOP, bool> = true>
+inline bool deserialize(const std::uint8_t* data, std::size_t size, T& obj) {
+    nop::Deserializer<nop::BufferReader> deserializer{data, size};
+    auto status = deserializer.Read(&obj);
+    if(!status) {
+#ifdef DEPTHAI_EXCEPTIONS
+        throw std::runtime_error(status.GetErrorMessage());
+#else
+        return false;
+#endif
+    }
+    return true;
+}
+
+// Serialization using enum
+template <typename T>
+inline bool serialize(const T& obj, std::vector<std::uint8_t>& data, SerializationType type) {
+    switch(type) {
+        case SerializationType::LIBNOP:
+            return serialize<SerializationType::LIBNOP>(obj, data);
+        case SerializationType::JSON:
+            return serialize<SerializationType::JSON>(obj, data);
+        case SerializationType::JSON_MSGPACK:
+            return serialize<SerializationType::JSON_MSGPACK>(obj, data);
+        default:
+            throw std::invalid_argument("Unknown serialization type");
+    };
+}
+template <typename T>
+inline std::vector<std::uint8_t> serialize(const T& obj, SerializationType type) {
+    std::vector<std::uint8_t> data;
+    if(serialize(obj, data, type)) {
+        return data;
+    } else {
+        return {};
+    }
+}
+
+template <typename T>
+inline bool deserialize(const std::uint8_t* data, std::size_t size, T& obj, SerializationType type) {
+    switch(type) {
+        case SerializationType::LIBNOP:
+            return deserialize<SerializationType::LIBNOP>(data, size, obj);
+        case SerializationType::JSON:
+            return deserialize<SerializationType::JSON>(data, size, obj);
+        case SerializationType::JSON_MSGPACK:
+            return deserialize<SerializationType::JSON_MSGPACK>(data, size, obj);
+        default:
+            throw std::invalid_argument("Unknown serialization type");
+    };
+}
+template <typename T>
+inline bool deserialize(const std::vector<std::uint8_t>& data, T& obj, SerializationType type) {
+    return deserialize(data.data(), data.size(), obj, type);
+}
+
+// Serialization using templates
+template <SerializationType TYPE, typename T>
+inline std::vector<std::uint8_t> serialize(const T& obj) {
+    std::vector<std::uint8_t> data;
+    if(serialize<TYPE>(obj, data)) {
+        return data;
+    } else {
+        return {};
+    }
+}
+template <SerializationType TYPE, typename T>
+inline bool deserialize(const std::vector<std::uint8_t>& data, T& obj) {
+    return deserialize<TYPE>(data.data(), data.size(), obj);
+}
+
+// Defaults
+template <typename T>
+inline bool serialize(const T& obj, std::vector<std::uint8_t>& data) {
+    return serialize<DEFAULT_SERIALIZATION_TYPE>(obj, data);
+}
+template <typename T>
+inline std::vector<std::uint8_t> serialize(const T& obj) {
+    return serialize<DEFAULT_SERIALIZATION_TYPE>(obj);
+}
+template <typename T>
+inline bool deserialize(const std::uint8_t* data, std::size_t size, T& obj) {
+    return deserialize<DEFAULT_SERIALIZATION_TYPE>(data, size, obj);
+}
+template <typename T>
+inline bool deserialize(const std::vector<std::uint8_t>& data, T& obj) {
+    return deserialize<DEFAULT_SERIALIZATION_TYPE>(data, obj);
+}
+
+}  // namespace utility
+
+// // In dai scope
+// template<typename Base, typename Derived>
+// struct Serializable : Base {
+//     virtual void serialize(std::vector<std::uint8_t>& data) {
+//         utility::serialize(static_cast<const Derived&>(*this), data);
+//     }
+// };
+
+}  // namespace dai
+
+#define DEPTHAI_DEFERRED_EXPAND(x) x
+#if defined(_MSC_VER) && (!defined(_MSVC_TRADITIONAL) || _MSVC_TRADITIONAL)
+   // Logic using the traditional preprocessor
+    // This is for suppressing false positive warnings when compiling
+    // without /Zc:preprocessor
+    #pragma warning(disable : 4003)
+#endif
+
+#define DEPTHAI_NLOHMANN_JSON_OPTIONAL_TO(v1) nlohmann::to_json(nlohmann_json_j[#v1], nlohmann_json_t.v1);
+#define DEPTHAI_NLOHMANN_JSON_OPTIONAL_FROM(v1) \
+    if(nlohmann_json_j.contains(#v1)) nlohmann_json_j[#v1].get_to(nlohmann_json_t.v1);
+#define DEPTHAI_NLOHMANN_DEFINE_TYPE_OPTIONAL_NON_INTRUSIVE(Type, ...)                                              \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) {                             \
+        DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_OPTIONAL_TO, __VA_ARGS__))   \
+    }                                                                                                               \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) {                           \
+        DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_OPTIONAL_FROM, __VA_ARGS__)) \
+    }
+#define DEPTHAI_NLOHMANN_DEFINE_TYPE_OPTIONAL_INTRUSIVE(Type, ...)                                                  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) {                             \
+        DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_OPTIONAL_TO, __VA_ARGS__))   \
+    }                                                                                                               \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) {                           \
+        DEPTHAI_NLOHMANN_JSON_EXPAND(DEPTHAI_NLOHMANN_JSON_PASTE(DEPTHAI_NLOHMANN_JSON_OPTIONAL_FROM, __VA_ARGS__)) \
+    }
+
+// Macros
+#define DEPTHAI_SERIALIZE_OPTIONAL_EXT(...)                                                   \
+    DEPTHAI_DEFERRED_EXPAND(DEPTHAI_NLOHMANN_DEFINE_TYPE_OPTIONAL_NON_INTRUSIVE(__VA_ARGS__)) \
+    DEPTHAI_DEFERRED_EXPAND(NOP_EXTERNAL_STRUCTURE(__VA_ARGS__))
+
+#define DEPTHAI_SERIALIZE_OPTIONAL(...)                                                   \
+    DEPTHAI_DEFERRED_EXPAND(DEPTHAI_NLOHMANN_DEFINE_TYPE_OPTIONAL_INTRUSIVE(__VA_ARGS__)) \
+    DEPTHAI_DEFERRED_EXPAND(NOP_EXTERNAL_STRUCTURE(__VA_ARGS__))
+
+#define DEPTHAI_SERIALIZE_EXT(...)                                                   \
+    DEPTHAI_DEFERRED_EXPAND(DEPTHAI_NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(__VA_ARGS__)) \
+    DEPTHAI_DEFERRED_EXPAND(NOP_EXTERNAL_STRUCTURE(__VA_ARGS__))
+
+#define DEPTHAI_SERIALIZE(...)                                                   \
+    DEPTHAI_DEFERRED_EXPAND(DEPTHAI_NLOHMANN_DEFINE_TYPE_INTRUSIVE(__VA_ARGS__)) \
+    DEPTHAI_DEFERRED_EXPAND(NOP_STRUCTURE(__VA_ARGS__))
diff --git a/include/depthai/utility/VectorMemory.hpp b/include/depthai/utility/VectorMemory.hpp
new file mode 100644
index 000000000..f9c8a954b
--- /dev/null
+++ b/include/depthai/utility/VectorMemory.hpp
@@ -0,0 +1,42 @@
+#pragma once
+
+// std
+#include <cstdint>
+#include <cstring>
+#include <functional>
+
+// project
+#include "depthai/utility/Memory.hpp"
+
+namespace dai {
+
+// memory as interface
+class VectorMemory : public std::vector<std::uint8_t>, public Memory {
+   public:
+    // using std::vector<std::uint8_t>::vector;
+    VectorMemory() = default;
+    VectorMemory(const std::vector<std::uint8_t>& d) : vector(std::move(d)) {}
+    VectorMemory(std::vector<std::uint8_t>&& d) : vector(std::move(d)) {}
+    VectorMemory& operator=(std::vector<std::uint8_t>&& d) {
+        std::vector<std::uint8_t>::operator=(std::move(d));
+        return *this;
+    }
+
+    span<std::uint8_t> getData() override {
+        return {data(), size()};
+    }
+    span<const std::uint8_t> getData() const override {
+        return {data(), size()};
+    }
+    std::size_t getMaxSize() const override {
+        return capacity();
+    }
+    std::size_t getOffset() const override {
+        return 0;
+    }
+    void setSize(std::size_t size) override {
+        resize(size);
+    }
+};
+
+}  // namespace dai
diff --git a/include/depthai/utility/matrixOps.hpp b/include/depthai/utility/matrixOps.hpp
new file mode 100644
index 000000000..53d717b74
--- /dev/null
+++ b/include/depthai/utility/matrixOps.hpp
@@ -0,0 +1,19 @@
+#pragma once
+#define _USE_MATH_DEFINES
+
+#include <cmath>
+#include <iostream>
+#include <vector>
+
+namespace dai {
+namespace matrix {
+
+std::vector<std::vector<float>> matMul(std::vector<std::vector<float>>& firstMatrix, std::vector<std::vector<float>>& secondMatrix);
+bool matInv(std::vector<std::vector<float>>& A, std::vector<std::vector<float>>& inverse);
+std::vector<std::vector<float>> createRotationMatrix(float theta);
+std::vector<std::vector<float>> createScalingMatrix(float scaleX, float scaleY);
+std::vector<std::vector<float>> createTranslationMatrix(float dx, float dy);
+void printMatrix(std::vector<std::vector<float>>& matrix);
+
+}  // namespace matrix
+}  // namespace dai
\ No newline at end of file
diff --git a/include/depthai/xlink/XLinkConstants.hpp b/include/depthai/xlink/XLinkConstants.hpp
new file mode 100644
index 000000000..027e28eb4
--- /dev/null
+++ b/include/depthai/xlink/XLinkConstants.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+
+namespace dai {
+namespace device {
+
+// channel names
+constexpr static const char* XLINK_CHANNEL_PIPELINE_CONFIG = "__pipeline_config";
+constexpr static const char* XLINK_CHANNEL_MAIN_RPC = "__rpc_main";
+constexpr static const char* XLINK_CHANNEL_TIMESYNC = "__timesync";
+constexpr static const char* XLINK_CHANNEL_LOG = "__log";
+constexpr static const char* XLINK_CHANNEL_WATCHDOG = "__watchdog";
+
+// usb buffer maximum size
+constexpr static std::uint32_t XLINK_USB_BUFFER_MAX_SIZE = 5 * 1024 * 1024;
+
+// Watchdog timeout
+constexpr static const std::chrono::milliseconds XLINK_USB_WATCHDOG_TIMEOUT{1500};
+constexpr static const std::chrono::milliseconds XLINK_TCP_WATCHDOG_TIMEOUT{4000};
+
+// Maximum metadata size
+constexpr static const int XLINK_MESSAGE_METADATA_MAX_SIZE = 50 * 1024;
+
+}  // namespace device
+}  // namespace dai
diff --git a/include/depthai/xlink/XLinkStream.hpp b/include/depthai/xlink/XLinkStream.hpp
index 9b0865425..b54d44a81 100644
--- a/include/depthai/xlink/XLinkStream.hpp
+++ b/include/depthai/xlink/XLinkStream.hpp
@@ -20,6 +20,8 @@
 #include <XLink/XLinkTime.h>
 
 // project
+#include "depthai/utility/Memory.hpp"
+#include "depthai/utility/span.hpp"
 #include "depthai/xlink/XLinkConnection.hpp"
 
 namespace dai {
@@ -34,6 +36,39 @@ class StreamPacketDesc : public streamPacketDesc_t {
     ~StreamPacketDesc() noexcept;
 };
 
+class StreamPacketMemory : public StreamPacketDesc, public Memory {
+    size_t size;
+
+   public:
+    StreamPacketMemory() = default;
+    StreamPacketMemory(StreamPacketDesc&& d) : StreamPacketDesc(std::move(d)) {
+        size = length;
+    }
+    StreamPacketMemory& operator=(StreamPacketDesc&& d) {
+        StreamPacketDesc::operator=(std::move(d));
+        size = length;
+        return *this;
+    }
+    span<std::uint8_t> getData() override {
+        return {data, size};
+    }
+    span<const std::uint8_t> getData() const override {
+        return {data, size};
+    }
+    std::size_t getMaxSize() const override {
+        return length;
+    }
+    std::size_t getOffset() const override {
+        return 0;
+    }
+    void setSize(size_t size) override {
+        if(size > getMaxSize()) {
+            throw std::invalid_argument("Cannot set size larger than max size");
+        }
+        this->size = size;
+    }
+};
+
 class XLinkStream {
     // static
     constexpr static int STREAM_OPEN_RETRIES = 5;
@@ -52,9 +87,9 @@ class XLinkStream {
     ~XLinkStream();
 
     // Blocking
+    void write(span<const uint8_t> data, span<const uint8_t> data2);
+    void write(span<const uint8_t> data);
     void write(const void* data, std::size_t size);
-    void write(const std::uint8_t* data, std::size_t size);
-    void write(const std::vector<std::uint8_t>& data);
     std::vector<std::uint8_t> read();
     std::vector<std::uint8_t> read(XLinkTimespec& timestampReceived);
     void read(std::vector<std::uint8_t>& data);
@@ -80,6 +115,7 @@ class XLinkStream {
     [[deprecated]] void readRawRelease();
 
     streamId_t getStreamId() const;
+    std::string getStreamName() const;
 };
 
 struct XLinkError : public std::runtime_error {
diff --git a/scripts/typesafe_json_generation/.gitignore b/scripts/typesafe_json_generation/.gitignore
new file mode 100644
index 000000000..d11a90faf
--- /dev/null
+++ b/scripts/typesafe_json_generation/.gitignore
@@ -0,0 +1,6 @@
+/node_modules
+/luxonis_ml
+/env
+/json_types
+/luxonis_ml_json_schema.json
+/luxonis_ml_json_schema_broken.json
diff --git a/scripts/typesafe_json_generation/check_json.js b/scripts/typesafe_json_generation/check_json.js
new file mode 100644
index 000000000..c583d5967
--- /dev/null
+++ b/scripts/typesafe_json_generation/check_json.js
@@ -0,0 +1,8 @@
+const fs = require("fs");
+
+const validate = require("jsonschema").validate;
+
+var args = process.argv.slice(2);
+const json = fs.readFileSync(args[0]).toString();
+const schema = fs.readFileSync(args[1]).toString();
+console.log(validate(JSON.parse(json), JSON.parse(schema)));
diff --git a/scripts/typesafe_json_generation/fix_schema_definition.js b/scripts/typesafe_json_generation/fix_schema_definition.js
new file mode 100644
index 000000000..56dce383c
--- /dev/null
+++ b/scripts/typesafe_json_generation/fix_schema_definition.js
@@ -0,0 +1,24 @@
+const fs = require("fs");
+
+const args = process.argv.slice(2);
+const schema = JSON.parse(fs.readFileSync(args[0]).toString());
+// not needed anymore, leaving the script here if something else will break
+// schema.properties.connections.items.type = "string";
+
+/*
+schema.$defs.Head.properties.outputs = undefined;
+schema.$defs.Head.required.splice(
+  schema.$defs.Head.required.indexOf("outputs"),
+  1
+);
+*/
+
+/*
+ * quicktype has problems with this nested union structure
+for (let unionType of schema.$defs.Head.properties.outputs.anyOf) {
+  if (unionType.additionalProperties !== undefined) {
+    unionType.additionalProperties.anyOf[1].items = { type: "string" };
+  }
+}
+*/
+fs.writeFileSync(args[1], JSON.stringify(schema, null, 2));
diff --git a/scripts/typesafe_json_generation/generate.sh b/scripts/typesafe_json_generation/generate.sh
new file mode 100755
index 000000000..5b3553edf
--- /dev/null
+++ b/scripts/typesafe_json_generation/generate.sh
@@ -0,0 +1,75 @@
+#!/bin/bash
+
+set -e
+cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1
+
+folder_name="nn_archive/v1"
+namespace="dai::nn_archive::v1"
+
+if [ ! -d luxonis_ml ]; then
+  git clone https://github.com/luxonis/luxonis-ml.git luxonis_ml
+  cd luxonis_ml
+  git checkout dev
+  cd ..
+fi
+if [ ! -d env ]; then
+  python3 -m venv env
+  source env/bin/activate
+  pip install -r luxonis_ml/luxonis_ml/nn_archive/requirements.txt
+else
+  source env/bin/activate
+fi
+if [ ! -d node_modules ]; then
+  npm ci
+fi
+python generate_json_schema.py > luxonis_ml_json_schema_broken.json
+node fix_schema_definition.js luxonis_ml_json_schema_broken.json luxonis_ml_json_schema.json
+rm -rf json_types
+main_dir=json_types/$folder_name
+mkdir -p $main_dir
+cd $main_dir
+npx quicktype \
+  --namespace "${namespace}" \
+  --include-location global-include \
+  --member-style camel-case \
+  --lang c++ \
+  --out Config.cpp \
+  --src-lang schema \
+  --code-format with-struct \
+  --no-boost \
+  --source-style multi-source \
+  ../../../luxonis_ml_json_schema.json
+cd ../../..
+headers_dir=../../include/depthai/$folder_name
+rm -rf $headers_dir
+mkdir -p $headers_dir
+cp -r $main_dir/* $headers_dir/
+private_dir=../../src/$folder_name
+rm -rf $private_dir
+mkdir -p $private_dir
+for private_file in \
+  Generators.hpp \
+  helper.hpp
+do
+  mv $headers_dir/$private_file $private_dir/
+done
+
+# fix private files
+# perl -0777 -i -pe 's/\#ifndef NLOHMANN_OPT_HELPER.*\#endif//s' $private_dir/helper.hpp
+#
+perl -0777 -i -pe 's| *template <typename T>\n *struct adl_serializer<std::optional<T>>.*};||s' $private_dir/helper.hpp
+perl -0777 -i -pe 's|\#pragma once|\#pragma once\n\n\#include "depthai/common/optional.hpp"|s' $private_dir/helper.hpp
+perl -0777 -i -pe 's|\#include \"|\#include \"depthai/nn_archive/v1/|g' $private_dir/Generators.hpp
+perl -0777 -i -pe 's|\#include \"depthai/nn_archive/v1/helper.hpp\"|\#include \"helper.hpp\"|g' $private_dir/Generators.hpp
+
+# cleanup public files
+grep -rl 'To parse this JSON data' $headers_dir | xargs -n 1 perl -0777 -i -pe 's/\/\/  To parse this JSON data.*\#pragma once/\#pragma once/s'
+grep -rl '#include "helper.hpp"' $headers_dir | xargs -n 1 perl -0777 -i -pe 's/\#include "helper.hpp"\n//s'
+grep -rl '#include <nlohmann/json.hpp>' $headers_dir | xargs -n 1 perl -0777 -i -pe 's/\#include <nlohmann\/json.hpp>\n//s'
+grep -rl 'using nlohmann::json;' $headers_dir | xargs -n 1 perl -0777 -i -pe 's/ *using nlohmann::json;\n//s'
+
+# add include <string>
+grep -lZ std::string $headers_dir/*.hpp | xargs -r0 grep -L 'include <string>' | xargs -n 1 perl -0777 -i -pe 's/#pragma once\n\n/#pragma once\n\n#include <string>\n/s'
+# add include <vector>
+grep -lZ std::vector $headers_dir/*.hpp | xargs -r0 grep -L 'include <vector>' | xargs -n 1 perl -0777 -i -pe 's/#pragma once\n\n/#pragma once\n\n#include <vector>\n/s'
+
diff --git a/scripts/typesafe_json_generation/generate_json_schema.py b/scripts/typesafe_json_generation/generate_json_schema.py
new file mode 100644
index 000000000..d4a13a4c4
--- /dev/null
+++ b/scripts/typesafe_json_generation/generate_json_schema.py
@@ -0,0 +1,5 @@
+from luxonis_ml.luxonis_ml.nn_archive.config import Config
+import json
+
+# try mode="serialization"
+print(json.dumps(Config.model_json_schema(mode="validation"), sort_keys=True, indent=2))
diff --git a/scripts/typesafe_json_generation/package-lock.json b/scripts/typesafe_json_generation/package-lock.json
new file mode 100644
index 000000000..9542db460
--- /dev/null
+++ b/scripts/typesafe_json_generation/package-lock.json
@@ -0,0 +1,1118 @@
+{
+  "name": "typesafe_json_generation",
+  "version": "1.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
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+        "ts-node-esm": "dist/bin-esm.js",
+        "ts-node-script": "dist/bin-script.js",
+        "ts-node-transpile-only": "dist/bin-transpile.js",
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+        "tsserver": "bin/tsserver"
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+        "base64-js": "^1.3.0",
+        "unicode-trie": "^2.0.0"
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+        "url": "https://github.com/chalk/wrap-ansi?sponsor=1"
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+      "bin": {
+        "yaml": "bin.mjs"
+      },
+      "engines": {
+        "node": ">= 14"
+      }
+    },
+    "node_modules/yargs": {
+      "version": "17.7.2",
+      "resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz",
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+      "dependencies": {
+        "cliui": "^8.0.1",
+        "escalade": "^3.1.1",
+        "get-caller-file": "^2.0.5",
+        "require-directory": "^2.1.1",
+        "string-width": "^4.2.3",
+        "y18n": "^5.0.5",
+        "yargs-parser": "^21.1.1"
+      },
+      "engines": {
+        "node": ">=12"
+      }
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+    "node_modules/yargs-parser": {
+      "version": "21.1.1",
+      "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-21.1.1.tgz",
+      "integrity": "sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==",
+      "engines": {
+        "node": ">=12"
+      }
+    },
+    "node_modules/yn": {
+      "version": "3.1.1",
+      "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz",
+      "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==",
+      "engines": {
+        "node": ">=6"
+      }
+    }
+  }
+}
diff --git a/scripts/typesafe_json_generation/package.json b/scripts/typesafe_json_generation/package.json
new file mode 100644
index 000000000..c96216722
--- /dev/null
+++ b/scripts/typesafe_json_generation/package.json
@@ -0,0 +1,15 @@
+{
+  "name": "typesafe_json_generation",
+  "version": "1.0.0",
+  "description": "",
+  "main": "index.js",
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "author": "",
+  "license": "UNLICENSED",
+  "dependencies": {
+    "jsonschema": "^1.4.1",
+    "quicktype": "^23.0.105"
+  }
+}
diff --git a/shared/depthai-shared b/shared/depthai-shared
deleted file mode 160000
index a73b58b5d..000000000
--- a/shared/depthai-shared
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a73b58b5d0c7798633309d3b0ce4d40c096014ca
diff --git a/shared/depthai-shared.cmake b/shared/depthai-shared.cmake
index 414e1ebf6..24ce9b383 100644
--- a/shared/depthai-shared.cmake
+++ b/shared/depthai-shared.cmake
@@ -9,6 +9,8 @@ set(DEPTHAI_SHARED_3RDPARTY_HEADERS_PATH "depthai-shared/3rdparty")
 set(DEPTHAI_SHARED_SOURCES
     ${DEPTHAI_SHARED_FOLDER}/src/datatype/DatatypeEnum.cpp
     ${DEPTHAI_SHARED_FOLDER}/src/utility/Checksum.cpp
+    ${DEPTHAI_SHARED_FOLDER}/src/utility/matrixOps.cpp
+    ${DEPTHAI_SHARED_FOLDER}/src/common/ImgTransformations.cpp
 )
 
 set(DEPTHAI_SHARED_PUBLIC_INCLUDE
@@ -23,40 +25,6 @@ set(DEPTHAI_SHARED_INCLUDE
     ${DEPTHAI_SHARED_FOLDER}/src
 )
 
-# Try retriving depthai-shared commit hash (if cloned and not sources only)
-find_package(Git)
-if(GIT_FOUND AND NOT DEPTHAI_DOWNLOADED_SOURCES)
-
-    if(NOT DEPTHAI_SHARED_LOCAL)
-        # Check that submodule is initialized and updated
-        execute_process(
-            COMMAND ${GIT_EXECUTABLE} submodule status ${DEPTHAI_SHARED_FOLDER}
-            WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
-            OUTPUT_VARIABLE statusCommit
-            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE
-        )
-        string(SUBSTRING ${statusCommit} 0 1 status)
-        if("${status}" STREQUAL "-")
-            message(FATAL_ERROR "Submodule 'depthai-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
-        endif()
-    endif()
-
-    # Get depthai-shared current commit
-    execute_process(
-        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
-        WORKING_DIRECTORY ${DEPTHAI_SHARED_FOLDER}
-        RESULT_VARIABLE DEPTHAI_SHARED_COMMIT_RESULT
-        OUTPUT_VARIABLE DEPTHAI_SHARED_COMMIT_HASH
-        ERROR_QUIET
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if(${DEPTHAI_SHARED_COMMIT_RESULT} EQUAL 0)
-        set(DEPTHAI_SHARED_COMMIT_FOUND TRUE)
-    else()
-        set(DEPTHAI_SHARED_COMMIT_FOUND FALSE)
-    endif()
-endif()
-
 # Make sure files exist
 foreach(source_file ${DEPTHAI_SHARED_SOURCES})
     message(STATUS "Checking file: ${source_file}")
diff --git a/src/device/CalibrationHandler.cpp b/src/device/CalibrationHandler.cpp
index cf74c1361..2c7015b4e 100644
--- a/src/device/CalibrationHandler.cpp
+++ b/src/device/CalibrationHandler.cpp
@@ -10,13 +10,13 @@
 #include <tuple>
 #include <unordered_set>
 
-#include "depthai-shared/common/CameraInfo.hpp"
-#include "depthai-shared/common/Extrinsics.hpp"
-#include "depthai-shared/common/Point3f.hpp"
+#include "depthai/common/CameraInfo.hpp"
+#include "depthai/common/Extrinsics.hpp"
+#include "depthai/common/Point3f.hpp"
+#include "depthai/utility/matrixOps.hpp"
 #include "nlohmann/json.hpp"
 #include "spdlog/spdlog.h"
 #include "utility/Logging.hpp"
-#include "utility/matrixOps.hpp"
 
 namespace dai {
 
@@ -397,6 +397,18 @@ std::vector<float> CalibrationHandler::getCameraTranslationVector(CameraBoardSoc
     return translationVector;
 }
 
+std::vector<std::vector<float>> CalibrationHandler::getCameraRotationMatrix(CameraBoardSocket srcCamera, CameraBoardSocket dstCamera) const {
+    std::vector<std::vector<float>> extrinsics = getCameraExtrinsics(srcCamera, dstCamera, false);
+
+    std::vector<std::vector<float>> rotationMatrix = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    for(auto i = 0; i < 3; i++) {
+        for(auto j = 0; j < 3; j++) {
+            rotationMatrix[i][j] = extrinsics[i][j];
+        }
+    }
+    return rotationMatrix;
+}
+
 float CalibrationHandler::getBaselineDistance(CameraBoardSocket cam1, CameraBoardSocket cam2, bool useSpecTranslation) const {
     std::vector<float> translationVector = getCameraTranslationVector(cam1, cam2, useSpecTranslation);
     float sum = 0;
@@ -620,7 +632,7 @@ void CalibrationHandler::setCameraIntrinsics(CameraBoardSocket cameraId, std::ve
         throw std::runtime_error("Intrinsic Matrix size should always be 3x3 ");
     }
 
-    if(intrinsics[0][1] != 0 || intrinsics[1][0] != 0 || intrinsics[2][0] != 0 || intrinsics[2][1] != 0) {
+    if(intrinsics[1][0] != 0 || intrinsics[2][0] != 0 || intrinsics[2][1] != 0) {
         throw std::runtime_error("Invalid Intrinsic Matrix entered!!");
     }
 
diff --git a/src/device/CallbackHandler.cpp b/src/device/CallbackHandler.cpp
index c3c4f12de..734351b10 100644
--- a/src/device/CallbackHandler.cpp
+++ b/src/device/CallbackHandler.cpp
@@ -1,18 +1,19 @@
+#include <cassert>
 #include "depthai/device/CallbackHandler.hpp"
 
 // project
 #include "depthai/xlink/XLinkStream.hpp"
 #include "pipeline/datatype/StreamMessageParser.hpp"
-
+#include "depthai/xlink/XLinkConstants.hpp"
 namespace dai {
 
-void CallbackHandler::setCallback(std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb) {
+void CallbackHandler::setCallback(std::function<std::shared_ptr<ADatatype>(std::shared_ptr<ADatatype>)> cb) {
     callback = std::move(cb);
 }
 
 CallbackHandler::CallbackHandler(std::shared_ptr<XLinkConnection> conn,
                                  const std::string& streamName,
-                                 std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb)
+                                 std::function<std::shared_ptr<ADatatype>(std::shared_ptr<ADatatype>)> cb)
     : connection(std::move(conn)), callback(std::move(cb)) {
     // creates a thread which reads from queue and writes to xlink
     t = std::thread([this, streamName]() {
diff --git a/src/device/DataQueue.cpp b/src/device/DataQueue.cpp
index e16f2c8a1..dbe80e448 100644
--- a/src/device/DataQueue.cpp
+++ b/src/device/DataQueue.cpp
@@ -6,15 +6,15 @@
 #include <memory>
 
 // project
-#include "depthai-shared/datatype/DatatypeEnum.hpp"
-#include "depthai-shared/datatype/RawMessageGroup.hpp"
 #include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/pipeline/datatype/MessageGroup.hpp"
 #include "depthai/xlink/XLinkStream.hpp"
 #include "pipeline/datatype/MessageGroup.hpp"
 #include "pipeline/datatype/StreamMessageParser.hpp"
 
 // shared
-#include "depthai-shared/xlink/XLinkConstants.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
 
 // libraries
 #include "utility/Logging.hpp"
@@ -39,21 +39,13 @@ DataOutputQueue::DataOutputQueue(const std::shared_ptr<XLinkConnection> conn, co
             while(running) {
                 // Blocking -- parse packet and gather timing information
                 auto packet = stream.readMove();
-                DatatypeEnum type;
                 const auto t1Parse = std::chrono::steady_clock::now();
-                const auto data = StreamMessageParser::parseMessageToADatatype(&packet, type);
-                if(type == DatatypeEnum::MessageGroup) {
-                    auto msgGrp = std::static_pointer_cast<MessageGroup>(data);
-                    unsigned int size = msgGrp->getNumMessages();
-                    std::vector<std::shared_ptr<ADatatype>> packets;
-                    packets.reserve(size);
-                    for(unsigned int i = 0; i < size; ++i) {
+                const auto msg = StreamMessageParser::parseMessage(std::move(packet));
+                if(std::dynamic_pointer_cast<MessageGroup>(msg) != nullptr) {
+                    auto msgGrp = std::static_pointer_cast<MessageGroup>(msg);
+                    for(auto& msg : msgGrp->group) {
                         auto dpacket = stream.readMove();
-                        packets.push_back(StreamMessageParser::parseMessageToADatatype(&dpacket));
-                    }
-                    auto rawMsgGrp = std::static_pointer_cast<RawMessageGroup>(data->getRaw());
-                    for(auto& msg : rawMsgGrp->group) {
-                        msgGrp->add(msg.first, packets[msg.second.index]);
+                        msg.second = StreamMessageParser::parseMessage(&dpacket);
                     }
                 }
                 const auto t2Parse = std::chrono::steady_clock::now();
@@ -62,17 +54,17 @@ DataOutputQueue::DataOutputQueue(const std::shared_ptr<XLinkConnection> conn, co
                 if(logger::get_level() == spdlog::level::trace) {
                     std::vector<std::uint8_t> metadata;
                     DatatypeEnum type;
-                    data->getRaw()->serialize(metadata, type);
+                    msg->serialize(metadata, type);
                     logger::trace("Received message from device ({}) - parsing time: {}, data size: {}, object type: {} object data: {}",
                                   name,
                                   std::chrono::duration_cast<std::chrono::microseconds>(t2Parse - t1Parse),
-                                  data->getRaw()->data.size(),
+                                  msg->data->getSize(),
                                   static_cast<std::int32_t>(type),
                                   spdlog::to_hex(metadata));
                 }
 
                 // Add 'data' to queue
-                if(!queue.push(data)) {
+                if(!queue.push(msg)) {
                     throw std::runtime_error(fmt::format("Underlying queue destructed"));
                 }
 
@@ -85,7 +77,7 @@ DataOutputQueue::DataOutputQueue(const std::shared_ptr<XLinkConnection> conn, co
                     for(const auto& kv : callbacks) {
                         const auto& callback = kv.second;
                         try {
-                            callback(name, data);
+                            callback(name, msg);
                         } catch(const std::exception& ex) {
                             logger::error("Callback with id: {} throwed an exception: {}", kv.first, ex.what());
                         }
@@ -200,47 +192,46 @@ DataInputQueue::DataInputQueue(
     XLinkStream stream(std::move(conn), name, maxDataSize + device::XLINK_MESSAGE_METADATA_MAX_SIZE);
 
     writingThread = std::thread([this, stream = std::move(stream)]() mutable {
+        using namespace std::chrono;
         std::uint64_t numPacketsSent = 0;
         try {
             while(running) {
                 // get data from queue
-                std::shared_ptr<RawBuffer> data;
-                if(!queue.waitAndPop(data)) {
+                std::shared_ptr<ADatatype> outgoing;
+                if(!queue.waitAndPop(outgoing)) {
                     continue;
                 }
+                auto metadata = StreamMessageParser::serializeMetadata(outgoing);
 
-                // serialize
-                auto t1Parse = std::chrono::steady_clock::now();
-                std::vector<std::vector<uint8_t>> serializedAux;
-                if(data->getType() == DatatypeEnum::MessageGroup) {
-                    auto rawMsgGrp = std::dynamic_pointer_cast<RawMessageGroup>(data);
-                    serializedAux.reserve(rawMsgGrp->group.size());
-                    unsigned int index = 0;
-                    for(auto& msg : rawMsgGrp->group) {
-                        msg.second.index = index++;
-                        serializedAux.push_back(StreamMessageParser::serializeMessage(msg.second.buffer));
-                    }
+                // Blocking
+                auto t1 = steady_clock::now();
+                if(outgoing->data->getSize() > 0) {
+                    stream.write(outgoing->data->getData(), metadata);
+                } else {
+                    stream.write(metadata);
                 }
-                auto serialized = StreamMessageParser::serializeMessage(data);
-                auto t2Parse = std::chrono::steady_clock::now();
-
-                // Trace level debugging
-                if(logger::get_level() == spdlog::level::trace) {
-                    std::vector<std::uint8_t> metadata;
-                    DatatypeEnum type;
-                    data->serialize(metadata, type);
-                    logger::trace("Sending message to device ({}) - serialize time: {}, data size: {}, object type: {} object data: {}",
-                                  name,
-                                  std::chrono::duration_cast<std::chrono::microseconds>(t2Parse - t1Parse),
-                                  data->data.size(),
-                                  type,
-                                  spdlog::to_hex(metadata));
+                auto t2 = steady_clock::now();
+                // Log
+                if(spdlog::get_level() == spdlog::level::trace) {
+                    logger::trace("Sent message to device ({}) - data size: {}, metadata: {}, sending time: {}",
+                                  stream.getStreamName(),
+                                  outgoing->data->getSize(),
+                                  spdlog::to_hex(metadata),
+                                  duration_cast<microseconds>(t2 - t1));
                 }
 
-                // Blocking
-                stream.write(serialized);
-                for(auto& msg : serializedAux) {
-                    stream.write(msg);
+                // Attempt dynamic cast to MessageGroup
+                if(auto msgGroupPtr = std::dynamic_pointer_cast<MessageGroup>(outgoing)) {
+                    logger::trace("Sending group message to device with {} messages", msgGroupPtr->group.size());
+                    for(auto& msg : msgGroupPtr->group) {
+                        logger::trace("Sending part of a group message: {}", msg.first);
+                        auto metadata = StreamMessageParser::serializeMetadata(msg.second);
+                        if(msg.second->data->getSize() > 0) {
+                            stream.write(msg.second->data->getData(), metadata);
+                        } else {
+                            stream.write(metadata);
+                        }
+                    }
                 }
 
                 // Increment num packets sent
@@ -319,47 +310,14 @@ std::string DataInputQueue::getName() const {
     return name;
 }
 
-void DataInputQueue::send(const std::shared_ptr<RawBuffer>& rawMsg) {
-    if(!running) throw std::runtime_error(exceptionMessage.c_str());
-    if(!rawMsg) throw std::invalid_argument("Message passed is not valid (nullptr)");
-
-    // Check if stream receiver has enough space for this message
-    if(rawMsg->data.size() > maxDataSize) {
-        throw std::runtime_error(fmt::format("Trying to send larger ({}B) message than XLinkIn maxDataSize ({}B)", rawMsg->data.size(), maxDataSize.load()));
-    }
-
-    if(!queue.push(rawMsg)) {
-        throw std::runtime_error("Underlying queue destructed");
-    }
-}
 void DataInputQueue::send(const std::shared_ptr<ADatatype>& msg) {
-    if(!msg) throw std::invalid_argument("Message passed is not valid (nullptr)");
-    send(msg->serialize());
-}
-
-void DataInputQueue::send(const ADatatype& msg) {
-    send(msg.serialize());
-}
-
-bool DataInputQueue::send(const std::shared_ptr<RawBuffer>& rawMsg, std::chrono::milliseconds timeout) {
-    if(!running) throw std::runtime_error(exceptionMessage.c_str());
-    if(!rawMsg) throw std::invalid_argument("Message passed is not valid (nullptr)");
-
-    // Check if stream receiver has enough space for this message
-    if(rawMsg->data.size() > maxDataSize) {
-        throw std::runtime_error(fmt::format("Trying to send larger ({}B) message than XLinkIn maxDataSize ({}B)", rawMsg->data.size(), maxDataSize.load()));
+    if(!queue.push(msg)) {
+        throw std::runtime_error(fmt::format("Underlying queue destructed"));
     }
-
-    return queue.tryWaitAndPush(rawMsg, timeout);
 }
 
 bool DataInputQueue::send(const std::shared_ptr<ADatatype>& msg, std::chrono::milliseconds timeout) {
-    if(!msg) throw std::invalid_argument("Message passed is not valid (nullptr)");
-    return send(msg->serialize(), timeout);
-}
-
-bool DataInputQueue::send(const ADatatype& msg, std::chrono::milliseconds timeout) {
-    return send(msg.serialize(), timeout);
+    if(!running) throw std::runtime_error(exceptionMessage.c_str());
+    return queue.tryWaitAndPush(msg, timeout);
 }
-
 }  // namespace dai
diff --git a/src/device/Device.cpp b/src/device/Device.cpp
index 3cdf3948e..ae7e5f77c 100644
--- a/src/device/Device.cpp
+++ b/src/device/Device.cpp
@@ -6,8 +6,7 @@
 // shared
 #include "depthai-bootloader-shared/Bootloader.hpp"
 #include "depthai-bootloader-shared/XLinkConstants.hpp"
-#include "depthai-shared/datatype/RawImgFrame.hpp"
-#include "depthai-shared/xlink/XLinkConstants.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
 
 // project
 #include "DeviceLogger.hpp"
@@ -253,37 +252,29 @@ std::string Device::getQueueEvent(std::chrono::microseconds timeout) {
 }
 
 bool Device::startPipelineImpl(const Pipeline& pipeline) {
-    // Open queues upfront, let queues know about data sizes (input queues)
-    // Go through Pipeline and check for 'XLinkIn' and 'XLinkOut' nodes
-    // and create corresponding default queues for them
-    for(const auto& kv : pipeline.getNodeMap()) {
-        const auto& node = kv.second;
-        const auto& xlinkIn = std::dynamic_pointer_cast<const node::XLinkIn>(node);
-        if(xlinkIn == nullptr) {
-            continue;
-        }
-
-        // Create DataInputQueue's
-        auto streamName = xlinkIn->getStreamName();
-        if(inputQueueMap.count(streamName) != 0) throw std::invalid_argument(fmt::format("Streams have duplicate name '{}'", streamName));
-        // set max data size, for more verbosity
-        inputQueueMap[std::move(streamName)] = std::make_shared<DataInputQueue>(connection, xlinkIn->getStreamName(), 16, true, xlinkIn->getMaxDataSize());
-    }
-    for(const auto& kv : pipeline.getNodeMap()) {
-        const auto& node = kv.second;
-        const auto& xlinkOut = std::dynamic_pointer_cast<const node::XLinkOut>(node);
-        if(xlinkOut == nullptr) {
-            continue;
-        }
-
-        // Create DataOutputQueue's
-        auto streamName = xlinkOut->getStreamName();
-        if(outputQueueMap.count(streamName) != 0) throw std::invalid_argument(fmt::format("Streams have duplicate name '{}'", streamName));
-        outputQueueMap[streamName] = std::make_shared<DataOutputQueue>(connection, streamName);
-
-        // Add callback for events
-        callbackIdMap[std::move(streamName)] =
-            outputQueueMap[xlinkOut->getStreamName()]->addCallback([this](std::string queueName, std::shared_ptr<ADatatype>) {
+    auto schema = pipeline.getPipelineSchema();
+    for(auto& kv : schema.nodes) {
+        spdlog::trace("Inspecting node: {} for {} or {}", kv.second.name, std::string(node::XLinkIn::NAME), std::string(node::XLinkOut::NAME));
+        if(kv.second.name == node::XLinkIn::NAME) {
+            // deserialize properties to check the stream name
+            node::XLinkIn::Properties props;
+            utility::deserialize(kv.second.properties, props);
+            auto streamName = props.streamName;
+            if(inputQueueMap.count(streamName) != 0) throw std::invalid_argument(fmt::format("Streams have duplicate name '{}'", streamName));
+            // Create DataInputQueue's
+            inputQueueMap[streamName] = std::make_shared<DataInputQueue>(connection, streamName, 16, true, props.maxDataSize);
+        } else if(kv.second.name == node::XLinkOut::NAME) {
+            // deserialize properties to check the stream name
+            node::XLinkOut::Properties props;
+            utility::deserialize(kv.second.properties, props);
+            auto streamName = props.streamName;
+
+            if(outputQueueMap.count(streamName) != 0) throw std::invalid_argument(fmt::format("Streams have duplcate name '{}'", streamName));
+            // Create DataOutputQueue's
+            outputQueueMap[streamName] = std::make_shared<DataOutputQueue>(connection, streamName);
+            spdlog::trace("Opened DataOutputQueue for {}", streamName);
+            // Add callback for events
+            callbackIdMap[streamName] = outputQueueMap[streamName]->addCallback([this](std::string queueName, std::shared_ptr<ADatatype>) {
                 {
                     // Lock first
                     std::unique_lock<std::mutex> lock(eventMtx);
@@ -301,7 +292,9 @@ bool Device::startPipelineImpl(const Pipeline& pipeline) {
                 // notify the rest
                 eventCv.notify_all();
             });
+        }
     }
+
     return DeviceBase::startPipelineImpl(pipeline);
 }
 
diff --git a/src/device/DeviceBase.cpp b/src/device/DeviceBase.cpp
index 68d2245c5..704d3020d 100644
--- a/src/device/DeviceBase.cpp
+++ b/src/device/DeviceBase.cpp
@@ -1,19 +1,22 @@
 #include "depthai/device/DeviceBase.hpp"
 
 // std
+#include <spdlog/fmt/ostr.h>
+
 #include <iostream>
+#include <optional>
 
 // shared
 #include "depthai-bootloader-shared/Bootloader.hpp"
 #include "depthai-bootloader-shared/XLinkConstants.hpp"
-#include "depthai-shared/datatype/RawImgFrame.hpp"
-#include "depthai-shared/device/CrashDump.hpp"
-#include "depthai-shared/log/LogConstants.hpp"
-#include "depthai-shared/log/LogLevel.hpp"
-#include "depthai-shared/log/LogMessage.hpp"
-#include "depthai-shared/pipeline/Assets.hpp"
-#include "depthai-shared/utility/Serialization.hpp"
-#include "depthai-shared/xlink/XLinkConstants.hpp"
+#include "depthai/common/CameraBoardSocket.hpp"
+#include "depthai/device/CrashDump.hpp"
+#include "depthai/log/LogConstants.hpp"
+#include "depthai/log/LogLevel.hpp"
+#include "depthai/log/LogMessage.hpp"
+#include "depthai/pipeline/Assets.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
 
 // project
 #include "DeviceLogger.hpp"
@@ -150,7 +153,7 @@ std::tuple<bool, DeviceInfo> DeviceBase::getAnyAvailableDevice(std::chrono::mill
     std::unordered_map<std::string, DeviceInfo> invalidDevices;
     do {
         auto devices = XLinkConnection::getAllConnectedDevices(X_LINK_ANY_STATE, false);
-        for(auto searchState : {X_LINK_UNBOOTED, X_LINK_BOOTLOADER, X_LINK_FLASH_BOOTED}) {
+        for(auto searchState : {X_LINK_UNBOOTED, X_LINK_BOOTLOADER, X_LINK_FLASH_BOOTED, X_LINK_GATE}) {
             for(const auto& device : devices) {
                 if(device.state == searchState) {
                     if(device.status == X_LINK_SUCCESS) {
@@ -212,7 +215,7 @@ std::tuple<bool, DeviceInfo> DeviceBase::getFirstAvailableDevice(bool skipInvali
     // Get all connected devices
     auto devices = XLinkConnection::getAllConnectedDevices(X_LINK_ANY_STATE, skipInvalidDevice);
     // Search order - first unbooted, then bootloader and last flash booted
-    for(auto searchState : {X_LINK_UNBOOTED, X_LINK_BOOTLOADER, X_LINK_FLASH_BOOTED}) {
+    for(auto searchState : {X_LINK_UNBOOTED, X_LINK_BOOTLOADER, X_LINK_FLASH_BOOTED, X_LINK_GATE}) {
         for(const auto& device : devices) {
             if(device.state == searchState) {
                 return {true, device};
@@ -240,7 +243,7 @@ std::vector<DeviceInfo> DeviceBase::getAllConnectedDevices() {
 // First tries to find UNBOOTED device with mxId, then BOOTLOADER device with mxId
 std::tuple<bool, DeviceInfo> DeviceBase::getDeviceByMxId(std::string mxId) {
     std::vector<DeviceInfo> availableDevices;
-    auto states = {X_LINK_UNBOOTED, X_LINK_BOOTLOADER};
+    auto states = {X_LINK_UNBOOTED, X_LINK_BOOTLOADER, X_LINK_GATE};
     bool found;
     DeviceInfo dev;
     for(const auto& state : states) {
@@ -341,7 +344,7 @@ DeviceBase::DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, con
     Config cfg;
     cfg.version = version;
 
-    init2(cfg, pathToCmd, {});
+    init2(cfg, pathToCmd, false);
 }
 
 DeviceBase::DeviceBase() : DeviceBase(OpenVINO::VERSION_UNIVERSAL) {}
@@ -402,7 +405,7 @@ DeviceBase::DeviceBase(Config config, const DeviceInfo& devInfo, UsbSpeed maxUsb
 }
 
 DeviceBase::DeviceBase(Config config, const DeviceInfo& devInfo, const dai::Path& pathToCmd, bool dumpOnly) : deviceInfo(devInfo), dumpOnly(dumpOnly) {
-    init2(config, pathToCmd, {});
+    init2(config, pathToCmd, false);
 }
 
 DeviceBase::DeviceBase(Config config, const dai::Path& pathToCmd) {
@@ -419,7 +422,7 @@ void DeviceBase::init(OpenVINO::Version version) {
     Config cfg;
     cfg.version = version;
 
-    init2(cfg, "", {});
+    init2(cfg, "", false);
 }
 
 void DeviceBase::init(OpenVINO::Version version, const dai::Path& pathToCmd) {
@@ -428,7 +431,7 @@ void DeviceBase::init(OpenVINO::Version version, const dai::Path& pathToCmd) {
     Config cfg;
     cfg.version = version;
 
-    init2(cfg, pathToCmd, {});
+    init2(cfg, pathToCmd, false);
 }
 
 void DeviceBase::init(OpenVINO::Version version, UsbSpeed maxUsbSpeed) {
@@ -441,7 +444,7 @@ void DeviceBase::init(const Pipeline& pipeline) {
 
     Config cfg = pipeline.getDeviceConfig();
 
-    init2(cfg, "", pipeline);
+    init2(cfg, "", true);
 }
 
 void DeviceBase::init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed) {
@@ -454,7 +457,7 @@ void DeviceBase::init(const Pipeline& pipeline, const dai::Path& pathToCmd) {
 
     Config cfg = pipeline.getDeviceConfig();
 
-    init2(cfg, pathToCmd, pipeline);
+    init2(cfg, pathToCmd, true);
 }
 
 void DeviceBase::init(const Pipeline& pipeline, const DeviceInfo& devInfo) {
@@ -462,7 +465,7 @@ void DeviceBase::init(const Pipeline& pipeline, const DeviceInfo& devInfo) {
 
     Config cfg = pipeline.getDeviceConfig();
 
-    init2(cfg, "", pipeline);
+    init2(cfg, "", true);
 }
 
 void DeviceBase::init(const Pipeline& pipeline, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed) {
@@ -475,7 +478,7 @@ void DeviceBase::init(const Pipeline& pipeline, const DeviceInfo& devInfo, const
 
     Config cfg = pipeline.getDeviceConfig();
 
-    init2(cfg, pathToCmd, pipeline);
+    init2(cfg, pathToCmd, true);
 }
 
 void DeviceBase::init(Config config, UsbSpeed maxUsbSpeed) {
@@ -485,7 +488,7 @@ void DeviceBase::init(Config config, UsbSpeed maxUsbSpeed) {
 
 void DeviceBase::init(Config config, const dai::Path& pathToCmd) {
     tryGetDevice();
-    init2(config, pathToCmd, {});
+    init2(config, pathToCmd, false);
 }
 
 void DeviceBase::init(Config config, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed) {
@@ -495,16 +498,16 @@ void DeviceBase::init(Config config, const DeviceInfo& devInfo, UsbSpeed maxUsbS
 
 void DeviceBase::init(Config config, const DeviceInfo& devInfo, const dai::Path& pathToCmd) {
     deviceInfo = devInfo;
-    init2(config, pathToCmd, {});
+    init2(config, pathToCmd, false);
 }
 
 DeviceBase::DeviceBase(Config config) {
     tryGetDevice();
-    init2(config, {}, {});
+    init2(config, {}, false);
 }
 
 DeviceBase::DeviceBase(Config config, const DeviceInfo& devInfo) : deviceInfo(devInfo) {
-    init2(config, {}, {});
+    init2(config, {}, false);
 }
 
 void DeviceBase::close() {
@@ -527,7 +530,7 @@ unsigned int getCrashdumpTimeout(XLinkProtocol_t protocol) {
     return DEFAULT_CRASHDUMP_TIMEOUT + (protocol == X_LINK_TCP_IP ? device::XLINK_TCP_WATCHDOG_TIMEOUT.count() : device::XLINK_USB_WATCHDOG_TIMEOUT.count());
 }
 
-tl::optional<std::string> saveCrashDump(dai::CrashDump& dump, std::string mxId) {
+std::optional<std::string> saveCrashDump(dai::CrashDump& dump, std::string mxId) {
     std::vector<uint8_t> data;
     utility::serialize<SerializationType::JSON>(dump, data);
     auto crashDumpPathStr = utility::getEnv("DEPTHAI_CRASHDUMP");
@@ -538,7 +541,9 @@ void DeviceBase::closeImpl() {
     using namespace std::chrono;
     auto t1 = steady_clock::now();
     bool shouldGetCrashDump = false;
-    if(!dumpOnly) {
+    // Check if the device is RVC3 - in case it is, crash dump retrieval is done differently
+    bool isRvc2 = deviceInfo.platform == X_LINK_MYRIAD_X;
+    if(!dumpOnly && isRvc2) {
         pimpl->logger.debug("Device about to be closed...");
         try {
             if(hasCrashDump()) {
@@ -573,26 +578,29 @@ void DeviceBase::closeImpl() {
     // Stop watchdog first (this resets and waits for link to fall down)
     if(watchdogThread.joinable()) watchdogThread.join();
 
-    if(!dumpOnly) {
-        // Stop various threads
-        timesyncRunning = false;
-        loggingRunning = false;
-        profilingRunning = false;
-
-        // Then stop timesync
-        if(timesyncThread.joinable()) timesyncThread.join();
-        // And at the end stop logging thread
-        if(loggingThread.joinable()) loggingThread.join();
-        // And at the end stop profiling thread
-        if(profilingThread.joinable()) profilingThread.join();
-        // At the end stop the monitor thread
-        if(monitorThread.joinable()) monitorThread.join();
-    }
+    // Stop various threads
+    timesyncRunning = false;
+    loggingRunning = false;
+    profilingRunning = false;
+
+    // Then stop timesync
+    if(timesyncThread.joinable()) timesyncThread.join();
+    // And at the end stop logging thread
+    if(loggingThread.joinable()) loggingThread.join();
+    // And at the end stop profiling thread
+    if(profilingThread.joinable()) profilingThread.join();
+    // At the end stop the monitor thread
+    if(monitorThread.joinable()) monitorThread.join();
 
     // Close rpcStream
     pimpl->rpcStream = nullptr;
     pimpl->rpcClient = nullptr;
 
+    // If the device was operated throgh gate, wait for the session to end
+    if(gate) {
+        gate->waitForSessionEnd();
+    }
+
     if(!dumpOnly) {
         auto timeout = getCrashdumpTimeout(deviceInfo.protocol);
         // Get crash dump if needed
@@ -664,13 +672,13 @@ void DeviceBase::init(OpenVINO::Version version, UsbSpeed maxUsbSpeed, const dai
     cfg.board.usb.maxSpeed = maxUsbSpeed;
     // Specify the OpenVINO version
     cfg.version = version;
-    init2(cfg, pathToMvcmd, {});
+    init2(cfg, pathToMvcmd, false);
 }
 void DeviceBase::init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd) {
     Config cfg = pipeline.getDeviceConfig();
     // Modify usb speed
     cfg.board.usb.maxSpeed = maxUsbSpeed;
-    init2(cfg, pathToMvcmd, pipeline);
+    init2(cfg, pathToMvcmd, true);
 }
 void DeviceBase::init(Config config, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd) {
     Config cfg = config;
@@ -679,7 +687,7 @@ void DeviceBase::init(Config config, UsbSpeed maxUsbSpeed, const dai::Path& path
     init2(cfg, pathToMvcmd, {});
 }
 
-void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<const Pipeline&> pipeline) {
+void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, bool hasPipeline) {
     // Initalize depthai library if not already
     if(!dumpOnly) initialize();
 
@@ -715,7 +723,7 @@ void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<co
         }
     }
 
-    if(pipeline) {
+    if(hasPipeline) {
         pimpl->logger.debug("Device - pipeline serialized, OpenVINO version: {}", OpenVINO::getVersionName(config.version));
     } else {
         pimpl->logger.debug("Device - OpenVINO version: {}", OpenVINO::getVersionName(config.version));
@@ -774,13 +782,14 @@ void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<co
         nlohmann::json jBoardConfig = config.board;
         pimpl->logger.debug("Device - BoardConfig: {} \nlibnop:{}", jBoardConfig.dump(), spdlog::to_hex(utility::serialize(config.board)));
     }
-    std::vector<std::uint8_t> fwWithConfig = Resources::getInstance().getDeviceFirmware(config, pathToMvcmd);
 
     // Init device (if bootloader, handle correctly - issue USB boot command)
     if(deviceInfo.state == X_LINK_UNBOOTED) {
         // Unbooted device found, boot and connect with XLinkConnection constructor
+        std::vector<std::uint8_t> fwWithConfig = Resources::getInstance().getDeviceFirmware(config, pathToMvcmd);
         connection = std::make_shared<XLinkConnection>(deviceInfo, fwWithConfig);
     } else if(deviceInfo.state == X_LINK_BOOTLOADER || deviceInfo.state == X_LINK_FLASH_BOOTED) {
+        std::vector<std::uint8_t> fwWithConfig = Resources::getInstance().getDeviceFirmware(config, pathToMvcmd);
         // Scope so DeviceBootloader is disconnected
         {
             DeviceBootloader bl(deviceInfo);
@@ -815,7 +824,30 @@ void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<co
 
     } else if(deviceInfo.state == X_LINK_BOOTED) {
         // Connect without booting
-        connection = std::make_shared<XLinkConnection>(deviceInfo, fwWithConfig, expectedBootState);
+        std::vector<std::uint8_t> fwWithConfig = Resources::getInstance().getDeviceFirmware(config, pathToMvcmd);
+        connection = std::make_shared<XLinkConnection>(deviceInfo, fwWithConfig);
+    } else if(deviceInfo.state == X_LINK_GATE || deviceInfo.state == X_LINK_GATE_BOOTED) {
+        // Boot FW using DeviceGate then connect directly
+        gate = std::make_unique<DeviceGate>(deviceInfo);
+
+        // Get version for debug
+        if(spdlog::get_level() <= spdlog::level::debug) {
+            auto info = gate->getAllVersion();
+            spdlog::debug("OS version: {}, Gate version: {}", info.os, info.gate);
+        }
+
+        // Create and start session
+        // TODO Tie create and start session together. Split for now, since in some cases starting the session works, even if creating failed.
+        if(!gate->createSession()) {
+            spdlog::error("Could not create the session on gate!");
+        }
+
+        if(!gate->startSession()) {
+            spdlog::error("Could not start the session on gate!");
+        }
+
+        // Connect with XLinkConnection (skip checking if booted)
+        connection = std::make_shared<XLinkConnection>(deviceInfo, X_LINK_ANY_STATE);
     } else {
         throw std::runtime_error("Cannot find any device with given deviceInfo");
     }
@@ -871,8 +903,14 @@ void DeviceBase::init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<co
                         std::unique_lock<std::mutex> lock(lastWatchdogPingTimeMtx);
                         lastWatchdogPingTime = std::chrono::steady_clock::now();
                     }
-                    // Ping with a period half of that of the watchdog timeout
-                    std::this_thread::sleep_for(watchdogTimeout / 2);
+
+                    if(deviceInfo.protocol == X_LINK_TCP_IP) {
+                        // Ping with a quarter period the watchdog timeout
+                        std::this_thread::sleep_for(watchdogTimeout / 4);
+                    } else {
+                        // Ping with a period half of that of the watchdog timeout
+                        std::this_thread::sleep_for(watchdogTimeout / 2);
+                    }
                 }
             } catch(const std::exception& ex) {
                 // ignore
@@ -1049,6 +1087,71 @@ std::vector<CameraBoardSocket> DeviceBase::getConnectedCameras() {
     return pimpl->rpcClient->call("getConnectedCameras").as<std::vector<CameraBoardSocket>>();
 }
 
+std::vector<StereoPair> DeviceBase::getAvailableStereoPairs() {
+    std::vector<dai::StereoPair> stereoPairs;
+    dai::CalibrationHandler calibHandler;
+    try {
+        calibHandler = readCalibration2();
+        if(calibHandler.getEepromData().cameraData.empty()) {
+            throw std::runtime_error("No camera data found.");
+        }
+    } catch(const std::exception&) {
+        try {
+            calibHandler = readFactoryCalibration();
+        } catch(const std::exception&) {
+            pimpl->logger.info("No calibration found.");
+            return stereoPairs;
+        }
+    }
+    // Find links between cameras.
+    for(auto const& camIdAndInfo1 : calibHandler.getEepromData().cameraData) {
+        auto camId1 = camIdAndInfo1.first;
+        for(auto const& camIdAndInfo2 : calibHandler.getEepromData().cameraData) {
+            auto camId2 = camIdAndInfo2.first;
+            try {
+                auto translationVector = calibHandler.getCameraTranslationVector(camId1, camId2, false);
+                auto baseline = std::abs(translationVector[0]) > std::abs(translationVector[1]) ? translationVector[0] : translationVector[1];  // X or Y
+                auto leftSocket = baseline < 0 ? camId1 : camId2;
+                auto rightSocket = leftSocket == camId1 ? camId2 : camId1;
+                int baselineDiff = std::abs(static_cast<int>(translationVector[0]) - static_cast<int>(translationVector[1]));
+                if(baselineDiff == static_cast<int>(std::abs(baseline))) {
+                    if(std::find_if(stereoPairs.begin(),
+                                    stereoPairs.end(),
+                                    [&leftSocket, &rightSocket](const dai::StereoPair& pair) { return pair.left == leftSocket && pair.right == rightSocket; })
+                       == stereoPairs.end()) {
+                        stereoPairs.push_back(dai::StereoPair{leftSocket, rightSocket, std::abs(baseline), static_cast<int>(translationVector[0]) == 0});
+                    }
+                } else {
+                    pimpl->logger.debug("Skipping diagonal pair, left: {}, right: {}.", leftSocket, rightSocket);
+                }
+            } catch(const std::exception&) {
+                continue;
+            }
+        }
+    }
+    // Filter out undetected cameras and socket pairs which are not present in getStereoPairs
+    auto deviceStereoPairs = getStereoPairs();
+    auto connectedCameras = getConnectedCameras();
+    std::vector<dai::StereoPair> filteredStereoPairs;
+    std::copy_if(
+        stereoPairs.begin(), stereoPairs.end(), std::back_inserter(filteredStereoPairs), [this, connectedCameras, deviceStereoPairs](dai::StereoPair pair) {
+            if(std::find(connectedCameras.begin(), connectedCameras.end(), pair.left) == connectedCameras.end()) {
+                pimpl->logger.debug("Skipping calibrated stereo pair because, camera {} was not detected.", pair.left);
+                return false;
+            } else if(std::find(connectedCameras.begin(), connectedCameras.end(), pair.right) == connectedCameras.end()) {
+                pimpl->logger.debug("Skipping calibrated stereo pair because, camera {} was not detected.", pair.right);
+                return false;
+            }
+            return std::find_if(deviceStereoPairs.begin(),
+                                deviceStereoPairs.end(),
+                                [pair](dai::StereoPair devicePair) { return devicePair.left == pair.left && devicePair.right == pair.right; })
+                   != deviceStereoPairs.end();
+        });
+
+    std::sort(filteredStereoPairs.begin(), filteredStereoPairs.end(), [](dai::StereoPair a, dai::StereoPair b) { return a.baseline < b.baseline; });
+    return filteredStereoPairs;
+}
+
 std::vector<ConnectionInterface> DeviceBase::getConnectionInterfaces() {
     return pimpl->rpcClient->call("getConnectionInterfaces").as<std::vector<ConnectionInterface>>();
 }
@@ -1057,41 +1160,50 @@ std::vector<CameraFeatures> DeviceBase::getConnectedCameraFeatures() {
     return pimpl->rpcClient->call("getConnectedCameraFeatures").as<std::vector<CameraFeatures>>();
 }
 
+std::vector<StereoPair> DeviceBase::getStereoPairs() {
+    return pimpl->rpcClient->call("getStereoPairs").as<std::vector<StereoPair>>();
+}
+
 std::unordered_map<CameraBoardSocket, std::string> DeviceBase::getCameraSensorNames() {
     return pimpl->rpcClient->call("getCameraSensorNames").as<std::unordered_map<CameraBoardSocket, std::string>>();
 }
 
 std::string DeviceBase::getConnectedIMU() {
+    isClosed();
     return pimpl->rpcClient->call("getConnectedIMU").as<std::string>();
 }
 
 dai::Version DeviceBase::getIMUFirmwareVersion() {
+    isClosed();
     std::string versionStr = pimpl->rpcClient->call("getIMUFirmwareVersion").as<std::string>();
     try {
         dai::Version version = dai::Version(versionStr);
         return version;
-    } catch(const std::exception&) {
+    } catch(const std::exception& ex) {
         dai::Version version = dai::Version(0, 0, 0);
         return version;
     }
 }
 
 dai::Version DeviceBase::getEmbeddedIMUFirmwareVersion() {
+    isClosed();
     std::string versionStr = pimpl->rpcClient->call("getEmbeddedIMUFirmwareVersion").as<std::string>();
     try {
         dai::Version version = dai::Version(versionStr);
         return version;
-    } catch(const std::exception&) {
+    } catch(const std::exception& ex) {
         dai::Version version = dai::Version(0, 0, 0);
         return version;
     }
 }
 
 bool DeviceBase::startIMUFirmwareUpdate(bool forceUpdate) {
+    isClosed();
     return pimpl->rpcClient->call("startIMUFirmwareUpdate", forceUpdate).as<bool>();
 }
 
 std::tuple<bool, float> DeviceBase::getIMUFirmwareUpdateStatus() {
+    isClosed();
     return pimpl->rpcClient->call("getIMUFirmwareUpdateStatus").as<std::tuple<bool, float>>();
 }
 
@@ -1128,7 +1240,7 @@ UsbSpeed DeviceBase::getUsbSpeed() {
     return pimpl->rpcClient->call("getUsbSpeed").as<UsbSpeed>();
 }
 
-tl::optional<Version> DeviceBase::getBootloaderVersion() {
+std::optional<Version> DeviceBase::getBootloaderVersion() {
     return bootloaderVersion;
 }
 
@@ -1256,7 +1368,7 @@ void DeviceBase::setSystemInformationLoggingRate(float rateHz) {
 }
 
 float DeviceBase::getSystemInformationLoggingRate() {
-    return pimpl->rpcClient->call("getSystemInformationLoggingrate").as<float>();
+    return pimpl->rpcClient->call("getSystemInformationLoggingRate").as<float>();
 }
 
 bool DeviceBase::isEepromAvailable() {
@@ -1484,8 +1596,8 @@ bool DeviceBase::startPipelineImpl(const Pipeline& pipeline) {
         t1.join();
     }
 
-    // print assets on device side for test
-    pimpl->rpcClient->call("printAssets");
+    // // print assets on device side for test
+    // pimpl->rpcClient->call("printAssets");
 
     // Build and start the pipeline
     bool success = false;
diff --git a/src/device/DeviceBootloader.cpp b/src/device/DeviceBootloader.cpp
index d81d45c78..802215974 100644
--- a/src/device/DeviceBootloader.cpp
+++ b/src/device/DeviceBootloader.cpp
@@ -8,10 +8,9 @@
 #include "depthai-bootloader-shared/SBR.h"
 #include "depthai-bootloader-shared/Structure.hpp"
 #include "depthai-bootloader-shared/XLinkConstants.hpp"
-#include "depthai-shared/datatype/RawImgFrame.hpp"
-#include "depthai-shared/pipeline/Assets.hpp"
-#include "depthai-shared/utility/Serialization.hpp"
-#include "depthai-shared/xlink/XLinkConstants.hpp"
+#include "depthai/pipeline/Assets.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "depthai/xlink/XLinkConstants.hpp"
 
 // project
 #include "device/Device.hpp"
@@ -27,12 +26,6 @@
 #include "utility/Logging.hpp"
 #include "zlib.h"
 
-// Resource compiled assets (cmds)
-#ifdef DEPTHAI_RESOURCE_COMPILED_BINARIES
-    #include "cmrc/cmrc.hpp"
-CMRC_DECLARE(depthai);
-#endif
-
 namespace dai {
 
 // Using
@@ -253,12 +246,12 @@ void DeviceBootloader::saveDepthaiApplicationPackage(
 }
 
 DeviceBootloader::DeviceBootloader(const DeviceInfo& devInfo) : deviceInfo(devInfo) {
-    init(true, {}, tl::nullopt, false);
+    init(true, {}, std::nullopt, false);
 }
 
 template <>
 DeviceBootloader::DeviceBootloader(const DeviceInfo& devInfo, bool allowFlashingBootloader) : deviceInfo(devInfo) {
-    init(true, {}, tl::nullopt, allowFlashingBootloader);
+    init(true, {}, std::nullopt, allowFlashingBootloader);
 }
 
 DeviceBootloader::DeviceBootloader(const DeviceInfo& devInfo, Type type, bool allowFlashingBootloader) : deviceInfo(devInfo) {
@@ -266,11 +259,11 @@ DeviceBootloader::DeviceBootloader(const DeviceInfo& devInfo, Type type, bool al
 }
 
 DeviceBootloader::DeviceBootloader(const DeviceInfo& devInfo, const dai::Path& pathToBootloader, bool allowFlashingBootloader) : deviceInfo(devInfo) {
-    init(false, pathToBootloader, tl::nullopt, allowFlashingBootloader);
+    init(false, pathToBootloader, std::nullopt, allowFlashingBootloader);
 }
 
 DeviceBootloader::DeviceBootloader(std::string nameOrDeviceId, bool allowFlashingBootloader) : deviceInfo(std::move(nameOrDeviceId)) {
-    init(true, {}, tl::nullopt, allowFlashingBootloader);
+    init(true, {}, std::nullopt, allowFlashingBootloader);
 }
 
 void DeviceBootloader::createWatchdog() {
@@ -354,7 +347,7 @@ void DeviceBootloader::destroyWatchdog() {
     if(monitorThread.joinable()) monitorThread.join();
 }
 
-void DeviceBootloader::init(bool embeddedMvcmd, const dai::Path& pathToMvcmd, tl::optional<bootloader::Type> type, bool allowBlFlash) {
+void DeviceBootloader::init(bool embeddedMvcmd, const dai::Path& pathToMvcmd, std::optional<bootloader::Type> type, bool allowBlFlash) {
     stream = nullptr;
     allowFlashingBootloader = allowBlFlash;
 
@@ -603,7 +596,7 @@ DeviceBootloader::Version DeviceBootloader::requestVersion() {
     if(blVersion >= Version(Request::GetBootloaderCommit::VERSION)) {
         // Send request to retrieve bootloader commit (skip version check)
         Request::GetBootloaderCommit request{};
-        stream->write((uint8_t*)&request, sizeof(request));
+        stream->write({(uint8_t*)&request, sizeof(request)});
 
         // Receive response
         Response::BootloaderCommit commit;
@@ -1383,7 +1376,7 @@ bool DeviceBootloader::sendRequest(const T& request) {
     }
 
     try {
-        stream->write((uint8_t*)&request, sizeof(T));
+        stream->write({(uint8_t*)&request, sizeof(T)});
     } catch(const std::exception&) {
         return false;
     }
@@ -1402,7 +1395,7 @@ void DeviceBootloader::sendRequestThrow(const T& request) {
     }
 
     try {
-        stream->write((uint8_t*)&request, sizeof(T));
+        stream->write({(uint8_t*)&request, sizeof(T)});
     } catch(const std::exception&) {
         throw std::runtime_error("Couldn't send " + std::string(T::NAME) + " request");
     }
diff --git a/src/device/DeviceGate.cpp b/src/device/DeviceGate.cpp
new file mode 100644
index 000000000..93653f73e
--- /dev/null
+++ b/src/device/DeviceGate.cpp
@@ -0,0 +1,407 @@
+#include "device/DeviceGate.hpp"
+
+#include <XLink/XLinkPublicDefines.h>
+
+// std
+#include <fstream>
+
+// project
+#include "build/version.hpp"
+#include "device/Device.hpp"
+#include "utility/Environment.hpp"
+#include "utility/PimplImpl.hpp"
+#include "utility/Platform.hpp"
+#include "utility/Resources.hpp"
+
+// libraries
+#include "httplib.h"
+#include "nlohmann/json.hpp"
+#include "spdlog/fmt/fmt.h"
+#include "spdlog/spdlog.h"
+
+namespace dai {
+
+// First tries to find UNBOOTED device, then BOOTLOADER device
+std::tuple<bool, DeviceInfo> DeviceGate::getFirstAvailableDevice() {
+    return XLinkConnection::getFirstDevice(X_LINK_GATE);
+}
+
+// Returns all devices which aren't already booted
+std::vector<DeviceInfo> DeviceGate::getAllAvailableDevices() {
+    std::vector<DeviceInfo> availableDevices;
+    auto connectedDevices = XLinkConnection::getAllConnectedDevices(X_LINK_GATE);
+    for(const auto& d : connectedDevices) {
+        if(d.state != X_LINK_BOOTED) availableDevices.push_back(d);
+    }
+    return availableDevices;
+}
+
+const std::string API_ROOT{"/api/v1"};
+const auto sessionsEndpoint = API_ROOT + "/sessions";
+const int DEFAULT_PORT{11492};
+
+class DeviceGate::Impl {
+   public:
+    Impl() = default;
+
+    // Default Gate connection
+    std::unique_ptr<httplib::Client> cli;
+};
+DeviceGate::~DeviceGate() {}
+
+DeviceGate::DeviceGate(const DeviceInfo& deviceInfo) : deviceInfo(deviceInfo) {
+    if(deviceInfo.state != X_LINK_GATE) {
+        throw std::invalid_argument("Device is not in Gate state");
+    }
+    if(deviceInfo.platform != X_LINK_RVC3 && deviceInfo.platform != X_LINK_RVC4) {
+        throw std::invalid_argument("Gate only supports RVC3 and RVC4 platforms");
+    }
+    this->platform = deviceInfo.platform;
+    if(deviceInfo.platform == X_LINK_RVC3) {
+        version = DEPTHAI_DEVICE_RVC3_VERSION;
+    } else if(deviceInfo.platform == X_LINK_RVC4) {
+        version = DEPTHAI_DEVICE_RVC4_VERSION;
+    } else {
+        throw std::runtime_error("Unknown platform");  // Should never happen
+    }
+    // Discover and connect
+    pimpl->cli = std::make_unique<httplib::Client>(deviceInfo.name, DEFAULT_PORT);
+    pimpl->cli->set_read_timeout(60);  // 60 seconds timeout to allow for compressing the crash dumps without async
+    // pimpl->cli->set_connection_timeout(2);
+}
+
+bool DeviceGate::isOkay() {
+    if(auto res = pimpl->cli->Get("/api/v1/status")) {
+        return nlohmann::json::parse(res->body)["status"].get<bool>();
+    }
+    return false;
+}
+
+Version DeviceGate::getVersion() {
+    httplib::Result res = pimpl->cli->Get("/api/v1/version");
+    if(res && res->status == 200) {
+        auto versionStr = nlohmann::json::parse(res->body)["version_gate"].get<std::string>();
+        return Version{versionStr};
+    }
+    return Version{0, 0, 0};
+}
+
+DeviceGate::VersionInfo DeviceGate::getAllVersion() {
+    httplib::Result res = pimpl->cli->Get("/api/v1/version");
+    if(res && res->status == 200) {
+        auto result = nlohmann::json::parse(res->body);
+
+        VersionInfo info;
+        info.gate = result.value("version_gate", "");
+        info.os = result.value("version_os", "");
+        return info;
+    }
+    return {};
+}
+
+bool DeviceGate::createSession(bool exclusive) {
+    nlohmann::json createSessionBody = {{"name", "depthai_session"},
+                                        // {"fwp_checksum", fwpChecksum},
+                                        {"fwp_version", version},
+                                        {"library_version", build::VERSION},
+                                        {"protected", exclusive}};
+
+    spdlog::debug("DeviceGate createSession: {}", createSessionBody.dump());
+
+    if(auto res = pimpl->cli->Post(sessionsEndpoint.c_str(), createSessionBody.dump(), "application/json")) {
+        // Parse response
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate createSession not successful - status: {}, error: {}", res->status, res->body);
+            return false;
+        }
+        auto resp = nlohmann::json::parse(res->body);
+        spdlog::debug("DeviceGate createSession response: {}", resp.dump());
+
+        // Retrieve sessionId
+        sessionId = resp["id"];
+        bool fwpExists = resp["fwp_exists"].get<bool>();
+
+        if(!fwpExists) {
+            std::vector<uint8_t> package;
+            std::string path;
+            if(!path.empty()) {
+                std::ifstream fwStream(path, std::ios::binary);
+                if(!fwStream.is_open()) throw std::runtime_error(fmt::format("Cannot flash bootloader, binary at path: {} doesn't exist", path));
+                package = std::vector<std::uint8_t>(std::istreambuf_iterator<char>(fwStream), {});
+            } else {
+                package = platform == X_LINK_RVC3 ? Resources::getInstance().getDeviceRVC3Fwp() : Resources::getInstance().getDeviceRVC4Fwp();
+            }
+
+            // TODO(themarpe) - Inefficient
+            httplib::MultipartFormDataItems items = {
+                {"file", std::string(package.begin(), package.end()), "depthai-device-kb-fwp.tar.xz", "application/octet-stream"},
+            };
+
+            std::string url = fmt::format("{}/{}/fwp", sessionsEndpoint, sessionId);
+            if(auto res = pimpl->cli->Post(url.c_str(), items)) {
+                if(res.value().status == 200) {
+                    spdlog::debug("DeviceGate upload fwp successful");
+                    sessionCreated = true;
+                    return true;
+                } else {
+                    spdlog::warn("DeviceGate upload fwp not successful - status: {}, error: {}", res->status, res->body);
+                    return false;
+                }
+
+            } else {
+                spdlog::warn("DeviceGate upload fwp not successful - got no response");
+                return false;
+            }
+        }
+        sessionCreated = true;
+        return true;
+    } else {
+        spdlog::warn("DeviceGate createSession not successful - got no response");
+    }
+    return false;
+}
+
+bool DeviceGate::startSession() {
+    std::string url = fmt::format("{}/{}/start", sessionsEndpoint, sessionId);
+    if(auto res = pimpl->cli->Post(url.c_str())) {
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate start fwp not successful - status: {}, error: {}", res->status, res->body);
+            return false;
+        }
+        spdlog::debug("DeviceGate start fwp successful");
+        return true;
+    } else {
+        spdlog::debug("DeviceGate start fwp not successful - got no response");
+    }
+
+    return false;
+}
+
+bool DeviceGate::stopSession() {
+    auto sessionState = getState();
+    if(sessionState == SessionState::STOPPED || sessionState == SessionState::DESTROYED) {
+        spdlog::warn("DeviceGate trying to stop already stopped session");
+        return true;
+    }
+
+    if(sessionState == SessionState::NOT_CREATED) {
+        spdlog::debug("No need to stop a session that wasn't created.");
+        return true;
+    }
+
+    const auto sessionsEndpoint = API_ROOT + "/sessions";
+
+    std::string url = fmt::format("{}/{}/stop", sessionsEndpoint, sessionId);
+    if(auto res = pimpl->cli->Post(url.c_str())) {
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate stopSession not successful - status: {}, error: {}", res->status, res->body);
+            return false;
+        }
+        spdlog::debug("DeviceGate stopSession successful");
+        return true;
+    } else {
+        spdlog::error("DeviceGate stopSession not successful - got no response");
+    }
+
+    return false;
+}
+
+bool DeviceGate::destroySession() {
+    if(getState() == SessionState::DESTROYED) {
+        spdlog::warn("DeviceGate trying to destroy already destroyed session");
+        return true;
+    }
+
+    if(getState() == SessionState::NOT_CREATED) {
+        spdlog::debug("No need to destroy a session that wasn't created.");
+        return true;
+    }
+
+    std::string url = fmt::format("{}/{}/destroy", sessionsEndpoint, sessionId);
+    if(auto res = pimpl->cli->Post(url.c_str())) {
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate destroySession not successful - status: {}, error: {}", res->status, res->body);
+            return false;
+        }
+        spdlog::debug("DeviceGate destroySession successful");
+        return true;
+    } else {
+        spdlog::error("DeviceGate destroySession not successful - got no response");
+    }
+    return false;
+}
+
+bool DeviceGate::deleteSession() {
+    if(getState() == SessionState::NOT_CREATED) {
+        spdlog::debug("No need to delete a session that wasn't created.");
+        return true;
+    }
+
+    std::string url = fmt::format("{}/{}", sessionsEndpoint, sessionId);
+    if(auto res = pimpl->cli->Delete(url.c_str())) {
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate deleteSession not successful - status: {}, error: {}", res->status, res->body);
+            return false;
+        }
+        spdlog::debug("DeviceGate deleteSession successful");
+        return true;
+    } else {
+        spdlog::error("DeviceGate deleteSession not successful - got no response");
+    }
+    return false;
+}
+
+DeviceGate::SessionState DeviceGate::getState() {
+    if(!sessionCreated) {
+        spdlog::debug("Session not yet created - can't get the session state from gate");
+        return SessionState::NOT_CREATED;
+    }
+    auto sessionState = SessionState::CREATED;
+    std::string url = fmt::format("{}/{}", sessionsEndpoint, sessionId);
+    if(auto res = pimpl->cli->Get(url.c_str())) {
+        if(res->status != 200) {
+            spdlog::warn("DeviceGate getState not successful - status: {}, error: {}", res->status, res->body);
+            return SessionState::ERROR_STATE;
+        }
+        auto resp = nlohmann::json::parse(res->body);
+        spdlog::trace("DeviceGate getState response: {}", resp.dump());
+
+        std::string sessionStateStr = resp["state"];
+        if(sessionStateStr == "CREATED") {
+            sessionState = SessionState::CREATED;
+        } else if(sessionStateStr == "RUNNING") {
+            sessionState = SessionState::RUNNING;
+        } else if(sessionStateStr == "STOPPED") {
+            sessionState = SessionState::STOPPED;
+        } else if(sessionStateStr == "STOPPING") {
+            sessionState = SessionState::STOPPING;
+        } else if(sessionStateStr == "CRASHED") {
+            sessionState = SessionState::CRASHED;
+        } else if(sessionStateStr == "DESTROYED") {
+            sessionState = SessionState::DESTROYED;
+        } else {
+            spdlog::warn("DeviceGate getState not successful - unknown session state: {}", sessionStateStr);
+            sessionState = SessionState::ERROR_STATE;
+        }
+        return sessionState;
+    } else {
+        spdlog::warn("DeviceGate getState not successful - got no response");
+    }
+    return SessionState::ERROR_STATE;
+}
+
+std::optional<std::string> DeviceGate::saveFileToTemporaryDirectory(std::vector<uint8_t> data, std::string filename, std::string directoryPath) {
+    std::string tmpdir;
+    if(directoryPath.empty()) {
+        tmpdir = platform::getTempPath();
+    } else {
+        tmpdir = directoryPath;
+    }
+    std::string path = std::string(tmpdir) + filename;
+
+    std::ofstream file(path, std::ios::binary);
+    if(!file.is_open()) {
+        spdlog::error("Couldn't open file {} for writing", path);
+        return std::nullopt;
+    }
+
+    file.write(reinterpret_cast<char*>(data.data()), data.size());
+    file.close();
+    if(!file.good()) {
+        spdlog::error("Couldn't write to file {}", path);
+        return std::nullopt;
+    }
+    spdlog::debug("Saved file {} to {}", filename, path);
+    return std::string(path);
+}
+
+std::optional<std::vector<uint8_t>> DeviceGate::getFile(const std::string& fileUrl, std::string& filename) {
+    // Send a GET request to the server
+    if(auto res = pimpl->cli->Get(fileUrl.c_str())) {
+        if(res->status == 200) {
+            filename = res->get_header_value("X-Filename");
+            // Convert the response body to a vector of uint8_t
+            std::vector<uint8_t> fileData(res->body.begin(), res->body.end());
+
+            spdlog::debug("File download successful. Filename: {}", filename);
+            return fileData;
+        } else {
+            spdlog::warn("File download not successful - status: {}, error: {}", res->status, res->body);
+            return std::nullopt;
+        }
+    } else {
+        spdlog::warn("File download not successful - got no response");
+        return std::nullopt;
+    }
+}
+
+void DeviceGate::waitForSessionEnd() {
+    while(true) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+        auto sessionState = getState();
+        if(sessionState == SessionState::ERROR_STATE) {
+            spdlog::error("DeviceGate session state is in error state - exiting");
+            return;
+        }
+        switch(sessionState) {
+            case SessionState::NOT_CREATED:
+            case SessionState::CREATED:
+            case SessionState::RUNNING:
+            case SessionState::STOPPING:
+                break;  // Nothing to do
+            case SessionState::ERROR_STATE:
+                spdlog::error("DeviceGate session state is in error state - exiting");
+                return;
+            case SessionState::STOPPED:
+                return;  // Session stopped - stop the thread
+            case SessionState::CRASHED:
+            case SessionState::DESTROYED:
+                auto crashDumpPathStr = utility::getEnv("DEPTHAI_CRASHDUMP");
+                if(crashDumpPathStr.empty()) {
+                    spdlog::warn("Firmware crashed but the environment variable DEPTHAI_CRASHDUMP is not set, the crash dump will not be saved.");
+                    return;
+                }
+
+                auto currentVersion = getVersion();
+                auto requiredVersion = Version(0, 0, 14);
+                if(currentVersion < requiredVersion) {
+                    spdlog::warn("FW crashed but the gate version does not support transfering over the crash dump. Current version {}, required is {}",
+                                 currentVersion.toString(),
+                                 requiredVersion.toString());
+                    return;
+                }
+                spdlog::warn("FW crashed - trying to get out the crash dump");
+                std::this_thread::sleep_for(std::chrono::seconds(3));  // Allow for the generation of the crash dump and the log file
+                std::string crashDumpName;
+                spdlog::warn("Getting the crash dump out - this can take up to a minute, because it first needs to be compressed.");
+                auto crashDump = getCrashDump(crashDumpName);
+                if(crashDump) {
+                    spdlog::warn("Crash dump found - trying to save it");
+                    if(crashDumpName.empty()) {
+                        crashDumpName = "depthai_gate_crash_dump.tar.gz";
+                    }
+                    std::string fullName = deviceInfo.getMxId() + "-" + crashDumpName;
+                    if(auto path = saveFileToTemporaryDirectory(*crashDump, fullName, crashDumpPathStr)) {
+                        spdlog::warn("Crash dump saved to {} - please report to developers", *path);
+                    } else {
+                        spdlog::error("Couldn't save crash dump");
+                    }
+                } else {
+                    spdlog::warn("Crash dump not found");
+                }
+                return;
+        }
+    }
+}
+
+std::optional<std::vector<uint8_t>> DeviceGate::getCrashDump(std::string& filename) {
+    std::string url = fmt::format("{}/{}/core_dump", sessionsEndpoint, sessionId);
+    return DeviceGate::getFile(url, filename);
+}
+
+// TODO(themarpe) - get all sessions, check if only one and not protected
+bool DeviceGate::isBootedNonExclusive() {
+    return true;
+}
+
+}  // namespace dai
diff --git a/src/nn_archive/NNArchive.cpp b/src/nn_archive/NNArchive.cpp
new file mode 100644
index 000000000..7b704abd4
--- /dev/null
+++ b/src/nn_archive/NNArchive.cpp
@@ -0,0 +1,87 @@
+#include "depthai/nn_archive/NNArchive.hpp"
+
+// C++ std
+#include <utility>
+
+// libraries
+#include <spimpl.h>
+
+// internal private
+#include "utility/ArchiveUtil.hpp"
+#include "utility/ErrorMacros.hpp"
+
+namespace dai {
+
+class NNArchive::Impl {
+   public:
+    NNArchiveConfig mConfig;
+    NNArchiveBlob mBlob;
+
+    static NNArchiveBlob blobFromConfig(const NNArchiveConfig& config, const Path& path, NNArchiveEntry::Compression compression) {
+        if((compression == NNArchiveEntry::Compression::AUTO && utility::ArchiveUtil::isJsonPath(path)) || compression == NNArchiveEntry::Compression::RAW_FS) {
+            const auto filepath = path.string();
+#if defined(_WIN32) && defined(_MSC_VER)
+            const char separator = '\\';
+#else
+            const char separator = '/';
+#endif
+            const auto& configV1 = config.getConfigV1();
+            DAI_CHECK_IN(configV1);
+            const size_t lastSlashIndex = filepath.find_last_of(separator);
+            std::string blobPath;
+            if(std::string::npos == lastSlashIndex) {
+                blobPath = (*configV1).model.metadata.path;
+            } else {
+                const auto basedir = filepath.substr(0, lastSlashIndex + 1);
+                blobPath = basedir + separator + (*configV1).model.metadata.path;
+            }
+            return NNArchiveBlob(config, blobPath, NNArchiveEntry::Compression::RAW_FS);
+        }
+        return NNArchiveBlob(config, path, compression);
+    }
+
+    Impl(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression)
+        : mConfig(NNArchiveConfig(data, compression)), mBlob(NNArchiveBlob(mConfig, data, compression)) {}
+
+    Impl(NNArchiveConfig config, NNArchiveBlob blob) : mConfig(std::move(config)), mBlob(std::move(blob)){};
+
+    Impl(const Path& path, NNArchiveEntry::Compression compression)
+        : mConfig(NNArchiveConfig(path, compression)), mBlob(blobFromConfig(mConfig, path, compression)) {}
+
+    Impl(const std::function<int()>& openCallback,
+         const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+         const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+         const std::function<int64_t(int64_t request)>& skipCallback,
+         const std::function<int()>& closeCallback,
+         NNArchiveEntry::Compression compression)
+        : mConfig(NNArchiveConfig(openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression)),
+          mBlob(NNArchiveBlob(mConfig, openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression)) {}
+
+    const NNArchiveBlob& getBlob() const {
+        return mBlob;
+    }
+};
+
+NNArchive::NNArchive(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression) : pimpl(spimpl::make_impl<Impl>(data, compression)){};
+
+NNArchive::NNArchive(const NNArchiveConfig& config, const NNArchiveBlob& blob) : pimpl(spimpl::make_impl<Impl>(config, blob)) {}
+
+NNArchive::NNArchive(const Path& path, NNArchiveEntry::Compression compression) : pimpl(spimpl::make_impl<Impl>(path, compression)) {}
+
+NNArchive::NNArchive(const std::function<int()>& openCallback,
+                     const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                     const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                     const std::function<int64_t(int64_t request)>& skipCallback,
+                     const std::function<int()>& closeCallback,
+                     NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression)) {}
+
+const NNArchiveConfig& NNArchive::getConfig() const {
+    return pimpl->mConfig;
+}
+
+const NNArchiveBlob& NNArchive::getBlob() const {
+    return pimpl->getBlob();
+}
+
+}  // namespace dai
diff --git a/src/nn_archive/NNArchiveBlob.cpp b/src/nn_archive/NNArchiveBlob.cpp
new file mode 100644
index 000000000..df0f25da7
--- /dev/null
+++ b/src/nn_archive/NNArchiveBlob.cpp
@@ -0,0 +1,85 @@
+#include "depthai/nn_archive/NNArchiveBlob.hpp"
+
+// C++ std
+#include <optional>
+
+// libraries
+#include <spimpl.h>
+
+// internal private
+#include "nn_archive/NNArchiveConfigHelper.hpp"
+#include "utility/ArchiveUtil.hpp"
+#include "utility/ErrorMacros.hpp"
+
+namespace dai {
+
+class NNArchiveBlob::Impl {
+   public:
+    std::optional<OpenVINO::Blob> mBlob;
+
+    template <typename T>
+    void init(const NNArchiveConfig& config, const T& dataOrPath, NNArchiveEntry::Compression compression) {
+        if(compression == NNArchiveEntry::Compression::RAW_FS) {
+            mBlob.emplace(OpenVINO::Blob(dataOrPath));
+        } else {
+            const auto& blobPath = nn_archive::NNArchiveConfigHelper::getBlobPath(config);
+            utility::ArchiveUtil archive(dataOrPath, compression);
+            std::vector<uint8_t> blobBytes;
+            const bool success = archive.readEntry(blobPath, blobBytes);
+            DAI_CHECK_V(success, "No blob {} found in NNArchive. Please check your NNArchive.", blobPath);
+            mBlob.emplace(OpenVINO::Blob(blobBytes));
+        }
+    }
+
+    Impl(const NNArchiveConfig& config, const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression) {
+        init(config, data, compression);
+    }
+
+    Impl(const NNArchiveConfig& config, const Path& path, NNArchiveEntry::Compression compression) {
+        init(config, path, compression);
+    }
+
+    Impl(const NNArchiveConfig& config,
+         const std::function<int()>& openCallback,
+         const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+         const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+         const std::function<int64_t(int64_t request)>& skipCallback,
+         const std::function<int()>& closeCallback,
+         NNArchiveEntry::Compression compression) {
+        if(compression == NNArchiveEntry::Compression::RAW_FS) {
+            DAI_CHECK(false, "RAW_FS with callbacks NOT IMPLEMENTED YET for NNArchiveBlob");
+        } else {
+            const auto& blobPath = nn_archive::NNArchiveConfigHelper::getBlobPath(config);
+            utility::ArchiveUtil archive(openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression);
+            std::vector<uint8_t> blobBytes;
+            const bool success = archive.readEntry(blobPath, blobBytes);
+            DAI_CHECK_V(success, "No blob {} found in NNArchive. Please check your NNArchive.", blobPath);
+            mBlob.emplace(OpenVINO::Blob(blobBytes));
+        }
+    }
+
+    std::optional<std::reference_wrapper<const OpenVINO::Blob>> getBlob() const {
+        return mBlob ? std::make_optional(std::ref(*mBlob)) : std::nullopt;
+    }
+};
+
+NNArchiveBlob::NNArchiveBlob(const NNArchiveConfig& config, const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(config, data, compression)){};
+
+NNArchiveBlob::NNArchiveBlob(const NNArchiveConfig& config, const Path& path, NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(config, path, compression)) {}
+
+NNArchiveBlob::NNArchiveBlob(const NNArchiveConfig& config,
+                             const std::function<int()>& openCallback,
+                             const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                             const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                             const std::function<int64_t(int64_t request)>& skipCallback,
+                             const std::function<int()>& closeCallback,
+                             NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(config, openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression)) {}
+
+std::optional<std::reference_wrapper<const OpenVINO::Blob>> NNArchiveBlob::getOpenVINOBlob() const {
+    return pimpl->getBlob();
+}
+
+}  // namespace dai
diff --git a/src/nn_archive/NNArchiveConfig.cpp b/src/nn_archive/NNArchiveConfig.cpp
new file mode 100644
index 000000000..72ef26aaa
--- /dev/null
+++ b/src/nn_archive/NNArchiveConfig.cpp
@@ -0,0 +1,113 @@
+#include "depthai/nn_archive/NNArchiveConfig.hpp"
+
+// C++ std
+#include <fstream>
+#include <optional>
+#include <variant>
+
+// libraries
+#include <spimpl.h>
+
+#include <nlohmann/json.hpp>
+
+// internal public
+#include "depthai/nn_archive/v1/Config.hpp"
+
+// internal private
+#include "nn_archive/v1/Generators.hpp"
+#include "utility/ArchiveUtil.hpp"
+#include "utility/ErrorMacros.hpp"
+
+namespace dai {
+
+class NNArchiveConfig::Impl {
+   public:
+    // in the future we will have <nn_archive::v1::Config, nn_archive::v2::Config>
+    std::optional<std::variant<dai::nn_archive::v1::Config>> mConfig;
+
+    void initConfig(const std::optional<nlohmann::json>& maybeJson) {
+        DAI_CHECK_IN(maybeJson);
+        dai::nn_archive::v1::Config config;
+        dai::nn_archive::v1::from_json(*maybeJson, config);
+        mConfig = config;
+    }
+
+    Impl(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression) {
+        bool isJson = compression == NNArchiveEntry::Compression::RAW_FS;
+        std::optional<nlohmann::json> maybeJson;
+        if(isJson) {
+            maybeJson = nlohmann::json::parse(data);
+        } else {
+            utility::ArchiveUtil archive(data, compression);
+            std::vector<uint8_t> jsonBytes;
+            const bool success = archive.readEntry("config.json", jsonBytes);
+            DAI_CHECK(success, "Didn't find the config.json file inside the NNArchive read from memory.");
+            maybeJson = nlohmann::json::parse(jsonBytes);
+        }
+        initConfig(maybeJson);
+    }
+
+    Impl(const Path& path, NNArchiveEntry::Compression compression) {
+        bool isJson =
+            compression == NNArchiveEntry::Compression::RAW_FS || (compression == NNArchiveEntry::Compression::AUTO && utility::ArchiveUtil::isJsonPath(path));
+        std::optional<nlohmann::json> maybeJson;
+        if(isJson) {
+            std::ifstream jsonStream(path);
+            maybeJson = nlohmann::json::parse(jsonStream);
+        } else {
+            utility::ArchiveUtil archive(path, compression);
+            std::vector<uint8_t> jsonBytes;
+            const bool success = archive.readEntry("config.json", jsonBytes);
+            DAI_CHECK_V(success, "Didn't find the config.json file inside the {} archive.", path);
+            maybeJson = nlohmann::json::parse(jsonBytes);
+        }
+        initConfig(maybeJson);
+    }
+
+    Impl(const std::function<int()>& openCallback,
+         const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+         const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+         const std::function<int64_t(int64_t request)>& skipCallback,
+         const std::function<int()>& closeCallback,
+         NNArchiveEntry::Compression compression) {
+        std::optional<nlohmann::json> maybeJson;
+        if(compression == NNArchiveEntry::Compression::RAW_FS) {
+            DAI_CHECK(false, "RAW_FS with callbacks NOT IMPLEMENTED YET for NNArchiveConfig");
+        } else {
+            utility::ArchiveUtil archive(openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression);
+            std::vector<uint8_t> jsonBytes;
+            const bool success = archive.readEntry("config.json", jsonBytes);
+            DAI_CHECK(success, "Didn't find the config.json file inside the NNArchive.");
+            maybeJson = nlohmann::json::parse(jsonBytes);
+        }
+        initConfig(maybeJson);
+    }
+
+    template <typename T>
+    std::optional<T> getConfig() const {
+        DAI_CHECK_IN(mConfig);
+        if(const auto* configPtr(std::get_if<T>(&(*mConfig))); configPtr) {
+            return *configPtr;
+        }
+        return std::nullopt;
+    }
+};
+
+NNArchiveConfig::NNArchiveConfig(const std::vector<uint8_t>& data, NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(data, compression)){};
+
+NNArchiveConfig::NNArchiveConfig(const Path& path, NNArchiveEntry::Compression compression) : pimpl(spimpl::make_impl<Impl>(path, compression)) {}
+
+NNArchiveConfig::NNArchiveConfig(const std::function<int()>& openCallback,
+                                 const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                                 const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                                 const std::function<int64_t(int64_t request)>& skipCallback,
+                                 const std::function<int()>& closeCallback,
+                                 NNArchiveEntry::Compression compression)
+    : pimpl(spimpl::make_impl<Impl>(openCallback, readCallback, seekCallback, skipCallback, closeCallback, compression)) {}
+
+std::optional<nn_archive::v1::Config> NNArchiveConfig::getConfigV1() const {
+    return pimpl->getConfig<nn_archive::v1::Config>();
+}
+
+}  // namespace dai
diff --git a/src/nn_archive/NNArchiveConfigHelper.cpp b/src/nn_archive/NNArchiveConfigHelper.cpp
new file mode 100644
index 000000000..2309915c8
--- /dev/null
+++ b/src/nn_archive/NNArchiveConfigHelper.cpp
@@ -0,0 +1,16 @@
+#include "NNArchiveConfigHelper.hpp"
+
+// internal private
+#include "utility/ErrorMacros.hpp"
+
+namespace dai {
+namespace nn_archive {
+
+std::string NNArchiveConfigHelper::getBlobPath(const NNArchiveConfig& config) {
+    const auto& maybeConfig = config.getConfigV1();
+    DAI_CHECK_IN(maybeConfig);
+    return (*maybeConfig).model.metadata.path;
+}
+
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/src/nn_archive/NNArchiveConfigHelper.hpp b/src/nn_archive/NNArchiveConfigHelper.hpp
new file mode 100644
index 000000000..2fd802c58
--- /dev/null
+++ b/src/nn_archive/NNArchiveConfigHelper.hpp
@@ -0,0 +1,16 @@
+// C++ std
+#include <string>
+
+// internal public
+#include "depthai/nn_archive/NNArchiveConfig.hpp"
+
+namespace dai {
+namespace nn_archive {
+
+class NNArchiveConfigHelper {
+   public:
+    static std::string getBlobPath(const NNArchiveConfig& config);
+};
+
+}  // namespace nn_archive
+}  // namespace dai
diff --git a/src/nn_archive/v1/Generators.hpp b/src/nn_archive/v1/Generators.hpp
new file mode 100644
index 000000000..81c3977c9
--- /dev/null
+++ b/src/nn_archive/v1/Generators.hpp
@@ -0,0 +1,266 @@
+//  To parse this JSON data, first install
+//
+//      json.hpp  https://github.com/nlohmann/json
+//
+//  Then include this file, and then do
+//
+//     Generators.hpp data = nlohmann::json::parse(jsonString);
+
+#pragma once
+
+#include <optional>
+#include <nlohmann/json.hpp>
+#include "helper.hpp"
+
+#include "depthai/nn_archive/v1/Config.hpp"
+#include "depthai/nn_archive/v1/Model.hpp"
+#include "depthai/nn_archive/v1/Output.hpp"
+#include "depthai/nn_archive/v1/Metadata.hpp"
+#include "depthai/nn_archive/v1/Input.hpp"
+#include "depthai/nn_archive/v1/PreprocessingBlock.hpp"
+#include "depthai/nn_archive/v1/InputType.hpp"
+#include "depthai/nn_archive/v1/DataType.hpp"
+#include "depthai/nn_archive/v1/Head.hpp"
+#include "depthai/nn_archive/v1/ObjectDetectionSubtypeYolo.hpp"
+#include "depthai/nn_archive/v1/Outputs.hpp"
+#include "depthai/nn_archive/v1/ConfigVersion.hpp"
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+    void from_json(const json & j, Outputs & x);
+    void to_json(json & j, const Outputs & x);
+
+    void from_json(const json & j, Head & x);
+    void to_json(json & j, const Head & x);
+
+    void from_json(const json & j, PreprocessingBlock & x);
+    void to_json(json & j, const PreprocessingBlock & x);
+
+    void from_json(const json & j, Input & x);
+    void to_json(json & j, const Input & x);
+
+    void from_json(const json & j, Metadata & x);
+    void to_json(json & j, const Metadata & x);
+
+    void from_json(const json & j, Output & x);
+    void to_json(json & j, const Output & x);
+
+    void from_json(const json & j, Model & x);
+    void to_json(json & j, const Model & x);
+
+    void from_json(const json & j, Config & x);
+    void to_json(json & j, const Config & x);
+
+    void from_json(const json & j, ConfigVersion & x);
+    void to_json(json & j, const ConfigVersion & x);
+
+    void from_json(const json & j, ObjectDetectionSubtypeYolo & x);
+    void to_json(json & j, const ObjectDetectionSubtypeYolo & x);
+
+    void from_json(const json & j, DataType & x);
+    void to_json(json & j, const DataType & x);
+
+    void from_json(const json & j, InputType & x);
+    void to_json(json & j, const InputType & x);
+
+    inline void from_json(const json & j, Outputs& x) {
+        x.predictions = get_stack_optional<std::string>(j, "predictions");
+        x.yoloOutputs = get_stack_optional<std::vector<std::string>>(j, "yolo_outputs");
+        x.boxes = get_stack_optional<std::string>(j, "boxes");
+        x.scores = get_stack_optional<std::string>(j, "scores");
+        x.maskOutputs = get_stack_optional<std::vector<std::string>>(j, "mask_outputs");
+        x.protos = get_stack_optional<std::string>(j, "protos");
+    }
+
+    inline void to_json(json & j, const Outputs & x) {
+        j = json::object();
+        j["predictions"] = x.predictions;
+        j["yolo_outputs"] = x.yoloOutputs;
+        j["boxes"] = x.boxes;
+        j["scores"] = x.scores;
+        j["mask_outputs"] = x.maskOutputs;
+        j["protos"] = x.protos;
+    }
+
+    inline void from_json(const json & j, Head& x) {
+        x.classes = j.at("classes").get<std::vector<std::string>>();
+        x.family = j.at("family").get<std::string>();
+        x.isSoftmax = get_stack_optional<bool>(j, "is_softmax");
+        x.nClasses = j.at("n_classes").get<int64_t>();
+        x.outputs = j.at("outputs").get<Outputs>();
+        x.anchors = get_stack_optional<std::vector<std::vector<std::vector<int64_t>>>>(j, "anchors");
+        x.confThreshold = get_stack_optional<double>(j, "conf_threshold");
+        x.iouThreshold = get_stack_optional<double>(j, "iou_threshold");
+        x.maxDet = get_stack_optional<int64_t>(j, "max_det");
+        x.nKeypoints = get_stack_optional<int64_t>(j, "n_keypoints");
+        x.nPrototypes = get_stack_optional<int64_t>(j, "n_prototypes");
+        x.prototypeOutputName = get_stack_optional<std::string>(j, "prototype_output_name");
+        x.subtype = get_stack_optional<ObjectDetectionSubtypeYolo>(j, "subtype");
+        x.postprocessorPath = get_stack_optional<std::string>(j, "postprocessor_path");
+    }
+
+    inline void to_json(json & j, const Head & x) {
+        j = json::object();
+        j["classes"] = x.classes;
+        j["family"] = x.family;
+        j["is_softmax"] = x.isSoftmax;
+        j["n_classes"] = x.nClasses;
+        j["outputs"] = x.outputs;
+        j["anchors"] = x.anchors;
+        j["conf_threshold"] = x.confThreshold;
+        j["iou_threshold"] = x.iouThreshold;
+        j["max_det"] = x.maxDet;
+        j["n_keypoints"] = x.nKeypoints;
+        j["n_prototypes"] = x.nPrototypes;
+        j["prototype_output_name"] = x.prototypeOutputName;
+        j["subtype"] = x.subtype;
+        j["postprocessor_path"] = x.postprocessorPath;
+    }
+
+    inline void from_json(const json & j, PreprocessingBlock& x) {
+        x.interleavedToPlanar = get_stack_optional<bool>(j, "interleaved_to_planar");
+        x.mean = get_stack_optional<std::vector<double>>(j, "mean");
+        x.reverseChannels = get_stack_optional<bool>(j, "reverse_channels");
+        x.scale = get_stack_optional<std::vector<double>>(j, "scale");
+    }
+
+    inline void to_json(json & j, const PreprocessingBlock & x) {
+        j = json::object();
+        j["interleaved_to_planar"] = x.interleavedToPlanar;
+        j["mean"] = x.mean;
+        j["reverse_channels"] = x.reverseChannels;
+        j["scale"] = x.scale;
+    }
+
+    inline void from_json(const json & j, Input& x) {
+        x.dtype = j.at("dtype").get<DataType>();
+        x.inputType = j.at("input_type").get<InputType>();
+        x.name = j.at("name").get<std::string>();
+        x.preprocessing = j.at("preprocessing").get<PreprocessingBlock>();
+        x.shape = j.at("shape").get<std::vector<int64_t>>();
+    }
+
+    inline void to_json(json & j, const Input & x) {
+        j = json::object();
+        j["dtype"] = x.dtype;
+        j["input_type"] = x.inputType;
+        j["name"] = x.name;
+        j["preprocessing"] = x.preprocessing;
+        j["shape"] = x.shape;
+    }
+
+    inline void from_json(const json & j, Metadata& x) {
+        x.name = j.at("name").get<std::string>();
+        x.path = j.at("path").get<std::string>();
+    }
+
+    inline void to_json(json & j, const Metadata & x) {
+        j = json::object();
+        j["name"] = x.name;
+        j["path"] = x.path;
+    }
+
+    inline void from_json(const json & j, Output& x) {
+        x.dtype = j.at("dtype").get<DataType>();
+        x.name = j.at("name").get<std::string>();
+    }
+
+    inline void to_json(json & j, const Output & x) {
+        j = json::object();
+        j["dtype"] = x.dtype;
+        j["name"] = x.name;
+    }
+
+    inline void from_json(const json & j, Model& x) {
+        x.heads = get_stack_optional<std::vector<Head>>(j, "heads");
+        x.inputs = j.at("inputs").get<std::vector<Input>>();
+        x.metadata = j.at("metadata").get<Metadata>();
+        x.outputs = j.at("outputs").get<std::vector<Output>>();
+    }
+
+    inline void to_json(json & j, const Model & x) {
+        j = json::object();
+        j["heads"] = x.heads;
+        j["inputs"] = x.inputs;
+        j["metadata"] = x.metadata;
+        j["outputs"] = x.outputs;
+    }
+
+    inline void from_json(const json & j, Config& x) {
+        x.configVersion = j.at("config_version").get<ConfigVersion>();
+        x.model = j.at("model").get<Model>();
+    }
+
+    inline void to_json(json & j, const Config & x) {
+        j = json::object();
+        j["config_version"] = x.configVersion;
+        j["model"] = x.model;
+    }
+
+    inline void from_json(const json & j, ConfigVersion & x) {
+        if (j == "1.0") x = ConfigVersion::THE_10;
+        else { throw std::runtime_error("Input JSON does not conform to schema!"); }
+    }
+
+    inline void to_json(json & j, const ConfigVersion & x) {
+        switch (x) {
+            case ConfigVersion::THE_10: j = "1.0"; break;
+            default: throw std::runtime_error("Unexpected value in enumeration \"[object Object]\": " + std::to_string(static_cast<int>(x)));
+        }
+    }
+
+    inline void from_json(const json & j, ObjectDetectionSubtypeYolo & x) {
+        if (j == "yolov5") x = ObjectDetectionSubtypeYolo::YOLOV5;
+        else if (j == "yolov6") x = ObjectDetectionSubtypeYolo::YOLOV6;
+        else if (j == "yolov7") x = ObjectDetectionSubtypeYolo::YOLOV7;
+        else if (j == "yolov8") x = ObjectDetectionSubtypeYolo::YOLOV8;
+        else { throw std::runtime_error("Input JSON does not conform to schema!"); }
+    }
+
+    inline void to_json(json & j, const ObjectDetectionSubtypeYolo & x) {
+        switch (x) {
+            case ObjectDetectionSubtypeYolo::YOLOV5: j = "yolov5"; break;
+            case ObjectDetectionSubtypeYolo::YOLOV6: j = "yolov6"; break;
+            case ObjectDetectionSubtypeYolo::YOLOV7: j = "yolov7"; break;
+            case ObjectDetectionSubtypeYolo::YOLOV8: j = "yolov8"; break;
+            default: throw std::runtime_error("Unexpected value in enumeration \"[object Object]\": " + std::to_string(static_cast<int>(x)));
+        }
+    }
+
+    inline void from_json(const json & j, DataType & x) {
+        if (j == "float16") x = DataType::FLOAT16;
+        else if (j == "float32") x = DataType::FLOAT32;
+        else if (j == "int8") x = DataType::INT8;
+        else if (j == "NV12") x = DataType::NV12;
+        else if (j == "uint8") x = DataType::UINT8;
+        else { throw std::runtime_error("Input JSON does not conform to schema!"); }
+    }
+
+    inline void to_json(json & j, const DataType & x) {
+        switch (x) {
+            case DataType::FLOAT16: j = "float16"; break;
+            case DataType::FLOAT32: j = "float32"; break;
+            case DataType::INT8: j = "int8"; break;
+            case DataType::NV12: j = "NV12"; break;
+            case DataType::UINT8: j = "uint8"; break;
+            default: throw std::runtime_error("Unexpected value in enumeration \"[object Object]\": " + std::to_string(static_cast<int>(x)));
+        }
+    }
+
+    inline void from_json(const json & j, InputType & x) {
+        if (j == "image") x = InputType::IMAGE;
+        else if (j == "raw") x = InputType::RAW;
+        else { throw std::runtime_error("Input JSON does not conform to schema!"); }
+    }
+
+    inline void to_json(json & j, const InputType & x) {
+        switch (x) {
+            case InputType::IMAGE: j = "image"; break;
+            case InputType::RAW: j = "raw"; break;
+            default: throw std::runtime_error("Unexpected value in enumeration \"[object Object]\": " + std::to_string(static_cast<int>(x)));
+        }
+    }
+}
+}
+}
diff --git a/src/nn_archive/v1/helper.hpp b/src/nn_archive/v1/helper.hpp
new file mode 100644
index 000000000..bde1f9f50
--- /dev/null
+++ b/src/nn_archive/v1/helper.hpp
@@ -0,0 +1,85 @@
+//  To parse this JSON data, first install
+//
+//      json.hpp  https://github.com/nlohmann/json
+//
+//  Then include this file, and then do
+//
+//     helper.hpp data = nlohmann::json::parse(jsonString);
+
+#pragma once
+
+#include "depthai/common/optional.hpp"
+
+#include <optional>
+#include <nlohmann/json.hpp>
+
+#include <sstream>
+
+namespace dai {
+namespace nn_archive {
+namespace v1 {
+    using nlohmann::json;
+
+    #ifndef NLOHMANN_UNTYPED_dai_nn_archive_v1_HELPER
+    #define NLOHMANN_UNTYPED_dai_nn_archive_v1_HELPER
+    inline json get_untyped(const json & j, const char * property) {
+        if (j.find(property) != j.end()) {
+            return j.at(property).get<json>();
+        }
+        return json();
+    }
+
+    inline json get_untyped(const json & j, std::string property) {
+        return get_untyped(j, property.data());
+    }
+    #endif
+
+    #ifndef NLOHMANN_OPTIONAL_dai_nn_archive_v1_HELPER
+    #define NLOHMANN_OPTIONAL_dai_nn_archive_v1_HELPER
+    template <typename T>
+    inline std::shared_ptr<T> get_heap_optional(const json & j, const char * property) {
+        auto it = j.find(property);
+        if (it != j.end() && !it->is_null()) {
+            return j.at(property).get<std::shared_ptr<T>>();
+        }
+        return std::shared_ptr<T>();
+    }
+
+    template <typename T>
+    inline std::shared_ptr<T> get_heap_optional(const json & j, std::string property) {
+        return get_heap_optional<T>(j, property.data());
+    }
+    template <typename T>
+    inline std::optional<T> get_stack_optional(const json & j, const char * property) {
+        auto it = j.find(property);
+        if (it != j.end() && !it->is_null()) {
+            return j.at(property).get<std::optional<T>>();
+        }
+        return std::optional<T>();
+    }
+
+    template <typename T>
+    inline std::optional<T> get_stack_optional(const json & j, std::string property) {
+        return get_stack_optional<T>(j, property.data());
+    }
+    #endif
+}
+}
+}
+
+#ifndef NLOHMANN_OPT_HELPER
+#define NLOHMANN_OPT_HELPER
+namespace nlohmann {
+    template <typename T>
+    struct adl_serializer<std::shared_ptr<T>> {
+        static void to_json(json & j, const std::shared_ptr<T> & opt) {
+            if (!opt) j = nullptr; else j = *opt;
+        }
+
+        static std::shared_ptr<T> from_json(const json & j) {
+            if (j.is_null()) return std::make_shared<T>(); else return std::make_shared<T>(j.get<T>());
+        }
+    };
+
+}
+#endif
diff --git a/src/opencv/ImgFrame.cpp b/src/opencv/ImgFrame.cpp
index 4e4d16ce2..213576336 100644
--- a/src/opencv/ImgFrame.cpp
+++ b/src/opencv/ImgFrame.cpp
@@ -7,8 +7,9 @@
 namespace dai {
 
 ImgFrame& ImgFrame::setFrame(cv::Mat frame) {
-    img.data.clear();
-    img.data.insert(img.data.begin(), frame.datastart, frame.dataend);
+    std::vector<uint8_t> dataVec;
+    dataVec.insert(dataVec.begin(), frame.datastart, frame.dataend);
+    setData(dataVec);
     return *this;
 }
 
@@ -21,16 +22,18 @@ cv::Mat ImgFrame::getFrame(bool deepCopy) {
     switch(getType()) {
         case Type::RGB888i:
         case Type::BGR888i:
-        case Type::BGR888p:
-        case Type::RGB888p:
             size = cv::Size(getWidth(), getHeight());
             type = CV_8UC3;
             break;
-
+        case Type::BGR888p:
+        case Type::RGB888p:
+            size = cv::Size(getWidth(), getHeight() * 3);
+            type = CV_8UC1;
+            break;
         case Type::YUV420p:
         case Type::NV12:
         case Type::NV21:
-            size = cv::Size(getWidth(), getHeight() * 3 / 2);
+            size = cv::Size(getWidth(), getPlaneHeight() * 3 / 2);
             type = CV_8UC1;
             break;
 
@@ -61,7 +64,7 @@ cv::Mat ImgFrame::getFrame(bool deepCopy) {
             type = CV_16FC3;
             break;
 
-        case dai::RawImgFrame::Type::BITSTREAM:
+        case Type::BITSTREAM:
         default:
             size = cv::Size(static_cast<int>(getData().size()), 1);
             type = CV_8UC1;
@@ -70,7 +73,11 @@ cv::Mat ImgFrame::getFrame(bool deepCopy) {
 
     // Check if enough data
     long requiredSize = CV_ELEM_SIZE(type) * size.area();
-    long actualSize = static_cast<long>(img.data.size());
+
+    // TMP TMP
+    // long actualSize = static_cast<long>(img.data.size());
+    long actualSize = static_cast<long>(data->getSize());
+
     if(actualSize < requiredSize) {
         throw std::runtime_error("ImgFrame doesn't have enough data to encode specified frame, required " + std::to_string(requiredSize) + ", actual "
                                  + std::to_string(actualSize) + ". Maybe metadataOnly transfer was made?");
@@ -86,10 +93,16 @@ cv::Mat ImgFrame::getFrame(bool deepCopy) {
     if(deepCopy) {
         // Create new image data
         mat.create(size, type);
+
+        // TMPTMP
         // Copy number of bytes that are available by Mat space or by img data size
-        std::memcpy(mat.data, img.data.data(), std::min((long)(img.data.size()), (long)(mat.dataend - mat.datastart)));
+        // std::memcpy(mat.data, img.data.data(), std::min((long)(img.data.size()), (long)(mat.dataend - mat.datastart)));
+        std::memcpy(mat.data, data->getData().data(), std::min((long)(data->getSize()), (long)(mat.dataend - mat.datastart)));
+        // TODO stride handling
     } else {
-        mat = cv::Mat(size, type, img.data.data());
+        // TMP TMP
+        // mat = cv::Mat(size, type, img.data.data());
+        mat = cv::Mat(size, type, data->getData().data(), getStride());
     }
 
     return mat;
@@ -112,9 +125,9 @@ cv::Mat ImgFrame::getCvFrame() {
             cv::Size s(getWidth(), getHeight());
             std::vector<cv::Mat> channels;
             // RGB
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 2));
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 1));
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 0));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 2));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 1));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 0));
             cv::merge(channels, output);
         } break;
 
@@ -122,9 +135,9 @@ cv::Mat ImgFrame::getCvFrame() {
             cv::Size s(getWidth(), getHeight());
             std::vector<cv::Mat> channels;
             // BGR
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 0));
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 1));
-            channels.push_back(cv::Mat(s, CV_8UC1, getData().data() + s.area() * 2));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 0));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 1));
+            channels.push_back(cv::Mat(s, CV_8UC1, (uint8_t*)getData().data() + s.area() * 2));
             cv::merge(channels, output);
         } break;
 
@@ -133,12 +146,19 @@ cv::Mat ImgFrame::getCvFrame() {
             break;
 
         case Type::NV12:
-            cv::cvtColor(frame, output, cv::ColorConversionCodes::COLOR_YUV2BGR_NV12);
-            break;
-
-        case Type::NV21:
-            cv::cvtColor(frame, output, cv::ColorConversionCodes::COLOR_YUV2BGR_NV21);
-            break;
+        case Type::NV21: {
+            int code = (getType() == Type::NV12) ? cv::ColorConversionCodes::COLOR_YUV2BGR_NV12 : cv::ColorConversionCodes::COLOR_YUV2BGR_NV21;
+            if(getPlaneHeight() <= getHeight()) {
+                cv::cvtColor(frame, output, code);
+            } else {
+                cv::Size s(getWidth(), getHeight());
+                int type = CV_8UC1;
+                int step = getStride();
+                cv::Mat frameY(s, type, getData().data(), step);
+                cv::Mat frameUV(s / 2, type, getData().data() + getPlaneStride(), step);
+                cv::cvtColorTwoPlane(frameY, frameUV, output, code);
+            }
+        } break;
 
         case Type::RAW8:
         case Type::RAW16:
diff --git a/src/openvino/BlobReader.hpp b/src/openvino/BlobReader.hpp
index 630702fd9..18effa48a 100644
--- a/src/openvino/BlobReader.hpp
+++ b/src/openvino/BlobReader.hpp
@@ -11,7 +11,7 @@
 #include <utility>
 
 #include "BlobFormat.hpp"
-#include "depthai-shared/common/TensorInfo.hpp"
+#include "depthai/common/TensorInfo.hpp"
 
 namespace dai {
 
diff --git a/src/openvino/OpenVINO.cpp b/src/openvino/OpenVINO.cpp
index cd573a5c0..6fe20884d 100644
--- a/src/openvino/OpenVINO.cpp
+++ b/src/openvino/OpenVINO.cpp
@@ -158,14 +158,26 @@ bool OpenVINO::areVersionsBlobCompatible(OpenVINO::Version v1, OpenVINO::Version
 
 static void blobInit(OpenVINO::Blob& blob, std::vector<uint8_t> data) {
     blob.data = std::move(data);
-    BlobReader reader;
-    reader.parse(blob.data);
-    blob.networkInputs = reader.getNetworkInputs();
-    blob.networkOutputs = reader.getNetworkOutputs();
-    blob.stageCount = reader.getStageCount();
-    blob.numShaves = reader.getNumberOfShaves();
-    blob.numSlices = reader.getNumberOfSlices();
-    blob.version = OpenVINO::getBlobVersion(reader.getVersionMajor(), reader.getVersionMinor());
+
+    // Check if the blob is for VPUX
+    std::vector<uint8_t> vpuxBlobSkip{0X18, 0X0, 0X0, 0X0};
+    std::vector<uint8_t> vpuxBlobHeader{0X42, 0X4C, 0X4F, 0X42};
+
+    if(std::equal(vpuxBlobHeader.begin(), vpuxBlobHeader.end(), blob.data.begin() + vpuxBlobSkip.size())) {
+        // Most of the parsing done on device for now
+        blob.device = OpenVINO::Device::VPUX;
+        blob.version = OpenVINO::VERSION_2022_1;  // TODO: parse blob to get the version
+    } else {
+        blob.device = OpenVINO::Device::VPU;
+        BlobReader reader;
+        reader.parse(blob.data);
+        blob.networkInputs = reader.getNetworkInputs();
+        blob.networkOutputs = reader.getNetworkOutputs();
+        blob.stageCount = reader.getStageCount();
+        blob.numShaves = reader.getNumberOfShaves();
+        blob.numSlices = reader.getNumberOfSlices();
+        blob.version = OpenVINO::getBlobVersion(reader.getVersionMajor(), reader.getVersionMinor());
+    }
 }
 
 OpenVINO::Blob::Blob(std::vector<uint8_t> data) {
diff --git a/src/pcl/PointCloudData.cpp b/src/pcl/PointCloudData.cpp
new file mode 100644
index 000000000..305313f98
--- /dev/null
+++ b/src/pcl/PointCloudData.cpp
@@ -0,0 +1,23 @@
+#include "depthai/pipeline/datatype/PointCloudData.hpp"
+
+pcl::PointCloud<pcl::PointXYZ>::Ptr dai::PointCloudData::getPclData() const {
+    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+
+    auto data = getData();
+    cloud->width = getWidth();
+    cloud->height = getHeight();
+    cloud->is_dense = isSparse();
+
+    auto* dataPtr = (Point3f*)data.data();
+    auto size = data.size() / sizeof(Point3f);
+
+    cloud->points.resize(size);
+
+    for(unsigned int i = 0; i < size; i++) {
+        cloud->points[i].x = dataPtr[i].x;
+        cloud->points[i].y = dataPtr[i].y;
+        cloud->points[i].z = dataPtr[i].z;
+    }
+
+    return cloud;
+}
diff --git a/src/pipeline/AssetManager.cpp b/src/pipeline/AssetManager.cpp
index e79589994..303bb13e9 100644
--- a/src/pipeline/AssetManager.cpp
+++ b/src/pipeline/AssetManager.cpp
@@ -12,6 +12,38 @@ std::string Asset::getRelativeUri() {
     return fmt::format("{}:{}", "asset", key);
 }
 
+AssetManager::AssetManager() {}
+AssetManager::AssetManager(std::string rootPath) : rootPath{rootPath} {}
+
+std::string AssetManager::getRootPath() {
+    return rootPath;
+}
+
+void AssetManager::setRootPath(const std::string& rootPath) {
+    this->rootPath = rootPath;
+}
+
+std::string AssetManager::getRelativeKey(std::string key) const {
+    // Check if asset key is absolute or relative
+    std::string relativeKey = "";
+    if(key.size() == 0) {
+        return relativeKey;
+    }
+
+    if(key[0] == '/') {                // Absolute path
+        if(key.find(rootPath) == 0) {  // Root path of the node is contained in the key
+            int rootPathLen = rootPath.size();
+            relativeKey = key.substr(rootPathLen);
+        } else {
+            return "";
+        }
+    } else {  // Relative path
+        relativeKey = key;
+    }
+
+    return relativeKey;
+}
+
 std::shared_ptr<dai::Asset> AssetManager::set(Asset asset) {
     std::string key = asset.key;
     assetMap[key] = std::make_shared<Asset>(std::move(asset));
@@ -62,17 +94,19 @@ std::shared_ptr<dai::Asset> AssetManager::set(const std::string& key, std::vecto
 }
 
 std::shared_ptr<const Asset> AssetManager::get(const std::string& key) const {
-    if(assetMap.count(key) == 0) {
+    std::string relativeKey = getRelativeKey(key);
+    if(assetMap.count(relativeKey) == 0) {
         return nullptr;
     }
-    return assetMap.at(key);
+    return assetMap.at(relativeKey);
 }
 
 std::shared_ptr<Asset> AssetManager::get(const std::string& key) {
-    if(assetMap.count(key) == 0) {
+    std::string relativeKey = getRelativeKey(key);
+    if(assetMap.count(relativeKey) == 0) {
         return nullptr;
     }
-    return assetMap.at(key);
+    return assetMap.at(relativeKey);
 }
 
 void AssetManager::addExisting(std::vector<std::shared_ptr<Asset>> assets) {
@@ -111,6 +145,10 @@ void AssetManager::remove(const std::string& key) {
 void AssetManager::serialize(AssetsMutable& mutableAssets, std::vector<std::uint8_t>& storage, std::string prefix) const {
     using namespace std;
 
+    if(prefix.empty()) {
+        prefix = rootPath;
+    }
+
     for(auto& kv : assetMap) {
         auto& a = *kv.second;
 
diff --git a/src/pipeline/DeviceNode.cpp b/src/pipeline/DeviceNode.cpp
new file mode 100644
index 000000000..4affc4212
--- /dev/null
+++ b/src/pipeline/DeviceNode.cpp
@@ -0,0 +1,49 @@
+#include "depthai/pipeline/DeviceNode.hpp"
+
+// std
+#include "spdlog/fmt/fmt.h"
+
+// project
+#include "depthai/pipeline/Pipeline.hpp"
+
+namespace dai {
+
+DeviceNode::DeviceNode(std::unique_ptr<Properties> props, bool conf) : propertiesHolder(std::move(props)) {
+    configureMode = conf;
+}
+
+Properties& DeviceNode::getProperties() {
+    return *propertiesHolder;
+}
+
+void DeviceNode::run() {
+    auto pipeline = getParentPipeline();
+    if(pipeline.getDevice() != nullptr) {
+        auto dev = pipeline.getDevice();
+
+        auto outputQueueNames = dev->getOutputQueueNames();
+        auto inputQueueNames = dev->getInputQueueNames();
+
+        for(auto output : getOutputRefs()) {
+            auto xlinkName = fmt::format("__x_{}_{}", output->getParent().id, output->toString());
+            // TODO - validate
+            // printf("checking output: %s\n", xlinkName.c_str());
+
+            if(std::find(outputQueueNames.begin(), outputQueueNames.end(), xlinkName) != outputQueueNames.end()) {
+                auto thisNode = pipeline.getNode(id);
+
+                dev->getOutputQueue(xlinkName)->addCallback([thisNode, output](std::string, std::shared_ptr<ADatatype> msg) { output->send(msg); });
+            }
+        }
+        for(auto input : getInputRefs()) {
+            auto xlinkName = fmt::format("__x_{}_{}", input->getParent().id, input->toString());
+            // TODO - validate
+            // printf("checking input: %s\n", xlinkName.c_str());
+            if(std::find(inputQueueNames.begin(), inputQueueNames.end(), xlinkName) != inputQueueNames.end()) {
+                input->queue.addCallback([dev, xlinkName](std::string, std::shared_ptr<ADatatype> msg) { dev->getInputQueue(xlinkName)->send(msg); });
+            }
+        }
+    }
+}
+
+}  // namespace dai
diff --git a/src/pipeline/MessageQueue.cpp b/src/pipeline/MessageQueue.cpp
new file mode 100644
index 000000000..5d7285b1a
--- /dev/null
+++ b/src/pipeline/MessageQueue.cpp
@@ -0,0 +1,137 @@
+#include "depthai/pipeline/MessageQueue.hpp"
+
+// std
+#include <chrono>
+#include <iostream>
+
+// project
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "pipeline/datatype/StreamMessageParser.hpp"
+
+// libraries
+#include "spdlog/spdlog.h"
+
+// Additions
+#include "spdlog/fmt/bin_to_hex.h"
+#include "spdlog/fmt/chrono.h"
+
+namespace dai {
+
+MessageQueue::MessageQueue(const std::string& name, unsigned int maxSize, bool blocking) : queue(maxSize, blocking), name(name) {}
+
+MessageQueue::MessageQueue(unsigned int maxSize, bool blocking) : queue(maxSize, blocking) {}
+
+bool MessageQueue::isClosed() const {
+    return queue.isDestroyed();
+}
+
+void MessageQueue::close() {
+    // Destroy queue
+    queue.destruct();
+
+    // Log if name not empty
+    if(!name.empty()) spdlog::debug("MessageQueue ({}) closed", name);
+}
+
+MessageQueue::~MessageQueue() {
+    // Close the queue first
+    close();
+}
+
+void MessageQueue::setBlocking(bool blocking) {
+    queue.setBlocking(blocking);
+}
+
+bool MessageQueue::getBlocking() const {
+    return queue.getBlocking();
+}
+
+void MessageQueue::setMaxSize(unsigned int maxSize) {
+    queue.setMaxSize(maxSize);
+}
+
+unsigned int MessageQueue::getMaxSize() const {
+    return queue.getMaxSize();
+}
+
+std::string MessageQueue::getName() const {
+    return name;
+}
+
+int MessageQueue::addCallback(std::function<void(std::string, std::shared_ptr<ADatatype>)> callback) {
+    // Lock first
+    std::unique_lock<std::mutex> l(callbacksMtx);
+
+    // Get unique id
+    int id = uniqueCallbackId++;
+
+    // assign callback
+    callbacks[id] = callback;
+
+    // return id assigned to the callback
+    return id;
+}
+
+int MessageQueue::addCallback(std::function<void(std::shared_ptr<ADatatype>)> callback) {
+    // Create a wrapper
+    return addCallback([callback](std::string, std::shared_ptr<ADatatype> message) { callback(message); });
+}
+
+int MessageQueue::addCallback(std::function<void()> callback) {
+    // Create a wrapper
+    return addCallback([callback](std::string, std::shared_ptr<ADatatype>) { callback(); });
+}
+
+bool MessageQueue::removeCallback(int callbackId) {
+    // Lock first
+    std::unique_lock<std::mutex> l(callbacksMtx);
+
+    // If callback with id 'callbackId' doesn't exists, return false
+    if(callbacks.count(callbackId) == 0) return false;
+
+    // Otherwise erase and return true
+    callbacks.erase(callbackId);
+    return true;
+}
+
+void MessageQueue::send(const std::shared_ptr<ADatatype>& msg) {
+    if(!msg) throw std::invalid_argument("Message passed is not valid (nullptr)");
+    callCallbacks(msg);
+    queue.push(msg);
+}
+
+// void MessageQueue::send(const ADatatype& msg) {
+//     send(std::make_shared<ADatatype>(msg.serialize()));
+// }
+
+bool MessageQueue::send(const std::shared_ptr<ADatatype>& msg, std::chrono::milliseconds timeout) {
+    if(!msg) throw std::invalid_argument("Message passed is not valid (nullptr)");
+    callCallbacks(msg);
+    return queue.tryWaitAndPush(msg, timeout);
+}
+
+// bool MessageQueue::send(const ADatatype& msg, std::chrono::milliseconds timeout) {
+//     return send(std::make_shared<ADatatype>(msg.serialize()), timeout);
+// }
+
+// Try variants
+bool MessageQueue::trySend(const std::shared_ptr<ADatatype>& msg) {
+    if(!msg) throw std::invalid_argument("Message passed is not valid (nullptr)");
+    callCallbacks(msg);
+    return send(msg, std::chrono::milliseconds(0));
+}
+
+// bool MessageQueue::trySend(const ADatatype& msg) {
+//     return trySend(std::make_shared<ADatatype>(msg.serialize()));
+// }
+
+void MessageQueue::callCallbacks(std::shared_ptr<ADatatype> msg) {
+    // Lock first
+    std::lock_guard<std::mutex> l(callbacksMtx);
+
+    // Call all callbacks
+    for(auto& kv : callbacks) {
+        kv.second(name, msg);
+    }
+}
+}  // namespace dai
diff --git a/src/pipeline/Node.cpp b/src/pipeline/Node.cpp
index 28aaebb23..066f4b8bd 100644
--- a/src/pipeline/Node.cpp
+++ b/src/pipeline/Node.cpp
@@ -1,15 +1,12 @@
-#include "depthai/pipeline/Node.hpp"
+#include <depthai/pipeline/DeviceNode.hpp>
 
 #include "depthai/pipeline/Pipeline.hpp"
 #include "spdlog/fmt/fmt.h"
 
 namespace dai {
 
-Node::Node(const std::shared_ptr<PipelineImpl>& p, Id nodeId, std::unique_ptr<Properties> props)
-    : parent(p), id(nodeId), propertiesHolder(std::move(props)), properties(*propertiesHolder) {}
-
-tl::optional<OpenVINO::Version> Node::getRequiredOpenVINOVersion() {
-    return tl::nullopt;
+std::optional<OpenVINO::Version> Node::getRequiredOpenVINOVersion() {
+    return std::nullopt;
 }
 
 const Pipeline Node::getParentPipeline() const {
@@ -22,10 +19,6 @@ Pipeline Node::getParentPipeline() {
     return pipeline;
 }
 
-Properties& Node::getProperties() {
-    return properties;
-}
-
 Node::Connection::Connection(Output out, Input in) {
     outputId = out.getParent().id;
     outputName = out.name;
@@ -35,6 +28,20 @@ Node::Connection::Connection(Output out, Input in) {
     inputGroup = in.group;
 }
 
+Node::Connection::Connection(ConnectionInternal c) {
+    auto out = c.outputNode.lock();
+    auto in = c.inputNode.lock();
+    if(out == nullptr || in == nullptr) {
+        throw std::invalid_argument("Connection points to non existing node");
+    }
+    outputId = out->id;
+    outputName = c.outputName;
+    outputGroup = c.outputGroup;
+    inputId = in->id;
+    inputName = c.inputName;
+    inputGroup = c.inputGroup;
+}
+
 bool Node::Connection::operator==(const Node::Connection& rhs) const {
     return (outputId == rhs.outputId && outputName == rhs.outputName && outputGroup == rhs.outputGroup && inputId == rhs.inputId && inputName == rhs.inputName
             && inputGroup == rhs.inputGroup);
@@ -56,11 +63,10 @@ std::string Node::Input::toString() const {
     }
 }
 
-std::vector<Node::Connection> Node::Output::getConnections() {
-    std::vector<Node::Connection> myConnections;
-    auto allConnections = parent.getParentPipeline().getConnections();
-    for(const auto& conn : allConnections) {
-        if(conn.outputId == parent.id && conn.outputName == name && conn.outputGroup == group) {
+std::vector<Node::ConnectionInternal> Node::Output::getConnections() {
+    std::vector<Node::ConnectionInternal> myConnections;
+    for(const auto& conn : parent.connections) {
+        if(conn.outputName == name && conn.outputGroup == group) {
             myConnections.push_back(conn);
         }
     }
@@ -77,18 +83,119 @@ bool Node::Output::isSamePipeline(const Input& in) {
     return false;
 }
 
+static bool isDatatypeMatch(const Node::Output& out, const Node::Input& in) {
+    // Check that datatypes match up
+    for(const auto& outHierarchy : out.possibleDatatypes) {
+        for(const auto& inHierarchy : in.possibleDatatypes) {
+            // Check if datatypes match for current datatype
+            if(outHierarchy.datatype == inHierarchy.datatype) return true;
+
+            // If output can produce descendants
+            if(outHierarchy.descendants && isDatatypeSubclassOf(outHierarchy.datatype, inHierarchy.datatype)) return true;
+
+            // If input allows descendants
+            if(inHierarchy.descendants && isDatatypeSubclassOf(inHierarchy.datatype, outHierarchy.datatype)) return true;
+        }
+    }
+    // otherwise return false
+    return false;
+}
+
 bool Node::Output::canConnect(const Input& in) {
-    return PipelineImpl::canConnect(*this, in);
+    // Check that IoType match up
+    if(type == Output::Type::MSender && in.type == Input::Type::MReceiver) return false;
+    if(type == Output::Type::SSender && in.type == Input::Type::SReceiver) return false;
+
+    // Check that datatypes match up
+    if(!isDatatypeMatch(*this, in)) {
+        return false;
+    }
+
+    // All checks pass
+    return true;
+}
+
+void Node::Output::link(Input& in) {
+    // First check if can connect
+    if(!canConnect(in)) {
+        throw std::runtime_error(fmt::format("Cannot link '{}.{}' to '{}.{}'", getParent().getName(), toString(), in.getParent().getName(), in.toString()));
+    }
+
+    // Create 'Connection' object between 'out' and 'in'
+    Node::ConnectionInternal connection(*this, in);
+
+    // Check if connection was already made - the following is possible as operator[] constructs the underlying set if it doesn't exist.
+    if(parent.connections.count(connection) > 0) {
+        // this means a connection was already made.
+        throw std::logic_error(fmt::format("'{}.{}' already linked to '{}.{}'", getParent().getName(), toString(), in.getParent().getName(), in.toString()));
+    }
+
+    // Otherwise all is set to add a new connection
+    parent.connections.insert(connection);
+}
+
+Node::ConnectionInternal::ConnectionInternal(Output& out, Input& in) {
+    outputNode = out.getParent().shared_from_this();
+    outputName = out.name;
+    outputGroup = out.group;
+    inputNode = in.getParent().shared_from_this();
+    inputName = in.name;
+    inputGroup = in.group;
+}
+
+bool Node::ConnectionInternal::operator==(const Node::ConnectionInternal& rhs) const {
+    return (outputNode.lock() == rhs.outputNode.lock() && outputName == rhs.outputName && outputGroup == rhs.outputGroup
+            && inputNode.lock() == rhs.inputNode.lock() && inputName == rhs.inputName && inputGroup == rhs.inputGroup);
 }
 
-void Node::Output::link(const Input& in) {
-    // Call link of pipeline
-    parent.getParentPipeline().link(*this, in);
+void Node::Output::unlink(Input& in) {
+    // Create 'Connection' object between 'out' and 'in'
+    Node::ConnectionInternal connection(*this, in);
+    if(parent.connections.count(connection) == 0) {
+        // this means a connection was not present already made.
+        throw std::logic_error(fmt::format("'{}.{}' not linked to '{}.{}'", getParent().getName(), toString(), in.getParent().getName(), in.toString()));
+    }
+
+    // Unlink
+    parent.connections.erase(connection);
+}
+
+void Node::Output::send(const std::shared_ptr<ADatatype>& msg) {
+    for(auto& conn : getConnections()) {
+        // Get node AND hold a reference to it.
+        auto node = conn.inputNode.lock();
+        // Safe, as long as we also hold 'node' shared_ptr
+        auto inputs = node->getInputRefs();
+        // Find the corresponding inputs
+        for(auto& input : inputs) {
+            if(input->group == conn.inputGroup && input->name == conn.inputName) {
+                // Corresponding input to a given connection
+                // Send the message
+                input->queue.send(msg);
+            }
+        }
+    }
 }
 
-void Node::Output::unlink(const Input& in) {
-    // Call unlink of pipeline parents pipeline
-    parent.getParentPipeline().unlink(*this, in);
+bool Node::Output::trySend(const std::shared_ptr<ADatatype>& msg) {
+    bool success = true;
+
+    for(auto& conn : getConnections()) {
+        // Get node AND hold a reference to it.
+        auto node = conn.inputNode.lock();
+        // Safe, as long as we also hold 'node' shared_ptr
+        auto inputs = node->getInputRefs();
+        // Find the corresponding inputs
+        for(auto& input : inputs) {
+            if(input->group == conn.inputGroup && input->name == conn.inputName) {
+                // Corresponding input to a given connection
+                // Send the message
+                success &= input->queue.trySend(msg);
+            }
+        }
+    }
+
+    return success;
 }
 
 void Node::Input::setBlocking(bool newBlocking) {
@@ -137,38 +244,93 @@ AssetManager& Node::getAssetManager() {
     return assetManager;
 }
 
+std::vector<uint8_t> Node::loadResource(dai::Path uri) {
+    std::string cwd = fmt::format("/node/{}/", id);
+    return parent.lock()->loadResourceCwd(uri, cwd);
+}
+
 Node::OutputMap::OutputMap(std::string name, Node::Output defaultOutput) : defaultOutput(defaultOutput), name(std::move(name)) {}
 Node::OutputMap::OutputMap(Node::Output defaultOutput) : defaultOutput(defaultOutput) {}
+Node::OutputMap::OutputMap(bool ref, Node& parent, std::string name, Node::Output defaultOutput) : defaultOutput(defaultOutput), name(std::move(name)) {
+    // Place oneself to the parents references
+    if(ref) {
+        parent.setOutputMapRefs(this);
+    }
+}
+Node::OutputMap::OutputMap(bool ref, Node& parent, Node::Output defaultOutput) : defaultOutput(defaultOutput) {
+    // Place oneself to the parents references
+    if(ref) {
+        parent.setOutputMapRefs(this);
+    }
+}
 Node::Output& Node::OutputMap::operator[](const std::string& key) {
-    if(count(key) == 0) {
+    if(count({name, key}) == 0) {
         // Create using default and rename with group and key
         Output output(defaultOutput);
         output.group = name;
         output.name = key;
-        insert(std::make_pair(key, output));
+        insert({{name, key}, output});
     }
     // otherwise just return reference to existing
-    return at(key);
+    return at({name, key});
 }
+Node::Output& Node::OutputMap::operator[](std::pair<std::string, std::string> groupKey) {
+    if(count(groupKey) == 0) {
+        // Create using default and rename with group and key
+        Output output(defaultOutput);
 
+        // Uses \t (tab) as a special character to parse out as subgroup name
+        output.group = fmt::format("{}\t{}", name, groupKey.first);
+        output.name = groupKey.second;
+        insert(std::make_pair(groupKey, output));
+    }
+    // otherwise just return reference to existing
+    return at(groupKey);
+}
 Node::InputMap::InputMap(std::string name, Node::Input defaultInput) : defaultInput(defaultInput), name(std::move(name)) {}
 Node::InputMap::InputMap(Node::Input defaultInput) : defaultInput(defaultInput) {}
+Node::InputMap::InputMap(bool ref, Node& parent, std::string name, Node::Input defaultInput) : defaultInput(defaultInput), name(std::move(name)) {
+    // Place oneself to the parents references
+    if(ref) {
+        parent.setInputMapRefs(this);
+    }
+}
+Node::InputMap::InputMap(bool ref, Node& parent, Node::Input defaultInput) : defaultInput(defaultInput) {
+    // Place oneself to the parents references
+    if(ref) {
+        parent.setInputMapRefs(this);
+    }
+}
 Node::Input& Node::InputMap::operator[](const std::string& key) {
-    if(count(key) == 0) {
+    if(count({name, key}) == 0) {
         // Create using default and rename with group and key
         Input input(defaultInput);
         input.group = name;
         input.name = key;
-        insert(std::make_pair(key, input));
+        insert({{name, key}, input});
     }
     // otherwise just return reference to existing
-    return at(key);
+    return at({name, key});
+}
+Node::Input& Node::InputMap::operator[](std::pair<std::string, std::string> groupKey) {
+    if(count(groupKey) == 0) {
+        // Create using default and rename with group and key
+        Input input(defaultInput);
+
+        // Uses \t (tab) as a special character to parse out as subgroup name
+        input.group = fmt::format("{}\t{}", name, groupKey.first);
+        input.name = groupKey.second;
+        insert(std::make_pair(groupKey, input));
+    }
+    // otherwise just return reference to existing
+    return at(groupKey);
 }
 
 /// Retrieves all nodes outputs
 std::vector<Node::Output> Node::getOutputs() {
     std::vector<Node::Output> result;
-    for(auto* x : getOutputRefs()) {
+    auto refs = getOutputRefs();
+    for(auto* x : refs) {
         result.push_back(*x);
     }
     return result;
@@ -177,7 +339,8 @@ std::vector<Node::Output> Node::getOutputs() {
 /// Retrieves all nodes inputs
 std::vector<Node::Input> Node::getInputs() {
     std::vector<Node::Input> result;
-    for(auto* x : getInputRefs()) {
+    auto refs = getInputRefs();
+    for(auto* x : refs) {
         result.push_back(*x);
     }
     return result;
@@ -258,6 +421,68 @@ std::vector<const Node::Input*> Node::getInputRefs() const {
     return tmpInputRefs;
 }
 
+Node::Output* Node::getOutputRef(std::string name) {
+    return getOutputRef("", name);
+}
+Node::Output* Node::getOutputRef(std::string group, std::string name) {
+    auto refs = getOutputRefs();
+    for(auto& out : refs) {
+        if(out->group == group && out->name == name) {
+            return out;
+        }
+    }
+    return nullptr;
+}
+
+Node::Input* Node::getInputRef(std::string name) {
+    return getInputRef("", name);
+}
+Node::Input* Node::getInputRef(std::string group, std::string name) {
+    auto refs = getInputRefs();
+    for(auto& input : refs) {
+        if(input->group == group && input->name == name) {
+            return input;
+        }
+    }
+    return nullptr;
+}
+
+std::vector<Node::InputMap*> Node::getInputMapRefs() {
+    std::vector<Node::InputMap*> tmpInputMapRefs;
+
+    tmpInputMapRefs.reserve(inputMapRefs.size());
+    // Add inputs from Maps
+    for(const auto& kvMap : inputMapRefs) {
+        tmpInputMapRefs.push_back(kvMap.second);
+    }
+    return tmpInputMapRefs;
+}
+
+std::vector<Node::OutputMap*> Node::getOutputMapRefs() {
+    std::vector<Node::OutputMap*> tmpOutputMapRefs;
+
+    tmpOutputMapRefs.reserve(outputMapRefs.size());
+    // Add inputs from Maps
+    for(const auto& kvMap : outputMapRefs) {
+        tmpOutputMapRefs.push_back(kvMap.second);
+    }
+    return tmpOutputMapRefs;
+}
+
+Node::InputMap* Node::getInputMapRef(std::string group) {
+    if(inputMapRefs.count(group) == 0) {
+        return nullptr;
+    }
+    return inputMapRefs[group];
+}
+
+Node::OutputMap* Node::getOutputMapRef(std::string group) {
+    if(outputMapRefs.count(group) == 0) {
+        return nullptr;
+    }
+    return outputMapRefs[group];
+}
+
 void Node::setOutputRefs(std::initializer_list<Node::Output*> l) {
     for(auto& outRef : l) {
         outputRefs[outRef->name] = outRef;
@@ -290,5 +515,131 @@ void Node::setInputMapRefs(std::initializer_list<Node::InputMap*> l) {
 void Node::setInputMapRefs(Node::InputMap* inMapRef) {
     inputMapRefs[inMapRef->name] = inMapRef;
 }
+void Node::buildStage1() {
+    return;
+};
+void Node::buildStage2() {
+    return;
+};
+void Node::buildStage3() {
+    return;
+};
+
+void Node::setNodeRefs(std::initializer_list<std::pair<std::string, std::shared_ptr<Node>*>> l) {
+    for(auto& nodeRef : l) {
+        nodeRefs[nodeRef.first] = nodeRef.second;
+    }
+}
+void Node::setNodeRefs(std::pair<std::string, std::shared_ptr<Node>*> nodeRef) {
+    setNodeRefs({nodeRef});
+}
+void Node::setNodeRefs(std::string alias, std::shared_ptr<Node>* nodeRef) {
+    setNodeRefs({alias, nodeRef});
+}
+
+void Node::add(std::shared_ptr<Node> node) {
+    // TODO(themarpe) - check if node is already added somewhere else, etc... (as in Pipeline)
+    node->parentNode = shared_from_this();
+
+    // Add to the map (node holds its children itself)
+    // nodeMap[node->id] = node;
+    nodeMap.push_back(node);
+}
+
+void Node::remove(std::shared_ptr<Node> node) {
+    // Remove the connection to the removed node and all it's children from all the nodes in the pipeline
+    auto pipeline = parent.lock();
+    if(pipeline == nullptr) {
+        throw std::runtime_error("Pipeline is null");
+    }
+
+    for(auto& n : pipeline->nodes) {
+        for(auto& childNode : node->nodeMap) {
+            n->removeConnectionToNode(childNode);
+        }
+        n->removeConnectionToNode(node);
+    }
+
+    // Finally remove the node from the map
+    nodeMap.erase(std::remove(nodeMap.begin(), nodeMap.end(), node), nodeMap.end());
+}
+
+void Node::removeConnectionToNode(std::shared_ptr<Node> node) {
+    // Remove all connections to this node
+    for(auto it = connections.begin(); it != connections.end();) {
+        if(it->inputNode.lock() == node || it->outputNode.lock() == node) {
+            it = connections.erase(it);
+        } else {
+            ++it;
+        }
+    }
+    for(auto& n : nodeMap) {
+        n->removeConnectionToNode(node);
+    }
+}
+
+// Recursive helpers for pipelines
+Node::ConnectionMap Node::getConnectionMap() {
+    ConnectionMap map;
+    // self first
+    map[shared_from_this()] = connections;
+    // then subnodes
+    for(const auto& node : nodeMap) {
+        auto nodeConnMap = node->getConnectionMap();
+        for(auto& kv : nodeConnMap) {
+            auto& n = kv.first;
+            map[n] = kv.second;
+        }
+    }
+    return map;
+}
+std::shared_ptr<Node> Node::getNode(Node::Id id) {
+    // Edge case
+    if(this->id == id) return shared_from_this();
+
+    // Search all nodes
+    for(auto& node : nodeMap) {
+        auto n = node->getNode(id);
+        if(n != nullptr) {
+            return n;
+        }
+    }
+    return nullptr;
+}
+std::shared_ptr<const Node> Node::getNode(Node::Id id) const {
+    // Edge case
+    if(this->id == id) return shared_from_this();
+
+    // Search all nodes
+    for(auto& node : nodeMap) {
+        auto n = node->getNode(id);
+        if(n != nullptr) {
+            return n;
+        }
+    }
+    return nullptr;
+}
+std::vector<std::shared_ptr<Node>> Node::getAllNodes() const {
+    std::vector<std::shared_ptr<Node>> nodes;
+    for(auto& node : nodeMap) {
+        // Add one own nodes first
+        nodes.push_back(node);
+        // And its subnodes
+        auto n = node->getAllNodes();
+        nodes.insert(nodes.end(), n.begin(), n.end());
+    }
+    return nodes;
+}
+
+size_t Node::ConnectionInternal::Hash::operator()(const dai::Node::ConnectionInternal& obj) const {
+    size_t seed = 0;
+    std::hash<std::shared_ptr<Node>> hId;
+    std::hash<std::string> hStr;
+    seed ^= hId(obj.outputNode.lock()) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    seed ^= hStr(obj.outputName) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    seed ^= hId(obj.inputNode.lock()) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    seed ^= hStr(obj.outputName) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    return seed;
+}
 
 }  // namespace dai
diff --git a/src/pipeline/Pipeline.cpp b/src/pipeline/Pipeline.cpp
index 8a8e3e18b..68d0f3c57 100644
--- a/src/pipeline/Pipeline.cpp
+++ b/src/pipeline/Pipeline.cpp
@@ -1,7 +1,13 @@
 #include "depthai/pipeline/Pipeline.hpp"
 
 #include "depthai/device/CalibrationHandler.hpp"
+#include "depthai/pipeline/node/XLinkIn.hpp"
+#include "depthai/pipeline/node/XLinkOut.hpp"
 #include "depthai/utility/Initialization.hpp"
+#include "utility/spdlog-fmt.hpp"
+
+// shared
+#include "depthai/pipeline/NodeConnectionSchema.hpp"
 
 // std
 #include <cassert>
@@ -10,15 +16,35 @@
 // libraries
 #include "spdlog/fmt/fmt.h"
 
+// Specialization of std::hash for NodeConnectionSchema
+namespace std {
+template <>
+struct hash<::dai::NodeConnectionSchema> {
+    size_t operator()(const ::dai::NodeConnectionSchema& obj) const {
+        size_t seed = 0;
+        std::hash<std::int64_t> hId;
+        std::hash<std::string> hStr;
+        seed ^= hId(obj.node1Id) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        seed ^= hId(obj.node2Id) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        seed ^= hStr(obj.node1OutputGroup) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        seed ^= hStr(obj.node1Output) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        seed ^= hStr(obj.node2InputGroup) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        seed ^= hStr(obj.node2Input) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+        return seed;
+    }
+};
+
+}  // namespace std
+
 namespace dai {
 
 Node::Id PipelineImpl::getNextUniqueId() {
     return latestId++;
 }
 
-Pipeline::Pipeline() : pimpl(std::make_shared<PipelineImpl>()) {
-    // Initialize library
-    initialize();
+Pipeline::Pipeline() : pimpl(std::make_shared<PipelineImpl>(*this)) {
+    // // Initialize library
+    // initialize();
 }
 
 Pipeline Pipeline::clone() const {
@@ -31,56 +57,58 @@ Pipeline Pipeline::clone() const {
 
     // All IDs remain the same, just switch out the actual nodes with copies
     // Copy all nodes
-    for(const auto& kv : impl()->nodeMap) {
-        const auto& id = kv.first;
+    for(const auto& node : impl()->nodes) {
+        // const auto& id = kv.first;
 
         // Swap out with a copy
-        clone.pimpl->nodeMap[id] = impl()->nodeMap.at(id)->clone();
+        auto nodeClone = node->clone();
         // Set parent to be the new pipeline
-        clone.pimpl->nodeMap[id]->parent = std::weak_ptr<PipelineImpl>(clone.pimpl);
+        nodeClone->parent = std::weak_ptr<PipelineImpl>(clone.pimpl);
+
+        // Add the new copy
+        clone.pimpl->nodes.push_back(node->clone());
     }
 
     return clone;
 }
 
-Pipeline::Pipeline(const std::shared_ptr<PipelineImpl>& newPimpl) {
-    pimpl = newPimpl;
-}
-
-GlobalProperties Pipeline::getGlobalProperties() const {
-    return pimpl->globalProperties;
+Pipeline::Pipeline(std::shared_ptr<PipelineImpl> pimpl) {
+    this->pimpl = pimpl;
 }
 
 PipelineSchema Pipeline::getPipelineSchema(SerializationType type) const {
     return pimpl->getPipelineSchema(type);
 }
 
-std::shared_ptr<const Node> PipelineImpl::getNode(Node::Id id) const {
-    if(nodeMap.count(id) > 0) {
-        return nodeMap.at(id);
-    }
-    return nullptr;
+GlobalProperties PipelineImpl::getGlobalProperties() const {
+    return globalProperties;
 }
-std::shared_ptr<Node> PipelineImpl::getNode(Node::Id id) {
-    if(nodeMap.count(id) > 0) {
-        return nodeMap.at(id);
-    }
-    return nullptr;
+
+void PipelineImpl::setGlobalProperties(GlobalProperties globalProperties) {
+    this->globalProperties = globalProperties;
 }
 
-std::vector<std::shared_ptr<const Node>> PipelineImpl::getAllNodes() const {
-    std::vector<std::shared_ptr<const Node>> nodes;
-    for(const auto& kv : nodeMap) {
-        nodes.push_back(kv.second);
+std::shared_ptr<Node> PipelineImpl::getNode(Node::Id id) const {
+    // Search all nodes
+    for(const auto& node : nodes) {
+        auto n = node->getNode(id);
+        if(n != nullptr) {
+            return n;
+        }
     }
-    return nodes;
+    return nullptr;
 }
-std::vector<std::shared_ptr<Node>> PipelineImpl::getAllNodes() {
-    std::vector<std::shared_ptr<Node>> nodes;
-    for(const auto& kv : nodeMap) {
-        nodes.push_back(kv.second);
+
+std::vector<std::shared_ptr<Node>> PipelineImpl::getAllNodes() const {
+    std::vector<std::shared_ptr<Node>> allNodes;
+    for(auto& node : nodes) {
+        // Insert the node in question
+        allNodes.push_back(node);
+        // And its subnodes
+        auto n = node->getAllNodes();
+        allNodes.insert(allNodes.end(), n.begin(), n.end());
     }
-    return nodes;
+    return allNodes;
 }
 
 void PipelineImpl::serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage, SerializationType type) const {
@@ -93,8 +121,8 @@ void PipelineImpl::serialize(PipelineSchema& schema, Assets& assets, std::vector
     // Pipeline assets
     assetManager.serialize(mutableAssets, assetStorage, "/pipeline/");
     // Node assets
-    for(const auto& kv : nodeMap) {
-        kv.second->getAssetManager().serialize(mutableAssets, assetStorage, fmt::format("/node/{}/", kv.second->id));
+    for(auto& node : getAllNodes()) {
+        node->getAssetManager().serialize(mutableAssets, assetStorage, fmt::format("/node/{}/", node->id));
     }
 
     assets = mutableAssets;
@@ -117,105 +145,314 @@ nlohmann::json PipelineImpl::serializeToJson() const {
     return j;
 }
 
+PipelineImpl::NodeConnectionMap PipelineImpl::getConnectionMap() const {
+    NodeConnectionMap map;
+
+    for(const auto& node : nodes) {
+        auto nodeConnMap = node->getConnectionMap();
+        for(auto& kv : nodeConnMap) {
+            auto& n = kv.first;
+            map[n->id] = kv.second;
+        }
+    }
+
+    return map;
+}
+
+std::vector<Node::Connection> PipelineImpl::getConnections() const {
+    std::vector<Node::Connection> conns;
+    auto nodeConnectionMap = getConnectionMap();
+    for(const auto& kv : nodeConnectionMap) {
+        const auto& connections = kv.second;
+        for(const auto& conn : connections) {
+            conns.push_back(conn);
+        }
+    }
+    return conns;
+}
+
 PipelineSchema PipelineImpl::getPipelineSchema(SerializationType type) const {
     PipelineSchema schema;
     schema.globalProperties = globalProperties;
 
-    std::uint32_t latestIoId = 0;
-
-    // Loop over nodes, and add them to schema
-    for(const auto& kv : nodeMap) {
-        const auto& node = kv.second;
-        // Create 'node' info
-        NodeObjInfo info;
-        info.id = node->id;
-        info.name = node->getName();
-        node->getProperties().serialize(info.properties, type);
-
-        // Create Io information
-        auto inputs = node->getInputs();
-        auto outputs = node->getOutputs();
-
-        info.ioInfo.reserve(inputs.size() + outputs.size());
-
-        // Add inputs
-        for(const auto& input : inputs) {
-            NodeIoInfo io;
-            io.id = ++latestIoId;
-            io.blocking = input.getBlocking();
-            io.queueSize = input.getQueueSize();
-            io.name = input.name;
-            io.group = input.group;
-            auto ioKey = std::make_tuple(io.group, io.name);
-
-            io.waitForMessage = input.waitForMessage.value_or(input.defaultWaitForMessage);
-            switch(input.type) {
-                case Node::Input::Type::MReceiver:
-                    io.type = NodeIoInfo::Type::MReceiver;
-                    break;
-                case Node::Input::Type::SReceiver:
-                    io.type = NodeIoInfo::Type::SReceiver;
-                    break;
+    // Loop over all nodes, and add them to schema
+    for(const auto& node : getAllNodes()) {
+        // const auto& node = kv.second;
+        if(std::string(node->getName()) == std::string("NodeGroup")) {
+            continue;
+        }
+        // Check if its a host node or device node
+        if(node->hostNode) {
+            // host node, no need to serialize to a schema
+            // TBD any additional changes
+        } else {
+            // Create 'node' info
+            NodeObjInfo info;
+            info.id = node->id;
+            info.name = node->getName();
+            info.alias = node->getAlias();
+            auto parentNode = node->parentNode.lock();
+            if(parentNode) {
+                info.parentId = parentNode->id;
+            } else {
+                info.parentId = -1;
             }
+            const auto& deviceNode = std::dynamic_pointer_cast<DeviceNode>(node);
+            if(!deviceNode) {
+                throw std::invalid_argument(fmt::format("Node '{}' should subclass DeviceNode or have hostNode == true", info.name));
+            }
+            deviceNode->getProperties().serialize(info.properties, type);
+
+            // Create Io information
+            auto inputs = node->getInputs();
+            auto outputs = node->getOutputs();
+
+            info.ioInfo.reserve(inputs.size() + outputs.size());
+
+            // Add inputs
+            for(const auto& input : inputs) {
+                NodeIoInfo io;
+                io.blocking = input.getBlocking();
+                io.queueSize = input.getQueueSize();
+                io.name = input.name;
+                io.group = input.group;
+                auto ioKey = std::make_tuple(io.group, io.name);
+
+                io.waitForMessage = input.waitForMessage.value_or(input.defaultWaitForMessage);
+                switch(input.type) {
+                    case Node::Input::Type::MReceiver:
+                        io.type = NodeIoInfo::Type::MReceiver;
+                        break;
+                    case Node::Input::Type::SReceiver:
+                        io.type = NodeIoInfo::Type::SReceiver;
+                        break;
+                }
 
-            if(info.ioInfo.count(ioKey) > 0) {
-                if(io.group == "") {
-                    throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
-                } else {
-                    throw std::invalid_argument(
-                        fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                if(info.ioInfo.count(ioKey) > 0) {
+                    if(io.group == "") {
+                        throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
+                    } else {
+                        throw std::invalid_argument(
+                            fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                    }
                 }
+                info.ioInfo[ioKey] = io;
             }
-            info.ioInfo[ioKey] = io;
-        }
 
-        // Add outputs
-        for(const auto& output : outputs) {
-            NodeIoInfo io;
-            io.id = ++latestIoId;
-            io.blocking = false;
-            io.name = output.name;
-            io.group = output.group;
-            auto ioKey = std::make_tuple(io.group, io.name);
-
-            switch(output.type) {
-                case Node::Output::Type::MSender:
-                    io.type = NodeIoInfo::Type::MSender;
-                    break;
-                case Node::Output::Type::SSender:
-                    io.type = NodeIoInfo::Type::SSender;
-                    break;
-            }
+            // Add outputs
+            for(const auto& output : outputs) {
+                NodeIoInfo io;
+                io.blocking = false;
+                io.name = output.name;
+                io.group = output.group;
+                auto ioKey = std::make_tuple(io.group, io.name);
+
+                switch(output.type) {
+                    case Node::Output::Type::MSender:
+                        io.type = NodeIoInfo::Type::MSender;
+                        break;
+                    case Node::Output::Type::SSender:
+                        io.type = NodeIoInfo::Type::SSender;
+                        break;
+                }
 
-            if(info.ioInfo.count(ioKey) > 0) {
-                if(io.group == "") {
-                    throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
-                } else {
-                    throw std::invalid_argument(
-                        fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                if(info.ioInfo.count(ioKey) > 0) {
+                    if(io.group == "") {
+                        throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
+                    } else {
+                        throw std::invalid_argument(
+                            fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                    }
                 }
+                info.ioInfo[ioKey] = io;
             }
-            info.ioInfo[ioKey] = io;
-        }
 
-        // At the end, add the constructed node information to the schema
-        schema.nodes[info.id] = info;
+            // At the end, add the constructed node information to the schema
+            schema.nodes[info.id] = info;
+        }
     }
 
     // Create 'connections' info
     // Loop through connections (output -> input) and add them to schema
+
+    std::unordered_map<NodeConnectionSchema, bool> hostDeviceXLinkBridge;
+    std::unordered_map<NodeConnectionSchema, bool> deviceHostXLinkBridge;
+
+    auto streamName = [](std::int64_t id, std::string group, std::string name) -> std::string {
+        if(group == "") {
+            return fmt::format("__x_{}_{}", id, name);
+        } else {
+            return fmt::format("__x_{}_{}[\"{}\"]", id, group, name);
+        }
+    };
+    Node::Id xLinkBridgeId = latestId;
+
+    auto nodeConnectionMap = getConnectionMap();
     for(const auto& kv : nodeConnectionMap) {
         const auto& connections = kv.second;
 
         for(const auto& conn : connections) {
             NodeConnectionSchema c;
-            c.node1Id = conn.outputId;
+            auto outNode = conn.outputNode.lock();
+            auto inNode = conn.inputNode.lock();
+            c.node1Id = outNode->id;
             c.node1Output = conn.outputName;
             c.node1OutputGroup = conn.outputGroup;
-            c.node2Id = conn.inputId;
+            c.node2Id = inNode->id;
             c.node2Input = conn.inputName;
             c.node2InputGroup = conn.inputGroup;
+
+            bool outputHost = outNode->hostNode;
+            bool inputHost = inNode->hostNode;
+
+            std::shared_ptr<Node> node;
+
+            if(outputHost && inputHost) {
+                // skip - connection between host nodes doesn't have to be represented to the device
+                continue;
+            }
+
+            if(outputHost == true && inputHost != true) {
+                // host->device - create implicit XLinkIn node and connect it
+
+                // Create a map entry, only one bridge is required for multiple connections
+                auto xlinkConnection = c;
+
+                auto nodeTmp = std::make_shared<node::XLinkIn>();
+                nodeTmp->parent = parent.pimpl;
+                nodeTmp->id = xLinkBridgeId++;
+                xlinkConnection.node1Id = xLinkBridgeId;
+                xlinkConnection.node1Output = nodeTmp->out.name;
+                xlinkConnection.node1OutputGroup = nodeTmp->out.group;
+                nodeTmp->setStreamName(streamName(c.node1Id, c.node1OutputGroup, c.node1Output));
+
+                xlinkConnection.node2Id = 0;
+                xlinkConnection.node2Input = "";
+                xlinkConnection.node2InputGroup = "";
+
+                if(hostDeviceXLinkBridge.count(xlinkConnection) <= 0) {
+                    // create it
+                    hostDeviceXLinkBridge[xlinkConnection] = true;
+                    // and bump xlink bridge id
+                    xLinkBridgeId++;
+
+                    c.node1Id = xlinkConnection.node1Id;
+                    c.node1Output = xlinkConnection.node1Output;
+                    c.node1OutputGroup = xlinkConnection.node1OutputGroup;
+
+                    node = nodeTmp;
+                }
+
+            } else if(outputHost == false && inputHost == true) {
+                // device -> host
+
+                // Create a map entry, only one bridge is required for multiple connections
+                auto xlinkConnection = c;
+                xlinkConnection.node2Id = 0;
+                xlinkConnection.node2Input = "";
+                xlinkConnection.node2InputGroup = "";
+
+                if(deviceHostXLinkBridge.count(xlinkConnection) <= 0) {
+                    // create it
+                    deviceHostXLinkBridge[xlinkConnection] = true;
+                    auto nodeTmp = std::make_shared<node::XLinkOut>();
+                    nodeTmp->parent = parent.pimpl;
+                    nodeTmp->id = xLinkBridgeId++;
+                    nodeTmp->setStreamName(streamName(c.node1Id, c.node1OutputGroup, c.node1Output));
+
+                    c.node2Id = nodeTmp->id;
+                    c.node2Input = nodeTmp->input.name;
+                    c.node2InputGroup = nodeTmp->input.group;
+                    node = nodeTmp;
+                }
+
+            } else {
+                // device->device connection
+                // all set
+            }
+
+            // add the connection to the schema
             schema.connections.push_back(c);
+
+            // Now add the created XLink bridge if necessary
+            if(node) {
+                // Create 'node' info
+                NodeObjInfo info;
+                info.id = node->id;
+                info.name = node->getName();
+                const auto& deviceNode = std::dynamic_pointer_cast<DeviceNode>(node);
+                if(!deviceNode) {
+                    throw std::invalid_argument(fmt::format("Node '{}' should subclass DeviceNode or have hostNode == true", info.name));
+                }
+                deviceNode->getProperties().serialize(info.properties, type);
+
+                // Create Io information
+                auto inputs = node->getInputs();
+                auto outputs = node->getOutputs();
+
+                info.ioInfo.reserve(inputs.size() + outputs.size());
+
+                // Add inputs
+                for(const auto& input : inputs) {
+                    NodeIoInfo io;
+                    io.blocking = input.getBlocking();
+                    io.queueSize = input.getQueueSize();
+                    io.name = input.name;
+                    io.group = input.group;
+                    auto ioKey = std::make_tuple(io.group, io.name);
+
+                    io.waitForMessage = input.waitForMessage.value_or(input.defaultWaitForMessage);
+                    switch(input.type) {
+                        case Node::Input::Type::MReceiver:
+                            io.type = NodeIoInfo::Type::MReceiver;
+                            break;
+                        case Node::Input::Type::SReceiver:
+                            io.type = NodeIoInfo::Type::SReceiver;
+                            break;
+                    }
+
+                    if(info.ioInfo.count(ioKey) > 0) {
+                        if(io.group == "") {
+                            throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
+                        } else {
+                            throw std::invalid_argument(
+                                fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                        }
+                    }
+                    info.ioInfo[ioKey] = io;
+                }
+
+                // Add outputs
+                for(const auto& output : outputs) {
+                    NodeIoInfo io;
+                    io.blocking = false;
+                    io.name = output.name;
+                    io.group = output.group;
+                    auto ioKey = std::make_tuple(io.group, io.name);
+
+                    switch(output.type) {
+                        case Node::Output::Type::MSender:
+                            io.type = NodeIoInfo::Type::MSender;
+                            break;
+                        case Node::Output::Type::SSender:
+                            io.type = NodeIoInfo::Type::SSender;
+                            break;
+                    }
+
+                    if(info.ioInfo.count(ioKey) > 0) {
+                        if(io.group == "") {
+                            throw std::invalid_argument(fmt::format("'{}.{}' redefined. Inputs and outputs must have unique names", info.name, io.name));
+                        } else {
+                            throw std::invalid_argument(
+                                fmt::format("'{}.{}[\"{}\"]' redefined. Inputs and outputs must have unique names", info.name, io.group, io.name));
+                        }
+                    }
+                    info.ioInfo[ioKey] = io;
+                }
+
+                // At the end, add the constructed node information to the schema
+                schema.nodes[info.id] = info;
+            }
         }
     }
 
@@ -231,15 +468,23 @@ bool PipelineImpl::isOpenVINOVersionCompatible(OpenVINO::Version version) const
     }
 }
 
-tl::optional<OpenVINO::Version> PipelineImpl::getPipelineOpenVINOVersion() const {
+/// Get possible OpenVINO version to run this pipeline
+OpenVINO::Version PipelineImpl::getOpenVINOVersion() const {
+    return getPipelineOpenVINOVersion().value_or(OpenVINO::DEFAULT_VERSION);
+}
+
+/// Get required OpenVINO version to run this pipeline. Can be none
+std::optional<OpenVINO::Version> PipelineImpl::getRequiredOpenVINOVersion() const {
+    return getPipelineOpenVINOVersion();
+}
+
+std::optional<OpenVINO::Version> PipelineImpl::getPipelineOpenVINOVersion() const {
     // Loop over nodes, and get the required information
-    tl::optional<OpenVINO::Version> version;
+    std::optional<OpenVINO::Version> version;
     std::string lastNodeNameWithRequiredVersion = "";
     Node::Id lastNodeIdWithRequiredVersion = -1;
 
-    for(const auto& kv : nodeMap) {
-        const auto& node = kv.second;
-
+    for(const auto& node : nodes) {
         // Check the required openvino version
         auto requiredVersion = node->getRequiredOpenVINOVersion();
         if(requiredVersion) {
@@ -280,7 +525,7 @@ tl::optional<OpenVINO::Version> PipelineImpl::getPipelineOpenVINOVersion() const
         return version;
     } else {
         // Return null
-        return tl::nullopt;
+        return std::nullopt;
     }
 }
 
@@ -322,38 +567,22 @@ BoardConfig PipelineImpl::getBoardConfig() const {
 
 // Remove node capability
 void PipelineImpl::remove(std::shared_ptr<Node> toRemove) {
-    // Search for this node in 'nodes' vector.
-    // If found, remove from vector
-
-    // First check if node is on this pipeline (and that they are the same)
-    if(nodeMap.count(toRemove->id) > 0) {
-        if(nodeMap.at(toRemove->id) == toRemove) {
-            // its same object, (not same id but from different pipeline)
-
-            // Steps to remove
-            // 1. Iterate and remove this nodes output connections
-            // 2. Remove this nodes entry in 'nodeConnectionMap'
-            // 3. Remove node from 'nodeMap'
-
-            // 1. Iterate and remove this nodes output connections
-            for(auto& kv : nodeConnectionMap) {
-                for(auto it = kv.second.begin(); it != kv.second.end();) {
-                    // check if output belongs to 'toRemove' node
-                    if(it->outputId == toRemove->id) {
-                        // remove this connection from set
-                        it = kv.second.erase(it);
-                    } else {
-                        ++it;
-                    }
-                }
-            }
+    if(toRemove->parent.lock() == nullptr) {
+        throw std::invalid_argument("Cannot remove a node that is not a part of any pipeline");
+    }
 
-            // 2. Remove this nodes entry in 'nodeConnectionMap'
-            nodeConnectionMap.erase(toRemove->id);
+    if(toRemove->parent.lock() != parent.pimpl) {
+        throw std::invalid_argument("Cannot remove a node that is not a part of this pipeline");
+    }
 
-            // 3. Remove node from 'nodeMap'
-            nodeMap.erase(toRemove->id);
-        }
+    // First remove the node from the pipeline directly
+    auto it = std::remove(nodes.begin(), nodes.end(), toRemove);
+    nodes.erase(it, nodes.end());
+
+    // Then also remove it from all connections & subnodes
+    for(auto& node : nodes) {
+        // The function below handles removing all the connections and removes the node if the node is not directly attached to a pipline
+        node->remove(toRemove);
     }
 }
 
@@ -395,74 +624,235 @@ bool PipelineImpl::canConnect(const Node::Output& out, const Node::Input& in) {
     return false;
 }
 
-std::vector<Node::Connection> PipelineImpl::getConnections() const {
-    std::vector<Node::Connection> connections;
-    for(const auto& kv : nodeConnectionMap) {
-        for(const auto& conn : kv.second) {
-            connections.push_back(conn);
+void PipelineImpl::setCalibrationData(CalibrationHandler calibrationDataHandler) {
+    /* if(!calibrationDataHandler.validateCameraArray()) {
+        throw std::runtime_error("Failed to validate the extrinsics connection. Enable debug mode for more information.");
+    } */
+    globalProperties.calibData = calibrationDataHandler.getEepromData();
+}
+
+bool PipelineImpl::isCalibrationDataAvailable() const {
+    return globalProperties.calibData.has_value();
+}
+
+CalibrationHandler PipelineImpl::getCalibrationData() const {
+    if(globalProperties.calibData) {
+        return CalibrationHandler(globalProperties.calibData.value());
+    } else {
+        return CalibrationHandler();
+    }
+}
+
+void PipelineImpl::setEepromData(std::optional<EepromData> eepromData) {
+    globalProperties.calibData = eepromData;
+}
+
+std::optional<EepromData> PipelineImpl::getEepromData() const {
+    return globalProperties.calibData;
+}
+
+bool PipelineImpl::isHostOnly() const {
+    // Starts pipeline, go through all nodes and start them
+    bool hostOnly = true;
+    for(const auto& node : nodes) {
+        if(!node->hostNode) {
+            hostOnly = false;
+            break;
         }
     }
-    return connections;
+    return hostOnly;
 }
 
-void PipelineImpl::link(const Node::Output& out, const Node::Input& in) {
-    // First check if on same pipeline
-    if(!isSamePipeline(out, in)) {
-        throw std::logic_error(fmt::format("Nodes are not on same pipeline or one of nodes parent pipeline doesn't exists anymore"));
+bool PipelineImpl::isDeviceOnly() const {
+    // Starts pipeline, go through all nodes and start them
+    bool deviceOnly = true;
+    for(const auto& node : nodes) {
+        if(node->hostNode) {
+            deviceOnly = false;
+            break;
+        }
+    }
+    return deviceOnly;
+}
+
+void PipelineImpl::add(std::shared_ptr<Node> node) {
+    if(node == nullptr) {
+        throw std::invalid_argument(fmt::format("Given node pointer is null"));
+    }
+
+    // Go through and modify nodes and its children
+    // that they are now part of this pipeline
+    std::weak_ptr<PipelineImpl> curParent;
+    std::queue<std::shared_ptr<Node>> search;
+    search.push(node);
+    while(!search.empty()) {
+        auto curNode = search.front();
+        search.pop();
+
+        // Assign an ID to the node
+        if(curNode->id == -1) {
+            curNode->id = getNextUniqueId();
+        }
+
+        if(curNode->parent.lock() == nullptr) {
+            curNode->parent = parent.pimpl;
+        } else if(curNode->parent.lock() != parent.pimpl) {
+            throw std::invalid_argument("Cannot add a node that is already part of another pipeline");
+        }
+
+        for(auto& n : curNode->nodeMap) {
+            search.push(n);
+        }
     }
 
-    // First check if can connect (must be on same pipeline and correct types)
-    if(!canConnect(out, in)) {
-        throw std::runtime_error(
-            fmt::format("Cannot link '{}.{}' to '{}.{}'", out.getParent().getName(), out.toString(), in.getParent().getName(), in.toString()));
+    // Add to the map (node holds its children itself)
+    nodes.push_back(node);
+}
+
+bool PipelineImpl::isRunning() const {
+    return running;
+}
+
+void PipelineImpl::build() {
+    // TODO(themarpe) - add mutex and set running up ahead
+    if(isBuild) return;
+    isBuild = true;
+
+    // Build
+    if(!isHostOnly()) {
+        // throw std::invalid_argument("Pipeline contains device nodes");
+        device = std::make_shared<Device>(Pipeline(shared_from_this()));
+        for(auto outQ : device->getOutputQueueNames()) {
+            device->getOutputQueue(outQ, 0, false);
+        }
+        for(auto inQ : device->getInputQueueNames()) {
+            device->getInputQueue(inQ, 0, false);
+        }
     }
 
-    // Create 'Connection' object between 'out' and 'in'
-    Node::Connection connection(out, in);
+    // Go through the build stages sequentially
+    for(const auto& node : nodes) {
+        node->buildStage1();
+    }
 
-    // Check if connection was already made - the following is possible as operator[] constructs the underlying set if it doesn't exist.
-    if(nodeConnectionMap[in.getParent().id].count(connection) > 0) {
-        // this means a connection was already made.
-        throw std::logic_error(
-            fmt::format("'{}.{}' already linked to '{}.{}'", out.getParent().getName(), out.toString(), in.getParent().getName(), in.toString()));
+    for(const auto& node : nodes) {
+        node->buildStage2();
     }
 
-    // Otherwise all is set to add a new connection into nodeConnectionMap[in.getParent().id]
-    nodeConnectionMap[in.getParent().id].insert(connection);
+    for(const auto& node : nodes) {
+        node->buildStage3();
+    }
 }
 
-void PipelineImpl::unlink(const Node::Output& out, const Node::Input& in) {
-    // First check if on same pipeline
-    if(!isSamePipeline(out, in)) {
-        throw std::logic_error(fmt::format("Nodes are not on same pipeline or one of nodes parent pipeline doesn't exists anymore"));
+void PipelineImpl::start() {
+    // TODO(themarpe) - add mutex and set running up ahead
+
+    // Implicitly build (if not already)
+    build();
+
+    // Indicate that pipeline is running
+    running = true;
+
+    // Starts pipeline, go through all nodes and start them
+    for(const auto& node : nodes) {
+        node->start();
     }
+}
 
-    // Create 'Connection' object
-    Node::Connection connection(out, in);
+void PipelineImpl::wait() {
+    // Waits for all nodes to finish the execution
+    for(const auto& node : nodes) {
+        node->wait();
+    }
+}
 
-    // Check if not connected (connection object doesn't exist in nodeConnectionMap)
-    if(nodeConnectionMap[in.getParent().id].count(connection) <= 0) {
-        // not connected
-        throw std::logic_error(
-            fmt::format("'{}.{}' not linked to '{}.{}'", out.getParent().getName(), out.toString(), in.getParent().getName(), in.toString()));
+void PipelineImpl::stop() {
+    // Stops the pipeline execution
+    for(const auto& node : nodes) {
+        node->stop();
     }
 
-    // Otherwise if exists, remove this connection
-    nodeConnectionMap[in.getParent().id].erase(connection);
+    // Indicate that pipeline is not runnin
+    running = false;
 }
 
-void PipelineImpl::setCalibrationData(CalibrationHandler calibrationDataHandler) {
-    /* if(!calibrationDataHandler.validateCameraArray()) {
-        throw std::runtime_error("Failed to validate the extrinsics connection. Enable debug mode for more information.");
-    } */
-    globalProperties.calibData = calibrationDataHandler.getEepromData();
+PipelineImpl::~PipelineImpl() {
+    wait();
+    // TMP - might be more appropriate
+    // stop();
 }
 
-CalibrationHandler PipelineImpl::getCalibrationData() const {
-    if(globalProperties.calibData) {
-        return CalibrationHandler(globalProperties.calibData.value());
-    } else {
-        return CalibrationHandler();
+std::vector<uint8_t> PipelineImpl::loadResource(dai::Path uri) {
+    return loadResourceCwd(uri, "/pipeline");
+}
+
+static dai::Path getAbsUri(dai::Path& uri, dai::Path& cwd) {
+    int colonLocation = uri.string().find(":");
+    std::string resourceType = uri.string().substr(0, colonLocation + 1);
+    dai::Path absAssetUri;
+    if(uri.string()[colonLocation + 1] == '/') {  // Absolute path
+        absAssetUri = uri;
+    } else {  // Relative path
+        absAssetUri = dai::Path{resourceType + cwd.string() + uri.string().substr(colonLocation + 1)};
+    }
+    return absAssetUri;
+}
+
+std::vector<uint8_t> PipelineImpl::loadResourceCwd(dai::Path uri, dai::Path cwd) {
+    struct ProtocolHandler {
+        const char* protocol = nullptr;
+        std::function<std::vector<uint8_t>(PipelineImpl&, const dai::Path&)> handle = nullptr;
+    };
+
+    const std::vector<ProtocolHandler> protocolHandlers = {
+        {"asset",
+         [](PipelineImpl& p, const dai::Path& uri) -> std::vector<uint8_t> {
+             // First check the pipeline asset manager
+             auto asset = p.assetManager.get(uri.u8string());
+             if(asset != nullptr) {
+                 return asset->data;
+             }
+             // If asset not found in the pipeline asset manager, check all nodes
+             else {
+                 for(auto& node : p.nodes) {
+                     auto& assetManager = node->getAssetManager();
+                     auto asset = assetManager.get(uri.u8string());
+                     if(asset != nullptr) {
+                         return asset->data;
+                     }
+                 }
+             }
+             // Asset not found anywhere
+             throw std::invalid_argument(fmt::format("No asset with key ({}) found", uri));
+         }} /*, TODO (read from filesystem 'file://' or default scheme, ...) */
+    };
+
+    for(const auto& handler : protocolHandlers) {
+        std::string protocolPrefix = std::string(handler.protocol) + ":";
+
+        if(uri.u8string().find(protocolPrefix) == 0) {
+            // // protocol matches, resolve URI and call handler
+            // std::filesystem::path path(uri.substr(protocolPrefix.size()));
+            // // Create full path, and normalize
+            // // If path is relative, otherwise path will be taken as absolute
+            // auto fullPath = (cwd / path).lexically_normal();
+            // // Call handler and return
+            // return handler.handle(this, fullPath.string());
+
+            // TODO(themarpe) - use above approach instead
+            dai::Path path;
+            if(protocolPrefix == "asset:") {
+                auto absUri = getAbsUri(uri, cwd);
+                path = static_cast<dai::Path>(absUri.u8string().substr(protocolPrefix.size()));
+            } else {
+                path = static_cast<dai::Path>(uri.u8string().substr(protocolPrefix.size()));
+            }
+            return handler.handle(*this, path.u8string());
+        }
     }
+
+    // If no handler executed, then return nullptr
+    throw std::invalid_argument(fmt::format("No handler specified for following ({}) URI", uri));
 }
+
 }  // namespace dai
diff --git a/src/pipeline/ThreadedNode.cpp b/src/pipeline/ThreadedNode.cpp
new file mode 100644
index 000000000..43c0aae12
--- /dev/null
+++ b/src/pipeline/ThreadedNode.cpp
@@ -0,0 +1,57 @@
+#include "depthai/pipeline/ThreadedNode.hpp"
+
+#include <spdlog/spdlog.h>
+
+#include "utility/Platform.hpp"
+namespace dai {
+
+void ThreadedNode::start() {
+    // Start the thread
+    running = true;
+    thread = std::thread([this]() {
+        try {
+            run();
+        } catch(const MessageQueue::QueueException& ex) {
+            // catch the exception and stop the node
+            auto expStr = fmt::format("Node stopped with a queue exception: {}", ex.what());
+            if(logger) {
+                logger->info(expStr);
+            } else {
+                spdlog::info(expStr);
+            }
+            running = false;
+        } catch(const std::runtime_error& ex) {
+            auto expStr = fmt::format("Node threw exception, stopping the node. Exception message: {}", ex.what());
+            if(logger) {
+                logger->error(expStr);
+            } else {
+                spdlog::error(expStr);
+            }
+            running = false;
+        }
+    });
+    platform::setThreadName(thread, fmt::format("{}({})", getName(), id));
+}
+
+void ThreadedNode::wait() {
+    if(thread.joinable()) thread.join();
+}
+
+void ThreadedNode::stop() {
+    // TBD
+    // Sets running to false
+    running = false;
+    // closes all the queueus, then waits for the thread to join
+    for(auto& in : getInputRefs()) {
+        in->queue.close();
+    }
+    // for(auto& rout : getOutputRefs()) {
+    // }
+    // wait();
+}
+
+bool ThreadedNode::isRunning() const {
+    return running;
+}
+
+}  // namespace dai
diff --git a/src/pipeline/datatype/AprilTagConfig.cpp b/src/pipeline/datatype/AprilTagConfig.cpp
index dad506f9f..3747a7808 100644
--- a/src/pipeline/datatype/AprilTagConfig.cpp
+++ b/src/pipeline/datatype/AprilTagConfig.cpp
@@ -1,25 +1,8 @@
 #include "depthai/pipeline/datatype/AprilTagConfig.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> AprilTagConfig::serialize() const {
-    return raw;
-}
-
-AprilTagConfig::AprilTagConfig() : Buffer(std::make_shared<RawAprilTagConfig>()), cfg(*dynamic_cast<RawAprilTagConfig*>(raw.get())) {}
-AprilTagConfig::AprilTagConfig(std::shared_ptr<RawAprilTagConfig> ptr) : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawAprilTagConfig*>(raw.get())) {}
-
 AprilTagConfig& AprilTagConfig::setFamily(Family family) {
-    cfg.family = family;
-    return *this;
-}
-
-dai::RawAprilTagConfig AprilTagConfig::get() const {
-    return cfg;
-}
-
-AprilTagConfig& AprilTagConfig::set(dai::RawAprilTagConfig config) {
-    cfg = config;
+    this->family = family;
     return *this;
 }
 
diff --git a/src/pipeline/datatype/AprilTags.cpp b/src/pipeline/datatype/AprilTags.cpp
index fa81e5bb5..42b83e8c7 100644
--- a/src/pipeline/datatype/AprilTags.cpp
+++ b/src/pipeline/datatype/AprilTags.cpp
@@ -1,26 +1,5 @@
 #include "depthai/pipeline/datatype/AprilTags.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> AprilTags::serialize() const {
-    return raw;
-}
-
-AprilTags::AprilTags() : Buffer(std::make_shared<RawAprilTags>()), rawdata(*dynamic_cast<RawAprilTags*>(raw.get())), aprilTags(rawdata.aprilTags) {}
-AprilTags::AprilTags(std::shared_ptr<RawAprilTags> ptr)
-    : Buffer(std::move(ptr)), rawdata(*dynamic_cast<RawAprilTags*>(raw.get())), aprilTags(rawdata.aprilTags) {}
-
-// setters
-AprilTags& AprilTags::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<AprilTags&>(Buffer::setTimestamp(tp));
-}
-AprilTags& AprilTags::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<AprilTags&>(Buffer::setTimestampDevice(tp));
-}
-AprilTags& AprilTags::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<AprilTags&>(Buffer::setSequenceNum(sequenceNum));
-}
-
-}  // namespace dai
\ No newline at end of file
+;  // TODO - no impl needed
+}  // namespace dai
diff --git a/src/pipeline/datatype/BenchmarkReport.cpp b/src/pipeline/datatype/BenchmarkReport.cpp
new file mode 100644
index 000000000..836cc935e
--- /dev/null
+++ b/src/pipeline/datatype/BenchmarkReport.cpp
@@ -0,0 +1,5 @@
+#include "depthai/pipeline/datatype/BenchmarkReport.hpp"
+
+namespace dai {
+// No implementation needed
+}  // namespace dai
diff --git a/src/pipeline/datatype/Buffer.cpp b/src/pipeline/datatype/Buffer.cpp
index a0251d7bf..43b7a60fd 100644
--- a/src/pipeline/datatype/Buffer.cpp
+++ b/src/pipeline/datatype/Buffer.cpp
@@ -1,60 +1,70 @@
 #include "depthai/pipeline/datatype/Buffer.hpp"
 
-namespace dai {
+#include "depthai/utility/VectorMemory.hpp"
 
-std::shared_ptr<dai::RawBuffer> Buffer::serialize() const {
-    return raw;
+namespace dai {
+Buffer::Buffer(size_t size) : Buffer() {
+    auto mem = std::make_shared<VectorMemory>();
+    mem->resize(size);
+    data = mem;
 }
 
-Buffer::Buffer() : ADatatype(std::make_shared<dai::RawBuffer>()) {}
-Buffer::Buffer(std::shared_ptr<dai::RawBuffer> ptr) : ADatatype(std::move(ptr)) {}
+span<uint8_t> Buffer::getData() {
+    return data->getData();
+}
 
-// helpers
-std::vector<std::uint8_t>& Buffer::getData() const {
-    return raw->data;
+span<const uint8_t> Buffer::getData() const {
+    return data->getData();
 }
 
-void Buffer::setData(const std::vector<std::uint8_t>& data) {
-    raw->data = data;
+void Buffer::setData(const std::vector<std::uint8_t>& d) {
+    if(data->getMaxSize() >= d.size()) {
+        // TODO(themarpe) - has to set offset as well
+        memcpy(data->getData().data(), d.data(), d.size());
+    } else {
+        // allocate new holder
+        data = std::make_shared<VectorMemory>(std::move(d));
+    }
 }
 
-void Buffer::setData(std::vector<std::uint8_t>&& data) {
-    raw->data = std::move(data);
+void Buffer::setData(std::vector<std::uint8_t>&& d) {
+    // allocate new holder
+    data = std::make_shared<VectorMemory>(std::move(d));
+    // *mem = std::move(d);
+    // data = mem;
 }
 
-// getters
 std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> Buffer::getTimestamp() const {
     using namespace std::chrono;
-    return time_point<steady_clock, steady_clock::duration>{seconds(raw->ts.sec) + nanoseconds(raw->ts.nsec)};
+    return time_point<steady_clock, steady_clock::duration>{seconds(ts.sec) + nanoseconds(ts.nsec)};
 }
+
 std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> Buffer::getTimestampDevice() const {
     using namespace std::chrono;
-    return time_point<steady_clock, steady_clock::duration>{seconds(raw->tsDevice.sec) + nanoseconds(raw->tsDevice.nsec)};
-}
-int64_t Buffer::getSequenceNum() const {
-    return raw->sequenceNum;
+    return time_point<steady_clock, steady_clock::duration>{seconds(tsDevice.sec) + nanoseconds(tsDevice.nsec)};
 }
 
-// setters
-Buffer& Buffer::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
+void Buffer::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
     // Set timestamp from timepoint
     using namespace std::chrono;
-    auto ts = tp.time_since_epoch();
-    raw->ts.sec = duration_cast<seconds>(ts).count();
-    raw->ts.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
-    return *this;
+    auto tsLocal = tp.time_since_epoch();
+    ts.sec = duration_cast<seconds>(tsLocal).count();
+    ts.nsec = duration_cast<nanoseconds>(tsLocal).count() % 1000000000;
 }
-Buffer& Buffer::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
+void Buffer::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
     // Set timestamp from timepoint
     using namespace std::chrono;
     auto ts = tp.time_since_epoch();
-    raw->tsDevice.sec = duration_cast<seconds>(ts).count();
-    raw->tsDevice.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
-    return *this;
+    tsDevice.sec = duration_cast<seconds>(ts).count();
+    tsDevice.nsec = duration_cast<nanoseconds>(ts).count() % 1000000000;
 }
-Buffer& Buffer::setSequenceNum(int64_t sequenceNum) {
-    raw->sequenceNum = sequenceNum;
-    return *this;
+
+int64_t Buffer::getSequenceNum() const {
+    return sequenceNum;
+}
+
+void Buffer::setSequenceNum(int64_t sequenceNum) {
+    this->sequenceNum = sequenceNum;
 }
 
 }  // namespace dai
diff --git a/src/pipeline/datatype/CameraControl.cpp b/src/pipeline/datatype/CameraControl.cpp
index 6b1ab049d..2b706df1d 100644
--- a/src/pipeline/datatype/CameraControl.cpp
+++ b/src/pipeline/datatype/CameraControl.cpp
@@ -2,137 +2,136 @@
 
 namespace dai {
 
-std::shared_ptr<RawBuffer> CameraControl::serialize() const {
-    return raw;
-}
-
-CameraControl::CameraControl() : Buffer(std::make_shared<RawCameraControl>()), cfg(*dynamic_cast<RawCameraControl*>(raw.get())) {}
-CameraControl::CameraControl(std::shared_ptr<RawCameraControl> ptr) : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawCameraControl*>(raw.get())) {}
-
-// helpers
 // Functions to set properties
 CameraControl& CameraControl::setCaptureStill(bool capture) {
     // Enable capture
-    cfg.setCommand(RawCameraControl::Command::STILL_CAPTURE, capture);
+    setCommand(Command::STILL_CAPTURE, capture);
     return *this;
 }
 
 CameraControl& CameraControl::setStartStreaming() {
-    cfg.setCommand(RawCameraControl::Command::START_STREAM);
+    setCommand(Command::START_STREAM);
     return *this;
 }
 CameraControl& CameraControl::setStopStreaming() {
-    cfg.setCommand(RawCameraControl::Command::STOP_STREAM);
+    setCommand(Command::STOP_STREAM);
     return *this;
 }
 CameraControl& CameraControl::setExternalTrigger(int numFramesBurst, int numFramesDiscard) {
-    cfg.setCommand(RawCameraControl::Command::EXTERNAL_TRIGGER);
-    cfg.lowPowerNumFramesBurst = numFramesBurst;
-    cfg.lowPowerNumFramesDiscard = numFramesDiscard;
+    setCommand(Command::EXTERNAL_TRIGGER);
+    lowPowerNumFramesBurst = numFramesBurst;
+    lowPowerNumFramesDiscard = numFramesDiscard;
     return *this;
 }
 
 CameraControl& CameraControl::setFrameSyncMode(FrameSyncMode mode) {
-    cfg.setCommand(RawCameraControl::Command::FRAME_SYNC);
-    cfg.frameSyncMode = mode;
+    setCommand(Command::FRAME_SYNC);
+    frameSyncMode = mode;
     return *this;
 }
 
 CameraControl& CameraControl::setStrobeSensor(int activeLevel) {
-    cfg.setCommand(RawCameraControl::Command::STROBE_CONFIG);
-    cfg.strobeConfig.enable = true;
-    cfg.strobeConfig.activeLevel = activeLevel;
-    cfg.strobeConfig.gpioNumber = -1;
+    setCommand(Command::STROBE_CONFIG);
+    strobeConfig.enable = true;
+    strobeConfig.activeLevel = activeLevel;
+    strobeConfig.gpioNumber = -1;
     return *this;
 }
 
 CameraControl& CameraControl::setStrobeExternal(int gpioNumber, int activeLevel) {
-    cfg.setCommand(RawCameraControl::Command::STROBE_CONFIG);
-    cfg.strobeConfig.enable = true;
-    cfg.strobeConfig.activeLevel = activeLevel;
-    cfg.strobeConfig.gpioNumber = gpioNumber;
+    setCommand(Command::STROBE_CONFIG);
+    strobeConfig.enable = true;
+    strobeConfig.activeLevel = activeLevel;
+    strobeConfig.gpioNumber = gpioNumber;
     return *this;
 }
 
 CameraControl& CameraControl::setStrobeDisable() {
-    cfg.setCommand(RawCameraControl::Command::STROBE_CONFIG);
-    cfg.strobeConfig.enable = false;
+    setCommand(Command::STROBE_CONFIG);
+    strobeConfig.enable = false;
     return *this;
 }
 
 // Focus
 CameraControl& CameraControl::setAutoFocusMode(AutoFocusMode mode) {
-    cfg.setCommand(RawCameraControl::Command::AF_MODE);
-    cfg.autoFocusMode = mode;
+    setCommand(Command::AF_MODE);
+    autoFocusMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setAutoFocusTrigger() {
-    cfg.setCommand(RawCameraControl::Command::AF_TRIGGER);
+    setCommand(Command::AF_TRIGGER);
     return *this;
 }
 CameraControl& CameraControl::setAutoFocusLensRange(int infinityPosition, int macroPosition) {
-    cfg.setCommand(RawCameraControl::Command::AF_LENS_RANGE);
-    cfg.lensPosAutoInfinity = infinityPosition;
-    cfg.lensPosAutoMacro = macroPosition;
+    setCommand(Command::AF_LENS_RANGE);
+    lensPosAutoInfinity = infinityPosition;
+    lensPosAutoMacro = macroPosition;
     return *this;
 }
 CameraControl& CameraControl::setAutoFocusRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height) {
-    cfg.setCommand(RawCameraControl::Command::AF_REGION);
-    cfg.afRegion.x = startX;
-    cfg.afRegion.y = startY;
-    cfg.afRegion.width = width;
-    cfg.afRegion.height = height;
-    cfg.afRegion.priority = 1;  // TODO
+    setCommand(Command::AF_REGION);
+    afRegion.x = startX;
+    afRegion.y = startY;
+    afRegion.width = width;
+    afRegion.height = height;
+    afRegion.priority = 1;  // TODO
     return *this;
 }
+
 CameraControl& CameraControl::setManualFocus(uint8_t lensPosition) {
-    cfg.setCommand(RawCameraControl::Command::MOVE_LENS);
-    cfg.lensPosition = lensPosition;
+    setCommand(Command::MOVE_LENS);
+    this->lensPosition = lensPosition;
+    return *this;
+}
+
+CameraControl& CameraControl::setManualFocusRaw(float lensPositionRaw) {
+    setCommand(Command::MOVE_LENS_RAW);
+    this->lensPositionRaw = lensPositionRaw;
     return *this;
 }
 
 // Exposure
 CameraControl& CameraControl::setAutoExposureEnable() {
-    cfg.setCommand(RawCameraControl::Command::AE_AUTO);
+    setCommand(Command::AE_AUTO);
     return *this;
 }
 CameraControl& CameraControl::setAutoExposureLock(bool lock) {
-    cfg.setCommand(RawCameraControl::Command::AE_LOCK);
-    cfg.aeLockMode = lock;
+    setCommand(Command::AE_LOCK);
+    aeLockMode = lock;
     return *this;
 }
 CameraControl& CameraControl::setAutoExposureRegion(uint16_t startX, uint16_t startY, uint16_t width, uint16_t height) {
-    cfg.setCommand(RawCameraControl::Command::AE_REGION);
-    cfg.aeRegion.x = startX;
-    cfg.aeRegion.y = startY;
-    cfg.aeRegion.width = width;
-    cfg.aeRegion.height = height;
-    cfg.aeRegion.priority = 1;  // TODO
+    setCommand(Command::AE_REGION);
+    aeRegion.x = startX;
+    aeRegion.y = startY;
+    aeRegion.width = width;
+    aeRegion.height = height;
+    aeRegion.priority = 1;  // TODO
     return *this;
 }
 CameraControl& CameraControl::setAutoExposureCompensation(int compensation) {
-    cfg.setCommand(RawCameraControl::Command::EXPOSURE_COMPENSATION);
-    cfg.expCompensation = compensation;
+    setCommand(Command::EXPOSURE_COMPENSATION);
+    expCompensation = compensation;
     return *this;
 }
 CameraControl& CameraControl::setAutoExposureLimit(uint32_t maxExposureTimeUs) {
-    cfg.setCommand(RawCameraControl::Command::AE_TARGET_FPS_RANGE);
-    cfg.aeMaxExposureTimeUs = maxExposureTimeUs;
+    setCommand(CameraControl::Command::AE_TARGET_FPS_RANGE);
+    this->aeMaxExposureTimeUs = maxExposureTimeUs;
     return *this;
 }
 CameraControl& CameraControl::setAutoExposureLimit(std::chrono::microseconds maxExposureTime) {
     return setAutoExposureLimit(maxExposureTime.count());
 }
 CameraControl& CameraControl::setAntiBandingMode(AntiBandingMode mode) {
-    cfg.setCommand(RawCameraControl::Command::ANTIBANDING_MODE);
-    cfg.antiBandingMode = mode;
+    setCommand(Command::ANTIBANDING_MODE);
+    antiBandingMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setManualExposure(uint32_t exposureTimeUs, uint32_t sensitivityIso) {
-    cfg.setCommand(RawCameraControl::Command::AE_MANUAL);
-    cfg.expManual.exposureTimeUs = exposureTimeUs;
-    cfg.expManual.sensitivityIso = sensitivityIso;
-    cfg.expManual.frameDurationUs = 0;  // TODO
+    setCommand(Command::AE_MANUAL);
+    expManual.exposureTimeUs = exposureTimeUs;
+    expManual.sensitivityIso = sensitivityIso;
+    expManual.frameDurationUs = 0;  // TODO
     return *this;
 }
 
@@ -142,96 +141,108 @@ CameraControl& CameraControl::setManualExposure(std::chrono::microseconds exposu
 
 // White Balance
 CameraControl& CameraControl::setAutoWhiteBalanceMode(AutoWhiteBalanceMode mode) {
-    cfg.setCommand(RawCameraControl::Command::AWB_MODE);
-    cfg.awbMode = mode;
+    setCommand(Command::AWB_MODE);
+    awbMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setAutoWhiteBalanceLock(bool lock) {
-    cfg.setCommand(RawCameraControl::Command::AWB_LOCK);
-    cfg.awbLockMode = lock;
+    setCommand(Command::AWB_LOCK);
+    awbLockMode = lock;
     return *this;
 }
 CameraControl& CameraControl::setManualWhiteBalance(int colorTemperatureK) {
-    cfg.setCommand(RawCameraControl::Command::WB_COLOR_TEMP);
-    cfg.wbColorTemp = colorTemperatureK;
+    setCommand(Command::WB_COLOR_TEMP);
+    wbColorTemp = colorTemperatureK;
     return *this;
 }
 
 // Other image controls
 CameraControl& CameraControl::setBrightness(int value) {
-    cfg.setCommand(RawCameraControl::Command::BRIGHTNESS);
-    cfg.brightness = value;
+    setCommand(Command::BRIGHTNESS);
+    brightness = value;
     return *this;
 }
 CameraControl& CameraControl::setContrast(int value) {
-    cfg.setCommand(RawCameraControl::Command::CONTRAST);
-    cfg.contrast = value;
+    setCommand(Command::CONTRAST);
+    contrast = value;
     return *this;
 }
 CameraControl& CameraControl::setSaturation(int value) {
-    cfg.setCommand(RawCameraControl::Command::SATURATION);
-    cfg.saturation = value;
+    setCommand(Command::SATURATION);
+    saturation = value;
     return *this;
 }
 CameraControl& CameraControl::setSharpness(int value) {
-    cfg.setCommand(RawCameraControl::Command::SHARPNESS);
-    cfg.sharpness = value;
+    setCommand(Command::SHARPNESS);
+    sharpness = value;
     return *this;
 }
 CameraControl& CameraControl::setLumaDenoise(int value) {
-    cfg.setCommand(RawCameraControl::Command::LUMA_DENOISE);
-    cfg.lumaDenoise = value;
+    setCommand(Command::LUMA_DENOISE);
+    lumaDenoise = value;
     return *this;
 }
 CameraControl& CameraControl::setChromaDenoise(int value) {
-    cfg.setCommand(RawCameraControl::Command::CHROMA_DENOISE);
-    cfg.chromaDenoise = value;
+    setCommand(Command::CHROMA_DENOISE);
+    chromaDenoise = value;
     return *this;
 }
 CameraControl& CameraControl::setSceneMode(SceneMode mode) {
-    cfg.setCommand(RawCameraControl::Command::SCENE_MODE);
-    cfg.sceneMode = mode;
+    setCommand(Command::SCENE_MODE);
+    sceneMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setEffectMode(EffectMode mode) {
-    cfg.setCommand(RawCameraControl::Command::EFFECT_MODE);
-    cfg.effectMode = mode;
+    setCommand(Command::EFFECT_MODE);
+    effectMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setControlMode(ControlMode mode) {
-    cfg.setCommand(RawCameraControl::Command::CONTROL_MODE);
-    cfg.controlMode = mode;
+    setCommand(CameraControl::Command::CONTROL_MODE);
+    controlMode = mode;
     return *this;
 }
 CameraControl& CameraControl::setCaptureIntent(CaptureIntent mode) {
-    cfg.setCommand(RawCameraControl::Command::CAPTURE_INTENT);
-    cfg.captureIntent = mode;
+    setCommand(CameraControl::Command::CAPTURE_INTENT);
+    captureIntent = mode;
     return *this;
 }
 
+CameraControl& CameraControl::setMisc(std::string control, std::string value) {
+    miscControls.push_back(std::make_pair(control, value));
+    return *this;
+}
+CameraControl& CameraControl::setMisc(std::string control, int value) {
+    return setMisc(control, std::to_string(value));
+}
+CameraControl& CameraControl::setMisc(std::string control, float value) {
+    return setMisc(control, std::to_string(value));
+}
+void CameraControl::clearMiscControls() {
+    miscControls.clear();
+}
+std::vector<std::pair<std::string, std::string>> CameraControl::getMiscControls() {
+    return miscControls;
+}
+
 bool CameraControl::getCaptureStill() const {
-    return cfg.getCommand(RawCameraControl::Command::STILL_CAPTURE);
+    return getCommand(Command::STILL_CAPTURE);
 }
 
 std::chrono::microseconds CameraControl::getExposureTime() const {
-    return std::chrono::microseconds(cfg.expManual.exposureTimeUs);
+    return std::chrono::microseconds(expManual.exposureTimeUs);
 }
 
 int CameraControl::getSensitivity() const {
-    return cfg.expManual.sensitivityIso;
+    return expManual.sensitivityIso;
 }
 
 int CameraControl::getLensPosition() const {
-    return cfg.lensPosition;
-}
-
-dai::RawCameraControl CameraControl::get() const {
-    return cfg;
+    return lensPosition;
 }
 
-CameraControl& CameraControl::set(dai::RawCameraControl config) {
-    cfg = config;
-    return *this;
+float CameraControl::getLensPositionRaw() const {
+    return lensPositionRaw;
 }
 
 }  // namespace dai
diff --git a/src/pipeline/datatype/DatatypeEnum.cpp b/src/pipeline/datatype/DatatypeEnum.cpp
new file mode 100644
index 000000000..7c4e6bb4b
--- /dev/null
+++ b/src/pipeline/datatype/DatatypeEnum.cpp
@@ -0,0 +1,72 @@
+#include "pipeline/datatype/DatatypeEnum.hpp"
+
+#include <functional>
+#include <type_traits>
+#include <unordered_map>
+#include <vector>
+
+namespace dai {
+
+const std::unordered_map<DatatypeEnum, std::vector<DatatypeEnum>> hierarchy = {
+    {DatatypeEnum::Buffer,
+     {
+         DatatypeEnum::ImgFrame,
+         DatatypeEnum::EncodedFrame,
+         DatatypeEnum::NNData,
+         DatatypeEnum::ImageManipConfig,
+         DatatypeEnum::CameraControl,
+         DatatypeEnum::ImgDetections,
+         DatatypeEnum::SpatialImgDetections,
+         DatatypeEnum::SystemInformation,
+         DatatypeEnum::SystemInformationS3,
+         DatatypeEnum::SpatialLocationCalculatorConfig,
+         DatatypeEnum::SpatialLocationCalculatorData,
+         DatatypeEnum::EdgeDetectorConfig,
+         DatatypeEnum::Tracklets,
+         DatatypeEnum::IMUData,
+         DatatypeEnum::StereoDepthConfig,
+         DatatypeEnum::FeatureTrackerConfig,
+         DatatypeEnum::ToFConfig,
+         DatatypeEnum::TrackedFeatures,
+         DatatypeEnum::AprilTagConfig,
+         DatatypeEnum::AprilTags,
+         DatatypeEnum::BenchmarkReport,
+         DatatypeEnum::MessageGroup,
+         DatatypeEnum::PointCloudConfig,
+         DatatypeEnum::PointCloudData,
+     }},
+    {DatatypeEnum::ImgFrame, {}},
+    {DatatypeEnum::EncodedFrame, {}},
+    {DatatypeEnum::NNData, {}},
+    {DatatypeEnum::ImageManipConfig, {}},
+    {DatatypeEnum::CameraControl, {}},
+    {DatatypeEnum::ImgDetections, {DatatypeEnum::SpatialImgDetections}},
+    {DatatypeEnum::SpatialImgDetections, {}},
+    {DatatypeEnum::SystemInformation, {}},
+    {DatatypeEnum::SystemInformationS3, {}},
+    {DatatypeEnum::SpatialLocationCalculatorConfig, {}},
+    {DatatypeEnum::SpatialLocationCalculatorData, {}},
+    {DatatypeEnum::EdgeDetectorConfig, {}},
+    {DatatypeEnum::Tracklets, {}},
+    {DatatypeEnum::IMUData, {}},
+    {DatatypeEnum::StereoDepthConfig, {}},
+    {DatatypeEnum::FeatureTrackerConfig, {}},
+    {DatatypeEnum::ToFConfig, {}},
+    {DatatypeEnum::TrackedFeatures, {}},
+    {DatatypeEnum::AprilTagConfig, {}},
+    {DatatypeEnum::AprilTags, {}},
+    {DatatypeEnum::BenchmarkReport, {}},
+    {DatatypeEnum::MessageGroup, {}},
+    {DatatypeEnum::PointCloudConfig, {}},
+    {DatatypeEnum::PointCloudData, {}},
+};
+
+bool isDatatypeSubclassOf(DatatypeEnum parent, DatatypeEnum children) {
+    for(const auto& d : hierarchy.at(parent)) {
+        if(d == children) return true;
+        if(isDatatypeSubclassOf(d, children)) return true;
+    }
+    return false;
+}
+
+}  // namespace dai
diff --git a/src/pipeline/datatype/EdgeDetectorConfig.cpp b/src/pipeline/datatype/EdgeDetectorConfig.cpp
index 2e04f1971..b5e725b05 100644
--- a/src/pipeline/datatype/EdgeDetectorConfig.cpp
+++ b/src/pipeline/datatype/EdgeDetectorConfig.cpp
@@ -1,31 +1,12 @@
 #include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> EdgeDetectorConfig::serialize() const {
-    return raw;
-}
-
-EdgeDetectorConfig::EdgeDetectorConfig() : Buffer(std::make_shared<RawEdgeDetectorConfig>()), cfg(*dynamic_cast<RawEdgeDetectorConfig*>(raw.get())) {}
-EdgeDetectorConfig::EdgeDetectorConfig(std::shared_ptr<RawEdgeDetectorConfig> ptr)
-    : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawEdgeDetectorConfig*>(raw.get())) {}
-
 void EdgeDetectorConfig::setSobelFilterKernels(const std::vector<std::vector<int>>& horizontalKernel, const std::vector<std::vector<int>>& verticalKernel) {
-    cfg.config.sobelFilterHorizontalKernel = horizontalKernel;
-    cfg.config.sobelFilterVerticalKernel = verticalKernel;
+    config.sobelFilterHorizontalKernel = horizontalKernel;
+    config.sobelFilterVerticalKernel = verticalKernel;
 }
 
-EdgeDetectorConfigData EdgeDetectorConfig::getConfigData() const {
-    return cfg.config;
+EdgeDetectorConfig::EdgeDetectorConfigData EdgeDetectorConfig::getConfigData() const {
+    return config;
 }
-
-dai::RawEdgeDetectorConfig EdgeDetectorConfig::get() const {
-    return cfg;
-}
-
-EdgeDetectorConfig& EdgeDetectorConfig::set(dai::RawEdgeDetectorConfig config) {
-    cfg = config;
-    return *this;
-}
-
 }  // namespace dai
diff --git a/src/pipeline/datatype/EncodedFrame.cpp b/src/pipeline/datatype/EncodedFrame.cpp
index 607df8a1e..bade53f18 100644
--- a/src/pipeline/datatype/EncodedFrame.cpp
+++ b/src/pipeline/datatype/EncodedFrame.cpp
@@ -3,118 +3,99 @@
 #include "utility/H26xParsers.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> EncodedFrame::serialize() const {
-    return raw;
-}
-
-EncodedFrame::EncodedFrame() : Buffer(std::make_shared<RawEncodedFrame>()), frame(*dynamic_cast<RawEncodedFrame*>(raw.get())) {
-    // set timestamp to now
-    setTimestamp(std::chrono::steady_clock::now());
-}
-EncodedFrame::EncodedFrame(std::shared_ptr<RawEncodedFrame> ptr) : Buffer(std::move(ptr)), frame(*dynamic_cast<RawEncodedFrame*>(raw.get())) {}
-
 // getters
 unsigned int EncodedFrame::getInstanceNum() const {
-    return frame.instanceNum;
+    return instanceNum;
 }
 std::chrono::microseconds EncodedFrame::getExposureTime() const {
-    return std::chrono::microseconds(frame.cam.exposureTimeUs);
+    return std::chrono::microseconds(cam.exposureTimeUs);
 }
 int EncodedFrame::getSensitivity() const {
-    return frame.cam.sensitivityIso;
+    return cam.sensitivityIso;
 }
 int EncodedFrame::getColorTemperature() const {
-    return frame.cam.wbColorTemp;
+    return cam.wbColorTemp;
 }
 int EncodedFrame::getLensPosition() const {
-    return frame.cam.lensPosition;
+    return cam.lensPosition;
+}
+float EncodedFrame::getLensPositionRaw() const {
+    return cam.lensPositionRaw;
 }
 unsigned int EncodedFrame::getQuality() const {
-    return frame.quality;
+    return quality;
 }
 unsigned int EncodedFrame::getBitrate() const {
-    return frame.bitrate;
+    return bitrate;
 }
 bool EncodedFrame::getLossless() const {
-    return frame.lossless;
+    return lossless;
 }
-EncodedFrame::FrameType EncodedFrame::getFrameType() const {
-    if(frame.type == FrameType::Unknown) {
+EncodedFrame::FrameType EncodedFrame::getFrameType() {
+    if(type == FrameType::Unknown) {
         utility::SliceType frameType = utility::SliceType::Unknown;
-        switch(frame.profile) {
-            case RawEncodedFrame::Profile::JPEG:
+        switch(profile) {
+            case EncodedFrame::Profile::JPEG:
                 frameType = utility::SliceType::I;
                 break;
-            case RawEncodedFrame::Profile::AVC:
-                frameType = utility::getTypesH264(frame.data, true)[0];
+            case EncodedFrame::Profile::AVC:
+                // TODO(Morato) - change this to zero copy
+                frameType = utility::getTypesH264(std::vector<uint8_t>(data->getData().begin(), data->getData().end()), true)[0];
                 break;
-            case RawEncodedFrame::Profile::HEVC:
-                frameType = utility::getTypesH265(frame.data, true)[0];
+            case EncodedFrame::Profile::HEVC:
+                frameType = utility::getTypesH265(std::vector<uint8_t>(data->getData().begin(), data->getData().end()), true)[0];
                 break;
         }
         switch(frameType) {
             case utility::SliceType::P:
-                frame.type = FrameType::P;
+                type = FrameType::P;
                 break;
             case utility::SliceType::B:
-                frame.type = FrameType::B;
+                type = FrameType::B;
                 break;
             case utility::SliceType::I:
-                frame.type = FrameType::I;
+                type = FrameType::I;
                 break;
             case utility::SliceType::SP:
-                frame.type = FrameType::P;
+                type = FrameType::P;
                 break;
             case utility::SliceType::SI:
-                frame.type = FrameType::I;
+                type = FrameType::I;
                 break;
             case utility::SliceType::Unknown:
-                frame.type = FrameType::Unknown;
+                type = FrameType::Unknown;
                 break;
         }
     }
-    return frame.type;
+    return type;
 }
 EncodedFrame::Profile EncodedFrame::getProfile() const {
-    return frame.profile;
+    return profile;
 }
 
-// setters
-EncodedFrame& EncodedFrame::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<EncodedFrame&>(Buffer::setTimestamp(tp));
-}
-EncodedFrame& EncodedFrame::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<EncodedFrame&>(Buffer::setTimestampDevice(tp));
-}
-EncodedFrame& EncodedFrame::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<EncodedFrame&>(Buffer::setSequenceNum(sequenceNum));
-}
 EncodedFrame& EncodedFrame::setInstanceNum(unsigned int instanceNum) {
-    frame.instanceNum = instanceNum;
+    this->instanceNum = instanceNum;
     return *this;
 }
 EncodedFrame& EncodedFrame::setQuality(unsigned int quality) {
-    frame.quality = quality;
+    this->quality = quality;
     return *this;
 }
 EncodedFrame& EncodedFrame::setBitrate(unsigned int bitrate) {
-    frame.bitrate = bitrate;
+    this->bitrate = bitrate;
     return *this;
 }
 
 EncodedFrame& EncodedFrame::setLossless(bool lossless) {
-    frame.lossless = lossless;
+    this->lossless = lossless;
     return *this;
 }
 EncodedFrame& EncodedFrame::setFrameType(FrameType frameType) {
-    frame.type = frameType;
+    this->type = frameType;
     return *this;
 }
 EncodedFrame& EncodedFrame::setProfile(Profile profile) {
-    frame.profile = profile;
+    this->profile = profile;
     return *this;
 }
 
diff --git a/src/pipeline/datatype/FeatureTrackerConfig.cpp b/src/pipeline/datatype/FeatureTrackerConfig.cpp
index d91dd4afd..26b22a108 100644
--- a/src/pipeline/datatype/FeatureTrackerConfig.cpp
+++ b/src/pipeline/datatype/FeatureTrackerConfig.cpp
@@ -2,74 +2,57 @@
 
 namespace dai {
 
-std::shared_ptr<RawBuffer> FeatureTrackerConfig::serialize() const {
-    return raw;
-}
-
-FeatureTrackerConfig::FeatureTrackerConfig() : Buffer(std::make_shared<RawFeatureTrackerConfig>()), cfg(*dynamic_cast<RawFeatureTrackerConfig*>(raw.get())) {}
-FeatureTrackerConfig::FeatureTrackerConfig(std::shared_ptr<RawFeatureTrackerConfig> ptr)
-    : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawFeatureTrackerConfig*>(raw.get())) {}
-
-dai::RawFeatureTrackerConfig FeatureTrackerConfig::get() const {
-    return cfg;
-}
-
-FeatureTrackerConfig& FeatureTrackerConfig::setCornerDetector(dai::FeatureTrackerConfig::CornerDetector::Type cornerDetector) {
-    cfg.cornerDetector.type = cornerDetector;
+FeatureTrackerConfig& FeatureTrackerConfig::setCornerDetector(FeatureTrackerConfig::CornerDetector::Type cornerDetector) {
+    this->cornerDetector.type = cornerDetector;
     return *this;
 }
 
-FeatureTrackerConfig& FeatureTrackerConfig::setCornerDetector(dai::FeatureTrackerConfig::CornerDetector config) {
-    cfg.cornerDetector = config;
+FeatureTrackerConfig& FeatureTrackerConfig::setCornerDetector(FeatureTrackerConfig::CornerDetector config) {
+    cornerDetector = config;
     return *this;
 }
 
 FeatureTrackerConfig& FeatureTrackerConfig::setMotionEstimator(bool enable) {
-    cfg.motionEstimator.enable = enable;
+    motionEstimator.enable = enable;
     return *this;
 }
 
-FeatureTrackerConfig& FeatureTrackerConfig::setMotionEstimator(dai::FeatureTrackerConfig::MotionEstimator config) {
-    cfg.motionEstimator = config;
+FeatureTrackerConfig& FeatureTrackerConfig::setMotionEstimator(FeatureTrackerConfig::MotionEstimator config) {
+    motionEstimator = config;
     return *this;
 }
 
 FeatureTrackerConfig& FeatureTrackerConfig::setOpticalFlow() {
-    cfg.motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
+    motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
     setMotionEstimator(true);
     return *this;
 }
 
-FeatureTrackerConfig& FeatureTrackerConfig::setOpticalFlow(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow config) {
-    cfg.motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
-    cfg.motionEstimator.opticalFlow = config;
+FeatureTrackerConfig& FeatureTrackerConfig::setOpticalFlow(FeatureTrackerConfig::MotionEstimator::OpticalFlow config) {
+    motionEstimator.type = FeatureTrackerConfig::MotionEstimator::Type::LUCAS_KANADE_OPTICAL_FLOW;
+    motionEstimator.opticalFlow = config;
     setMotionEstimator(true);
     return *this;
 }
 
 FeatureTrackerConfig& FeatureTrackerConfig::setHwMotionEstimation() {
-    cfg.motionEstimator.type = dai::FeatureTrackerConfig::MotionEstimator::Type::HW_MOTION_ESTIMATION;
+    motionEstimator.type = FeatureTrackerConfig::MotionEstimator::Type::HW_MOTION_ESTIMATION;
     setMotionEstimator(true);
     return *this;
 }
 
 FeatureTrackerConfig& FeatureTrackerConfig::setFeatureMaintainer(bool enable) {
-    cfg.featureMaintainer.enable = enable;
-    return *this;
-}
-
-FeatureTrackerConfig& FeatureTrackerConfig::setFeatureMaintainer(dai::FeatureTrackerConfig::FeatureMaintainer config) {
-    cfg.featureMaintainer = config;
+    featureMaintainer.enable = enable;
     return *this;
 }
 
-FeatureTrackerConfig& FeatureTrackerConfig::set(dai::RawFeatureTrackerConfig config) {
-    cfg = config;
+FeatureTrackerConfig& FeatureTrackerConfig::setFeatureMaintainer(FeatureTrackerConfig::FeatureMaintainer config) {
+    featureMaintainer = config;
     return *this;
 }
 
 FeatureTrackerConfig& FeatureTrackerConfig::setNumTargetFeatures(std::int32_t numTargetFeatures) {
-    cfg.cornerDetector.numTargetFeatures = numTargetFeatures;
+    cornerDetector.numTargetFeatures = numTargetFeatures;
     return *this;
 }
 
diff --git a/src/pipeline/datatype/IMUData.cpp b/src/pipeline/datatype/IMUData.cpp
index d9ec89b4e..bd2241523 100644
--- a/src/pipeline/datatype/IMUData.cpp
+++ b/src/pipeline/datatype/IMUData.cpp
@@ -1,12 +1,5 @@
 #include "depthai/pipeline/datatype/IMUData.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> IMUData::serialize() const {
-    return raw;
-}
-
-IMUData::IMUData() : Buffer(std::make_shared<RawIMUData>()), rawIMU(*dynamic_cast<RawIMUData*>(raw.get())), packets(rawIMU.packets) {}
-IMUData::IMUData(std::shared_ptr<RawIMUData> ptr) : Buffer(std::move(ptr)), rawIMU(*dynamic_cast<RawIMUData*>(raw.get())), packets(rawIMU.packets) {}
-
+// TODO no impl needed
 }  // namespace dai
diff --git a/src/pipeline/datatype/ImageManipConfig.cpp b/src/pipeline/datatype/ImageManipConfig.cpp
index 126e6edd5..283a73808 100644
--- a/src/pipeline/datatype/ImageManipConfig.cpp
+++ b/src/pipeline/datatype/ImageManipConfig.cpp
@@ -6,27 +6,20 @@
 
 namespace dai {
 
-std::shared_ptr<RawBuffer> ImageManipConfig::serialize() const {
-    return raw;
-}
-
-ImageManipConfig::ImageManipConfig() : Buffer(std::make_shared<RawImageManipConfig>()), cfg(*dynamic_cast<RawImageManipConfig*>(raw.get())) {}
-ImageManipConfig::ImageManipConfig(std::shared_ptr<RawImageManipConfig> ptr) : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawImageManipConfig*>(raw.get())) {}
-
 // helpers
 // Functions to set properties
 ImageManipConfig& ImageManipConfig::setCropRect(float xmin, float ymin, float xmax, float ymax) {
     // Enable crop stage
-    cfg.enableCrop = true;
+    enableCrop = true;
 
     // Disable center crop
-    cfg.cropConfig.enableCenterCropRectangle = false;
+    cropConfig.enableCenterCropRectangle = false;
 
     // Set crop rect - limit to bounds beforehand
-    cfg.cropConfig.cropRect.xmin = std::max(xmin, 0.0f);
-    cfg.cropConfig.cropRect.ymin = std::max(ymin, 0.0f);
-    cfg.cropConfig.cropRect.xmax = std::min(xmax, 1.0f);
-    cfg.cropConfig.cropRect.ymax = std::min(ymax, 1.0f);
+    cropConfig.cropRect.xmin = std::max(xmin, 0.0f);
+    cropConfig.cropRect.ymin = std::max(ymin, 0.0f);
+    cropConfig.cropRect.xmax = std::min(xmax, 1.0f);
+    cropConfig.cropRect.ymax = std::min(ymax, 1.0f);
     return *this;
 }
 
@@ -37,71 +30,72 @@ ImageManipConfig& ImageManipConfig::setCropRect(std::tuple<float, float, float,
 
 ImageManipConfig& ImageManipConfig::setCropRotatedRect(RotatedRect rr, bool normalizedCoords) {
     // Enable crop stage and extended flags
-    cfg.enableCrop = true;
-    cfg.cropConfig.enableRotatedRect = true;
+    enableCrop = true;
+    cropConfig.enableRotatedRect = true;
 
-    cfg.cropConfig.cropRotatedRect = rr;
-    cfg.cropConfig.normalizedCoords = normalizedCoords;
+    cropConfig.cropRotatedRect = rr;
+    cropConfig.normalizedCoords = normalizedCoords;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setWarpTransformFourPoints(std::vector<Point2f> pt, bool normalizedCoords) {
     // Enable resize stage and extended flags
-    cfg.enableResize = true;
-    cfg.resizeConfig.keepAspectRatio = false;
-    cfg.resizeConfig.enableWarp4pt = true;
-    cfg.resizeConfig.warpFourPoints = pt;
-    cfg.resizeConfig.normalizedCoords = normalizedCoords;
+    enableResize = true;
+    resizeConfig.keepAspectRatio = false;
+    resizeConfig.enableWarp4pt = true;
+    resizeConfig.warpFourPoints = pt;
+    resizeConfig.normalizedCoords = normalizedCoords;
+
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setWarpTransformMatrix3x3(std::vector<float> mat) {
     // Enable resize stage and extended flags
-    cfg.enableResize = true;
-    cfg.resizeConfig.enableWarpMatrix = true;
-    cfg.resizeConfig.warpMatrix3x3 = mat;
+    enableResize = true;
+    resizeConfig.enableWarpMatrix = true;
+    resizeConfig.warpMatrix3x3 = mat;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setWarpBorderReplicatePixels() {
     // Enable resize stage and extended flags
-    cfg.enableResize = true;
-    cfg.resizeConfig.warpBorderReplicate = true;
+    enableResize = true;
+    resizeConfig.warpBorderReplicate = true;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setWarpBorderFillColor(int red, int green, int blue) {
     // Enable resize stage and extended flags
-    cfg.enableResize = true;
-    cfg.resizeConfig.warpBorderReplicate = false;
-    cfg.resizeConfig.bgRed = red;
-    cfg.resizeConfig.bgGreen = green;
-    cfg.resizeConfig.bgBlue = blue;
+    enableResize = true;
+    resizeConfig.warpBorderReplicate = false;
+    resizeConfig.bgRed = red;
+    resizeConfig.bgGreen = green;
+    resizeConfig.bgBlue = blue;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setCenterCrop(float ratio, float whRatio) {
     // Enable crop stage
-    cfg.enableCrop = true;
+    enableCrop = true;
 
     // Enable center center crop
-    cfg.cropConfig.enableCenterCropRectangle = true;
+    cropConfig.enableCenterCropRectangle = true;
 
     // Set crop center crop config
-    cfg.cropConfig.cropRatio = ratio;
+    cropConfig.cropRatio = ratio;
     // Limit to max 1.0f and disallow setting zero ratio
     if(ratio > 1.0f || ratio < 0.0f) {
-        cfg.cropConfig.cropRatio = 1.0f;
+        cropConfig.cropRatio = 1.0f;
     }
 
-    cfg.cropConfig.widthHeightAspectRatio = whRatio;
+    cropConfig.widthHeightAspectRatio = whRatio;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setRotationDegrees(float deg) {
-    cfg.enableResize = true;
-    cfg.resizeConfig.rotationAngleDeg = deg;
-    cfg.resizeConfig.enableRotation = true;
+    enableResize = true;
+    resizeConfig.rotationAngleDeg = deg;
+    resizeConfig.enableRotation = true;
     return *this;
 }
 
@@ -113,14 +107,14 @@ ImageManipConfig& ImageManipConfig::setRotationRadians(float rad) {
 
 ImageManipConfig& ImageManipConfig::setResize(int w, int h) {
     // Enable resize stage
-    cfg.enableResize = true;
+    enableResize = true;
 
     // Disable lock aspect ratio
-    cfg.resizeConfig.lockAspectRatioFill = false;
+    resizeConfig.lockAspectRatioFill = false;
 
     // Set resize config
-    cfg.resizeConfig.width = w;
-    cfg.resizeConfig.height = h;
+    resizeConfig.width = w;
+    resizeConfig.height = h;
     return *this;
 }
 
@@ -131,19 +125,19 @@ ImageManipConfig& ImageManipConfig::setResize(std::tuple<int, int> size) {
 
 ImageManipConfig& ImageManipConfig::setResizeThumbnail(int w, int h, int bgRed, int bgGreen, int bgBlue) {
     // Enable resize stage
-    cfg.enableResize = true;
+    enableResize = true;
 
     // Set resize config
-    cfg.resizeConfig.width = w;
-    cfg.resizeConfig.height = h;
+    resizeConfig.width = w;
+    resizeConfig.height = h;
 
     // Set lock aspect ratio
-    cfg.resizeConfig.lockAspectRatioFill = true;
+    resizeConfig.lockAspectRatioFill = true;
 
     // Set background colors
-    cfg.resizeConfig.bgRed = bgRed;
-    cfg.resizeConfig.bgGreen = bgGreen;
-    cfg.resizeConfig.bgBlue = bgBlue;
+    resizeConfig.bgRed = bgRed;
+    resizeConfig.bgGreen = bgGreen;
+    resizeConfig.bgBlue = bgBlue;
     return *this;
 }
 
@@ -152,150 +146,149 @@ ImageManipConfig& ImageManipConfig::setResizeThumbnail(std::tuple<int, int> size
     return *this;
 }
 
-ImageManipConfig& ImageManipConfig::setFrameType(dai::RawImgFrame::Type type) {
+ImageManipConfig& ImageManipConfig::setFrameType(ImgFrame::Type type) {
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set type format
-    cfg.formatConfig.type = type;
+    formatConfig.type = type;
     return *this;
 }
 
-ImageManipConfig& ImageManipConfig::setColormap(dai::Colormap colormap, float maxf) {
+ImageManipConfig& ImageManipConfig::setColormap(Colormap colormap, float maxf) {
     int max = maxf;
     if(max < 0 || max >= 256) throw std::invalid_argument("Colormap max argument must be between 0 and 255");
 
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set type format
-    cfg.formatConfig.colormap = colormap;
-    cfg.formatConfig.colormapMin = 0;
-    cfg.formatConfig.colormapMax = max;
+    formatConfig.colormap = colormap;
+    formatConfig.colormapMin = 0;
+    formatConfig.colormapMax = max;
     return *this;
 }
 
-ImageManipConfig& ImageManipConfig::setColormap(dai::Colormap colormap, int max) {
+ImageManipConfig& ImageManipConfig::setColormap(Colormap colormap, int max) {
     if(max < 0 || max >= 256) throw std::invalid_argument("Colormap max argument must be between 0 and 255");
 
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set type format
-    cfg.formatConfig.colormap = colormap;
-    cfg.formatConfig.colormapMin = 0;
-    cfg.formatConfig.colormapMax = max;
+    formatConfig.colormap = colormap;
+    formatConfig.colormapMin = 0;
+    formatConfig.colormapMax = max;
     return *this;
 }
 
-ImageManipConfig& ImageManipConfig::setColormap(dai::Colormap colormap, int min, int max) {
+ImageManipConfig& ImageManipConfig::setColormap(Colormap colormap, int min, int max) {
     if(max < 0 || max >= 256) throw std::invalid_argument("Colormap max argument must be between 0 and 255");
     if(min < 0 || min >= 256) throw std::invalid_argument("Colormap min argument must be between 0 and 255");
 
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set type format
-    cfg.formatConfig.colormap = colormap;
-    cfg.formatConfig.colormapMin = min;
-    cfg.formatConfig.colormapMax = max;
+    formatConfig.colormap = colormap;
+    formatConfig.colormapMin = min;
+    formatConfig.colormapMax = max;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setHorizontalFlip(bool flip) {
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set pixel format
-    cfg.formatConfig.flipHorizontal = flip;
+    formatConfig.flipHorizontal = flip;
     return *this;
 }
 
 void ImageManipConfig::setVerticalFlip(bool flip) {
     // Enable format stage
-    cfg.enableFormat = true;
+    enableFormat = true;
 
     // Set pixel format
-    cfg.formatConfig.flipVertical = flip;
+    formatConfig.flipVertical = flip;
 }
 
 ImageManipConfig& ImageManipConfig::setReusePreviousImage(bool reuse) {
-    cfg.reusePreviousImage = reuse;
+    reusePreviousImage = reuse;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setSkipCurrentImage(bool skip) {
-    cfg.skipCurrentImage = skip;
+    skipCurrentImage = skip;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setKeepAspectRatio(bool keep) {
     // Set whether to keep aspect ratio or not
-    cfg.resizeConfig.keepAspectRatio = keep;
+    resizeConfig.keepAspectRatio = keep;
     return *this;
 }
 
 ImageManipConfig& ImageManipConfig::setInterpolation(dai::Interpolation interpolation) {
-    cfg.interpolation = interpolation;
+    this->interpolation = interpolation;
     return *this;
 }
 
 // Functions to retrieve properties
 float ImageManipConfig::getCropXMin() const {
-    return cfg.cropConfig.cropRect.xmin;
+    return cropConfig.cropRect.xmin;
 }
 
 float ImageManipConfig::getCropYMin() const {
-    return cfg.cropConfig.cropRect.ymin;
+    return cropConfig.cropRect.ymin;
 }
 
 float ImageManipConfig::getCropXMax() const {
-    return cfg.cropConfig.cropRect.xmax;
+    return cropConfig.cropRect.xmax;
 }
 
 float ImageManipConfig::getCropYMax() const {
-    return cfg.cropConfig.cropRect.ymax;
+    return cropConfig.cropRect.ymax;
 }
 
 int ImageManipConfig::getResizeWidth() const {
-    return cfg.resizeConfig.width;
+    return resizeConfig.width;
 }
 
 int ImageManipConfig::getResizeHeight() const {
-    return cfg.resizeConfig.height;
+    return resizeConfig.height;
 }
 
 ImageManipConfig::CropConfig ImageManipConfig::getCropConfig() const {
-    return cfg.cropConfig;
+    return cropConfig;
 }
 
 ImageManipConfig::ResizeConfig ImageManipConfig::getResizeConfig() const {
-    return cfg.resizeConfig;
+    return resizeConfig;
 }
 
 ImageManipConfig::FormatConfig ImageManipConfig::getFormatConfig() const {
-    return cfg.formatConfig;
+    return formatConfig;
 }
 
 bool ImageManipConfig::isResizeThumbnail() const {
-    return cfg.resizeConfig.lockAspectRatioFill;
+    return resizeConfig.lockAspectRatioFill;
 }
 
-dai::Colormap ImageManipConfig::getColormap() const {
-    return cfg.formatConfig.colormap;
+bool ImageManipConfig::getReusePreviousImage() const {
+    return reusePreviousImage;
 }
 
-dai::RawImageManipConfig ImageManipConfig::get() const {
-    return cfg;
+bool ImageManipConfig::getSkipCurrentImage() const {
+    return skipCurrentImage;
 }
 
-ImageManipConfig& ImageManipConfig::set(dai::RawImageManipConfig config) {
-    cfg = config;
-    return *this;
+Colormap ImageManipConfig::getColormap() const {
+    return formatConfig.colormap;
 }
 
 dai::Interpolation ImageManipConfig::getInterpolation() const {
-    return cfg.interpolation;
+    return interpolation;
 }
 
 }  // namespace dai
diff --git a/src/pipeline/datatype/ImgDetections.cpp b/src/pipeline/datatype/ImgDetections.cpp
index b9eb5f75d..f4a8e8c0f 100644
--- a/src/pipeline/datatype/ImgDetections.cpp
+++ b/src/pipeline/datatype/ImgDetections.cpp
@@ -1,26 +1,5 @@
 #include "depthai/pipeline/datatype/ImgDetections.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> ImgDetections::serialize() const {
-    return raw;
-}
-
-ImgDetections::ImgDetections() : Buffer(std::make_shared<RawImgDetections>()), dets(*dynamic_cast<RawImgDetections*>(raw.get())), detections(dets.detections) {}
-ImgDetections::ImgDetections(std::shared_ptr<RawImgDetections> ptr)
-    : Buffer(std::move(ptr)), dets(*dynamic_cast<RawImgDetections*>(raw.get())), detections(dets.detections) {}
-
-// setters
-ImgDetections& ImgDetections::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<ImgDetections&>(Buffer::setTimestamp(tp));
-}
-ImgDetections& ImgDetections::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<ImgDetections&>(Buffer::setTimestampDevice(tp));
-}
-ImgDetections& ImgDetections::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<ImgDetections&>(Buffer::setSequenceNum(sequenceNum));
-}
-
+// TODO no impl needed
 }  // namespace dai
diff --git a/src/pipeline/datatype/ImgFrame.cpp b/src/pipeline/datatype/ImgFrame.cpp
index 279c72ccd..1ac853c46 100644
--- a/src/pipeline/datatype/ImgFrame.cpp
+++ b/src/pipeline/datatype/ImgFrame.cpp
@@ -1,22 +1,21 @@
+#define _USE_MATH_DEFINES
 #include "depthai/pipeline/datatype/ImgFrame.hpp"
 
 #include "spdlog/fmt/fmt.h"
-
+#include "spdlog/spdlog.h"
 namespace dai {
 
-std::shared_ptr<RawBuffer> ImgFrame::serialize() const {
-    return raw;
-}
-
-ImgFrame::ImgFrame() : Buffer(std::make_shared<RawImgFrame>()), img(*dynamic_cast<RawImgFrame*>(raw.get())) {
-    // set timestamp to now
+ImgFrame::ImgFrame() {
+    // Set timestamp to now
     setTimestamp(std::chrono::steady_clock::now());
 }
-ImgFrame::ImgFrame(std::shared_ptr<RawImgFrame> ptr) : Buffer(std::move(ptr)), img(*dynamic_cast<RawImgFrame*>(raw.get())) {}
 
-// helpers
+ImgFrame::ImgFrame(size_t size) : ImgFrame() {
+    auto mem = std::make_shared<VectorMemory>();
+    mem->resize(size);
+    data = mem;
+}
 
-// getters
 std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> ImgFrame::getTimestamp(CameraExposureOffset offset) const {
     auto ts = getTimestamp();
     auto expTime = getExposureTime();
@@ -45,60 +44,84 @@ std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::du
 }
 
 unsigned int ImgFrame::getInstanceNum() const {
-    return img.instanceNum;
+    return instanceNum;
 }
 unsigned int ImgFrame::getCategory() const {
-    return img.category;
+    return category;
 }
 unsigned int ImgFrame::getWidth() const {
-    return img.fb.width;
+    return fb.width;
+}
+unsigned int ImgFrame::getStride() const {
+    if(fb.stride == 0) return getWidth();
+    return fb.stride;
+}
+unsigned int ImgFrame::getPlaneStride(int planeIndex) const {
+    int planeStride = 0;
+    switch(planeIndex) {
+        case 0:
+            planeStride = fb.p2Offset - fb.p1Offset;
+            break;
+        case 1:
+            planeStride = fb.p3Offset - fb.p2Offset;
+            break;
+    }
+    if(planeStride <= 0) planeStride = getStride() * getHeight();
+    return planeStride;
 }
 unsigned int ImgFrame::getHeight() const {
-    return img.fb.height;
+    return fb.height;
 }
-RawImgFrame::Type ImgFrame::getType() const {
-    return img.fb.type;
+unsigned int ImgFrame::getPlaneHeight() const {
+    return getPlaneStride() / getStride();
+}
+ImgFrame::Type ImgFrame::getType() const {
+    return fb.type;
+}
+float ImgFrame::getBytesPerPixel() const {
+    return typeToBpp(getType());
 }
 std::chrono::microseconds ImgFrame::getExposureTime() const {
-    return std::chrono::microseconds(img.cam.exposureTimeUs);
+    return std::chrono::microseconds(cam.exposureTimeUs);
 }
 int ImgFrame::getSensitivity() const {
-    return img.cam.sensitivityIso;
+    return cam.sensitivityIso;
 }
 int ImgFrame::getColorTemperature() const {
-    return img.cam.wbColorTemp;
+    return cam.wbColorTemp;
 }
 int ImgFrame::getLensPosition() const {
-    return img.cam.lensPosition;
+    return cam.lensPosition;
 }
 
-// setters
-ImgFrame& ImgFrame::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<ImgFrame&>(Buffer::setTimestamp(tp));
+unsigned int ImgFrame::getSourceWidth() const {
+    return sourceFb.width;
 }
-ImgFrame& ImgFrame::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<ImgFrame&>(Buffer::setTimestampDevice(tp));
+
+float ImgFrame::getLensPositionRaw() const {
+    return cam.lensPositionRaw;
 }
+
+unsigned int ImgFrame::getSourceHeight() const {
+    return sourceFb.height;
+}
+
 ImgFrame& ImgFrame::setInstanceNum(unsigned int instanceNum) {
-    img.instanceNum = instanceNum;
+    this->instanceNum = instanceNum;
     return *this;
 }
 ImgFrame& ImgFrame::setCategory(unsigned int category) {
-    img.category = category;
+    this->category = category;
     return *this;
 }
-ImgFrame& ImgFrame::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<ImgFrame&>(Buffer::setSequenceNum(sequenceNum));
-}
+
 ImgFrame& ImgFrame::setWidth(unsigned int width) {
-    img.fb.width = width;
-    img.fb.stride = width;
+    fb.width = width;
+    fb.stride = width;
     return *this;
 }
 ImgFrame& ImgFrame::setHeight(unsigned int height) {
-    img.fb.height = height;
+    fb.height = height;
     return *this;
 }
 ImgFrame& ImgFrame::setSize(unsigned int width, unsigned int height) {
@@ -110,10 +133,296 @@ ImgFrame& ImgFrame::setSize(std::tuple<unsigned int, unsigned int> size) {
     setSize(std::get<0>(size), std::get<1>(size));
     return *this;
 }
-ImgFrame& ImgFrame::setType(RawImgFrame::Type type) {
-    img.fb.type = type;
-    img.fb.bytesPP = RawImgFrame::typeToBpp(img.fb.type);
+
+ImgFrame& ImgFrame::setSourceSize(unsigned int width, unsigned int height) {
+    sourceFb.width = width;
+    sourceFb.stride = width;
+    sourceFb.height = height;
+    transformations.addInitTransformation(width, height);
+    return *this;
+}
+
+ImgFrame& ImgFrame::setSourceSize(std::tuple<unsigned int, unsigned int> size) {
+    setSourceSize(std::get<0>(size), std::get<1>(size));
+    return *this;
+}
+ImgFrame& ImgFrame::setType(Type type) {
+    fb.type = type;
+    fb.bytesPP = ImgFrame::typeToBpp(fb.type);
     return *this;
 }
 
+ImgFrame& ImgFrame::setMetadata(const ImgFrame& sourceFrame) {
+    auto tmpData = this->data;
+    *this = sourceFrame;
+    this->data = tmpData;  // Keep the original data
+    return *this;
+}
+
+ImgFrame& ImgFrame::setMetadata(const std::shared_ptr<ImgFrame>& sourceFrame) {
+    if(sourceFrame == nullptr) {
+        throw std::invalid_argument("Source frame is null");
+    }
+    return setMetadata(*sourceFrame);
+}
+
+Point2f ImgFrame::remapPointFromSource(const Point2f& point) const {
+    if(point.isNormalized()) {
+        throw std::runtime_error("Point must be denormalized");
+    }
+    Point2f transformedPoint = point;
+    bool isClipped = false;
+    for(auto& transformation : transformations.transformations) {
+        transformedPoint = ImgTransformation::transformPoint(transformation, transformedPoint, isClipped);
+    }
+    return transformedPoint;
+}
+
+Point2f ImgFrame::remapPointToSource(const Point2f& point) const {
+    if(point.isNormalized()) {
+        throw std::runtime_error("Point must be denormalized");
+    }
+    Point2f transformedPoint = point;
+    bool isClipped = false;
+    // Do the loop in reverse order
+    for(auto it = transformations.transformations.rbegin(); it != transformations.transformations.rend(); ++it) {
+        transformedPoint = ImgTransformation::invTransformPoint(*it, transformedPoint, isClipped);
+    }
+    return transformedPoint;
+}
+
+Rect ImgFrame::remapRectFromSource(const Rect& rect) const {
+    bool isNormalized = rect.isNormalized();
+    auto returnRect = rect;
+    if(isNormalized) {
+        returnRect = returnRect.denormalize(getSourceWidth(), getSourceHeight());
+    }
+    auto topLeftTransformed = remapPointFromSource(returnRect.topLeft());
+    auto bottomRightTransformed = remapPointFromSource(returnRect.bottomRight());
+    returnRect = Rect(topLeftTransformed, bottomRightTransformed);
+    if(isNormalized) {
+        returnRect = returnRect.normalize(getWidth(), getHeight());
+    }
+    return returnRect;
+}
+
+Rect ImgFrame::remapRectToSource(const Rect& rect) const {
+    bool isNormalized = rect.isNormalized();
+    auto returnRect = rect;
+    if(isNormalized) {
+        returnRect = returnRect.denormalize(getWidth(), getHeight());
+    }
+    auto topLeftTransformed = remapPointToSource(returnRect.topLeft());
+    auto bottomRightTransformed = remapPointToSource(returnRect.bottomRight());
+
+    returnRect = Rect(topLeftTransformed, bottomRightTransformed);
+    if(isNormalized) {
+        returnRect = returnRect.normalize(getSourceWidth(), getSourceHeight());
+    }
+    return returnRect;
+}
+
+ImgFrame& ImgFrame::setSourceHFov(float degrees) {
+    HFovDegrees = degrees;
+    return *this;
+}
+
+float ImgFrame::getSourceHFov() const {
+    return HFovDegrees;
+}
+
+float ImgFrame::getSourceDFov() const {
+    // TODO only works rectlinear lenses (rectified frames).
+    // Calculate the vertical FOV from the source dimensions and the source DFov
+    float sourceWidth = getSourceWidth();
+    float sourceHeight = getSourceHeight();
+
+    if(sourceHeight <= 0) {
+        throw std::runtime_error(fmt::format("Source height is invalid. Height: {}", sourceHeight));
+    }
+    if(sourceWidth <= 0) {
+        throw std::runtime_error(fmt::format("Source width is invalid. Width: {}", sourceWidth));
+    }
+    float HFovDegrees = getSourceHFov();
+
+    // Calculate the diagonal ratio (DR)
+    float dr = std::sqrt(std::pow(sourceWidth, 2) + std::pow(sourceHeight, 2));
+
+    // Validate the horizontal FOV
+    if(HFovDegrees <= 0 || HFovDegrees >= 180) {
+        throw std::runtime_error(fmt::format("Horizontal FOV is invalid. Horizontal FOV: {}", HFovDegrees));
+    }
+
+    float HFovRadians = HFovDegrees * (static_cast<float>(M_PI) / 180.0f);
+
+    // Calculate the tangent of half of the HFOV
+    float tanHFovHalf = std::tan(HFovRadians / 2);
+
+    // Calculate the tangent of half of the VFOV
+    float tanDiagonalFovHalf = (dr / sourceWidth) * tanHFovHalf;
+
+    // Calculate the VFOV in radians
+    float diagonalFovRadians = 2 * std::atan(tanDiagonalFovHalf);
+
+    // Convert VFOV to degrees
+    float diagonalFovDegrees = diagonalFovRadians * (180.0f / static_cast<float>(M_PI));
+    return diagonalFovDegrees;
+}
+
+float ImgFrame::getSourceVFov() const {
+    // TODO only works rectlinear lenses (rectified frames).
+    // Calculate the vertical FOV from the source dimensions and the source DFov
+    float sourceWidth = getSourceWidth();
+    float sourceHeight = getSourceHeight();
+
+    if(sourceHeight <= 0) {
+        throw std::runtime_error(fmt::format("Source height is invalid. Height: {}", sourceHeight));
+    }
+    if(sourceWidth <= 0) {
+        throw std::runtime_error(fmt::format("Source width is invalid. Width: {}", sourceWidth));
+    }
+    float HFovDegrees = getSourceHFov();
+
+    // Validate the horizontal FOV
+    if(HFovDegrees <= 0 || HFovDegrees >= 180) {
+        throw std::runtime_error(fmt::format("Horizontal FOV is invalid. Horizontal FOV: {}", HFovDegrees));
+    }
+
+    float HFovRadians = HFovDegrees * (static_cast<float>(M_PI) / 180.0f);
+
+    // Calculate the tangent of half of the HFOV
+    float tanHFovHalf = std::tan(HFovRadians / 2);
+
+    // Calculate the tangent of half of the VFOV
+    float tanVerticalFovHalf = (sourceHeight / sourceWidth) * tanHFovHalf;
+
+    // Calculate the VFOV in radians
+    float verticalFovRadians = 2 * std::atan(tanVerticalFovHalf);
+
+    // Convert VFOV to degrees
+    float verticalFovDegrees = verticalFovRadians * (180.0f / static_cast<float>(M_PI));
+    return verticalFovDegrees;
+}
+
+bool ImgFrame::validateTransformations() const {
+    if(!transformations.validateTransformationSizes()) {
+        spdlog::warn("Transformation sizes are invalid");
+        return false;
+    }
+
+    // Initial transformation always has to be set
+    if(transformations.transformations.size() == 0) {
+        spdlog::warn("No transformations set");
+        return false;
+    }
+
+    if(getSourceHeight() != transformations.transformations[0].beforeTransformHeight
+       || getSourceWidth() != transformations.transformations[0].beforeTransformWidth) {
+        spdlog::warn("Initial transformation size is {}x{} - while source image size is {}x{}",
+                     transformations.transformations[0].beforeTransformWidth,
+                     transformations.transformations[0].beforeTransformHeight,
+                     getSourceWidth(),
+                     getSourceHeight());
+        return false;
+    }
+
+    if(getHeight() != transformations.getLastHeight() || getWidth() != transformations.getLastWidth()) {
+        spdlog::warn("Last transformation size is {}x{} while current transformation size is {}x{}",
+                     transformations.getLastWidth(),
+                     transformations.getLastHeight(),
+                     getWidth(),
+                     getHeight());
+        return false;
+    }
+
+    return true;
+}
+
+Point2f ImgFrame::remapPointBetweenSourceFrames(const Point2f& point, const ImgFrame& sourceImage, const ImgFrame& destImage) {
+    auto hFovDegreeDest = destImage.getSourceHFov();
+    auto vFovDegreeDest = destImage.getSourceVFov();
+    auto hFovDegreeOrigin = sourceImage.getSourceHFov();
+    auto vFovDegreeOrigin = sourceImage.getSourceVFov();
+
+    float hFovRadiansDest = (hFovDegreeDest * ((float)M_PI / 180.0f));
+    float vFovRadiansDest = (vFovDegreeDest * ((float)M_PI / 180.0f));
+    float hFovRadiansOrigin = (hFovDegreeOrigin * ((float)M_PI / 180.0f));
+    float vFovRadiansOrigin = (vFovDegreeOrigin * ((float)M_PI / 180.0f));
+    if(point.isNormalized()) {
+        throw std::runtime_error("Point is normalized. Cannot remap normalized points");
+    }
+
+    if(sourceImage.getSourceWidth() == 0 || sourceImage.getSourceHeight() == 0 || destImage.getSourceWidth() == 0 || destImage.getSourceHeight() == 0) {
+        throw std::runtime_error("Source image has invalid dimensions - all dimensions need to be set before remapping");
+    }
+
+    if(!(sourceImage.getSourceHFov() > 0)) {
+        throw std::runtime_error("Source image has invalid horizontal FOV - horizontal FOV needs to be set before remapping");
+    }
+
+    if(!(destImage.getSourceHFov() > 0)) {
+        throw std::runtime_error("Destination image has invalid horizontal FOV - horizontal FOV needs to be set before remapping");
+    }
+
+    // Calculate the factor between the FOVs
+    // kX of 1.2 would mean that the destination image has 1.2 times wider FOV than the source image
+    float kX = ((std::tan(hFovRadiansDest / 2) / std::tan(hFovRadiansOrigin / 2)));
+    float kY = ((std::tan(vFovRadiansDest / 2) / std::tan(vFovRadiansOrigin / 2)));
+
+    auto returnPoint = point;
+
+    // Scale the point to the destination image
+    returnPoint.x = std::round(point.x * (static_cast<float>(destImage.getSourceWidth()) / sourceImage.getSourceWidth()));
+    returnPoint.y = std::round(point.y * (static_cast<float>(destImage.getSourceHeight()) / sourceImage.getSourceHeight()));
+
+    // Adjust the point to the destination image
+    unsigned adjustedWidth = std::round(destImage.getSourceWidth() * kX);
+    unsigned adjustedHeight = std::round(destImage.getSourceHeight() * kY);
+
+    int diffX = (adjustedWidth - destImage.getSourceWidth()) / 2;
+    int diffY = (adjustedHeight - destImage.getSourceHeight()) / 2;
+
+    int adjustedFrameX = returnPoint.x + diffX;
+    int adjustedFrameY = returnPoint.y + diffY;
+
+    // Scale the point back to the destination frame
+    returnPoint = Point2f(std::round(adjustedFrameX / kX), std::round(adjustedFrameY / kY));
+    bool pointClipped = false;
+    returnPoint = ImgTransformation::clipPoint(returnPoint, destImage.getSourceWidth(), destImage.getSourceHeight(), pointClipped);
+
+    return returnPoint;
+}
+
+Point2f ImgFrame::remapPointBetweenFrames(const Point2f& originPoint, const ImgFrame& originFrame, const ImgFrame& destFrame) {
+    // First get the origin to the origin image
+    // For example if this is a RGB image that was cropped and rotated and the detection was done there,
+    // you remap it back as it was taken on the camera
+    Point2f transformedPoint = originPoint;
+    transformedPoint = originFrame.remapPointToSource(transformedPoint);
+    if(originFrame.getInstanceNum() != destFrame.getInstanceNum()) {
+        transformedPoint = remapPointBetweenSourceFrames(transformedPoint, originFrame, destFrame);
+    } else {
+        if((originFrame.getSourceHeight() != destFrame.getSourceHeight()) || (originFrame.getSourceWidth() != destFrame.getSourceWidth())
+           || (originFrame.getSourceHFov() != destFrame.getSourceHFov()) || (originFrame.getSourceVFov() != destFrame.getSourceVFov())) {
+            throw std::runtime_error("Frames have the same instance numbers, but different source dimensions and/or FOVs.");
+        }
+    }
+    transformedPoint = destFrame.remapPointFromSource(transformedPoint);
+
+    return transformedPoint;
+}
+
+Rect ImgFrame::remapRectBetweenFrames(const Rect& originRect, const ImgFrame& originFrame, const ImgFrame& destFrame) {
+    bool normalized = originRect.isNormalized();
+    auto returnRect = originRect;
+    returnRect = returnRect.denormalize(originFrame.getWidth(), originFrame.getHeight());
+    auto topLeftTransformed = remapPointBetweenFrames(returnRect.topLeft(), originFrame, destFrame);
+    auto bottomRightTransformed = remapPointBetweenFrames(returnRect.bottomRight(), originFrame, destFrame);
+    returnRect = Rect{topLeftTransformed, bottomRightTransformed};
+    if(normalized) {
+        returnRect = returnRect.normalize(destFrame.getWidth(), destFrame.getHeight());
+    }
+    return returnRect;
+}
+
 }  // namespace dai
diff --git a/src/pipeline/datatype/ImgTransformations.cpp b/src/pipeline/datatype/ImgTransformations.cpp
new file mode 100644
index 000000000..26abda6b8
--- /dev/null
+++ b/src/pipeline/datatype/ImgTransformations.cpp
@@ -0,0 +1,293 @@
+#include "depthai/common/ImgTransformations.hpp"
+
+#include <assert.h>
+namespace dai {
+
+std::vector<std::vector<float>> ImgTransformations::getFlipHorizontalMatrix(int width) {
+    auto scale = matrix::createScalingMatrix(-1, 1);
+    auto translate = matrix::createTranslationMatrix(width, 0);
+    return matrix::matMul(translate, scale);
+}
+
+std::vector<std::vector<float>> ImgTransformations::getFlipVerticalMatrix(int height) {
+    auto scale = matrix::createScalingMatrix(1, -1);
+    auto translate = matrix::createTranslationMatrix(0, height);
+    return matrix::matMul(translate, scale);
+}
+
+std::vector<std::vector<float>> ImgTransformations::getRotationMatrix(int px, int py, float theta) {
+    auto translateToOrigin = matrix::createTranslationMatrix(px, py);
+    auto rotate = matrix::createRotationMatrix(theta);
+    auto translateBack = matrix::createTranslationMatrix(-px, -py);
+
+    auto temp = matrix::matMul(translateToOrigin, rotate);
+    return matrix::matMul(temp, translateBack);
+}
+
+std::vector<std::vector<float>> ImgTransformations::getScaleMatrix(float scaleX, float scaleY) {
+    return matrix::createScalingMatrix(scaleX, scaleY);
+}
+
+unsigned int ImgTransformations::getLastHeight() const {
+    if(transformations.size() < 1) {
+        return 0;
+    }
+    return transformations.back().afterTransformHeight;
+}
+
+unsigned int ImgTransformations::getLastWidth() const {
+    if(transformations.size() < 1) {
+        return 0;
+    }
+    return transformations.back().afterTransformWidth;
+}
+
+void ImgTransformations::addPadding(int topPadding, int bottomPadding, int leftPadding, int rightPadding) {
+    auto paddingTransformation = getNewTransformation();
+    paddingTransformation.transformationType = ImgTransformation::Transformation::PAD;
+    paddingTransformation.afterTransformWidth = getLastWidth() + leftPadding + rightPadding;
+    paddingTransformation.afterTransformHeight = getLastHeight() + topPadding + bottomPadding;
+    paddingTransformation.topPadding = topPadding;
+    paddingTransformation.bottomPadding = bottomPadding;
+    paddingTransformation.leftPadding = leftPadding;
+    paddingTransformation.rightPadding = rightPadding;
+    transformations.push_back(paddingTransformation);
+    return;
+}
+
+void ImgTransformations::addCrop(int topLeftCropX, int topLeftCropY, int bottomRightCropX, int bottomRightCropY) {
+    if(transformations.size() < 1) {
+        throw std::runtime_error("Cannot set crop rotation without first setting an initial transformation");
+    }
+    auto croppingTransformation = getNewTransformation();
+    croppingTransformation.transformationType = ImgTransformation::Transformation::CROP;
+    croppingTransformation.afterTransformWidth = bottomRightCropX - topLeftCropX;
+    croppingTransformation.afterTransformHeight = bottomRightCropY - topLeftCropY;
+    croppingTransformation.topLeftCropX = topLeftCropX;
+    croppingTransformation.topLeftCropY = topLeftCropY;
+    croppingTransformation.bottomRightCropX = bottomRightCropX;
+    croppingTransformation.bottomRightCropY = bottomRightCropY;
+    transformations.push_back(croppingTransformation);
+    return;
+}
+
+void ImgTransformations::addScale(float scaleX, float scaleY) {
+    if(transformations.size() < 1) {
+        throw std::runtime_error("Cannot set scale rotation without first setting an initial transformation");
+    }
+    auto scaleTransformation = getNewTransformation();
+    scaleTransformation.transformationType = ImgTransformation::Transformation::SCALE;
+    scaleTransformation.afterTransformWidth = std::round(getLastWidth() * scaleX);
+    scaleTransformation.afterTransformHeight = std::round(getLastHeight() * scaleY);
+    scaleTransformation.transformationMatrix = getScaleMatrix(scaleX, scaleY);
+    scaleTransformation.invTransformationMatrix = std::vector<std::vector<float>>();
+    bool success = matrix::matInv(scaleTransformation.transformationMatrix, scaleTransformation.invTransformationMatrix);
+    if(!success) {
+        throw std::runtime_error("Could not invert matrix");
+    }
+    transformations.push_back(scaleTransformation);
+    return;
+}
+
+void ImgTransformations::addFlipVertical() {
+    if(transformations.size() < 1) {
+        throw std::runtime_error("Cannot set flip transformation image without first setting an initial transformation");
+    }
+    auto flipTransformation = getNewTransformation();
+    flipTransformation.transformationType = ImgTransformation::Transformation::FLIP;
+    flipTransformation.afterTransformWidth = getLastWidth();
+    flipTransformation.afterTransformHeight = getLastHeight();
+    flipTransformation.transformationMatrix = getFlipVerticalMatrix(getLastHeight());
+    flipTransformation.invTransformationMatrix = std::vector<std::vector<float>>();
+    bool success = matrix::matInv(flipTransformation.transformationMatrix, flipTransformation.invTransformationMatrix);
+    if(!success) {
+        throw std::runtime_error("Could not invert matrix");
+    }
+    transformations.push_back(flipTransformation);
+    return;
+}
+
+void ImgTransformations::addFlipHorizontal() {
+    if(transformations.size() < 1) {
+        throw std::runtime_error("Cannot set flip transformation without first setting an initial transformation");
+    }
+    auto flipTransformation = getNewTransformation();
+    flipTransformation.transformationType = ImgTransformation::Transformation::FLIP;
+    flipTransformation.afterTransformWidth = getLastWidth();
+    flipTransformation.afterTransformHeight = getLastHeight();
+    flipTransformation.transformationMatrix = getFlipHorizontalMatrix(getLastWidth());
+    flipTransformation.invTransformationMatrix = std::vector<std::vector<float>>();
+    bool success = matrix::matInv(flipTransformation.transformationMatrix, flipTransformation.invTransformationMatrix);
+    if(!success) {
+        throw std::runtime_error("Could not invert matrix");
+    }
+    transformations.push_back(flipTransformation);
+    return;
+}
+
+void ImgTransformations::addInitTransformation(int width, int height) {
+    if(transformations.size() > 0) {
+        throw std::runtime_error("Cannot set initial transformation after other transformations have been set");
+    }
+    ImgTransformation initTransformation;
+    initTransformation.transformationType = ImgTransformation::Transformation::INIT;
+    initTransformation.afterTransformWidth = width;
+    initTransformation.afterTransformHeight = height;
+    initTransformation.beforeTransformWidth = width;
+    initTransformation.beforeTransformHeight = height;
+    transformations.push_back(initTransformation);
+    return;
+}
+
+void ImgTransformations::addRotation(float angle, dai::Point2f rotationPoint, int newWidth, int newHeight) {
+    if(transformations.size() < 1) {
+        throw std::runtime_error("Cannot set rotation transformation without first setting an initial transformation");
+    }
+    auto rotationTransformation = getNewTransformation();
+    rotationTransformation.transformationType = ImgTransformation::Transformation::ROTATION;
+    rotationTransformation.afterTransformWidth = newWidth;
+    rotationTransformation.afterTransformHeight = newHeight;
+    rotationTransformation.transformationMatrix = getRotationMatrix(rotationPoint.x, rotationPoint.y, angle);
+    rotationTransformation.invTransformationMatrix = getRotationMatrix(rotationPoint.x, rotationPoint.y, -angle);
+    transformations.push_back(rotationTransformation);
+}
+
+// API that is meant for performance reasons - so matrices can be precomputed.
+void ImgTransformations::addTransformation(std::vector<std::vector<float>> matrix,
+                                           std::vector<std::vector<float>> invMatrix,
+                                           ImgTransformation::Transformation transformation,
+                                           int newWidth,
+                                           int newHeight) {
+    auto imgTransformation = getNewTransformation();
+    imgTransformation.transformationType = transformation;
+    imgTransformation.afterTransformWidth = newWidth;
+    imgTransformation.afterTransformHeight = newHeight;
+    imgTransformation.transformationMatrix = matrix;
+    imgTransformation.invTransformationMatrix = invMatrix;
+    return;
+}
+
+dai::Point2f ImgTransformation::applyMatrixTransformation(dai::Point2f point, std::vector<std::vector<float>>& matrix) {
+    if(point.isNormalized() && point.x != 0.0f && point.y != 0.0f) {
+        throw std::runtime_error("Cannot apply matrix transformation to normalized point (x = " + std::to_string(point.x) + ", y = " + std::to_string(point.y)
+                                 + ")");
+    }
+    std::vector<float> homogenousPoint = {point.x, point.y, 1.0f};
+    std::vector<float> transformedPoint = {0.0f, 0.0f, 0.0f};
+
+    for(int i = 0; i < 3; i++) {
+        for(int j = 0; j < 3; j++) {
+            transformedPoint[i] += matrix[i][j] * homogenousPoint[j];
+        }
+    }
+    if(transformedPoint[2] == 0) {
+        throw std::runtime_error("Homogeneous coordinate is zero");
+    }
+    return Point2f(std::round(transformedPoint[0] / transformedPoint[2]), std::round(transformedPoint[1] / transformedPoint[2]));
+}
+
+dai::Point2f ImgTransformation::clipPoint(dai::Point2f point, int imageWidth, int imageHeight, bool& isClipped) {
+    if(imageHeight == 0 && imageWidth == 0) {
+        throw std::runtime_error("Image width and height must be greater than zero");
+    }
+    isClipped = false;
+    if(point.x < 0) {
+        point.x = 0;
+        isClipped = true;
+    }
+    if(point.y < 0) {
+        point.y = 0;
+        isClipped = true;
+    }
+    if(point.x > imageWidth) {
+        point.x = imageWidth;
+        isClipped = true;
+    }
+    if(point.y > imageHeight) {
+        point.y = imageHeight;
+        isClipped = true;
+    }
+    return point;
+}
+
+dai::Point2f ImgTransformation::transformPoint(ImgTransformation transformation, dai::Point2f point, bool& isClipped) {
+    switch(transformation.transformationType) {
+        case ImgTransformation::Transformation::INIT:
+            break;
+        case ImgTransformation::Transformation::PAD:
+            point.x = point.x + transformation.leftPadding;
+            point.y = point.y + transformation.topPadding;
+            break;
+        case ImgTransformation::Transformation::CROP:
+            point.x = point.x - transformation.topLeftCropX;
+            point.y = point.y - transformation.topLeftCropY;
+            break;
+        case ImgTransformation::Transformation::ROTATION:
+        case ImgTransformation::Transformation::FLIP:
+        case ImgTransformation::Transformation::SCALE:
+            point = applyMatrixTransformation(point, transformation.transformationMatrix);
+            break;
+        default:
+            break;
+    }
+    point = clipPoint(point, transformation.afterTransformWidth, transformation.afterTransformHeight, isClipped);
+    return point;
+}
+
+dai::Point2f ImgTransformation::invTransformPoint(ImgTransformation transformation, dai::Point2f point, bool& isClipped) {
+    switch(transformation.transformationType) {
+        case ImgTransformation::Transformation::PAD:
+            point.x = point.x - transformation.leftPadding;
+            point.y = point.y - transformation.topPadding;
+            break;
+        case ImgTransformation::Transformation::INIT:
+            break;
+        case ImgTransformation::Transformation::CROP:
+            point.x = point.x + transformation.topLeftCropX;
+            point.y = point.y + transformation.topLeftCropY;
+            break;
+        case ImgTransformation::Transformation::ROTATION:
+        case ImgTransformation::Transformation::FLIP:
+        case ImgTransformation::Transformation::SCALE:
+            point = applyMatrixTransformation(point, transformation.invTransformationMatrix);
+            break;
+        default:
+            break;
+    }
+    point = clipPoint(point, transformation.beforeTransformWidth, transformation.beforeTransformHeight, isClipped);
+    return point;
+}
+
+bool ImgTransformations::validateTransformationSizes() const {
+    if(transformations.size() < 1) {
+        return true;
+    }
+
+    auto lastWidth = transformations[0].beforeTransformWidth;
+    auto lastHeight = transformations[0].beforeTransformHeight;
+    for(auto& transformation : transformations) {
+        if(transformation.beforeTransformWidth != lastWidth || transformation.beforeTransformHeight != lastHeight) {
+            return false;
+        }
+        lastWidth = transformation.afterTransformWidth;
+        lastHeight = transformation.afterTransformHeight;
+    }
+    return true;
+}
+
+ImgTransformation ImgTransformations::getNewTransformation() const {
+    ImgTransformation transformation;
+    transformation.beforeTransformWidth = getLastWidth();
+    transformation.beforeTransformHeight = getLastHeight();
+    return transformation;
+}
+
+void ImgTransformations::invalidateTransformations() {
+    invalidFlag = true;
+}
+
+bool ImgTransformations::isInvalid() const {
+    return invalidFlag || !validateTransformationSizes();
+}
+
+};  // namespace dai
\ No newline at end of file
diff --git a/src/pipeline/datatype/MessageGroup.cpp b/src/pipeline/datatype/MessageGroup.cpp
index 9b3f64c75..27295c262 100644
--- a/src/pipeline/datatype/MessageGroup.cpp
+++ b/src/pipeline/datatype/MessageGroup.cpp
@@ -3,35 +3,27 @@
 #include <chrono>
 #include <memory>
 
-#include "depthai-shared/datatype/DatatypeEnum.hpp"
-#include "depthai-shared/datatype/RawBuffer.hpp"
+#include "depthai/pipeline/datatype/Buffer.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
 
 namespace dai {
 
-std::shared_ptr<RawBuffer> MessageGroup::serialize() const {
-    return raw;
-}
-
-MessageGroup::MessageGroup() : Buffer(std::make_shared<RawMessageGroup>()), rawGrp(*dynamic_cast<RawMessageGroup*>(raw.get())) {}
-MessageGroup::MessageGroup(std::shared_ptr<RawMessageGroup> ptr) : Buffer(std::move(ptr)), rawGrp(*dynamic_cast<RawMessageGroup*>(raw.get())) {}
-
 std::shared_ptr<ADatatype> MessageGroup::operator[](const std::string& name) {
     return group.at(name);
 }
 void MessageGroup::add(const std::string& name, const std::shared_ptr<ADatatype>& value) {
     group[name] = value;
-    rawGrp.group[name] = {value->getRaw(), 0};
 }
 
-std::unordered_map<std::string, std::shared_ptr<ADatatype>>::iterator MessageGroup::begin() {
+std::map<std::string, std::shared_ptr<ADatatype>>::iterator MessageGroup::begin() {
     return group.begin();
 }
-std::unordered_map<std::string, std::shared_ptr<ADatatype>>::iterator MessageGroup::end() {
+std::map<std::string, std::shared_ptr<ADatatype>>::iterator MessageGroup::end() {
     return group.end();
 }
 
 int64_t MessageGroup::getIntervalNs() const {
-    if(!rawGrp.group.empty()) {
+    if(!group.empty()) {
         auto oldest = std::dynamic_pointer_cast<Buffer>(group.begin()->second)->getTimestampDevice();
         auto latest = oldest;
         for(const auto& entry : group) {
@@ -45,7 +37,7 @@ int64_t MessageGroup::getIntervalNs() const {
 }
 
 int64_t MessageGroup::getNumMessages() const {
-    return rawGrp.group.size();
+    return group.size();
 }
 
 std::vector<std::string> MessageGroup::getMessageNames() const {
@@ -61,17 +53,4 @@ bool MessageGroup::isSynced(int64_t thresholdNs) const {
     return getIntervalNs() <= thresholdNs;
 }
 
-// setters
-MessageGroup& MessageGroup::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<MessageGroup&>(Buffer::setTimestamp(tp));
-}
-MessageGroup& MessageGroup::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<MessageGroup&>(Buffer::setTimestampDevice(tp));
-}
-MessageGroup& MessageGroup::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<MessageGroup&>(Buffer::setSequenceNum(sequenceNum));
-}
-
 }  // namespace dai
diff --git a/src/pipeline/datatype/NNData.cpp b/src/pipeline/datatype/NNData.cpp
index ab765e63b..4cef1a3d6 100644
--- a/src/pipeline/datatype/NNData.cpp
+++ b/src/pipeline/datatype/NNData.cpp
@@ -5,151 +5,192 @@
 #include <unordered_map>
 #include <vector>
 
-#include "depthai-shared/datatype/RawNNData.hpp"
 #include "depthai/pipeline/datatype/ADatatype.hpp"
+#include "depthai/utility/VectorMemory.hpp"
 #include "fp16/fp16.h"
 
 namespace dai {
-
-NNData::NNData() : Buffer(std::make_shared<RawNNData>()), rawNn(*dynamic_cast<RawNNData*>(raw.get())) {}
-NNData::NNData(std::shared_ptr<RawNNData> ptr) : Buffer(ptr), rawNn(*ptr.get()) {}
-
-static std::size_t sizeofTensorInfoDataType(TensorInfo::DataType type) {
-    switch(type) {
-        case TensorInfo::DataType::FP16:
-            return sizeof(uint16_t);
-        case TensorInfo::DataType::FP32:
-            return sizeof(float);
-        case TensorInfo::DataType::I8:
-            return sizeof(int8_t);
-        case TensorInfo::DataType::INT:
-            return sizeof(int32_t);
-        case TensorInfo::DataType::U8F:
-            return sizeof(uint8_t);
-        default:
-            // invalid type, shouldn't happen
-            assert(0);
-            return 0;
-    }
-}
-
-static std::size_t getTensorDataSize(const TensorInfo& tensor) {
-    return tensor.dims[0] * tensor.strides[0];
+NNData::NNData(size_t size) : NNData() {
+    auto mem = std::make_shared<VectorMemory>();
+    mem->resize(size);
+    data = mem;
 }
 
-std::shared_ptr<RawBuffer> NNData::serialize() const {
-    // get data from u8Data and fp16Data and place properly into the underlying raw buffer
-    rawNn.tensors = {};
-    rawNn.data.clear();
-
-    // U8 tensors
-    for(const auto& kv : u8Data) {
-        const auto dataType = TensorInfo::DataType::U8F;
-        const auto dataSize = kv.second.size() * sizeofTensorInfoDataType(dataType);
-
-        // First add any required padding bytes
-        // calculate how many alignment bytes to add for next tensor
-        size_t remainder = (rawNn.data.end() - rawNn.data.begin()) % DATA_ALIGNMENT;
-        if(remainder > 0) {
-            rawNn.data.insert(rawNn.data.end(), DATA_ALIGNMENT - remainder, 0);
-        }
-
-        // Then get offset to beginning of data
-        size_t offset = rawNn.data.end() - rawNn.data.begin();
-
-        const auto* data = reinterpret_cast<const std::uint8_t*>(kv.second.data());
-        rawNn.data.insert(rawNn.data.end(), data, data + dataSize);
-
-        // Add entry in tensors
-        // TODO(themarpe) - refactor with proper way off specifying tensors
-        TensorInfo info;
-        info.dataType = dataType;
-        info.numDimensions = 1;
-        info.dims.push_back(kv.second.size());
-        info.strides.push_back(sizeofTensorInfoDataType(dataType));
-        info.name = kv.first;
-        info.offset = static_cast<unsigned int>(offset);
-        rawNn.tensors.push_back(info);
-    }
+// static std::size_t sizeofTensorInfoDataType(TensorInfo::DataType type) {
+//     switch(type) {
+//         case TensorInfo::DataType::FP16:
+//             return sizeof(uint16_t);
+//         case TensorInfo::DataType::FP32:
+//             return sizeof(float);
+//         case TensorInfo::DataType::I8:
+//             return sizeof(int8_t);
+//         case TensorInfo::DataType::INT:
+//             return sizeof(int32_t);
+//         case TensorInfo::DataType::U8F:
+//             return sizeof(uint8_t);
+//         default:
+//             // invalid type, shouldn't happen
+//             assert(0);
+//             return 0;
+//     }
+// }
 
-    // FP16 tensors
-    for(const auto& kv : fp16Data) {
-        const auto dataType = TensorInfo::DataType::FP16;
-        const auto dataSize = kv.second.size() * sizeofTensorInfoDataType(dataType);
+static std::size_t getTensorDataSize(const TensorInfo& tensor) {
+    uint32_t i;
 
-        // First add any required padding bytes
-        // calculate how many alignment bytes to add for next tensor
-        size_t remainder = (rawNn.data.end() - rawNn.data.begin()) % DATA_ALIGNMENT;
-        if(remainder > 0) {
-            rawNn.data.insert(rawNn.data.end(), DATA_ALIGNMENT - remainder, 0);
+    // Use the first non zero stride
+    for(i = 0; i < tensor.strides.size(); i++) {
+        if(tensor.strides[i] > 0) {
+            break;
         }
-
-        // Then get offset to beginning of data
-        size_t offset = rawNn.data.end() - rawNn.data.begin();
-
-        const auto* data = reinterpret_cast<const std::uint8_t*>(kv.second.data());
-        rawNn.data.insert(rawNn.data.end(), data, data + dataSize);
-
-        // Add entry in tensors
-        // TODO(themarpe) - refactor with proper way off specifying tensors
-        TensorInfo info;
-        info.dataType = dataType;
-        info.numDimensions = 1;
-        info.dims.push_back(kv.second.size());
-        info.strides.push_back(sizeofTensorInfoDataType(dataType));
-        info.name = kv.first;
-        info.offset = static_cast<unsigned int>(offset);
-        rawNn.tensors.push_back(info);
     }
-
-    return raw;
+    return tensor.dims[i] * tensor.strides[i];
 }
 
-// setters
-// uint8_t
-NNData& NNData::setLayer(const std::string& name, std::vector<std::uint8_t> data) {
-    u8Data[name] = std::move(data);
-    return *this;
-}
-NNData& NNData::setLayer(const std::string& name, const std::vector<int>& data) {
-    u8Data[name] = std::vector<std::uint8_t>(data.size());
-    for(unsigned i = 0; i < data.size(); i++) {
-        u8Data[name][i] = static_cast<std::uint8_t>(data[i]);
+// NNData::Serialized NNData::serialize() const {
+//     // get data from u8Data and fp16Data and place properly into the underlying raw buffer
+//     std::shared_ptr<VectorMemory> mem;
+//     if(std::dynamic_pointer_cast<VectorMemory>(data) == nullptr) {
+//         auto prev = std::vector<uint8_t>(data->getData().begin(), data->getData().end());
+//         mem = std::make_shared<VectorMemory>(std::move(prev));
+//     } else {
+//         mem = std::dynamic_pointer_cast<VectorMemory>(data);
+//     }
+//     std::vector<uint8_t>& temporary = *mem;
+//     // data = mem;
+
+//     // U8 tensors
+//     for(const auto& kv : u8Data) {
+//         const auto dataType = TensorInfo::DataType::U8F;
+//         const auto dataSize = kv.second.size() * sizeofTensorInfoDataType(dataType);
+
+//         // First add any required padding bytes
+//         // calculate how many alignment bytes to add for next tensor
+//         size_t remainder = (temporary.end() - temporary.begin()) % DATA_ALIGNMENT;
+//         if(remainder > 0) {
+//             temporary.insert(temporary.end(), DATA_ALIGNMENT - remainder, 0);
+//         }
+
+//         // Then get offset to beginning of data
+//         size_t offset = temporary.end() - temporary.begin();
+
+//         const auto* data = reinterpret_cast<const std::uint8_t*>(kv.second.data());
+//         temporary.insert(temporary.end(), data, data + dataSize);
+
+//         // Add entry in tensors
+//         // TODO(themarpe) - refactor with proper way off specifying tensors
+//         TensorInfo info;
+//         info.dataType = dataType;
+//         info.numDimensions = 1;
+//         info.dims.push_back(kv.second.size());
+//         info.strides.push_back(sizeofTensorInfoDataType(dataType));
+//         info.name = kv.first;
+//         info.offset = static_cast<unsigned int>(offset);
+//         tensors.push_back(info);
+//     }
+
+//     // FP16 tensors
+//     for(const auto& kv : fp16Data) {
+//         const auto dataType = TensorInfo::DataType::FP16;
+//         const auto dataSize = kv.second.size() * sizeofTensorInfoDataType(dataType);
+
+//         // First add any required padding bytes
+//         // calculate how many alignment bytes to add for next tensor
+//         size_t remainder = (temporary.end() - temporary.begin()) % DATA_ALIGNMENT;
+//         if(remainder > 0) {
+//             temporary.insert(temporary.end(), DATA_ALIGNMENT - remainder, 0);
+//         }
+
+//         // Then get offset to beginning of data
+//         size_t offset = temporary.end() - temporary.begin();
+
+//         const auto* data = reinterpret_cast<const std::uint8_t*>(kv.second.data());
+//         temporary.insert(temporary.end(), data, data + dataSize);
+
+//         // Add entry in tensors
+//         // TODO(themarpe) - refactor with proper way off specifying tensors
+//         TensorInfo info;
+//         info.dataType = dataType;
+//         info.numDimensions = 1;
+//         info.dims.push_back(kv.second.size());
+//         info.strides.push_back(sizeofTensorInfoDataType(dataType));
+//         info.name = kv.first;
+//         info.offset = static_cast<unsigned int>(offset);
+//         tensors.push_back(info);
+//     }
+
+//     return {mem, raw};
+// }
+
+uint16_t NNData::fp32_to_fp16(float value) {
+    return fp16_ieee_from_fp32_value(value);
+};
+
+float NNData::fp16_to_fp32(uint16_t value) {
+    return fp16_ieee_to_fp32_value(value);
+};
+
+// // setters
+// // uint8_t
+// NNData& NNData::setLayer(const std::string& name, std::vector<std::uint8_t> data) {
+//     u8Data[name] = std::move(data);
+//     return *this;
+// }
+// NNData& NNData::setLayer(const std::string& name, const std::vector<int>& data) {
+//     u8Data[name] = std::vector<std::uint8_t>(data.size());
+//     for(unsigned i = 0; i < data.size(); i++) {
+//         u8Data[name][i] = static_cast<std::uint8_t>(data[i]);
+//     }
+//     return *this;
+// }
+
+span<std::uint8_t> NNData::emplaceTensor(TensorInfo& tensor) {
+    // TODO - look into returning an xtensor adaptor pre RVC3 merge
+    size_t offset = data->getSize();
+    auto tensorSize = getTensorDataSize(tensor);
+    size_t reminder = tensorSize % DATA_ALIGNMENT;
+    auto tensorSizeAligned = tensorSize;
+    if(reminder != 0) {
+        tensorSizeAligned += DATA_ALIGNMENT - reminder;
     }
-    return *this;
+    tensor.offset = offset;
+    tensors.push_back(tensor);
+    // TODO - this might not be safe/viable with all types of memory
+    data->setSize(offset + tensorSizeAligned);
+    return data->getData().subspan(offset, tensorSize);
 }
 
-// fp16
-NNData& NNData::setLayer(const std::string& name, std::vector<float> data) {
-    fp16Data[name] = std::vector<std::uint16_t>(data.size());
-    for(unsigned i = 0; i < data.size(); i++) {
-        fp16Data[name][i] = fp16_ieee_from_fp32_value(data[i]);
-    }
-    return *this;
-}
-NNData& NNData::setLayer(const std::string& name, std::vector<double> data) {
-    fp16Data[name] = std::vector<std::uint16_t>(data.size());
-    for(unsigned i = 0; i < data.size(); i++) {
-        fp16Data[name][i] = fp16_ieee_from_fp32_value(static_cast<float>(data[i]));
-    }
-    return *this;
-}
+// // fp16
+// NNData& NNData::setLayer(const std::string& name, std::vector<float> data) {
+//     fp16Data[name] = std::vector<std::uint16_t>(data.size());
+//     for(unsigned i = 0; i < data.size(); i++) {
+//         fp16Data[name][i] = fp16_ieee_from_fp32_value(data[i]);
+//     }
+//     return *this;
+// }
+// NNData& NNData::setLayer(const std::string& name, std::vector<double> data) {
+//     fp16Data[name] = std::vector<std::uint16_t>(data.size());
+//     for(unsigned i = 0; i < data.size(); i++) {
+//         fp16Data[name][i] = fp16_ieee_from_fp32_value(static_cast<float>(data[i]));
+//     }
+//     return *this;
+// }
 
 // getters
 std::vector<std::string> NNData::getAllLayerNames() const {
     std::vector<std::string> names;
-    for(const auto& t : rawNn.tensors) {
+    for(const auto& t : tensors) {
         names.push_back(t.name);
     }
     return names;
 }
 
 std::vector<TensorInfo> NNData::getAllLayers() const {
-    return rawNn.tensors;
+    return tensors;
 }
 
 bool NNData::getLayer(const std::string& name, TensorInfo& tensor) const {
-    for(const auto& t : rawNn.tensors) {
+    for(const auto& t : tensors) {
         if(t.name == name) {
             tensor = t;
             return true;
@@ -159,7 +200,7 @@ bool NNData::getLayer(const std::string& name, TensorInfo& tensor) const {
 }
 
 bool NNData::hasLayer(const std::string& name) const {
-    for(const auto& tensor : rawNn.tensors) {
+    for(const auto& tensor : tensors) {
         if(tensor.name == name) return true;
     }
     return false;
@@ -174,112 +215,119 @@ bool NNData::getLayerDatatype(const std::string& name, TensorInfo::DataType& dat
     return false;
 }
 
-// uint8
-std::vector<std::uint8_t> NNData::getLayerUInt8(const std::string& name) const {
-    // std::vector<std::uint8_t> data;
-    // find layer name and its offset
-    TensorInfo tensor;
-    if(getLayer(name, tensor)) {
-        if(tensor.dataType == TensorInfo::DataType::U8F) {
-            // Total data size = last dimension * last stride
-            if(tensor.numDimensions > 0) {
-                size_t size = getTensorDataSize(tensor);
-                auto beg = rawNn.data.begin() + tensor.offset;
-                auto end = beg + size;
-                return {beg, end};
-            }
-        }
-    }
-    return {};
-}
-
-// int32_t
-std::vector<std::int32_t> NNData::getLayerInt32(const std::string& name) const {
-    // find layer name and its offset
-    TensorInfo tensor;
-    if(getLayer(name, tensor)) {
-        if(tensor.dataType == TensorInfo::DataType::INT) {
-            // Total data size = last dimension * last stride
-            if(tensor.numDimensions > 0) {
-                size_t size = getTensorDataSize(tensor);
-                std::size_t numElements = size / sizeof(std::int32_t);  // FP16
-
-                std::vector<std::int32_t> data;
-                data.reserve(numElements);
-                auto* pInt32Data = reinterpret_cast<std::int32_t*>(&rawNn.data[tensor.offset]);
-                for(std::size_t i = 0; i < numElements; i++) {
-                    data.push_back(pInt32Data[i]);
-                }
-                return data;
-            }
-        }
-    }
-    return {};
-}
-
-// fp16
-std::vector<float> NNData::getLayerFp16(const std::string& name) const {
-    // find layer name and its offset
-    TensorInfo tensor;
-    if(getLayer(name, tensor)) {
-        if(tensor.dataType == TensorInfo::DataType::FP16) {
-            // Total data size = last dimension * last stride
-            if(tensor.numDimensions > 0) {
-                std::size_t size = getTensorDataSize(tensor);
-                std::size_t numElements = size / 2;  // FP16
-
-                std::vector<float> data;
-                data.reserve(numElements);
-                auto* pFp16Data = reinterpret_cast<std::uint16_t*>(&rawNn.data[tensor.offset]);
-                for(std::size_t i = 0; i < numElements; i++) {
-                    data.push_back(fp16_ieee_to_fp32_value(pFp16Data[i]));
-                }
-                return data;
-            }
-        }
-    }
-    return {};
-}
-
-// uint8
-std::vector<std::uint8_t> NNData::getFirstLayerUInt8() const {
-    // find layer name and its offset
-    if(!rawNn.tensors.empty()) {
-        return getLayerUInt8(rawNn.tensors[0].name);
-    }
-
-    return {};
-}
-
-// fp16
-std::vector<float> NNData::getFirstLayerFp16() const {
-    // find layer name and its offset
-    if(!rawNn.tensors.empty()) {
-        return getLayerFp16(rawNn.tensors[0].name);
-    }
-    return {};
-}
-
-// int32
-std::vector<std::int32_t> NNData::getFirstLayerInt32() const {
-    // find layer name and its offset
-    if(!rawNn.tensors.empty()) {
-        return getLayerInt32(rawNn.tensors[0].name);
-    }
-    return {};
-}
-
-// setters
-NNData& NNData::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<NNData&>(Buffer::setTimestamp(tp));
-}
-NNData& NNData::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<NNData&>(Buffer::setTimestampDevice(tp));
-}
-NNData& NNData::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<NNData&>(Buffer::setSequenceNum(sequenceNum));
-}
-
+// // uint8
+// std::vector<std::uint8_t> NNData::getLayerUInt8(const std::string& name) const {
+//     // std::vector<std::uint8_t> data;
+//     // find layer name and its offset
+//     TensorInfo tensor;
+//     if(getLayer(name, tensor)) {
+//         if(tensor.dataType == TensorInfo::DataType::U8F) {
+//             // Total data size = last dimension * last stride
+//             if(tensor.numDimensions > 0) {
+//                 size_t size = getTensorDataSize(tensor);
+//                 auto beg = data->getData().begin() + tensor.offset;
+//                 auto end = beg + size;
+//                 return {beg, end};
+//             }
+//         }
+//     }
+//     return {};
+// }
+
+// // int32_t
+// std::vector<std::int32_t> NNData::getLayerInt32(const std::string& name) const {
+//     // find layer name and its offset
+//     TensorInfo tensor;
+//     if(getLayer(name, tensor)) {
+//         if(tensor.dataType == TensorInfo::DataType::INT) {
+//             // Total data size = last dimension * last stride
+//             if(tensor.numDimensions > 0) {
+//                 size_t size = getTensorDataSize(tensor);
+//                 std::size_t numElements = size / sizeof(std::int32_t);  // FP16
+
+//                 std::vector<std::int32_t> data;
+//                 data.reserve(numElements);
+//                 auto* pInt32Data = reinterpret_cast<std::int32_t*>(&this->data->getData()[tensor.offset]);
+//                 for(std::size_t i = 0; i < numElements; i++) {
+//                     data.push_back(pInt32Data[i]);
+//                 }
+//                 return data;
+//             }
+//         }
+//     }
+//     return {};
+// }
+
+// // fp16
+// std::vector<float> NNData::getLayerFp16(const std::string& name) const {
+//     // find layer name and its offset
+//     TensorInfo tensor;
+//     if(getLayer(name, tensor)) {
+//         if(tensor.dataType == TensorInfo::DataType::FP16) {
+//             // Total data size = last dimension * last stride
+//             if(tensor.numDimensions > 0) {
+//                 std::size_t size = getTensorDataSize(tensor);
+//                 std::size_t numElements = size / 2;  // FP16
+
+//                 std::vector<float> data;
+//                 data.reserve(numElements);
+//                 auto* pFp16Data = reinterpret_cast<std::uint16_t*>(&this->data->getData()[tensor.offset]);
+//                 for(std::size_t i = 0; i < numElements; i++) {
+//                     data.push_back(fp16_ieee_to_fp32_value(pFp16Data[i]));
+//                 }
+//                 return data;
+//             }
+//         } else if(tensor.dataType == TensorInfo::DataType::FP32) {
+//             if(tensor.numDimensions > 0) {
+//                 std::size_t size = getTensorDataSize(tensor);
+//                 std::size_t numElements = size / sizeof(float_t);
+
+//                 std::vector<float> data;
+//                 data.reserve(numElements);
+//                 auto* pFp32Data = reinterpret_cast<float_t*>(&this->data->getData()[tensor.offset]);
+//                 for(std::size_t i = 0; i < numElements; i++) {
+//                     data.push_back(pFp32Data[i]);
+//                 }
+//                 return data;
+//             }
+//         }
+//     }
+//     return {};
+// }
+
+// // uint8
+// std::vector<std::uint8_t> NNData::getFirstLayerUInt8() const {
+//     // find layer name and its offset
+//     if(!tensors.empty()) {
+//         return getLayerUInt8(tensors[0].name);
+//     }
+
+//     return {};
+// }
+
+// // fp16
+// std::vector<float> NNData::getFirstLayerFp16() const {
+//     // find layer name and its offset
+//     if(!tensors.empty()) {
+//         return getLayerFp16(tensors[0].name);
+//     }
+//     return {};
+// }
+
+// // int32
+// std::vector<std::int32_t> NNData::getFirstLayerInt32() const {
+//     // find layer name and its offset
+//     if(!tensors.empty()) {
+//         return getLayerInt32(tensors[0].name);
+//     }
+//     return {};
+// }
+
+TensorInfo::DataType NNData::getTensorDatatype(const std::string& name) {
+    const auto it = std::find_if(tensors.begin(), tensors.end(), [&name](const TensorInfo& ti) { return ti.name == name; });
+
+    if(it == tensors.end()) throw std::runtime_error("Tensor does not exist");
+
+    return it->dataType;
+};
 }  // namespace dai
diff --git a/src/pipeline/datatype/PointCloudConfig.cpp b/src/pipeline/datatype/PointCloudConfig.cpp
new file mode 100644
index 000000000..af5a82d57
--- /dev/null
+++ b/src/pipeline/datatype/PointCloudConfig.cpp
@@ -0,0 +1,31 @@
+#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
+
+namespace dai {
+
+bool PointCloudConfig::getSparse() const {
+    return sparse;
+}
+
+std::array<std::array<float, 4>, 4> PointCloudConfig::getTransformationMatrix() const {
+    return transformationMatrix;
+}
+
+PointCloudConfig& PointCloudConfig::setSparse(bool enable) {
+    sparse = enable;
+    return *this;
+}
+
+PointCloudConfig& PointCloudConfig::setTransformationMatrix(const std::array<std::array<float, 4>, 4>& transformationMatrix) {
+    this->transformationMatrix = transformationMatrix;
+    return *this;
+}
+
+PointCloudConfig& PointCloudConfig::setTransformationMatrix(const std::array<std::array<float, 3>, 3>& transformationMatrix) {
+    this->transformationMatrix = {{{transformationMatrix[0][0], transformationMatrix[0][1], transformationMatrix[0][2], 0},
+                                   {transformationMatrix[1][0], transformationMatrix[1][1], transformationMatrix[1][2], 0},
+                                   {transformationMatrix[2][0], transformationMatrix[2][1], transformationMatrix[2][2], 0},
+                                   {0, 0, 0, 1}}};
+    return *this;
+}
+
+}  // namespace dai
diff --git a/src/pipeline/datatype/PointCloudData.cpp b/src/pipeline/datatype/PointCloudData.cpp
new file mode 100644
index 000000000..797a8b308
--- /dev/null
+++ b/src/pipeline/datatype/PointCloudData.cpp
@@ -0,0 +1,101 @@
+#include "depthai/pipeline/datatype/PointCloudData.hpp"
+
+#include <iostream>
+
+#include "depthai/common/Point3f.hpp"
+
+namespace dai {
+
+std::vector<Point3f> PointCloudData::getPoints() {
+    span<const Point3f> pointData(reinterpret_cast<Point3f*>(data->getData().data()), data->getData().size() / sizeof(Point3f));
+    std::vector<Point3f> points(pointData.begin(), pointData.end());
+    assert(isSparse() || points.size() == width * height);
+    assert(!isSparse() || points.size() <= width * height);
+
+    return points;
+}
+
+unsigned int PointCloudData::getInstanceNum() const {
+    return instanceNum;
+}
+unsigned int PointCloudData::getWidth() const {
+    return width;
+}
+unsigned int PointCloudData::getHeight() const {
+    return height;
+}
+float PointCloudData::getMinX() const {
+    return minx;
+}
+float PointCloudData::getMinY() const {
+    return miny;
+}
+float PointCloudData::getMinZ() const {
+    return minz;
+}
+float PointCloudData::getMaxX() const {
+    return maxx;
+}
+float PointCloudData::getMaxY() const {
+    return maxy;
+}
+float PointCloudData::getMaxZ() const {
+    return maxz;
+}
+bool PointCloudData::isSparse() const {
+    return sparse;
+}
+
+PointCloudData& PointCloudData::setInstanceNum(unsigned int instanceNum) {
+    this->instanceNum = instanceNum;
+    return *this;
+}
+
+PointCloudData& PointCloudData::setWidth(unsigned int width) {
+    this->width = width;
+    return *this;
+}
+PointCloudData& PointCloudData::setHeight(unsigned int height) {
+    this->height = height;
+    return *this;
+}
+PointCloudData& PointCloudData::setSize(unsigned int width, unsigned int height) {
+    setWidth(width);
+    setHeight(height);
+    return *this;
+}
+PointCloudData& PointCloudData::setSize(std::tuple<unsigned int, unsigned int> size) {
+    setSize(std::get<0>(size), std::get<1>(size));
+    return *this;
+}
+PointCloudData& PointCloudData::setMinX(float val) {
+    this->minx = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setMinY(float val) {
+    this->miny = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setMinZ(float val) {
+    this->minz = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setMaxX(float val) {
+    this->maxx = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setMaxY(float val) {
+    this->maxy = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setMaxZ(float val) {
+    this->maxz = val;
+    return *this;
+}
+PointCloudData& PointCloudData::setSparse(bool val) {
+    sparse = val;
+    return *this;
+}
+
+static_assert(sizeof(Point3f) == 12, "Point3f size must be 12 bytes");
+}  // namespace dai
diff --git a/src/pipeline/datatype/SpatialImgDetections.cpp b/src/pipeline/datatype/SpatialImgDetections.cpp
index 89ee58e8d..1bf24105d 100644
--- a/src/pipeline/datatype/SpatialImgDetections.cpp
+++ b/src/pipeline/datatype/SpatialImgDetections.cpp
@@ -1,27 +1,5 @@
 #include "depthai/pipeline/datatype/SpatialImgDetections.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> SpatialImgDetections::serialize() const {
-    return raw;
-}
-
-SpatialImgDetections::SpatialImgDetections()
-    : Buffer(std::make_shared<RawSpatialImgDetections>()), dets(*dynamic_cast<RawSpatialImgDetections*>(raw.get())), detections(dets.detections) {}
-SpatialImgDetections::SpatialImgDetections(std::shared_ptr<RawSpatialImgDetections> ptr)
-    : Buffer(std::move(ptr)), dets(*dynamic_cast<RawSpatialImgDetections*>(raw.get())), detections(dets.detections) {}
-
-// setters
-SpatialImgDetections& SpatialImgDetections::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<SpatialImgDetections&>(Buffer::setTimestamp(tp));
-}
-SpatialImgDetections& SpatialImgDetections::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<SpatialImgDetections&>(Buffer::setTimestampDevice(tp));
-}
-SpatialImgDetections& SpatialImgDetections::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<SpatialImgDetections&>(Buffer::setSequenceNum(sequenceNum));
-}
-
+// TODO - No implementation needed
 }  // namespace dai
diff --git a/src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp b/src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp
index ce6d50de6..0efdcc561 100644
--- a/src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp
+++ b/src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp
@@ -1,35 +1,16 @@
 #include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> SpatialLocationCalculatorConfig::serialize() const {
-    return raw;
-}
-
-SpatialLocationCalculatorConfig::SpatialLocationCalculatorConfig()
-    : Buffer(std::make_shared<RawSpatialLocationCalculatorConfig>()), cfg(*dynamic_cast<RawSpatialLocationCalculatorConfig*>(raw.get())) {}
-SpatialLocationCalculatorConfig::SpatialLocationCalculatorConfig(std::shared_ptr<RawSpatialLocationCalculatorConfig> ptr)
-    : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawSpatialLocationCalculatorConfig*>(raw.get())) {}
-
 void SpatialLocationCalculatorConfig::setROIs(std::vector<SpatialLocationCalculatorConfigData> ROIs) {
-    cfg.config = ROIs;
+    config = ROIs;
 }
 
 void SpatialLocationCalculatorConfig::addROI(SpatialLocationCalculatorConfigData& ROI) {
-    cfg.config.push_back(ROI);
+    config.push_back(ROI);
 }
 
 std::vector<SpatialLocationCalculatorConfigData> SpatialLocationCalculatorConfig::getConfigData() const {
-    return cfg.config;
-}
-
-dai::RawSpatialLocationCalculatorConfig SpatialLocationCalculatorConfig::get() const {
-    return cfg;
-}
-
-SpatialLocationCalculatorConfig& SpatialLocationCalculatorConfig::set(dai::RawSpatialLocationCalculatorConfig config) {
-    cfg = config;
-    return *this;
+    return config;
 }
 
 }  // namespace dai
diff --git a/src/pipeline/datatype/SpatialLocationCalculatorData.cpp b/src/pipeline/datatype/SpatialLocationCalculatorData.cpp
index c6edf0e3d..bc59ec00f 100644
--- a/src/pipeline/datatype/SpatialLocationCalculatorData.cpp
+++ b/src/pipeline/datatype/SpatialLocationCalculatorData.cpp
@@ -1,33 +1,7 @@
 #include "depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> SpatialLocationCalculatorData::serialize() const {
-    return raw;
+std::vector<SpatialLocations> SpatialLocationCalculatorData::getSpatialLocations() const {
+    return spatialLocations;
 }
-
-SpatialLocationCalculatorData::SpatialLocationCalculatorData()
-    : Buffer(std::make_shared<RawSpatialLocations>()), rawdata(*dynamic_cast<RawSpatialLocations*>(raw.get())), spatialLocations(rawdata.spatialLocations) {}
-SpatialLocationCalculatorData::SpatialLocationCalculatorData(std::shared_ptr<RawSpatialLocations> ptr)
-    : Buffer(std::move(ptr)), rawdata(*dynamic_cast<RawSpatialLocations*>(raw.get())), spatialLocations(rawdata.spatialLocations) {}
-
-std::vector<SpatialLocations>& SpatialLocationCalculatorData::getSpatialLocations() const {
-    return rawdata.spatialLocations;
-}
-
-// setters
-SpatialLocationCalculatorData& SpatialLocationCalculatorData::setTimestamp(
-    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<SpatialLocationCalculatorData&>(Buffer::setTimestamp(tp));
-}
-SpatialLocationCalculatorData& SpatialLocationCalculatorData::setTimestampDevice(
-    std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<SpatialLocationCalculatorData&>(Buffer::setTimestampDevice(tp));
-}
-SpatialLocationCalculatorData& SpatialLocationCalculatorData::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<SpatialLocationCalculatorData&>(Buffer::setSequenceNum(sequenceNum));
-}
-
 }  // namespace dai
diff --git a/src/pipeline/datatype/StereoDepthConfig.cpp b/src/pipeline/datatype/StereoDepthConfig.cpp
index d7715b72a..56a59fb0e 100644
--- a/src/pipeline/datatype/StereoDepthConfig.cpp
+++ b/src/pipeline/datatype/StereoDepthConfig.cpp
@@ -1,114 +1,95 @@
 #include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> StereoDepthConfig::serialize() const {
-    return raw;
-}
-
-StereoDepthConfig::StereoDepthConfig() : Buffer(std::make_shared<RawStereoDepthConfig>()), cfg(*dynamic_cast<RawStereoDepthConfig*>(raw.get())) {}
-StereoDepthConfig::StereoDepthConfig(std::shared_ptr<RawStereoDepthConfig> ptr)
-    : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawStereoDepthConfig*>(raw.get())) {}
-
 StereoDepthConfig& StereoDepthConfig::setDepthAlign(AlgorithmControl::DepthAlign align) {
-    cfg.algorithmControl.depthAlign = align;
+    algorithmControl.depthAlign = align;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setConfidenceThreshold(int confThr) {
-    cfg.costMatching.confidenceThreshold = confThr;
+    costMatching.confidenceThreshold = confThr;
     return *this;
 }
 
 int StereoDepthConfig::getConfidenceThreshold() const {
-    return cfg.costMatching.confidenceThreshold;
+    return costMatching.confidenceThreshold;
 }
 
 StereoDepthConfig& StereoDepthConfig::setMedianFilter(MedianFilter median) {
-    cfg.postProcessing.median = median;
+    postProcessing.median = median;
     return *this;
 }
 
-MedianFilter StereoDepthConfig::getMedianFilter() const {
-    return cfg.postProcessing.median;
+StereoDepthConfig::MedianFilter StereoDepthConfig::getMedianFilter() const {
+    return postProcessing.median;
 }
 
 StereoDepthConfig& StereoDepthConfig::setBilateralFilterSigma(uint16_t sigma) {
-    cfg.postProcessing.bilateralSigmaValue = sigma;
+    postProcessing.bilateralSigmaValue = sigma;
     return *this;
 }
 
 uint16_t StereoDepthConfig::getBilateralFilterSigma() const {
-    return cfg.postProcessing.bilateralSigmaValue;
+    return postProcessing.bilateralSigmaValue;
 }
 
 StereoDepthConfig& StereoDepthConfig::setLeftRightCheckThreshold(int threshold) {
-    cfg.algorithmControl.leftRightCheckThreshold = threshold;
+    algorithmControl.leftRightCheckThreshold = threshold;
     return *this;
 }
 
 int StereoDepthConfig::getLeftRightCheckThreshold() const {
-    return cfg.algorithmControl.leftRightCheckThreshold;
+    return algorithmControl.leftRightCheckThreshold;
 }
 
 StereoDepthConfig& StereoDepthConfig::setLeftRightCheck(bool enable) {
-    cfg.algorithmControl.enableLeftRightCheck = enable;
+    algorithmControl.enableLeftRightCheck = enable;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setExtendedDisparity(bool enable) {
-    cfg.algorithmControl.enableExtended = enable;
+    algorithmControl.enableExtended = enable;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setSubpixel(bool enable) {
-    cfg.algorithmControl.enableSubpixel = enable;
+    algorithmControl.enableSubpixel = enable;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setSubpixelFractionalBits(int subpixelFractionalBits) {
-    cfg.algorithmControl.subpixelFractionalBits = subpixelFractionalBits;
+    algorithmControl.subpixelFractionalBits = subpixelFractionalBits;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setDepthUnit(AlgorithmControl::DepthUnit depthUnit) {
-    cfg.algorithmControl.depthUnit = depthUnit;
+    algorithmControl.depthUnit = depthUnit;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setDisparityShift(int disparityShift) {
-    cfg.algorithmControl.disparityShift = disparityShift;
+    algorithmControl.disparityShift = disparityShift;
     return *this;
 }
 
 StereoDepthConfig& StereoDepthConfig::setNumInvalidateEdgePixels(int32_t numInvalidateEdgePixels) {
-    cfg.algorithmControl.numInvalidateEdgePixels = numInvalidateEdgePixels;
+    algorithmControl.numInvalidateEdgePixels = numInvalidateEdgePixels;
     return *this;
 }
 
 dai::StereoDepthConfig::AlgorithmControl::DepthUnit StereoDepthConfig::getDepthUnit() {
-    return cfg.algorithmControl.depthUnit;
+    return algorithmControl.depthUnit;
 }
 
 float StereoDepthConfig::getMaxDisparity() const {
     float maxDisp = 95.0;
-    if(cfg.costMatching.disparityWidth == RawStereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64) {
+    if(costMatching.disparityWidth == StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64) {
         maxDisp = 63;
     }
-    if(cfg.costMatching.enableCompanding) maxDisp = 175;
-    maxDisp += cfg.algorithmControl.disparityShift;
-    if(cfg.algorithmControl.enableExtended) maxDisp *= 2;
-    if(cfg.algorithmControl.enableSubpixel) maxDisp *= (1 << cfg.algorithmControl.subpixelFractionalBits);
+    if(costMatching.enableCompanding) maxDisp = 175;
+    maxDisp += algorithmControl.disparityShift;
+    if(algorithmControl.enableExtended) maxDisp *= 2;
+    if(algorithmControl.enableSubpixel) maxDisp *= (1 << algorithmControl.subpixelFractionalBits);
     return maxDisp;
 }
-
-dai::RawStereoDepthConfig StereoDepthConfig::get() const {
-    return cfg;
-}
-
-StereoDepthConfig& StereoDepthConfig::set(dai::RawStereoDepthConfig config) {
-    cfg = config;
-    return *this;
-}
-
 }  // namespace dai
diff --git a/src/pipeline/datatype/StreamMessageParser.cpp b/src/pipeline/datatype/StreamMessageParser.cpp
index 0ce4ad476..8df56df94 100644
--- a/src/pipeline/datatype/StreamMessageParser.cpp
+++ b/src/pipeline/datatype/StreamMessageParser.cpp
@@ -12,6 +12,7 @@
 #include "depthai/pipeline/datatype/ADatatype.hpp"
 #include "depthai/pipeline/datatype/AprilTagConfig.hpp"
 #include "depthai/pipeline/datatype/AprilTags.hpp"
+#include "depthai/pipeline/datatype/BenchmarkReport.hpp"
 #include "depthai/pipeline/datatype/Buffer.hpp"
 #include "depthai/pipeline/datatype/CameraControl.hpp"
 #include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
@@ -23,38 +24,23 @@
 #include "depthai/pipeline/datatype/ImgFrame.hpp"
 #include "depthai/pipeline/datatype/MessageGroup.hpp"
 #include "depthai/pipeline/datatype/NNData.hpp"
+#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
+#include "depthai/pipeline/datatype/PointCloudData.hpp"
 #include "depthai/pipeline/datatype/SpatialImgDetections.hpp"
 #include "depthai/pipeline/datatype/SpatialLocationCalculatorConfig.hpp"
 #include "depthai/pipeline/datatype/SpatialLocationCalculatorData.hpp"
 #include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
 #include "depthai/pipeline/datatype/SystemInformation.hpp"
+#include "depthai/pipeline/datatype/SystemInformationS3.hpp"
 #include "depthai/pipeline/datatype/ToFConfig.hpp"
 #include "depthai/pipeline/datatype/TrackedFeatures.hpp"
 #include "depthai/pipeline/datatype/Tracklets.hpp"
 
 // shared
-#include "depthai-shared/datatype/DatatypeEnum.hpp"
-#include "depthai-shared/datatype/RawAprilTagConfig.hpp"
-#include "depthai-shared/datatype/RawAprilTags.hpp"
-#include "depthai-shared/datatype/RawBuffer.hpp"
-#include "depthai-shared/datatype/RawCameraControl.hpp"
-#include "depthai-shared/datatype/RawEdgeDetectorConfig.hpp"
-#include "depthai-shared/datatype/RawEncodedFrame.hpp"
-#include "depthai-shared/datatype/RawFeatureTrackerConfig.hpp"
-#include "depthai-shared/datatype/RawIMUData.hpp"
-#include "depthai-shared/datatype/RawImageManipConfig.hpp"
-#include "depthai-shared/datatype/RawImgDetections.hpp"
-#include "depthai-shared/datatype/RawImgFrame.hpp"
-#include "depthai-shared/datatype/RawMessageGroup.hpp"
-#include "depthai-shared/datatype/RawNNData.hpp"
-#include "depthai-shared/datatype/RawSpatialImgDetections.hpp"
-#include "depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp"
-#include "depthai-shared/datatype/RawSpatialLocations.hpp"
-#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
-#include "depthai-shared/datatype/RawSystemInformation.hpp"
-#include "depthai-shared/datatype/RawToFConfig.hpp"
-#include "depthai-shared/datatype/RawTracklets.hpp"
-#include "depthai-shared/utility/Serialization.hpp"
+#include "depthai/pipeline/datatype/DatatypeEnum.hpp"
+#include "depthai/utility/Serialization.hpp"
+#include "utility/VectorMemory.hpp"
+#include "xlink/XLinkStream.hpp"
 
 // StreamPacket structure ->  || imgframepixels... , serialized_object, object_type, serialized_object_size ||
 // object_type -> DataType(int), serialized_object_size -> int
@@ -72,8 +58,8 @@ inline std::shared_ptr<T> parseDatatype(std::uint8_t* metadata, size_t size, std
 
     // deserialize
     utility::deserialize(metadata, size, *tmp);
-    // Move data
-    tmp->data = std::move(data);
+    // Move data - TODO(Morato) change this back to zero copy
+    tmp->data = std::make_shared<dai::VectorMemory>(std::move(data));
 
     return tmp;
 }
@@ -106,7 +92,7 @@ static std::tuple<DatatypeEnum, size_t, size_t> parseHeader(streamPacketDesc_t*
     return {objectType, serializedObjectSize, bufferLength};
 }
 
-std::shared_ptr<RawBuffer> StreamMessageParser::parseMessage(streamPacketDesc_t* const packet) {
+std::shared_ptr<ADatatype> StreamMessageParser::parseMessage(streamPacketDesc_t* const packet) {
     DatatypeEnum objectType;
     size_t serializedObjectSize;
     size_t bufferLength;
@@ -118,205 +104,125 @@ std::shared_ptr<RawBuffer> StreamMessageParser::parseMessage(streamPacketDesc_t*
 
     // Create corresponding object
     switch(objectType) {
-        case DatatypeEnum::Buffer:
-            return parseDatatype<RawBuffer>(metadataStart, serializedObjectSize, data);
+        // ADatatype is a special case, since no metadata is actually serialized
+        case DatatypeEnum::ADatatype: {
+            auto pBuf = std::make_shared<ADatatype>();
+            return pBuf;
+        }
+        case DatatypeEnum::Buffer: {
+            return parseDatatype<Buffer>(metadataStart, serializedObjectSize, data);
             break;
+        }
 
         case DatatypeEnum::ImgFrame:
-            return parseDatatype<RawImgFrame>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<ImgFrame>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::EncodedFrame:
-            return parseDatatype<RawEncodedFrame>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<EncodedFrame>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::NNData:
-            return parseDatatype<RawNNData>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<NNData>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::ImageManipConfig:
-            return parseDatatype<RawImageManipConfig>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<ImageManipConfig>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::CameraControl:
-            return parseDatatype<RawCameraControl>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<CameraControl>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::ImgDetections:
-            return parseDatatype<RawImgDetections>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<ImgDetections>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::SpatialImgDetections:
-            return parseDatatype<RawSpatialImgDetections>(metadataStart, serializedObjectSize, data);
+            return parseDatatype<SpatialImgDetections>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::SystemInformation:
-            return parseDatatype<RawSystemInformation>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::SpatialLocationCalculatorData:
-            return parseDatatype<RawSpatialLocations>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::SpatialLocationCalculatorConfig:
-            return parseDatatype<RawSpatialLocationCalculatorConfig>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::AprilTags:
-            return parseDatatype<RawAprilTags>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::AprilTagConfig:
-            return parseDatatype<RawAprilTagConfig>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::Tracklets:
-            return parseDatatype<RawTracklets>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::IMUData:
-            return parseDatatype<RawIMUData>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::StereoDepthConfig:
-            return parseDatatype<RawStereoDepthConfig>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::EdgeDetectorConfig:
-            return parseDatatype<RawEdgeDetectorConfig>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::TrackedFeatures:
-            return parseDatatype<RawTrackedFeatures>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::FeatureTrackerConfig:
-            return parseDatatype<RawFeatureTrackerConfig>(metadataStart, serializedObjectSize, data);
-            break;
-
-        case DatatypeEnum::ToFConfig:
-            return parseDatatype<RawToFConfig>(metadataStart, serializedObjectSize, data);
-            break;
-        case DatatypeEnum::MessageGroup:
-            return parseDatatype<RawMessageGroup>(metadataStart, serializedObjectSize, data);
-            break;
-    }
-
-    throw std::runtime_error("Bad packet, couldn't parse");
-}
-
-std::shared_ptr<ADatatype> StreamMessageParser::parseMessageToADatatype(streamPacketDesc_t* const packet, DatatypeEnum& objectType) {
-    size_t serializedObjectSize;
-    size_t bufferLength;
-    std::tie(objectType, serializedObjectSize, bufferLength) = parseHeader(packet);
-    auto* const metadataStart = packet->data + bufferLength;
-
-    // copy data part
-    std::vector<uint8_t> data(packet->data, packet->data + bufferLength);
-
-    switch(objectType) {
-        case DatatypeEnum::Buffer: {
-            return std::make_shared<Buffer>(parseDatatype<RawBuffer>(metadataStart, serializedObjectSize, data));
-        } break;
-
-        case DatatypeEnum::ImgFrame:
-            return std::make_shared<ImgFrame>(parseDatatype<RawImgFrame>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::EncodedFrame:
-            return std::make_shared<EncodedFrame>(parseDatatype<RawEncodedFrame>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::NNData:
-            return std::make_shared<NNData>(parseDatatype<RawNNData>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::ImageManipConfig:
-            return std::make_shared<ImageManipConfig>(parseDatatype<RawImageManipConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<SystemInformation>(metadataStart, serializedObjectSize, data);
             break;
 
-        case DatatypeEnum::CameraControl:
-            return std::make_shared<CameraControl>(parseDatatype<RawCameraControl>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::ImgDetections:
-            return std::make_shared<ImgDetections>(parseDatatype<RawImgDetections>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::SpatialImgDetections:
-            return std::make_shared<SpatialImgDetections>(parseDatatype<RawSpatialImgDetections>(metadataStart, serializedObjectSize, data));
-            break;
-
-        case DatatypeEnum::SystemInformation:
-            return std::make_shared<SystemInformation>(parseDatatype<RawSystemInformation>(metadataStart, serializedObjectSize, data));
+        case DatatypeEnum::SystemInformationS3:
+            return parseDatatype<SystemInformationS3>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::SpatialLocationCalculatorData:
-            return std::make_shared<SpatialLocationCalculatorData>(parseDatatype<RawSpatialLocations>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<SpatialLocationCalculatorData>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::SpatialLocationCalculatorConfig:
-            return std::make_shared<SpatialLocationCalculatorConfig>(
-                parseDatatype<RawSpatialLocationCalculatorConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<SpatialLocationCalculatorConfig>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::AprilTags:
-            return std::make_shared<AprilTags>(parseDatatype<RawAprilTags>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<AprilTags>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::AprilTagConfig:
-            return std::make_shared<AprilTagConfig>(parseDatatype<RawAprilTagConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<AprilTagConfig>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::Tracklets:
-            return std::make_shared<Tracklets>(parseDatatype<RawTracklets>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<Tracklets>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::IMUData:
-            return std::make_shared<IMUData>(parseDatatype<RawIMUData>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<IMUData>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::StereoDepthConfig:
-            return std::make_shared<StereoDepthConfig>(parseDatatype<RawStereoDepthConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<StereoDepthConfig>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::EdgeDetectorConfig:
-            return std::make_shared<EdgeDetectorConfig>(parseDatatype<RawEdgeDetectorConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<EdgeDetectorConfig>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::TrackedFeatures:
-            return std::make_shared<TrackedFeatures>(parseDatatype<RawTrackedFeatures>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<TrackedFeatures>(metadataStart, serializedObjectSize, data);
             break;
 
         case DatatypeEnum::FeatureTrackerConfig:
-            return std::make_shared<FeatureTrackerConfig>(parseDatatype<RawFeatureTrackerConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<FeatureTrackerConfig>(metadataStart, serializedObjectSize, data);
+            break;
+        case DatatypeEnum::BenchmarkReport:
+            return parseDatatype<BenchmarkReport>(metadataStart, serializedObjectSize, data);
             break;
-
         case DatatypeEnum::ToFConfig:
-            return std::make_shared<ToFConfig>(parseDatatype<RawToFConfig>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<ToFConfig>(metadataStart, serializedObjectSize, data);
+            break;
+        case DatatypeEnum::PointCloudConfig:
+            return parseDatatype<PointCloudConfig>(metadataStart, serializedObjectSize, data);
+            break;
+        case DatatypeEnum::PointCloudData:
+            return parseDatatype<PointCloudData>(metadataStart, serializedObjectSize, data);
             break;
         case DatatypeEnum::MessageGroup:
-            return std::make_shared<MessageGroup>(parseDatatype<RawMessageGroup>(metadataStart, serializedObjectSize, data));
+            return parseDatatype<MessageGroup>(metadataStart, serializedObjectSize, data);
             break;
     }
 
-    throw std::runtime_error("Bad packet, couldn't parse (invalid message type)");
+    throw std::runtime_error("Bad packet, couldn't parse");
 }
-std::shared_ptr<ADatatype> StreamMessageParser::parseMessageToADatatype(streamPacketDesc_t* const packet) {
-    DatatypeEnum objectType;
-    return parseMessageToADatatype(packet, objectType);
+
+std::shared_ptr<ADatatype> StreamMessageParser::parseMessage(StreamPacketDesc packet) {
+    return parseMessage(&packet);
 }
 
-std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const RawBuffer& data) {
+std::vector<std::uint8_t> StreamMessageParser::serializeMetadata(const ADatatype& message) {
     // Serialization:
-    // 1. fill vector with bytes from data.data
+    // 1. fill vector with bytes from message.data
     // 2. serialize and append metadata
     // 3. append datatype enum (4B LE)
     // 4. append size (4B LE) of serialized metadata
 
     DatatypeEnum datatype;
     std::vector<std::uint8_t> metadata;
-    data.serialize(metadata, datatype);
+    message.serialize(metadata, datatype);
     uint32_t metadataSize = static_cast<uint32_t>(metadata.size());
 
     // 4B datatype & 4B metadata size
@@ -326,8 +232,7 @@ std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const RawBuffer&
     for(int i = 0; i < 4; i++) leMetadataSize[i] = (metadataSize >> i * 8) & 0xFF;
 
     std::vector<std::uint8_t> ser;
-    ser.reserve(data.data.size() + metadata.size() + leDatatype.size() + leMetadataSize.size());
-    ser.insert(ser.end(), data.data.begin(), data.data.end());
+    ser.reserve(metadata.size() + leDatatype.size() + leMetadataSize.size());
     ser.insert(ser.end(), metadata.begin(), metadata.end());
     ser.insert(ser.end(), leDatatype.begin(), leDatatype.end());
     ser.insert(ser.end(), leMetadataSize.begin(), leMetadataSize.end());
@@ -335,18 +240,44 @@ std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const RawBuffer&
     return ser;
 }
 
-std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const std::shared_ptr<const RawBuffer>& data) {
+std::vector<std::uint8_t> StreamMessageParser::serializeMetadata(const std::shared_ptr<const ADatatype>& data) {
     if(!data) return {};
-    return serializeMessage(*data);
-}
-
-std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const ADatatype& data) {
-    return serializeMessage(data.serialize());
+    return serializeMetadata(*data);
 }
 
-std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const std::shared_ptr<const ADatatype>& data) {
-    if(!data) return {};
-    return serializeMessage(*data);
-}
+// std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const ADatatype& message) {
+//     // Serialization:
+//     // 1. fill vector with bytes from data.data
+//     // 2. serialize and append metadata
+//     // 3. append datatype enum (4B LE)
+//     // 4. append size (4B LE) of serialized metadata
+
+//     throw std::invalid_argument("TODO");
+
+//     std::vector<std::uint8_t> metadata = serializeMetadata(message);
+//     return metadata;
+
+//     // std::vector<std::uint8_t> ser;
+//     // ser.reserve(data.data.size() + metadata.size() + leDatatype.size() + leMetadataSize.size());
+//     // ser.insert(ser.end(), data.data.begin(), data.data.end());
+//     // ser.insert(ser.end(), metadata.begin(), metadata.end());
+//     // ser.insert(ser.end(), leDatatype.begin(), leDatatype.end());
+//     // ser.insert(ser.end(), leMetadataSize.begin(), leMetadataSize.end());
+//     // return ser;
+// }
+
+// std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const std::shared_ptr<const ADatatype>& data) {
+//     if(!data) return {};
+//     return serializeMessage(*data);
+// }
+
+// std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const ADatatype& data) {
+//     return serializeMessage(data.serialize());
+// }
+
+// std::vector<std::uint8_t> StreamMessageParser::serializeMessage(const std::shared_ptr<const ADatatype>& data) {
+//     if(!data) return {};
+//     return serializeMessage(*data);
+// }
 
 }  // namespace dai
diff --git a/src/pipeline/datatype/SystemInformation.cpp b/src/pipeline/datatype/SystemInformation.cpp
index 0edf5b814..44ebb9b6f 100644
--- a/src/pipeline/datatype/SystemInformation.cpp
+++ b/src/pipeline/datatype/SystemInformation.cpp
@@ -1,31 +1,5 @@
 #include "depthai/pipeline/datatype/SystemInformation.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> SystemInformation::serialize() const {
-    return raw;
-}
-
-SystemInformation::SystemInformation()
-    : Buffer(std::make_shared<RawSystemInformation>()),
-      systemInformation(*dynamic_cast<RawSystemInformation*>(raw.get())),
-      ddrMemoryUsage(systemInformation.ddrMemoryUsage),
-      cmxMemoryUsage(systemInformation.cmxMemoryUsage),
-      leonCssMemoryUsage(systemInformation.leonCssMemoryUsage),
-      leonMssMemoryUsage(systemInformation.leonMssMemoryUsage),
-      leonCssCpuUsage(systemInformation.leonCssCpuUsage),
-      leonMssCpuUsage(systemInformation.leonMssCpuUsage),
-      chipTemperature(systemInformation.chipTemperature) {}
-
-SystemInformation::SystemInformation(std::shared_ptr<RawSystemInformation> ptr)
-    : Buffer(std::move(ptr)),
-      systemInformation(*dynamic_cast<RawSystemInformation*>(raw.get())),
-      ddrMemoryUsage(systemInformation.ddrMemoryUsage),
-      cmxMemoryUsage(systemInformation.cmxMemoryUsage),
-      leonCssMemoryUsage(systemInformation.leonCssMemoryUsage),
-      leonMssMemoryUsage(systemInformation.leonMssMemoryUsage),
-      leonCssCpuUsage(systemInformation.leonCssCpuUsage),
-      leonMssCpuUsage(systemInformation.leonMssCpuUsage),
-      chipTemperature(systemInformation.chipTemperature) {}
-
+// No implementation needed
 }  // namespace dai
diff --git a/src/pipeline/datatype/SystemInformationS3.cpp b/src/pipeline/datatype/SystemInformationS3.cpp
new file mode 100644
index 000000000..9cfb58827
--- /dev/null
+++ b/src/pipeline/datatype/SystemInformationS3.cpp
@@ -0,0 +1,5 @@
+#include "depthai/pipeline/datatype/SystemInformationS3.hpp"
+
+namespace dai {
+// No implementation needed
+}  // namespace dai
diff --git a/src/pipeline/datatype/ToFConfig.cpp b/src/pipeline/datatype/ToFConfig.cpp
index da1ce41ed..26c584bb0 100644
--- a/src/pipeline/datatype/ToFConfig.cpp
+++ b/src/pipeline/datatype/ToFConfig.cpp
@@ -1,45 +1,28 @@
 #include "depthai/pipeline/datatype/ToFConfig.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> ToFConfig::serialize() const {
-    return raw;
-}
-
-ToFConfig::ToFConfig() : Buffer(std::make_shared<RawToFConfig>()), cfg(*dynamic_cast<RawToFConfig*>(raw.get())) {}
-ToFConfig::ToFConfig(std::shared_ptr<RawToFConfig> ptr) : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawToFConfig*>(raw.get())) {}
-
-dai::RawToFConfig ToFConfig::get() const {
-    return cfg;
-}
-
 ToFConfig& ToFConfig::setDepthParams(dai::ToFConfig::DepthParams config) {
-    cfg.depthParams = config;
+    depthParams = config;
     return *this;
 }
 
 ToFConfig& ToFConfig::setFreqModUsed(dai::ToFConfig::DepthParams::TypeFMod fmod) {
-    cfg.depthParams.freqModUsed = fmod;
+    depthParams.freqModUsed = fmod;
     return *this;
 }
 
 ToFConfig& ToFConfig::setAvgPhaseShuffle(bool enable) {
-    cfg.depthParams.avgPhaseShuffle = enable;
-    return *this;
-}
-
-ToFConfig& ToFConfig::set(dai::RawToFConfig config) {
-    cfg = config;
+    depthParams.avgPhaseShuffle = enable;
     return *this;
 }
 
 ToFConfig& ToFConfig::setMinAmplitude(float minamp) {
-    cfg.depthParams.minimumAmplitude = minamp;
+    depthParams.minimumAmplitude = minamp;
     return *this;
 }
 
 ToFConfig& ToFConfig::setMedianFilter(MedianFilter median) {
-    cfg.depthParams.median = median;
+    depthParams.median = median;
     return *this;
 }
 
diff --git a/src/pipeline/datatype/TrackedFeatures.cpp b/src/pipeline/datatype/TrackedFeatures.cpp
index 81ad8ddaa..9c327320b 100644
--- a/src/pipeline/datatype/TrackedFeatures.cpp
+++ b/src/pipeline/datatype/TrackedFeatures.cpp
@@ -1,27 +1,5 @@
 #include "depthai/pipeline/datatype/TrackedFeatures.hpp"
 
 namespace dai {
-
-std::shared_ptr<RawBuffer> TrackedFeatures::serialize() const {
-    return raw;
-}
-
-TrackedFeatures::TrackedFeatures()
-    : Buffer(std::make_shared<RawTrackedFeatures>()), rawdata(*dynamic_cast<RawTrackedFeatures*>(raw.get())), trackedFeatures(rawdata.trackedFeatures) {}
-TrackedFeatures::TrackedFeatures(std::shared_ptr<RawTrackedFeatures> ptr)
-    : Buffer(std::move(ptr)), rawdata(*dynamic_cast<RawTrackedFeatures*>(raw.get())), trackedFeatures(rawdata.trackedFeatures) {}
-
-// setters
-TrackedFeatures& TrackedFeatures::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<TrackedFeatures&>(Buffer::setTimestamp(tp));
-}
-TrackedFeatures& TrackedFeatures::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<TrackedFeatures&>(Buffer::setTimestampDevice(tp));
-}
-TrackedFeatures& TrackedFeatures::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<TrackedFeatures&>(Buffer::setSequenceNum(sequenceNum));
-}
-
+// No implementation needed
 }  // namespace dai
diff --git a/src/pipeline/datatype/Tracklets.cpp b/src/pipeline/datatype/Tracklets.cpp
index d6c282efd..b73019942 100644
--- a/src/pipeline/datatype/Tracklets.cpp
+++ b/src/pipeline/datatype/Tracklets.cpp
@@ -1,26 +1,3 @@
 #include "depthai/pipeline/datatype/Tracklets.hpp"
 
-namespace dai {
-
-std::shared_ptr<RawBuffer> Tracklets::serialize() const {
-    return raw;
-}
-
-Tracklets::Tracklets() : Buffer(std::make_shared<RawTracklets>()), rawdata(*dynamic_cast<RawTracklets*>(raw.get())), tracklets(rawdata.tracklets) {}
-Tracklets::Tracklets(std::shared_ptr<RawTracklets> ptr)
-    : Buffer(std::move(ptr)), rawdata(*dynamic_cast<RawTracklets*>(raw.get())), tracklets(rawdata.tracklets) {}
-
-// setters
-Tracklets& Tracklets::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<Tracklets&>(Buffer::setTimestamp(tp));
-}
-Tracklets& Tracklets::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) {
-    // Set timestamp from timepoint
-    return static_cast<Tracklets&>(Buffer::setTimestampDevice(tp));
-}
-Tracklets& Tracklets::setSequenceNum(int64_t sequenceNum) {
-    return static_cast<Tracklets&>(Buffer::setSequenceNum(sequenceNum));
-}
-
-}  // namespace dai
+namespace dai {}  // namespace dai
diff --git a/src/pipeline/node/AprilTag.cpp b/src/pipeline/node/AprilTag.cpp
index 8ee2dbcb6..7508a0c32 100644
--- a/src/pipeline/node/AprilTag.cpp
+++ b/src/pipeline/node/AprilTag.cpp
@@ -5,15 +5,10 @@
 namespace dai {
 namespace node {
 
-AprilTag::AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : AprilTag(par, nodeId, std::make_unique<AprilTag::Properties>()) {}
-AprilTag::AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, AprilTag, AprilTagProperties>(par, nodeId, std::move(props)), rawConfig(std::make_shared<RawAprilTagConfig>()), initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &inputImage});
-    setOutputRefs({&out, &passthroughInputImage});
-}
+AprilTag::AprilTag(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, AprilTag, AprilTagProperties>(std::move(props)) {}
 
 AprilTag::Properties& AprilTag::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
diff --git a/src/pipeline/node/Benchmark.cpp b/src/pipeline/node/Benchmark.cpp
new file mode 100644
index 000000000..7e764e3dd
--- /dev/null
+++ b/src/pipeline/node/Benchmark.cpp
@@ -0,0 +1,20 @@
+#include "depthai/pipeline/node/BenchmarkIn.hpp"
+#include "depthai/pipeline/node/BenchmarkOut.hpp"
+
+namespace dai {
+namespace node {
+
+void BenchmarkOut::setNumMessagesToSend(int num) {
+    properties.numMessages = num;
+}
+
+void BenchmarkOut::setFps(float fps) {
+    properties.fps = fps;
+}
+
+void BenchmarkIn::setNumMessagesToGet(int num) {
+    properties.numMessages = num;
+}
+
+}  // namespace node
+}  // namespace dai
diff --git a/src/pipeline/node/Camera.cpp b/src/pipeline/node/Camera.cpp
index 66516d10e..f1a9f8361 100644
--- a/src/pipeline/node/Camera.cpp
+++ b/src/pipeline/node/Camera.cpp
@@ -1,18 +1,15 @@
 #include "depthai/pipeline/node/Camera.hpp"
-
 // std
-#include <cmath>
 #include <fstream>
 
 // libraries
-#include "spdlog/fmt/fmt.h"
 
 namespace dai {
 namespace node {
 
-Camera::Camera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Camera(par, nodeId, std::make_unique<Camera::Properties>()) {}
-Camera::Camera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, Camera, CameraProperties>(par, nodeId, std::move(props)), rawControl(std::make_shared<RawCameraControl>()), initialControl(rawControl) {
+Camera::Camera(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, Camera, CameraProperties>(std::move(props)) {}
+
+void Camera::build() {
     properties.boardSocket = CameraBoardSocket::AUTO;
     properties.imageOrientation = CameraImageOrientation::AUTO;
     properties.colorOrder = CameraProperties::ColorOrder::BGR;
@@ -21,13 +18,10 @@ Camera::Camera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::un
     properties.previewWidth = 300;
     properties.fps = 30.0;
     properties.previewKeepAspectRatio = true;
-
-    setInputRefs({&inputConfig, &inputControl});
-    setOutputRefs({&video, &preview, &still, &isp, &raw, &frameEvent});
 }
 
 Camera::Properties& Camera::getProperties() {
-    properties.initialControl = *rawControl;
+    properties.initialControl = initialControl;
     return properties;
 }
 
@@ -271,7 +265,7 @@ void Camera::setCalibrationAlpha(float alpha) {
     properties.calibAlpha = alpha;
 }
 
-tl::optional<float> Camera::getCalibrationAlpha() const {
+std::optional<float> Camera::getCalibrationAlpha() const {
     return properties.calibAlpha;
 }
 
diff --git a/src/pipeline/node/ColorCamera.cpp b/src/pipeline/node/ColorCamera.cpp
index 23d479464..35e526a6e 100644
--- a/src/pipeline/node/ColorCamera.cpp
+++ b/src/pipeline/node/ColorCamera.cpp
@@ -7,27 +7,22 @@
 namespace dai {
 namespace node {
 
-ColorCamera::ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : ColorCamera(par, nodeId, std::make_unique<ColorCamera::Properties>()) {}
-ColorCamera::ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, ColorCamera, ColorCameraProperties>(par, nodeId, std::move(props)),
-      rawControl(std::make_shared<RawCameraControl>()),
-      initialControl(rawControl) {
+ColorCamera::ColorCamera(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, ColorCamera, ColorCameraProperties>(std::move(props)) {}
+
+void ColorCamera::build() {
+    // Set some default properties
     properties.boardSocket = CameraBoardSocket::AUTO;
     properties.imageOrientation = CameraImageOrientation::AUTO;
-    properties.colorOrder = ColorCameraProperties::ColorOrder::BGR;
-    properties.interleaved = true;
+    properties.previewType = ImgFrame::Type::BGR888i;
     properties.previewHeight = 300;
     properties.previewWidth = 300;
     properties.resolution = ColorCameraProperties::SensorResolution::THE_1080_P;
     properties.fps = 30.0;
     properties.previewKeepAspectRatio = true;
-
-    setInputRefs({&inputConfig, &inputControl});
-    setOutputRefs({&video, &preview, &still, &isp, &raw, &frameEvent});
 }
 
 ColorCamera::Properties& ColorCamera::getProperties() {
-    properties.initialControl = *rawControl;
+    properties.initialControl = initialControl;
     return properties;
 }
 
@@ -89,32 +84,132 @@ CameraImageOrientation ColorCamera::getImageOrientation() const {
 
 // setColorOrder - RGB or BGR
 void ColorCamera::setColorOrder(ColorCameraProperties::ColorOrder colorOrder) {
-    properties.colorOrder = colorOrder;
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+    bool isInterleaved = ImgFrame::isInterleaved(properties.previewType);
+    bool isFp16 = getFp16();
+#pragma GCC diagnostic pop
+    switch(colorOrder) {
+        case ColorCameraProperties::ColorOrder::BGR:
+            if(isInterleaved) {
+                if(isFp16) {
+                    properties.previewType = ImgFrame::Type::BGRF16F16F16i;
+                } else {
+                    properties.previewType = ImgFrame::Type::BGR888i;
+                }
+            } else {
+                if(isFp16) {
+                    properties.previewType = ImgFrame::Type::BGRF16F16F16p;
+                } else {
+                    properties.previewType = ImgFrame::Type::BGR888p;
+                }
+            }
+            break;
+        case ColorCameraProperties::ColorOrder::RGB:
+            if(isInterleaved) {
+                if(isFp16) {
+                    properties.previewType = ImgFrame::Type::RGBF16F16F16i;
+                } else {
+                    properties.previewType = ImgFrame::Type::RGB888i;
+                }
+            } else {
+                if(isFp16) {
+                    properties.previewType = ImgFrame::Type::RGBF16F16F16p;
+                } else {
+                    properties.previewType = ImgFrame::Type::RGB888p;
+                }
+            }
+            break;
+    }
 }
 
 // getColorOrder - returns color order
 ColorCameraProperties::ColorOrder ColorCamera::getColorOrder() const {
-    return properties.colorOrder;
+    if(properties.previewType == ImgFrame::Type::RGB888i || properties.previewType == ImgFrame::Type::RGB888p
+       || properties.previewType == ImgFrame::Type::RGBF16F16F16i || properties.previewType == ImgFrame::Type::RGBF16F16F16p) {
+        return ColorCameraProperties::ColorOrder::RGB;
+    } else if(properties.previewType == ImgFrame::Type::BGR888i || properties.previewType == ImgFrame::Type::BGR888p
+              || properties.previewType == ImgFrame::Type::BGRF16F16F16i || properties.previewType == ImgFrame::Type::BGRF16F16F16p) {
+        return ColorCameraProperties::ColorOrder::BGR;
+    } else {
+        throw std::runtime_error("Don't call getColorOrder() for wrong previewType");
+    }
 }
 
 // setInterleaved
 void ColorCamera::setInterleaved(bool interleaved) {
-    properties.interleaved = interleaved;
+    if(ImgFrame::isInterleaved(properties.previewType)) {
+        if(!interleaved) {
+            properties.previewType = ImgFrame::toPlanar(properties.previewType);
+        }
+    } else {
+        if(interleaved) {
+            properties.previewType = ImgFrame::toInterleaved(properties.previewType);
+        }
+    }
 }
 
 // getInterleaved
 bool ColorCamera::getInterleaved() const {
-    return properties.interleaved;
+    return ImgFrame::isInterleaved(properties.previewType);
+}
+
+/// Set type of preview output image
+void ColorCamera::setPreviewType(ImgFrame::Type type) {
+    properties.previewType = type;
+}
+
+/// Get the preview type
+ImgFrame::Type ColorCamera::getPreviewType() const {
+    return properties.previewType;
 }
 
 // setFp16
 void ColorCamera::setFp16(bool fp16) {
-    properties.fp16 = fp16;
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+    auto order = getColorOrder();
+    auto interleaved = getInterleaved();
+#pragma GCC diagnostic pop
+    if(fp16) {
+        if(order == ColorCameraProperties::ColorOrder::BGR) {
+            if(interleaved) {
+                properties.previewType = ImgFrame::Type::BGRF16F16F16i;
+            } else {
+                properties.previewType = ImgFrame::Type::BGRF16F16F16p;
+            }
+        } else {
+            if(interleaved) {
+                properties.previewType = ImgFrame::Type::RGBF16F16F16i;
+            } else {
+                properties.previewType = ImgFrame::Type::RGBF16F16F16p;
+            }
+        }
+    } else {
+        if(order == ColorCameraProperties::ColorOrder::BGR) {
+            if(interleaved) {
+                properties.previewType = ImgFrame::Type::BGR888i;
+            } else {
+                properties.previewType = ImgFrame::Type::BGR888p;
+            }
+        } else {
+            if(interleaved) {
+                properties.previewType = ImgFrame::Type::RGB888i;
+            } else {
+                properties.previewType = ImgFrame::Type::RGB888p;
+            }
+        }
+    }
 }
 
 // getFp16
 bool ColorCamera::getFp16() const {
-    return properties.fp16;
+    if(properties.previewType == ImgFrame::Type::BGRF16F16F16i || properties.previewType == ImgFrame::Type::BGRF16F16F16p
+       || properties.previewType == ImgFrame::Type::RGBF16F16F16i || properties.previewType == ImgFrame::Type::RGBF16F16F16p) {
+        return true;
+    } else {
+        return false;
+    }
 }
 
 // set preview output size
@@ -410,6 +505,26 @@ std::tuple<int, int> ColorCamera::getResolutionSize() const {
             return {8000, 6000};
             break;
 
+        case ColorCameraProperties::SensorResolution::THE_240X180:
+            return {240, 180};
+            break;
+
+        case ColorCameraProperties::SensorResolution::THE_1280X962:
+            return {1280, 962};
+            break;
+
+        case ColorCameraProperties::SensorResolution::THE_2000X1500:
+            return {2000, 1500};
+            break;
+
+        case ColorCameraProperties::SensorResolution::THE_2028X1520:
+            return {2028, 1520};
+            break;
+
+        case ColorCameraProperties::SensorResolution::THE_2104X1560:
+            return {2104, 1560};
+            break;
+
         case ColorCameraProperties::SensorResolution::THE_1440X1080:
             return {1440, 1080};
             break;
@@ -552,6 +667,62 @@ int ColorCamera::getIspNumFramesPool() {
     return properties.numFramesPoolIsp;
 }
 
+void ColorCamera::setMeshSource(ColorCamera::Properties::WarpMeshSource source) {
+    properties.warpMeshSource = source;
+}
+ColorCamera::Properties::WarpMeshSource ColorCamera::getMeshSource() const {
+    return properties.warpMeshSource;
+}
+
+void ColorCamera::loadMeshData(const std::vector<std::uint8_t> data) {
+    if(data.size() <= 0) {
+        throw std::runtime_error("Camera | mesh data must not be empty");
+    }
+
+    Asset meshAsset;
+    std::string assetKey;
+    meshAsset.alignment = 64;
+
+    meshAsset.data = data;
+    assetKey = "warpMesh";
+    properties.warpMeshUri = assetManager.set(assetKey, meshAsset)->getRelativeUri();
+
+    setMeshSource(ColorCamera::Properties::WarpMeshSource::URI);
+}
+
+// void ColorCamera::loadMeshFile(const dai::Path& warpMesh) {
+//     std::ifstream streamMesh(warpMesh, std::ios::binary);
+//     if(!streamMesh.is_open()) {
+//         throw std::runtime_error(fmt::format("Camera | Cannot open mesh at path: {}", warpMesh.u8string()));
+//     }
+//     std::vector<std::uint8_t> data = std::vector<std::uint8_t>(std::istreambuf_iterator<char>(streamMesh), {});
+
+//     loadMeshData(data);
+// }
+
+void ColorCamera::setMeshStep(int width, int height) {
+    properties.warpMeshStepWidth = width;
+    properties.warpMeshStepHeight = height;
+}
+void ColorCamera::setMeshSize(int width, int height) {
+    properties.warpMeshWidth = width;
+    properties.warpMeshHeight = height;
+}
+std::tuple<int, int> ColorCamera::getMeshStep() const {
+    return {properties.warpMeshStepWidth, properties.warpMeshStepHeight};
+}
+std::tuple<int, int> ColorCamera::getMeshSize() const {
+    return {properties.warpMeshWidth, properties.warpMeshHeight};
+}
+
+void ColorCamera::setCalibrationAlpha(float alpha) {
+    properties.calibAlpha = alpha;
+}
+
+float ColorCamera::getCalibrationAlpha() const {
+    return properties.calibAlpha;
+}
+
 void ColorCamera::setRawOutputPacked(bool packed) {
     properties.rawPacked = packed;
 }
diff --git a/src/pipeline/node/DetectionNetwork.cpp b/src/pipeline/node/DetectionNetwork.cpp
index 4176182f4..0faa35022 100644
--- a/src/pipeline/node/DetectionNetwork.cpp
+++ b/src/pipeline/node/DetectionNetwork.cpp
@@ -1,9 +1,20 @@
 #include "depthai/pipeline/node/DetectionNetwork.hpp"
 
-#include <sstream>
-
-#include "depthai-shared/common/DetectionNetworkType.hpp"
-#include "openvino/BlobReader.hpp"
+// libraries
+#include <nlohmann/json.hpp>
+#include <openvino/BlobReader.hpp>
+
+#include "archive.h"
+#include "archive_entry.h"
+
+// internal
+#include "depthai/common/DetectionNetworkType.hpp"
+#include "depthai/nn_archive/NNArchive.hpp"
+#include "depthai/nn_archive/v1/Config.hpp"
+#include "nn_archive/v1/Generators.hpp"
+#include "utility/ArchiveUtil.hpp"
+#include "utility/ErrorMacros.hpp"
+#include "utility/PimplImpl.hpp"
 
 namespace dai {
 namespace node {
@@ -11,88 +22,199 @@ namespace node {
 //--------------------------------------------------------------------
 // Base Detection Network Class
 //--------------------------------------------------------------------
-DetectionNetwork::DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : DetectionNetwork(par, nodeId, std::make_unique<Properties>()) {}
-DetectionNetwork::DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<NeuralNetwork, DetectionNetwork, DetectionNetworkProperties>(par, nodeId, std::move(props)) {
-    setInputRefs({&input});
-    setOutputRefs({&out, &passthrough});
 
+class DetectionNetwork::Impl {
+   public:
+    Impl() = default;
+
+    /*
+     * Place for future private stuff.
+     */
+};
+
+DetectionNetwork::DetectionNetwork()
+    : out{detectionParser->out}, outNetwork{neuralNetwork->out}, input{neuralNetwork->input}, passthrough{neuralNetwork->passthrough} {};
+DetectionNetwork::~DetectionNetwork() = default;
+
+// -------------------------------------------------------------------
+// Neural Network API
+// -------------------------------------------------------------------
+
+void DetectionNetwork::build() {
     // Default confidence threshold
-    properties.parser.confidenceThreshold = 0.5;
+    detectionParser->properties.parser.confidenceThreshold = 0.5;
+    neuralNetwork->out.link(detectionParser->input);
+    neuralNetwork->passthrough.link(detectionParser->imageIn);
+
+    // No "internal" buffering to keep interface similar to monolithic nodes
+    detectionParser->input.setBlocking(true);
+    detectionParser->input.setQueueSize(1);
+    detectionParser->imageIn.setBlocking(false);
+    detectionParser->imageIn.setQueueSize(1);
+}
+
+void DetectionNetwork::setNNArchive(const NNArchive& nnArchive) {
+    const auto configMaybe = nnArchive.getConfig().getConfigV1();
+    DAI_CHECK(configMaybe, "Unsupported NNArchive format / version. Check which depthai version you are running.");
+    const auto& config = *configMaybe;
+    const auto& blob = nnArchive.getBlob().getOpenVINOBlob();
+    DAI_CHECK_IN(blob);
+    setBlob(*blob);
+    const auto model = config.model;
+    // TODO(jakgra) is NN Archive valid without this? why is this optional?
+    DAI_CHECK(model.heads, "Heads array is not defined in the NN Archive config file.");
+    // TODO(jakgra) for now get info from heads[0] but in the future correctly support multiple outputs and mapped heads
+    DAI_CHECK_V(
+        (*model.heads).size() == 1, "There should be exactly one head per model in the NN Archive config file defined. Found {} heads.", (*model.heads).size());
+    const auto head = (*model.heads)[0];
+    if(head.family == "ObjectDetectionYOLO") {
+        detectionParser->properties.parser.nnFamily = DetectionNetworkType::YOLO;
+    }
+    detectionParser->setNumClasses(static_cast<int>(head.nClasses));
+    if(head.iouThreshold) {
+        detectionParser->properties.parser.iouThreshold = static_cast<float>(*head.iouThreshold);
+    }
+    if(head.confThreshold) {
+        setConfidenceThreshold(static_cast<float>(*head.confThreshold));
+    }
+    detectionParser->setCoordinateSize(4);
+    if(head.anchors) {
+        const auto anchorsIn = *head.anchors;
+        std::vector<std::vector<std::vector<float>>> anchorsOut(anchorsIn.size());
+        for(size_t layer = 0; layer < anchorsOut.size(); ++layer) {
+            std::vector<std::vector<float>> layerOut(anchorsIn[layer].size());
+            for(size_t anchor = 0; anchor < layerOut.size(); ++anchor) {
+                std::vector<float> anchorOut(anchorsIn[layer][anchor].size());
+                for(size_t dim = 0; dim < anchorOut.size(); ++dim) {
+                    anchorOut[dim] = static_cast<float>(anchorsIn[layer][anchor][dim]);
+                }
+                layerOut[anchor] = anchorOut;
+            }
+            anchorsOut[layer] = layerOut;
+        }
+        detectionParser->setAnchors(anchorsOut);
+    }
+}
+
+void DetectionNetwork::setBlobPath(const dai::Path& path) {
+    neuralNetwork->setBlobPath(path);
+    detectionParser->setBlobPath(path);
+}
+
+void DetectionNetwork::setBlob(OpenVINO::Blob blob) {
+    neuralNetwork->setBlob(blob);
+    detectionParser->setBlob(blob);
+}
+
+void DetectionNetwork::setBlob(const dai::Path& path) {
+    neuralNetwork->setBlob(path);
+    detectionParser->setBlob(path);
+}
+
+void DetectionNetwork::setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath) {
+    neuralNetwork->setXmlModelPath(xmlModelPath, binModelPath);
+}
+
+void DetectionNetwork::setNumPoolFrames(int numFrames) {
+    neuralNetwork->setNumPoolFrames(numFrames);
+}
+
+void DetectionNetwork::setNumInferenceThreads(int numThreads) {
+    neuralNetwork->setNumInferenceThreads(numThreads);
+}
+
+void DetectionNetwork::setNumNCEPerInferenceThread(int numNCEPerThread) {
+    neuralNetwork->setNumNCEPerInferenceThread(numNCEPerThread);
+}
+
+void DetectionNetwork::setNumShavesPerInferenceThread(int numShavesPerThread) {
+    neuralNetwork->setNumShavesPerInferenceThread(numShavesPerThread);
+}
+
+void DetectionNetwork::setBackend(std::string backend) {
+    neuralNetwork->setBackend(backend);
+}
+
+void DetectionNetwork::setBackendProperties(std::map<std::string, std::string> props) {
+    neuralNetwork->setBackendProperties(props);
+}
+
+int DetectionNetwork::getNumInferenceThreads() {
+    return neuralNetwork->getNumInferenceThreads();
 }
 
 void DetectionNetwork::setConfidenceThreshold(float thresh) {
-    properties.parser.confidenceThreshold = thresh;
+    detectionParser->setConfidenceThreshold(thresh);
 }
 
 float DetectionNetwork::getConfidenceThreshold() const {
-    return properties.parser.confidenceThreshold;
+    return detectionParser->getConfidenceThreshold();
 }
 
 //--------------------------------------------------------------------
 // MobileNet
 //--------------------------------------------------------------------
-MobileNetDetectionNetwork::MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : MobileNetDetectionNetwork(par, nodeId, std::make_unique<Properties>()) {}
-MobileNetDetectionNetwork::MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<DetectionNetwork, MobileNetDetectionNetwork, DetectionNetworkProperties>(par, nodeId, std::move(props)) {
-    properties.parser.nnFamily = DetectionNetworkType::MOBILENET;
+void MobileNetDetectionNetwork::build() {
+    DetectionNetwork::build();
+    detectionParser->properties.parser.nnFamily = DetectionNetworkType::MOBILENET;
 }
 
 //--------------------------------------------------------------------
 // YOLO
 //--------------------------------------------------------------------
-YoloDetectionNetwork::YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : YoloDetectionNetwork(par, nodeId, std::make_unique<Properties>()) {}
-YoloDetectionNetwork::YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<DetectionNetwork, YoloDetectionNetwork, DetectionNetworkProperties>(par, nodeId, std::move(props)) {
-    properties.parser.nnFamily = DetectionNetworkType::YOLO;
-    properties.parser.iouThreshold = 0.5f;
+void YoloDetectionNetwork::build() {
+    DetectionNetwork::build();
+    detectionParser->properties.parser.nnFamily = DetectionNetworkType::YOLO;
+    detectionParser->properties.parser.iouThreshold = 0.5f;
 }
 
 void YoloDetectionNetwork::setNumClasses(const int numClasses) {
-    properties.parser.classes = numClasses;
+    detectionParser->setNumClasses(numClasses);
 }
 
 void YoloDetectionNetwork::setCoordinateSize(const int coordinates) {
-    properties.parser.coordinates = coordinates;
+    detectionParser->setCoordinateSize(coordinates);
 }
 
 void YoloDetectionNetwork::setAnchors(std::vector<float> anchors) {
-    properties.parser.anchors = anchors;
+    detectionParser->setAnchors(anchors);
 }
 
 void YoloDetectionNetwork::setAnchorMasks(std::map<std::string, std::vector<int>> anchorMasks) {
-    properties.parser.anchorMasks = anchorMasks;
+    detectionParser->setAnchorMasks(anchorMasks);
+}
+
+void YoloDetectionNetwork::setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors) {
+    detectionParser->setAnchors(anchors);
 }
 
 void YoloDetectionNetwork::setIouThreshold(float thresh) {
-    properties.parser.iouThreshold = thresh;
+    detectionParser->setIouThreshold(thresh);
 }
 
 /// Get num classes
 int YoloDetectionNetwork::getNumClasses() const {
-    return properties.parser.classes;
+    return detectionParser->getNumClasses();
 }
 
 /// Get coordianate size
 int YoloDetectionNetwork::getCoordinateSize() const {
-    return properties.parser.coordinates;
+    return detectionParser->getCoordinateSize();
 }
 
 /// Get anchors
 std::vector<float> YoloDetectionNetwork::getAnchors() const {
-    return properties.parser.anchors;
+    return detectionParser->getAnchors();
 }
 
 /// Get anchor masks
 std::map<std::string, std::vector<int>> YoloDetectionNetwork::getAnchorMasks() const {
-    return properties.parser.anchorMasks;
+    return detectionParser->getAnchorMasks();
 }
 
 /// Get Iou threshold
 float YoloDetectionNetwork::getIouThreshold() const {
-    return properties.parser.iouThreshold;
+    return detectionParser->getIouThreshold();
 }
 
 }  // namespace node
diff --git a/src/pipeline/node/DetectionParser.cpp b/src/pipeline/node/DetectionParser.cpp
index 5d1c1c505..5e5b81e5f 100644
--- a/src/pipeline/node/DetectionParser.cpp
+++ b/src/pipeline/node/DetectionParser.cpp
@@ -5,20 +5,31 @@
 namespace dai {
 namespace node {
 
-DetectionParser::DetectionParser(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : DetectionParser(par, nodeId, std::make_unique<DetectionParser::Properties>()) {}
-DetectionParser::DetectionParser(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, DetectionParser, DetectionParserProperties>(par, nodeId, std::move(props)), rawConfig(std::make_shared<RawEdgeDetectorConfig>()) {
-    setInputRefs({&input});
-    setOutputRefs({&out});
+void DetectionParser::setBlob(OpenVINO::Blob blob) {
+    properties.networkInputs = blob.networkInputs;
 }
 
-DetectionParser::Properties& DetectionParser::getProperties() {
-    return properties;
+void DetectionParser::setBlobPath(const dai::Path& path) {
+    setBlob(OpenVINO::Blob(path));
 }
 
-void DetectionParser::setBlob(const OpenVINO::Blob& blob) {
-    properties.networkInputs = blob.networkOutputs;
+void DetectionParser::setBlob(const dai::Path& path) {
+    setBlobPath(path);
+}
+
+void DetectionParser::setInputImageSize(std::tuple<int, int> size) {
+    setInputImageSize(std::get<0>(size), std::get<1>(size));
+}
+
+void DetectionParser::setInputImageSize(int width, int height) {
+    dai::TensorInfo tensorInfo{};
+    tensorInfo.dims = std::vector<unsigned int>{static_cast<unsigned int>(width), static_cast<unsigned int>(height)};
+    tensorInfo.numDimensions = 2;
+    if(properties.networkInputs.size() != 0) {
+        logger->error("setInputImageSize(...) can only be used if setBlob(...) is not in use. Otherwise input sizes are parsed from the blob.");
+        return;
+    }
+    properties.networkInputs.emplace("input", tensorInfo);
 }
 
 void DetectionParser::setNumFramesPool(int numFramesPool) {
@@ -61,6 +72,10 @@ void DetectionParser::setAnchorMasks(std::map<std::string, std::vector<int>> anc
     properties.parser.anchorMasks = anchorMasks;
 }
 
+void DetectionParser::setAnchors(const std::vector<std::vector<std::vector<float>>>& anchors) {
+    properties.parser.anchorsV2 = anchors;
+}
+
 void DetectionParser::setIouThreshold(float thresh) {
     properties.parser.iouThreshold = thresh;
 }
diff --git a/src/pipeline/node/EdgeDetector.cpp b/src/pipeline/node/EdgeDetector.cpp
index db001f347..79987c968 100644
--- a/src/pipeline/node/EdgeDetector.cpp
+++ b/src/pipeline/node/EdgeDetector.cpp
@@ -5,18 +5,10 @@
 namespace dai {
 namespace node {
 
-EdgeDetector::EdgeDetector(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : EdgeDetector(par, nodeId, std::make_unique<EdgeDetector::Properties>()) {}
-EdgeDetector::EdgeDetector(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, EdgeDetector, EdgeDetectorProperties>(par, nodeId, std::move(props)),
-      rawConfig(std::make_shared<RawEdgeDetectorConfig>()),
-      initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &inputImage});
-    setOutputRefs({&outputImage, &passthroughInputImage});
-}
+EdgeDetector::EdgeDetector(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, EdgeDetector, EdgeDetectorProperties>(std::move(props)) {}
 
 EdgeDetector::Properties& EdgeDetector::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
diff --git a/src/pipeline/node/FeatureTracker.cpp b/src/pipeline/node/FeatureTracker.cpp
index bd877f148..7b1e0551e 100644
--- a/src/pipeline/node/FeatureTracker.cpp
+++ b/src/pipeline/node/FeatureTracker.cpp
@@ -5,18 +5,10 @@
 namespace dai {
 namespace node {
 
-FeatureTracker::FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : FeatureTracker(par, nodeId, std::make_unique<FeatureTracker::Properties>()) {}
-FeatureTracker::FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties>(par, nodeId, std::move(props)),
-      rawConfig(std::make_shared<RawFeatureTrackerConfig>()),
-      initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &inputImage});
-    setOutputRefs({&outputFeatures, &passthroughInputImage});
-}
+FeatureTracker::FeatureTracker(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, FeatureTracker, FeatureTrackerProperties>(std::move(props)) {}
 
 FeatureTracker::Properties& FeatureTracker::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
diff --git a/src/pipeline/node/IMU.cpp b/src/pipeline/node/IMU.cpp
index c024863d4..952d7e276 100644
--- a/src/pipeline/node/IMU.cpp
+++ b/src/pipeline/node/IMU.cpp
@@ -5,12 +5,6 @@
 namespace dai {
 namespace node {
 
-IMU::IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : IMU(par, nodeId, std::make_unique<IMU::Properties>()) {}
-IMU::IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, IMU, IMUProperties>(par, nodeId, std::move(props)) {
-    setOutputRefs({&out});
-}
-
 void IMU::enableIMUSensor(IMUSensorConfig sensorConfig) {
     properties.imuSensors.push_back(sensorConfig);
 }
diff --git a/src/pipeline/node/ImageManip.cpp b/src/pipeline/node/ImageManip.cpp
index cc7fa5383..b6c629de2 100644
--- a/src/pipeline/node/ImageManip.cpp
+++ b/src/pipeline/node/ImageManip.cpp
@@ -2,54 +2,47 @@
 namespace dai {
 namespace node {
 
-ImageManip::ImageManip(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : ImageManip(par, nodeId, std::make_unique<ImageManip::Properties>()) {}
-ImageManip::ImageManip(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, ImageManip, ImageManipProperties>(par, nodeId, std::move(props)),
-      rawConfig(std::make_shared<RawImageManipConfig>()),
-      initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &inputImage});
-    setOutputRefs({&out});
-}
+ImageManip::ImageManip(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, ImageManip, ImageManipProperties>(std::move(props)) {}
 
 ImageManip::Properties& ImageManip::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
 // Initial ImageManipConfig
 void ImageManip::setCropRect(float xmin, float ymin, float xmax, float ymax) {
     initialConfig.setCropRect(xmin, ymin, xmax, ymax);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 void ImageManip::setCenterCrop(float ratio, float whRatio) {
     initialConfig.setCenterCrop(ratio, whRatio);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 void ImageManip::setResize(int w, int h) {
     initialConfig.setResize(w, h);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 void ImageManip::setResizeThumbnail(int w, int h, int bgRed, int bgGreen, int bgBlue) {
     initialConfig.setResizeThumbnail(w, h, bgRed, bgGreen, bgBlue);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
-void ImageManip::setFrameType(dai::RawImgFrame::Type type) {
+void ImageManip::setFrameType(dai::ImgFrame::Type type) {
     initialConfig.setFrameType(type);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 void ImageManip::setHorizontalFlip(bool flip) {
     initialConfig.setHorizontalFlip(flip);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 void ImageManip::setKeepAspectRatio(bool keep) {
     initialConfig.setKeepAspectRatio(keep);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 
 // Node properties configuration
diff --git a/src/pipeline/node/MessageDemux.cpp b/src/pipeline/node/MessageDemux.cpp
index b30a1dba5..e3f675c29 100644
--- a/src/pipeline/node/MessageDemux.cpp
+++ b/src/pipeline/node/MessageDemux.cpp
@@ -3,14 +3,7 @@
 namespace dai {
 namespace node {
 
-MessageDemux::MessageDemux(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : MessageDemux(par, nodeId, std::make_unique<MessageDemux::Properties>()) {}
-MessageDemux::MessageDemux(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, MessageDemux, MessageDemuxProperties>(par, nodeId, std::move(props)),
-      outputs("outputs", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})) {
-    setInputRefs({&input});
-    setOutputMapRefs(&outputs);
-}
+// No implementation needed
 
 }  // namespace node
 }  // namespace dai
diff --git a/src/pipeline/node/MonoCamera.cpp b/src/pipeline/node/MonoCamera.cpp
index 2a7f44001..5accc1dc7 100644
--- a/src/pipeline/node/MonoCamera.cpp
+++ b/src/pipeline/node/MonoCamera.cpp
@@ -5,21 +5,16 @@
 namespace dai {
 namespace node {
 
-MonoCamera::MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : MonoCamera(par, nodeId, std::make_unique<MonoCamera::Properties>()) {}
-MonoCamera::MonoCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, MonoCamera, MonoCameraProperties>(par, nodeId, std::move(props)),
-      rawControl(std::make_shared<RawCameraControl>()),
-      initialControl(rawControl) {
+void MonoCamera::build() {
     properties.boardSocket = CameraBoardSocket::AUTO;
     properties.resolution = MonoCameraProperties::SensorResolution::THE_720_P;
     properties.fps = 30.0;
-
-    setInputRefs({&inputControl});
-    setOutputRefs({&out, &raw, &frameEvent});
 }
 
+MonoCamera::MonoCamera(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, MonoCamera, MonoCameraProperties>(std::move(props)) {}
+
 MonoCamera::Properties& MonoCamera::getProperties() {
-    properties.initialControl = *rawControl;
+    properties.initialControl = initialControl;
     return properties;
 }
 
@@ -134,6 +129,14 @@ std::tuple<int, int> MonoCamera::getResolutionSize() const {
         case MonoCameraProperties::SensorResolution::THE_1200_P:
             return {1920, 1200};
             break;
+
+        case MonoCameraProperties::SensorResolution::THE_4000X3000:
+            return {4000, 3000};
+            break;
+
+        case MonoCameraProperties::SensorResolution::THE_4224X3136:
+            return {4224, 3136};
+            break;
     }
     return {1280, 720};
 }
diff --git a/src/pipeline/node/NeuralNetwork.cpp b/src/pipeline/node/NeuralNetwork.cpp
index aa4f0a83f..02ee0c986 100644
--- a/src/pipeline/node/NeuralNetwork.cpp
+++ b/src/pipeline/node/NeuralNetwork.cpp
@@ -6,19 +6,7 @@
 namespace dai {
 namespace node {
 
-NeuralNetwork::NeuralNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : NeuralNetwork(par, nodeId, std::make_unique<NeuralNetwork::Properties>()) {}
-NeuralNetwork::NeuralNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, NeuralNetwork, NeuralNetworkProperties>(par, nodeId, std::move(props)),
-      inputs("inputs", Input(*this, "", Input::Type::SReceiver, false, 1, true, {{DatatypeEnum::Buffer, true}})),
-      passthroughs("passthroughs", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})) {
-    setInputRefs({&input});
-    setOutputRefs({&out, &passthrough});
-    setInputMapRefs({&inputs});
-    setOutputMapRefs({&passthroughs});
-}
-
-tl::optional<OpenVINO::Version> NeuralNetwork::getRequiredOpenVINOVersion() {
+std::optional<OpenVINO::Version> NeuralNetwork::getRequiredOpenVINOVersion() {
     return networkOpenvinoVersion;
 }
 
@@ -36,6 +24,22 @@ void NeuralNetwork::setBlob(OpenVINO::Blob blob) {
     auto asset = assetManager.set("__blob", std::move(blob.data));
     properties.blobUri = asset->getRelativeUri();
     properties.blobSize = static_cast<uint32_t>(asset->data.size());
+    properties.modelSource = Properties::ModelSource::BLOB;
+}
+
+void NeuralNetwork::setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath) {
+    auto xmlAsset = assetManager.set("__xmlModel", xmlModelPath);
+    dai::Path localBinModelPath;
+    if(!binModelPath.empty()) {  // Path for the bin file IS set
+        localBinModelPath = binModelPath;
+    } else {  // Path for the bin file IS NOT set
+        auto lastDotPos = xmlModelPath.string().find_last_of('.');
+        localBinModelPath = xmlModelPath.string().substr(0, lastDotPos) + ".bin";
+    }
+    auto binAsset = assetManager.set("__binModel", localBinModelPath);
+    properties.xmlUri = xmlAsset->getRelativeUri();
+    properties.binUri = binAsset->getRelativeUri();
+    properties.modelSource = Properties::ModelSource::XML;
 }
 
 void NeuralNetwork::setNumPoolFrames(int numFrames) {
@@ -50,6 +54,18 @@ void NeuralNetwork::setNumNCEPerInferenceThread(int numNCEPerThread) {
     properties.numNCEPerThread = numNCEPerThread;
 }
 
+void NeuralNetwork::setNumShavesPerInferenceThread(int numShavesPerThread) {
+    properties.numShavesPerThread = numShavesPerThread;
+}
+
+void NeuralNetwork::setBackend(std::string backend) {
+    properties.backend = backend;
+}
+
+void NeuralNetwork::setBackendProperties(std::map<std::string, std::string> props) {
+    properties.backendProperties = props;
+}
+
 int NeuralNetwork::getNumInferenceThreads() {
     return properties.numThreads;
 }
diff --git a/src/pipeline/node/ObjectTracker.cpp b/src/pipeline/node/ObjectTracker.cpp
index 5b7d6fd11..32acf479d 100644
--- a/src/pipeline/node/ObjectTracker.cpp
+++ b/src/pipeline/node/ObjectTracker.cpp
@@ -5,14 +5,6 @@
 namespace dai {
 namespace node {
 
-ObjectTracker::ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : ObjectTracker(par, nodeId, std::make_unique<ObjectTracker::Properties>()) {}
-ObjectTracker::ObjectTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, ObjectTracker, ObjectTrackerProperties>(par, nodeId, std::move(props)) {
-    setInputRefs({&inputTrackerFrame, &inputDetectionFrame, &inputDetections});
-    setOutputRefs({&out, &passthroughTrackerFrame, &passthroughDetectionFrame, &passthroughDetections});
-}
-
 void ObjectTracker::setTrackerThreshold(float threshold) {
     properties.trackerThreshold = threshold;
 }
diff --git a/src/pipeline/node/PointCloud.cpp b/src/pipeline/node/PointCloud.cpp
new file mode 100644
index 000000000..b0850f755
--- /dev/null
+++ b/src/pipeline/node/PointCloud.cpp
@@ -0,0 +1,22 @@
+#include "depthai/pipeline/node/PointCloud.hpp"
+
+#include <mutex>
+
+#include "spdlog/fmt/fmt.h"
+
+namespace dai {
+namespace node {
+
+PointCloud::PointCloud(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, PointCloud, PointCloudProperties>(std::move(props)) {}
+
+PointCloud::Properties& PointCloud::getProperties() {
+    properties.initialConfig = initialConfig;
+    return properties;
+}
+
+void PointCloud::setNumFramesPool(int numFramesPool) {
+    properties.numFramesPool = numFramesPool;
+}
+
+}  // namespace node
+}  // namespace dai
diff --git a/src/pipeline/node/Pool.cpp b/src/pipeline/node/Pool.cpp
new file mode 100644
index 000000000..a05169dd1
--- /dev/null
+++ b/src/pipeline/node/Pool.cpp
@@ -0,0 +1,42 @@
+#include "depthai/pipeline/node/Pool.hpp"
+
+#include "depthai/pipeline/Pipeline.hpp"
+#include "openvino/BlobReader.hpp"
+
+namespace dai {
+namespace node {
+
+void Pool::setNumMessages(std::optional<int> num) {
+    properties.numMessages = num;
+}
+
+std::optional<int> Pool::getNumMessages() const {
+    return properties.numMessages;
+}
+
+void Pool::setMaxMessageSize(std::optional<std::int64_t> size) {
+    properties.maxMessageSize = size;
+}
+
+std::optional<std::int64_t> Pool::getMaxMessageSize() const {
+    return properties.maxMessageSize;
+}
+
+void Pool::setDatatype(std::optional<DatatypeEnum> type) {
+    properties.datatype = type;
+}
+
+std::optional<DatatypeEnum> Pool::getDatatype() const {
+    return properties.datatype;
+}
+
+void Pool::setProcessor(std::optional<ProcessorType> proc) {
+    properties.processor = proc;
+}
+
+std::optional<ProcessorType> Pool::getProcessor() const {
+    return properties.processor;
+}
+
+}  // namespace node
+}  // namespace dai
diff --git a/src/pipeline/node/SPIIn.cpp b/src/pipeline/node/SPIIn.cpp
index 5c1795a73..b4c85b7e5 100644
--- a/src/pipeline/node/SPIIn.cpp
+++ b/src/pipeline/node/SPIIn.cpp
@@ -3,11 +3,9 @@
 namespace dai {
 namespace node {
 
-SPIIn::SPIIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : SPIIn(par, nodeId, std::make_unique<SPIIn::Properties>()) {}
-SPIIn::SPIIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, SPIIn, SPIInProperties>(par, nodeId, std::move(props)) {
+void SPIIn::build() {
+    // set some default properties
     properties.busId = 0;
-    setOutputRefs({&out});
 }
 
 void SPIIn::setStreamName(const std::string& name) {
diff --git a/src/pipeline/node/Script.cpp b/src/pipeline/node/Script.cpp
index 2323a3ddf..220287ae6 100644
--- a/src/pipeline/node/Script.cpp
+++ b/src/pipeline/node/Script.cpp
@@ -6,17 +6,11 @@
 namespace dai {
 namespace node {
 
-Script::Script(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Script(par, nodeId, std::make_unique<Script::Properties>()) {}
-Script::Script(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, Script, ScriptProperties>(par, nodeId, std::move(props)),
-      inputs("io", Input(*this, "", Input::Type::SReceiver, {{DatatypeEnum::Buffer, true}})),
-      outputs("io", Output(*this, "", Output::Type::MSender, {{DatatypeEnum::Buffer, true}})) {
+void Script::build() {
+    // Set some default properties
     properties.scriptUri = "";
     properties.scriptName = "<script>";
     properties.processor = ProcessorType::LEON_MSS;
-
-    setInputMapRefs(&inputs);
-    setOutputMapRefs(&outputs);
 }
 
 void Script::setScriptPath(const dai::Path& path, const std::string& name) {
diff --git a/src/pipeline/node/SpatialDetectionNetwork.cpp b/src/pipeline/node/SpatialDetectionNetwork.cpp
index 16cb024c9..daee2021f 100644
--- a/src/pipeline/node/SpatialDetectionNetwork.cpp
+++ b/src/pipeline/node/SpatialDetectionNetwork.cpp
@@ -2,7 +2,7 @@
 
 #include <sstream>
 
-#include "depthai-shared/common/DetectionNetworkType.hpp"
+#include "depthai/common/DetectionNetworkType.hpp"
 #include "openvino/BlobReader.hpp"
 
 namespace dai {
@@ -11,12 +11,80 @@ namespace node {
 //--------------------------------------------------------------------
 // Base Detection Network Class
 //--------------------------------------------------------------------
-SpatialDetectionNetwork::SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : SpatialDetectionNetwork(par, nodeId, std::make_unique<Properties>()) {}
-SpatialDetectionNetwork::SpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<DetectionNetwork, SpatialDetectionNetwork, SpatialDetectionNetworkProperties>(par, nodeId, std::move(props)) {
-    setInputRefs({&input, &inputDepth});
-    setOutputRefs({&out, &boundingBoxMapping, &passthrough, &passthroughDepth});
+
+void SpatialDetectionNetwork::build() {
+    // Default confidence threshold
+    detectionParser->properties.parser.confidenceThreshold = 0.5;
+    neuralNetwork->out.link(detectionParser->input);
+    neuralNetwork->passthrough.link(detectionParser->imageIn);
+    neuralNetwork->passthrough.link(inputImg);
+    detectionParser->out.link(inputDetections);
+
+    // No "internal" buffering to keep interface similar to monolithic nodes
+    detectionParser->input.setBlocking(true);
+    detectionParser->input.setQueueSize(1);
+    detectionParser->imageIn.setBlocking(false);
+    detectionParser->imageIn.setQueueSize(1);
+    inputDetections.setQueueSize(1);
+    inputDetections.setBlocking(true);
+}
+
+// -------------------------------------------------------------------
+// Neural Network API
+// -------------------------------------------------------------------
+void SpatialDetectionNetwork::setBlobPath(const dai::Path& path) {
+    neuralNetwork->setBlobPath(path);
+    detectionParser->setBlobPath(path);
+}
+
+void SpatialDetectionNetwork::setBlob(OpenVINO::Blob blob) {
+    neuralNetwork->setBlob(blob);
+    detectionParser->setBlob(blob);
+}
+
+void SpatialDetectionNetwork::setBlob(const dai::Path& path) {
+    neuralNetwork->setBlob(path);
+    detectionParser->setBlob(path);
+}
+
+void SpatialDetectionNetwork::setXmlModelPath(const dai::Path& xmlModelPath, const dai::Path& binModelPath) {
+    neuralNetwork->setXmlModelPath(xmlModelPath, binModelPath);
+}
+
+void SpatialDetectionNetwork::setNumPoolFrames(int numFrames) {
+    neuralNetwork->setNumPoolFrames(numFrames);
+}
+
+void SpatialDetectionNetwork::setNumInferenceThreads(int numThreads) {
+    neuralNetwork->setNumInferenceThreads(numThreads);
+}
+
+void SpatialDetectionNetwork::setNumNCEPerInferenceThread(int numNCEPerThread) {
+    neuralNetwork->setNumNCEPerInferenceThread(numNCEPerThread);
+}
+
+void SpatialDetectionNetwork::setNumShavesPerInferenceThread(int numShavesPerThread) {
+    neuralNetwork->setNumShavesPerInferenceThread(numShavesPerThread);
+}
+
+void SpatialDetectionNetwork::setBackend(std::string backend) {
+    neuralNetwork->setBackend(backend);
+}
+
+void SpatialDetectionNetwork::setBackendProperties(std::map<std::string, std::string> props) {
+    neuralNetwork->setBackendProperties(props);
+}
+
+int SpatialDetectionNetwork::getNumInferenceThreads() {
+    return neuralNetwork->getNumInferenceThreads();
+}
+
+void SpatialDetectionNetwork::setConfidenceThreshold(float thresh) {
+    detectionParser->setConfidenceThreshold(thresh);
+}
+
+float SpatialDetectionNetwork::getConfidenceThreshold() const {
+    return detectionParser->getConfidenceThreshold();
 }
 
 void SpatialDetectionNetwork::setBoundingBoxScaleFactor(float scaleFactor) {
@@ -42,62 +110,62 @@ void SpatialDetectionNetwork::setSpatialCalculationStepSize(int stepSize) {
 //--------------------------------------------------------------------
 // MobileNet
 //--------------------------------------------------------------------
-MobileNetSpatialDetectionNetwork::MobileNetSpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : NodeCRTP<SpatialDetectionNetwork, MobileNetSpatialDetectionNetwork, SpatialDetectionNetworkProperties>(par, nodeId) {
-    properties.parser.nnFamily = DetectionNetworkType::MOBILENET;
+void MobileNetSpatialDetectionNetwork::build() {
+    SpatialDetectionNetwork::build();
+    detectionParser->setNNFamily(DetectionNetworkType::MOBILENET);
 }
 
 //--------------------------------------------------------------------
 // YOLO
 //--------------------------------------------------------------------
-YoloSpatialDetectionNetwork::YoloSpatialDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : NodeCRTP<SpatialDetectionNetwork, YoloSpatialDetectionNetwork, SpatialDetectionNetworkProperties>(par, nodeId) {
-    properties.parser.nnFamily = DetectionNetworkType::YOLO;
+void YoloSpatialDetectionNetwork::build() {
+    SpatialDetectionNetwork::build();
+    detectionParser->setNNFamily(DetectionNetworkType::YOLO);
 }
 
 void YoloSpatialDetectionNetwork::setNumClasses(const int numClasses) {
-    properties.parser.classes = numClasses;
+    detectionParser->setNumClasses(numClasses);
 }
 
 void YoloSpatialDetectionNetwork::setCoordinateSize(const int coordinates) {
-    properties.parser.coordinates = coordinates;
+    detectionParser->setCoordinateSize(coordinates);
 }
 
 void YoloSpatialDetectionNetwork::setAnchors(std::vector<float> anchors) {
-    properties.parser.anchors = anchors;
+    detectionParser->setAnchors(anchors);
 }
 
 void YoloSpatialDetectionNetwork::setAnchorMasks(std::map<std::string, std::vector<int>> anchorMasks) {
-    properties.parser.anchorMasks = anchorMasks;
+    detectionParser->setAnchorMasks(anchorMasks);
 }
 
 void YoloSpatialDetectionNetwork::setIouThreshold(float thresh) {
-    properties.parser.iouThreshold = thresh;
+    detectionParser->setIouThreshold(thresh);
 }
 
 /// Get num classes
 int YoloSpatialDetectionNetwork::getNumClasses() const {
-    return properties.parser.classes;
+    return detectionParser->getNumClasses();
 }
 
 /// Get coordianate size
 int YoloSpatialDetectionNetwork::getCoordinateSize() const {
-    return properties.parser.coordinates;
+    return detectionParser->getCoordinateSize();
 }
 
 /// Get anchors
 std::vector<float> YoloSpatialDetectionNetwork::getAnchors() const {
-    return properties.parser.anchors;
+    return detectionParser->getAnchors();
 }
 
 /// Get anchor masks
 std::map<std::string, std::vector<int>> YoloSpatialDetectionNetwork::getAnchorMasks() const {
-    return properties.parser.anchorMasks;
+    return detectionParser->getAnchorMasks();
 }
 
 /// Get Iou threshold
 float YoloSpatialDetectionNetwork::getIouThreshold() const {
-    return properties.parser.iouThreshold;
+    return detectionParser->getIouThreshold();
 }
 
 }  // namespace node
diff --git a/src/pipeline/node/SpatialLocationCalculator.cpp b/src/pipeline/node/SpatialLocationCalculator.cpp
index f5b52e4de..493c7220a 100644
--- a/src/pipeline/node/SpatialLocationCalculator.cpp
+++ b/src/pipeline/node/SpatialLocationCalculator.cpp
@@ -5,18 +5,11 @@
 namespace dai {
 namespace node {
 
-SpatialLocationCalculator::SpatialLocationCalculator(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : SpatialLocationCalculator(par, nodeId, std::make_unique<SpatialLocationCalculator::Properties>()) {}
-SpatialLocationCalculator::SpatialLocationCalculator(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, SpatialLocationCalculator, SpatialLocationCalculatorProperties>(par, nodeId, std::move(props)),
-      rawConfig(std::make_shared<RawSpatialLocationCalculatorConfig>()),
-      initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &inputDepth});
-    setOutputRefs({&out, &passthroughDepth});
-}
+SpatialLocationCalculator::SpatialLocationCalculator(std::unique_ptr<Properties> props)
+    : DeviceNodeCRTP<DeviceNode, SpatialLocationCalculator, SpatialLocationCalculatorProperties>(std::move(props)) {}
 
 SpatialLocationCalculator::Properties& SpatialLocationCalculator::getProperties() {
-    properties.roiConfig = *rawConfig;
+    properties.roiConfig = initialConfig;
     return properties;
 }
 
diff --git a/src/pipeline/node/StereoDepth.cpp b/src/pipeline/node/StereoDepth.cpp
index fba8d4e60..e17251b99 100644
--- a/src/pipeline/node/StereoDepth.cpp
+++ b/src/pipeline/node/StereoDepth.cpp
@@ -3,6 +3,7 @@
 // standard
 #include <fstream>
 
+#include "pipeline/datatype/StereoDepthConfig.hpp"
 #include "spdlog/spdlog.h"
 #include "utility/Logging.hpp"
 #include "utility/spdlog-fmt.hpp"
@@ -10,32 +11,14 @@
 namespace dai {
 namespace node {
 
-StereoDepth::StereoDepth(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : StereoDepth(par, nodeId, std::make_unique<StereoDepth::Properties>()) {}
-StereoDepth::StereoDepth(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, StereoDepth, StereoDepthProperties>(par, nodeId, std::move(props)),
-      rawConfig(std::make_shared<RawStereoDepthConfig>()),
-      initialConfig(rawConfig) {
-    // 'properties' defaults already set
-    setInputRefs({&inputConfig, &left, &right});
-    setOutputRefs({&depth,
-                   &disparity,
-                   &syncedLeft,
-                   &syncedRight,
-                   &rectifiedLeft,
-                   &rectifiedRight,
-                   &outConfig,
-                   &debugDispLrCheckIt1,
-                   &debugDispLrCheckIt2,
-                   &debugExtDispLrCheckIt1,
-                   &debugExtDispLrCheckIt2,
-                   &debugDispCostDump,
-                   &confidenceMap});
-
+void StereoDepth::build() {
     setDefaultProfilePreset(presetMode);
 }
 
+StereoDepth::StereoDepth(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, StereoDepth, StereoDepthProperties>(std::move(props)) {}
+
 StereoDepth::Properties& StereoDepth::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
@@ -99,9 +82,9 @@ void StereoDepth::setOutputSize(int width, int height) {
 void StereoDepth::setOutputKeepAspectRatio(bool keep) {
     properties.outKeepAspectRatio = keep;
 }
-void StereoDepth::setMedianFilter(dai::MedianFilter median) {
+void StereoDepth::setMedianFilter(dai::StereoDepthConfig::MedianFilter median) {
     initialConfig.setMedianFilter(median);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setDepthAlign(Properties::DepthAlign align) {
     initialConfig.setDepthAlign(align);
@@ -113,26 +96,26 @@ void StereoDepth::setDepthAlign(CameraBoardSocket camera) {
 }
 void StereoDepth::setConfidenceThreshold(int confThr) {
     initialConfig.setConfidenceThreshold(confThr);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setRectification(bool enable) {
     properties.enableRectification = enable;
 }
 void StereoDepth::setLeftRightCheck(bool enable) {
     initialConfig.setLeftRightCheck(enable);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setSubpixel(bool enable) {
     initialConfig.setSubpixel(enable);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setSubpixelFractionalBits(int subpixelFractionalBits) {
     initialConfig.setSubpixelFractionalBits(subpixelFractionalBits);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setExtendedDisparity(bool enable) {
     initialConfig.setExtendedDisparity(enable);
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
 }
 void StereoDepth::setRectifyEdgeFillColor(int color) {
     properties.rectifyEdgeFillColor = color;
@@ -179,6 +162,14 @@ void StereoDepth::enableDistortionCorrection(bool enableDistortionCorrection) {
     useHomographyRectification(!enableDistortionCorrection);
 }
 
+void StereoDepth::setVerticalStereo(bool verticalStereo) {
+    properties.verticalStereo = verticalStereo;
+}
+
+void StereoDepth::setCustomPixelDescriptors(bool customPixelDescriptors) {
+    properties.customPixelDescriptors = customPixelDescriptors;
+}
+
 void StereoDepth::setBaseline(float baseline) {
     properties.baseline = baseline;
 }
@@ -219,5 +210,9 @@ void StereoDepth::setDefaultProfilePreset(PresetMode mode) {
     }
 }
 
+void StereoDepth::setFrameSync(bool enableFrameSync) {
+    properties.enableFrameSync = enableFrameSync;
+}
+
 }  // namespace node
 }  // namespace dai
diff --git a/src/pipeline/node/Sync.cpp b/src/pipeline/node/Sync.cpp
index b2d9d04a6..0fd3fdbe8 100644
--- a/src/pipeline/node/Sync.cpp
+++ b/src/pipeline/node/Sync.cpp
@@ -3,14 +3,6 @@
 namespace dai {
 namespace node {
 
-Sync::Sync(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Sync(par, nodeId, std::make_unique<Sync::Properties>()) {}
-Sync::Sync(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, Sync, SyncProperties>(par, nodeId, std::move(props)),
-      inputs("inputs", Input(*this, "", Input::Type::SReceiver, {{DatatypeEnum::Buffer, true}})) {
-    setInputMapRefs(&inputs);
-    setOutputRefs({&out});
-}
-
 void Sync::setSyncThreshold(std::chrono::nanoseconds syncThreshold) {
     properties.syncThresholdNs = syncThreshold.count();
 }
diff --git a/src/pipeline/node/SystemLogger.cpp b/src/pipeline/node/SystemLogger.cpp
index 0a836a8b6..977c169f8 100644
--- a/src/pipeline/node/SystemLogger.cpp
+++ b/src/pipeline/node/SystemLogger.cpp
@@ -3,13 +3,12 @@
 namespace dai {
 namespace node {
 
-SystemLogger::SystemLogger(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : SystemLogger(par, nodeId, std::make_unique<SystemLogger::Properties>()) {}
-SystemLogger::SystemLogger(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, SystemLogger, SystemLoggerProperties>(par, nodeId, std::move(props)) {
+void SystemLogger::build() {
+    // Set some default properties
     properties.rateHz = 1.0f;
-
-    setOutputRefs(&out);
+    // Link pool to inputPool
+    // TODO(before mainline) - Add pools if ready
+    // pool->out.link(inputPool);
 }
 
 void SystemLogger::setRate(float hz) {
diff --git a/src/pipeline/node/ToF.cpp b/src/pipeline/node/ToF.cpp
index 5d25ea75c..56f401cf5 100644
--- a/src/pipeline/node/ToF.cpp
+++ b/src/pipeline/node/ToF.cpp
@@ -1,17 +1,14 @@
 #include "depthai/pipeline/node/ToF.hpp"
 
+#include "spdlog/fmt/fmt.h"
+
 namespace dai {
 namespace node {
 
-ToF::ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : ToF(par, nodeId, std::make_unique<ToF::Properties>()) {}
-ToF::ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, ToF, ToFProperties>(par, nodeId, std::move(props)), rawConfig(std::make_shared<RawToFConfig>()), initialConfig(rawConfig) {
-    setInputRefs({&inputConfig, &input});
-    setOutputRefs({&depth, &amplitude, &error});
-}
+ToF::ToF(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, ToF, ToFProperties>(std::move(props)) {}
 
 ToF::Properties& ToF::getProperties() {
-    properties.initialConfig = *rawConfig;
+    properties.initialConfig = initialConfig;
     return properties;
 }
 
diff --git a/src/pipeline/node/UVC.cpp b/src/pipeline/node/UVC.cpp
index ed0d165f2..501e2d9aa 100644
--- a/src/pipeline/node/UVC.cpp
+++ b/src/pipeline/node/UVC.cpp
@@ -3,10 +3,10 @@
 namespace dai {
 namespace node {
 
-UVC::UVC(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : UVC(par, nodeId, std::make_unique<UVC::Properties>()) {}
-UVC::UVC(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, UVC, UVCProperties>(par, nodeId, std::move(props)) {
-    setInputRefs(&input);
+UVC::UVC(std::unique_ptr<Properties> props) : DeviceNodeCRTP<DeviceNode, UVC, UVCProperties>(std::move(props)) {}
+
+void UVC::build() {
+    ;
 }
 
 void UVC::setGpiosOnInit(std::unordered_map<int, int> list) {
diff --git a/src/pipeline/node/VideoEncoder.cpp b/src/pipeline/node/VideoEncoder.cpp
index 0ff9afc7f..8fbd47f70 100644
--- a/src/pipeline/node/VideoEncoder.cpp
+++ b/src/pipeline/node/VideoEncoder.cpp
@@ -10,13 +10,6 @@
 namespace dai {
 namespace node {
 
-VideoEncoder::VideoEncoder(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
-    : VideoEncoder(par, nodeId, std::make_unique<VideoEncoder::Properties>()) {}
-VideoEncoder::VideoEncoder(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, VideoEncoder, VideoEncoderProperties>(par, nodeId, std::move(props)) {
-    setInputRefs({&input});
-    setOutputRefs({&bitstream, &out});
-}
 // node properties
 void VideoEncoder::setNumFramesPool(int frames) {
     properties.numFramesPool = frames;
diff --git a/src/pipeline/node/Warp.cpp b/src/pipeline/node/Warp.cpp
index d088e2947..967c8f068 100644
--- a/src/pipeline/node/Warp.cpp
+++ b/src/pipeline/node/Warp.cpp
@@ -2,18 +2,6 @@
 namespace dai {
 namespace node {
 
-Warp::Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Warp(par, nodeId, std::make_unique<Warp::Properties>()) {}
-Warp::Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, Warp, WarpProperties>(par, nodeId, std::move(props)) {
-    setInputRefs({&inputImage});
-    setOutputRefs({&out});
-}
-
-Warp::Properties& Warp::getProperties() {
-    // properties.initialConfig = *rawConfig;
-    return properties;
-}
-
 void Warp::setOutputSize(std::tuple<int, int> size) {
     properties.outputWidth = std::get<0>(size);
     properties.outputHeight = std::get<1>(size);
diff --git a/src/pipeline/node/XLinkIn.cpp b/src/pipeline/node/XLinkIn.cpp
index 490e9b66f..6e70ed6f7 100644
--- a/src/pipeline/node/XLinkIn.cpp
+++ b/src/pipeline/node/XLinkIn.cpp
@@ -3,12 +3,6 @@
 namespace dai {
 namespace node {
 
-XLinkIn::XLinkIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : XLinkIn(par, nodeId, std::make_unique<XLinkIn::Properties>()) {}
-XLinkIn::XLinkIn(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, XLinkIn, XLinkInProperties>(par, nodeId, std::move(props)) {
-    setOutputRefs(&out);
-}
-
 void XLinkIn::setStreamName(const std::string& name) {
     properties.streamName = name;
 }
diff --git a/src/pipeline/node/XLinkOut.cpp b/src/pipeline/node/XLinkOut.cpp
index 0b49c580b..e20e9347c 100644
--- a/src/pipeline/node/XLinkOut.cpp
+++ b/src/pipeline/node/XLinkOut.cpp
@@ -3,11 +3,9 @@
 namespace dai {
 namespace node {
 
-XLinkOut::XLinkOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : XLinkOut(par, nodeId, std::make_unique<XLinkOut::Properties>()) {}
-XLinkOut::XLinkOut(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
-    : NodeCRTP<Node, XLinkOut, XLinkOutProperties>(par, nodeId, std::move(props)) {
+void XLinkOut::build() {
+    // set some default properties
     properties.maxFpsLimit = -1;
-    setInputRefs(&input);
 }
 
 void XLinkOut::setStreamName(const std::string& name) {
diff --git a/src/pipeline/node/test/MyConsumer.cpp b/src/pipeline/node/test/MyConsumer.cpp
new file mode 100644
index 000000000..b1c785288
--- /dev/null
+++ b/src/pipeline/node/test/MyConsumer.cpp
@@ -0,0 +1,13 @@
+#include "depthai/pipeline/node/test/MyConsumer.hpp"
+
+namespace dai {
+namespace node {
+namespace test {
+
+void MyConsumer::build() {
+    hostNode = true;
+}
+
+}  // namespace test
+}  // namespace node
+}  // namespace dai
diff --git a/src/pipeline/node/test/MyProducer.cpp b/src/pipeline/node/test/MyProducer.cpp
new file mode 100644
index 000000000..cf4c3b81e
--- /dev/null
+++ b/src/pipeline/node/test/MyProducer.cpp
@@ -0,0 +1,32 @@
+#include "depthai/pipeline/node/test/MyProducer.hpp"
+
+// std
+#include <chrono>
+
+// project
+#include "depthai/pipeline/datatype/Buffer.hpp"
+
+namespace dai {
+namespace node {
+namespace test {
+
+void MyProducer::build() {
+    hostNode = true;
+}
+
+void MyProducer::run() {
+    std::cout << "Hello, I just woke up and I'm ready to do some work!\n";
+    while(isRunning()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1500));
+
+        auto buf = std::make_shared<Buffer>();
+        buf->setData({1, 2, 3});
+
+        std::cout << "sending message (ptr: " << buf.get() << "\n";
+        out.send(buf);
+    }
+}
+
+}  // namespace test
+}  // namespace node
+}  // namespace dai
diff --git a/src/utility/ArchiveUtil.cpp b/src/utility/ArchiveUtil.cpp
new file mode 100644
index 000000000..86f78c5ec
--- /dev/null
+++ b/src/utility/ArchiveUtil.cpp
@@ -0,0 +1,244 @@
+#include "ArchiveUtil.hpp"
+
+// c std
+#include <cstdio>
+#include <optional>
+
+#include "utility/ErrorMacros.hpp"
+#include "utility/Logging.hpp"
+
+namespace dai {
+namespace utility {
+
+void ArchiveUtil::init(NNArchiveEntry::Compression format) {
+    auto* archivePtr = archive_read_new();
+    DAI_CHECK_IN(archivePtr);
+    aPtr = archivePtr;
+    using F = NNArchiveEntry::Compression;
+    switch(format) {
+        case F::AUTO:
+            archive_read_support_filter_all(aPtr);
+            archive_read_support_format_all(aPtr);
+            break;
+        case F::TAR:
+            archive_read_support_filter_none(aPtr);
+            archive_read_support_format_tar(aPtr);
+            break;
+        case F::TAR_GZ:
+            archive_read_support_filter_gzip(aPtr);
+            archive_read_support_format_tar(aPtr);
+            break;
+        case F::TAR_XZ:
+            archive_read_support_filter_xz(aPtr);
+            archive_read_support_format_tar(aPtr);
+            break;
+        case F::RAW_FS:
+        default:
+            DAI_CHECK_IN(false);
+            break;
+    }
+}
+
+ArchiveUtil::ArchiveUtil(const std::vector<uint8_t>& data, NNArchiveEntry::Compression format) {
+    init(format);
+    const auto res = archive_read_open_memory(aPtr, data.data(), data.size());
+    DAI_CHECK(res == ARCHIVE_OK, "Error when decompressing archive from memory.");
+}
+
+ArchiveUtil::ArchiveUtil(const dai::Path& filepath, NNArchiveEntry::Compression format) {
+    init(format);
+    const auto res = archive_read_open_filename(aPtr, filepath.string().c_str(), 10240);
+    DAI_CHECK_V(res == ARCHIVE_OK, "Error when decompressing {}.", filepath);
+}
+
+la_ssize_t ArchiveUtil::readCb(struct archive*, void* context, const void** buffer) {
+    DAI_CHECK_IN(context);
+    auto* cSelf = static_cast<ArchiveUtil*>(context);
+    DAI_CHECK_IN(cSelf);
+    return cSelf->archiveRead(buffer);
+}
+
+int ArchiveUtil::openCb(struct archive*, void* context) {
+    DAI_CHECK_IN(context);
+    auto* cSelf = static_cast<ArchiveUtil*>(context);
+    DAI_CHECK_IN(cSelf);
+    return cSelf->archiveOpen();
+}
+
+int ArchiveUtil::closeCb(struct archive*, void* context) {
+    DAI_CHECK_IN(context);
+    auto* cSelf = static_cast<ArchiveUtil*>(context);
+    DAI_CHECK_IN(cSelf);
+    return cSelf->archiveClose();
+}
+
+int ArchiveUtil::archiveOpen() {
+    DAI_CHECK_IN(userOpenCallback);
+    return (*userOpenCallback)();
+}
+
+int ArchiveUtil::archiveClose() {
+    DAI_CHECK_IN(userCloseCallback);
+    return (*userCloseCallback)();
+}
+
+int64_t ArchiveUtil::seekCb(struct archive*, void* context, int64_t offset, int whence) {
+    DAI_CHECK_IN(context);
+    auto* cSelf = static_cast<ArchiveUtil*>(context);
+    DAI_CHECK_IN(cSelf);
+    return cSelf->archiveSeek(offset, whence);
+}
+
+int64_t ArchiveUtil::archiveSeek(int64_t offset,  // NOLINT(bugprone-easily-swappable-parameters)
+                                 int whence       // NOLINT(bugprone-easily-swappable-parameters)
+) {
+    DAI_CHECK_IN(userSeekCallback);
+    std::optional<NNArchiveEntry::Seek> whenceConverted;
+    switch(whence) {
+        case SEEK_SET:
+            whenceConverted = NNArchiveEntry::Seek::SET;
+            break;
+        case SEEK_CUR:
+            whenceConverted = NNArchiveEntry::Seek::CUR;
+            break;
+        case SEEK_END:
+            whenceConverted = NNArchiveEntry::Seek::END;
+            break;
+        default:
+            DAI_CHECK_IN(false);
+            break;
+    }
+    return (*userSeekCallback)(offset, *whenceConverted);
+}
+
+int64_t ArchiveUtil::skipCb(struct archive*, void* context, int64_t request) {
+    DAI_CHECK_IN(context);
+    auto* cSelf = static_cast<ArchiveUtil*>(context);
+    DAI_CHECK_IN(cSelf);
+    return cSelf->archiveSkip(request);
+}
+
+int64_t ArchiveUtil::archiveSkip(int64_t request) {
+    DAI_CHECK_IN(userSkipCallback);
+    return (*userSkipCallback)(request);
+}
+
+ArchiveUtil::ArchiveUtil(const std::function<int()>& openCallback,
+                         const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                         const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                         const std::function<int64_t(int64_t request)>& skipCallback,
+                         const std::function<int()>& closeCallback,
+                         NNArchiveEntry::Compression format)
+    : userOpenCallback(openCallback),
+      userReadCallback(readCallback),
+      userSeekCallback(seekCallback),
+      userSkipCallback(skipCallback),
+      userCloseCallback(closeCallback) {
+    init(format);
+    auto res = archive_read_set_callback_data(aPtr, this);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_set_open_callback(aPtr, openCb);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_set_read_callback(aPtr, readCb);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_set_close_callback(aPtr, closeCb);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_set_seek_callback(aPtr, seekCb);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_set_skip_callback(aPtr, skipCb);
+    DAI_CHECK_IN(res == ARCHIVE_OK);
+    res = archive_read_open1(aPtr);
+    DAI_CHECK(res == ARCHIVE_OK, "Couldn't open the archive. Did you provide the correct binary data to the read callback? Did your open callback return 0?");
+}
+
+ArchiveUtil::ArchiveUtil(struct archive* archivePtr) {
+    DAI_CHECK_IN(archivePtr);
+    aPtr = archivePtr;
+}
+
+struct archive* ArchiveUtil::getA() {
+    DAI_CHECK_IN(aPtr);
+    return aPtr;
+}
+
+int64_t ArchiveUtil::archiveRead(const void** buffer) {
+    DAI_CHECK_IN(userReadCallback);
+    userReadBuffer = (*userReadCallback)();
+    DAI_CHECK(userReadBuffer, "Don't return nullptr from read callbacks.");
+    *buffer = userReadBuffer->data();
+    DAI_CHECK(userReadBuffer->size() <= static_cast<uint64_t>(std::numeric_limits<int64_t>::max()),
+              "You can return at most int64_t MAX data->size() from read callbacks.");
+    return static_cast<int64_t>(userReadBuffer->size());
+}
+
+void ArchiveUtil::readEntry(struct archive_entry* entry, std::vector<uint8_t>& out) {
+    DAI_CHECK_IN(aPtr);
+    out.clear();
+
+    // Read size, 16KiB
+    auto readSize = static_cast<int64_t>(16 * 1024);
+    if(archive_entry_size_is_set(entry) != 0) {
+        // if size is specified, use that for read size
+        readSize = archive_entry_size(entry);
+    }
+
+    // Record number of bytes actually read
+    int64_t finalSize = 0;
+
+    while(true) {
+        // Current size, as a offset to write next data to
+        auto currentSize = out.size();
+
+        // Resize to accomodate for extra data
+        out.resize(currentSize + readSize);
+        int64_t size = archive_read_data(aPtr, &out[currentSize], readSize);
+
+        // Check that no errors occurred
+        DAI_CHECK(size >= 0, fmt::format("Errors occured when reading from archive using libarchive. Error - {}", size));
+
+        // Append number of bytes actually read to finalSize
+        finalSize += size;
+
+        // All bytes were read
+        if(size == 0) {
+            break;
+        }
+    }
+
+    // Resize vector to actual read size
+    out.resize(finalSize);
+}
+
+bool ArchiveUtil::readEntry(const std::string& entryName, std::vector<uint8_t>& out) {
+    struct archive_entry* entry = nullptr;
+    while(archive_read_next_header(getA(), &entry) == ARCHIVE_OK) {
+        std::string curEntryName(archive_entry_pathname(entry));
+        if(curEntryName == entryName) {
+            readEntry(entry, out);
+            return true;
+        }
+    }
+    return false;
+}
+
+ArchiveUtil::~ArchiveUtil() {
+    if(aPtr != nullptr) {
+        const auto res = archive_read_free(aPtr);
+        if(res != ARCHIVE_OK) {
+            logger::warn("Couldn't free archive memory using libarchive.");
+        }
+        aPtr = nullptr;
+    }
+}
+
+bool ArchiveUtil::isJsonPath(const Path& path) {
+    const auto filepath = path.string();
+    const auto pointIndex = filepath.find_last_of('.');
+    if(pointIndex != std::string::npos) {
+        return filepath.substr(filepath.find_last_of('.') + 1) == "json";
+    }
+    return false;
+}
+
+}  // namespace utility
+}  // namespace dai
diff --git a/src/utility/ArchiveUtil.hpp b/src/utility/ArchiveUtil.hpp
new file mode 100644
index 000000000..63cb7ee9c
--- /dev/null
+++ b/src/utility/ArchiveUtil.hpp
@@ -0,0 +1,67 @@
+// C++ std
+#include <functional>
+#include <optional>
+#include <string>
+#include <vector>
+
+// libraries
+#include "archive.h"
+#include "archive_entry.h"
+
+// internal public
+#include "depthai/nn_archive/NNArchiveEntry.hpp"
+#include "depthai/utility/Path.hpp"
+
+namespace dai::utility {
+
+// Wrapper C++ class for correct exception handling without memory leaks
+class ArchiveUtil {
+   public:
+    explicit ArchiveUtil(struct archive* archivePtr);
+    ArchiveUtil(const dai::Path& filepath, NNArchiveEntry::Compression format);
+    ArchiveUtil(const std::vector<uint8_t>& data, NNArchiveEntry::Compression format);
+    ArchiveUtil(const std::function<int()>& openCallback,
+                const std::function<std::shared_ptr<std::vector<uint8_t>>()>& readCallback,
+                const std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>& seekCallback,
+                const std::function<int64_t(int64_t request)>& skipCallback,
+                const std::function<int()>& closeCallback,
+                NNArchiveEntry::Compression format);
+
+    struct archive* getA();
+    // Throws on error
+    void readEntry(struct archive_entry* entry, std::vector<uint8_t>& out);
+    // Reads entryName from archive to curEntry member.
+    // Returns true if entry found, false otherwise.
+    // Throws on other errors
+    bool readEntry(const std::string& entryName, std::vector<uint8_t>& out);
+    ArchiveUtil(const ArchiveUtil&) = delete;
+    ArchiveUtil& operator=(const ArchiveUtil&) = delete;
+    ArchiveUtil(ArchiveUtil&&) = delete;
+    ArchiveUtil& operator=(ArchiveUtil&&) = delete;
+    ~ArchiveUtil();
+
+    static bool isJsonPath(const Path& path);
+
+   private:
+    struct archive* aPtr = nullptr;
+    std::shared_ptr<std::vector<uint8_t>> userReadBuffer;
+    std::optional<std::function<int()>> userOpenCallback;
+    std::optional<std::function<std::shared_ptr<std::vector<uint8_t>>()>> userReadCallback;
+    std::optional<std::function<int64_t(int64_t offset, NNArchiveEntry::Seek whence)>> userSeekCallback;
+    std::optional<std::function<int64_t(int64_t request)>> userSkipCallback;
+    std::optional<std::function<int()>> userCloseCallback;
+
+    void init(NNArchiveEntry::Compression format);
+    static int openCb(struct archive*, void* context);
+    int archiveOpen();
+    static la_ssize_t readCb(struct archive*, void* context, const void** buffer);
+    int64_t archiveRead(const void** buffer);
+    static int64_t seekCb(struct archive*, void* context, int64_t offset, int whence);
+    int64_t archiveSeek(int64_t offset, int whence);
+    static int64_t skipCb(struct archive*, void* context, int64_t request);
+    int64_t archiveSkip(int64_t request);
+    static int closeCb(struct archive*, void* context);
+    int archiveClose();
+};
+
+}  // namespace dai::utility
diff --git a/src/utility/Checksum.cpp b/src/utility/Checksum.cpp
new file mode 100644
index 000000000..e974c0e4a
--- /dev/null
+++ b/src/utility/Checksum.cpp
@@ -0,0 +1,23 @@
+#include "depthai/utility/Checksum.hpp"
+
+namespace dai {
+namespace utility {
+
+std::uint32_t checksum(const void* buffer, std::size_t size, uint32_t prevChecksum) {
+    uint32_t checksum = prevChecksum;
+    auto p = reinterpret_cast<const uint8_t*>(buffer);
+
+    for(std::size_t i = 0; i < size; i++) {
+        checksum = ((checksum << 5) + checksum) + p[i]; /* hash * 33 + p[i] */
+    }
+
+    return checksum;
+}
+
+std::uint32_t checksum(const void* buffer, std::size_t size) {
+    constexpr static auto checksumInitialValue = 5381U;
+    return checksum(buffer, size, checksumInitialValue);
+}
+
+}  // namespace utility
+}  // namespace dai
diff --git a/src/utility/EepromDataParser.hpp b/src/utility/EepromDataParser.hpp
index 0bab9f574..95971d394 100644
--- a/src/utility/EepromDataParser.hpp
+++ b/src/utility/EepromDataParser.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "depthai-shared/common/EepromData.hpp"
+#include "depthai/common/EepromData.hpp"
 
 namespace dai
 {
diff --git a/src/utility/Environment.cpp b/src/utility/Environment.cpp
index 7b0350a32..d8c75cee6 100644
--- a/src/utility/Environment.cpp
+++ b/src/utility/Environment.cpp
@@ -12,14 +12,14 @@
 namespace dai {
 namespace utility {
 
-static std::mutex mtx;
-static std::unordered_map<std::string, std::string> map;
-
 std::string getEnv(const std::string& var) {
     return getEnv(var, Logging::getInstance().logger);
 }
 
 std::string getEnv(const std::string& var, spdlog::logger& logger) {
+    // Initialize only when getEnv called, instead of globally
+    static std::mutex mtx;
+    static std::unordered_map<std::string, std::string> map;
     std::unique_lock<std::mutex> lock(mtx);
 
     if(map.count(var) > 0) {
diff --git a/src/utility/ErrorMacros.hpp b/src/utility/ErrorMacros.hpp
new file mode 100644
index 000000000..af3292f1e
--- /dev/null
+++ b/src/utility/ErrorMacros.hpp
@@ -0,0 +1,37 @@
+#include <stdexcept>
+
+#include "build/version.hpp"
+#include "utility/spdlog-fmt.hpp"
+
+// clang-format off
+
+// Only use this one for internal errors. Clearly invalid states that shouldn't happen.
+#define DAI_CHECK_IN(A) \
+    if(!(A)) { \
+        throw std::runtime_error(fmt::format( \
+            "Internal error occured. Please report." \
+            " commit: {}" \
+            " | dev_v: {}" \
+            " | boot_v: {}" \
+            " | rvc3_v: {}" \
+            " | file: {}:{}", \
+            dai::build::COMMIT, \
+            dai::build::DEVICE_VERSION, \
+            dai::build::BOOTLOADER_VERSION, \
+            dai::build::DEVICE_RVC3_VERSION, \
+            __FILE__,\
+            __LINE__ \
+            )); \
+    }
+
+#define DAI_CHECK(A, M) \
+    if(!(A)) { \
+        throw std::runtime_error( M ); \
+    }
+
+#define DAI_CHECK_V(A, M, ...) \
+    if(!(A)) { \
+        throw std::runtime_error(fmt::format( M, ##__VA_ARGS__ )); \
+    }
+
+// clang-format on
diff --git a/src/utility/Files.hpp b/src/utility/Files.hpp
index e712feb99..611d1139a 100644
--- a/src/utility/Files.hpp
+++ b/src/utility/Files.hpp
@@ -3,13 +3,13 @@
 #include <spdlog/spdlog.h>
 
 #include <fstream>
-#include <tl/optional.hpp>
+#include <optional>
 
 #include "Platform.hpp"
 
 namespace dai {
 
-tl::optional<std::string> saveFileToTemporaryDirectory(std::vector<uint8_t> data, std::string filename, std::string fpath = "") {
+std::optional<std::string> saveFileToTemporaryDirectory(std::vector<uint8_t> data, std::string filename, std::string fpath = "") {
     if(fpath.empty()) {
         fpath = platform::getTempPath();
     }
@@ -22,14 +22,14 @@ tl::optional<std::string> saveFileToTemporaryDirectory(std::vector<uint8_t> data
     std::ofstream file(path, std::ios::binary);
     if(!file.is_open()) {
         spdlog::error("Couldn't open file {} for writing", path);
-        return tl::nullopt;
+        return std::nullopt;
     }
 
     file.write(reinterpret_cast<char*>(data.data()), data.size());
     file.close();
     if(!file.good()) {
         spdlog::error("Couldn't write to file {}", path);
-        return tl::nullopt;
+        return std::nullopt;
     }
     spdlog::debug("Saved file {} to {}", filename, path);
     return std::string(path);
diff --git a/src/utility/H26xParsers.cpp b/src/utility/H26xParsers.cpp
index b0c2da0dc..9fd111573 100644
--- a/src/utility/H26xParsers.cpp
+++ b/src/utility/H26xParsers.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <tuple>
 
+#include "depthai/utility/Memory.hpp"
+
 namespace dai {
 namespace utility {
 
diff --git a/src/utility/Initialization.cpp b/src/utility/Initialization.cpp
index 7ed63fad1..e847e8832 100644
--- a/src/utility/Initialization.cpp
+++ b/src/utility/Initialization.cpp
@@ -4,8 +4,8 @@
 #include <memory>
 
 // project
-#include "build/config.hpp"
 #include "build/version.hpp"
+#include "depthai/config/config.hpp"
 #include "utility/Environment.hpp"
 #include "utility/Logging.hpp"
 #include "utility/Resources.hpp"
diff --git a/src/utility/Logging.hpp b/src/utility/Logging.hpp
index efc721588..b1b8491e6 100644
--- a/src/utility/Logging.hpp
+++ b/src/utility/Logging.hpp
@@ -12,7 +12,7 @@
 #include <spdlog/sinks/stdout_color_sinks.h>
 
 // shared
-#include <depthai-shared/log/LogConstants.hpp>
+#include <depthai/log/LogConstants.hpp>
 
 // project
 #include <depthai/device/Device.hpp>
diff --git a/src/utility/Platform.cpp b/src/utility/Platform.cpp
index 09a5dbc6d..fdd2e7a11 100644
--- a/src/utility/Platform.cpp
+++ b/src/utility/Platform.cpp
@@ -13,6 +13,10 @@
     #include <arpa/inet.h>
 #endif
 
+#ifdef __linux__
+    #include <pthread.h>
+#endif
+
 #if defined(_WIN32) || defined(__USE_W32_SOCKETS)
     #include <windows.h>
 #endif
@@ -56,6 +60,14 @@ std::string getIPv4AddressAsString(std::uint32_t binary) {
     return {address};
 }
 
+void setThreadName(JoiningThread& thread, const std::string& name) {
+#ifdef __linux__
+    auto handle = thread.native_handle();
+    pthread_setname_np(handle, name.c_str());
+#endif
+    return;
+}
+
 std::string getTempPath() {
     std::string tmpPath;
 #if defined(_WIN32) || defined(__USE_W32_SOCKETS)
diff --git a/src/utility/Platform.hpp b/src/utility/Platform.hpp
index 3a436bd39..6ac593287 100644
--- a/src/utility/Platform.hpp
+++ b/src/utility/Platform.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdint>
+#include "depthai/utility/JoiningThread.hpp"
 #include <string>
 
 namespace dai {
@@ -10,5 +11,8 @@ uint32_t getIPv4AddressAsBinary(std::string address);
 std::string getIPv4AddressAsString(std::uint32_t binary);
 std::string getTempPath();
 
+// TODO change this to std::thread
+void setThreadName(JoiningThread& thread, const std::string& name);
+
 }  // namespace platform
 }  // namespace dai
diff --git a/src/utility/Resources.cpp b/src/utility/Resources.cpp
index ec89067cb..efc91eb02 100644
--- a/src/utility/Resources.cpp
+++ b/src/utility/Resources.cpp
@@ -18,12 +18,14 @@
 #include "utility/Logging.hpp"
 
 // shared
-#include "depthai-shared/device/BoardConfig.hpp"
-#include "depthai-shared/utility/Checksum.hpp"
-#include "depthai-shared/utility/Serialization.hpp"
+#include "depthai/device/BoardConfig.hpp"
+#include "depthai/utility/Checksum.hpp"
+#include "depthai/utility/Serialization.hpp"
 
 // project
+#include "utility/ArchiveUtil.hpp"
 #include "utility/Environment.hpp"
+#include "utility/ErrorMacros.hpp"
 #include "utility/spdlog-fmt.hpp"
 
 extern "C" {
@@ -66,6 +68,11 @@ constexpr static auto RESOURCE_LIST_DEVICE = array_of<const char*>(DEPTHAI_CMD_O
                                                                    DEPTHAI_CMD_OPENVINO_2021_3_PATCH_PATH);
 
 std::vector<std::uint8_t> Resources::getDeviceFirmware(Device::Config config, dai::Path pathToMvcmd) const {
+// First check if device fw is enabled
+#ifndef DEPTHAI_ENABLE_DEVICE_FW
+    throw std::invalid_argument("DepthAI compiled without support for MyriadX Device FW");
+#endif
+
     // Wait until lazy load is complete
     {
         std::unique_lock<std::mutex> lock(mtxDevice);
@@ -199,6 +206,11 @@ constexpr static std::array<const char*, 2> RESOURCE_LIST_BOOTLOADER = {
 };
 
 std::vector<std::uint8_t> Resources::getBootloaderFirmware(dai::bootloader::Type type) const {
+// First check if device bootloader fw is enabled
+#ifndef DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW
+    throw std::invalid_argument("DepthAI compiled without support for MyriadX Device Bootloader FW");
+#endif
+
     // Wait until lazy load is complete
     {
         std::unique_lock<std::mutex> lock(mtxBootloader);
@@ -245,6 +257,67 @@ std::vector<std::uint8_t> Resources::getBootloaderFirmware(dai::bootloader::Type
     }
 }
 
+#ifdef DEPTHAI_ENABLE_DEVICE_RVC3_FW
+constexpr static auto CMRC_DEPTHAI_DEVICE_KB_FWP_TAR_XZ = "depthai-device-kb-fwp-" DEPTHAI_DEVICE_RVC3_VERSION ".tar.xz";
+#endif
+
+#ifdef DEPTHAI_ENABLE_DEVICE_RVC4_FW
+constexpr static auto CMRC_DEPTHAI_DEVICE_RVC4_FWP_TAR_XZ = "depthai-device-rvc4-fwp-" DEPTHAI_DEVICE_RVC4_VERSION ".tar.xz";
+#endif
+
+std::vector<std::uint8_t> Resources::getDeviceRVC3Fwp() const {
+// First check if device bootloader fw is enabled
+#ifndef DEPTHAI_ENABLE_DEVICE_RVC3_FW
+    throw std::invalid_argument("DepthAI compiled without support for RVC3 Device FW");
+#else
+    return getDeviceFwp(CMRC_DEPTHAI_DEVICE_KB_FWP_TAR_XZ, "DEPTHAI_DEVICE_KB_FWP");
+#endif
+}
+
+std::vector<std::uint8_t> Resources::getDeviceRVC4Fwp() const {
+// First check if device bootloader fw is enabled
+#ifndef DEPTHAI_ENABLE_DEVICE_RVC4_FW
+    throw std::invalid_argument("DepthAI compiled without support for RVC3 Device FW");
+#else
+    return getDeviceFwp(CMRC_DEPTHAI_DEVICE_RVC4_FWP_TAR_XZ, "DEPTHAI_DEVICE_RVC4_FWP");
+#endif
+}
+
+std::vector<std::uint8_t> Resources::getDeviceFwp(const std::string& fwPath, const std::string& envPath) const {
+    std::string pathToFwp;
+
+    // Check if pathToMvcmd variable is set
+    dai::Path finalFwpPath;
+    if(!pathToFwp.empty()) {
+        finalFwpPath = pathToFwp;
+    }
+
+    // Override if env variable DEPTHAI_DEVICE_KB_FWP is set
+    dai::Path fwpPathEnv = utility::getEnv(envPath);
+    if(!fwpPathEnv.empty()) {
+        finalFwpPath = fwpPathEnv;
+        spdlog::warn("Overriding device fwp: {}", finalFwpPath);
+    }
+
+    // Return binary from file if any of above paths are present
+    if(!finalFwpPath.empty()) {
+        // Load binary file at path
+        std::ifstream stream(finalFwpPath, std::ios::binary);
+        if(!stream.is_open()) {
+            // Throw an error
+            // TODO(themarpe) - Unify exceptions into meaningful groups
+            throw std::runtime_error(fmt::format("File at path {}{} doesn't exist.", finalFwpPath));
+        }
+        // Read the file and return its contents
+        return std::vector<std::uint8_t>(std::istreambuf_iterator<char>(stream), {});
+    } else {
+        // Load from resources
+        auto fs = cmrc::depthai::get_filesystem();
+        auto tarXz = fs.open(fwPath);
+        return {tarXz.begin(), tarXz.end()};
+    }
+}
+
 Resources& Resources::getInstance() {
     static Resources instance;  // Guaranteed to be destroyed, instantiated on first use.
     return instance;
@@ -262,65 +335,28 @@ std::function<void()> getLazyTarXzFunction(MTX& mtx, CV& cv, BOOL& ready, PATH c
         auto t1 = steady_clock::now();
 
         // Load tar.xz archive from memory
-        struct archive* a = archive_read_new();
-        archive_read_support_filter_xz(a);
-        archive_read_support_format_tar(a);
-        int r = archive_read_open_memory(a, tarXz.begin(), tarXz.size());
+        struct archive* aPtr = archive_read_new();
+        DAI_CHECK_IN(aPtr);
+        dai::utility::ArchiveUtil archive(aPtr);
+        archive_read_support_filter_xz(archive.getA());
+        archive_read_support_format_tar(archive.getA());
+        int r = archive_read_open_memory(archive.getA(), tarXz.begin(), tarXz.size());
         assert(r == ARCHIVE_OK);
 
         auto t2 = steady_clock::now();
 
         struct archive_entry* entry;
-        while(archive_read_next_header(a, &entry) == ARCHIVE_OK) {
+        while(archive_read_next_header(archive.getA(), &entry) == ARCHIVE_OK) {
             // Check whether filename matches to one of required resources
             for(const auto& cpath : resourceList) {
                 std::string resPath(cpath);
                 if(resPath == std::string(archive_entry_pathname(entry))) {
-                    // Create an emtpy entry
-                    resourceMap[resPath] = std::vector<std::uint8_t>();
-
-                    // Read size, 16KiB
-                    std::size_t readSize = 16 * 1024;
-                    if(archive_entry_size_is_set(entry)) {
-                        // if size is specified, use that for read size
-                        readSize = archive_entry_size(entry);
-                    }
-
-                    // Record number of bytes actually read
-                    long long finalSize = 0;
-
-                    while(true) {
-                        // Current size, as a offset to write next data to
-                        auto currentSize = resourceMap[resPath].size();
-
-                        // Resize to accomodate for extra data
-                        resourceMap[resPath].resize(currentSize + readSize);
-                        long long size = archive_read_data(a, &resourceMap[resPath][currentSize], readSize);
-
-                        // Assert that no errors occurred
-                        assert(size >= 0);
-
-                        // Append number of bytes actually read to finalSize
-                        finalSize += size;
-
-                        // All bytes were read
-                        if(size == 0) {
-                            break;
-                        }
-                    }
-
-                    // Resize vector to actual read size
-                    resourceMap[resPath].resize(finalSize);
-
+                    archive.readEntry(entry, resourceMap[resPath]);
                     // Entry found - go to next required resource
                     break;
                 }
             }
         }
-        r = archive_read_free(a);  // Note 3
-        assert(r == ARCHIVE_OK);
-        // Ignore 'r' variable when in Release build
-        (void)r;
 
         // Check that all resources were read
         for(const auto& cpath : resourceList) {
@@ -351,14 +387,20 @@ Resources::Resources() {
     // Ignore 'r' variable when in Release build
     (void)r;
 
+// First check if device kb fw is enabled
+#ifdef DEPTHAI_ENABLE_DEVICE_FW
     // Device resources
     // Create a thread which lazy-loads firmware resources package
     lazyThreadDevice = std::thread(getLazyTarXzFunction(mtxDevice, cvDevice, readyDevice, CMRC_DEPTHAI_DEVICE_TAR_XZ, RESOURCE_LIST_DEVICE, resourceMapDevice));
+#endif
 
+// First check if device bootloader fw is enabled
+#ifdef DEPTHAI_ENABLE_DEVICE_BOOTLOADER_FW
     // Bootloader resources
     // Create a thread which lazy-loads firmware resources package
     lazyThreadBootloader = std::thread(
         getLazyTarXzFunction(mtxBootloader, cvBootloader, readyBootloader, CMRC_DEPTHAI_BOOTLOADER_TAR_XZ, RESOURCE_LIST_BOOTLOADER, resourceMapBootloader));
+#endif
 }
 
 Resources::~Resources() {
diff --git a/src/utility/Resources.hpp b/src/utility/Resources.hpp
index 8cf962515..852dfc078 100644
--- a/src/utility/Resources.hpp
+++ b/src/utility/Resources.hpp
@@ -31,6 +31,7 @@ class Resources {
     std::thread lazyThreadBootloader;
     bool readyBootloader;
     std::unordered_map<std::string, std::vector<std::uint8_t>> resourceMapBootloader;
+    std::vector<std::uint8_t> getDeviceFwp(const std::string& fwPath, const std::string& envPath) const;
 
 public:
     static Resources& getInstance();
@@ -41,6 +42,8 @@ class Resources {
     std::vector<std::uint8_t> getDeviceFirmware(bool usb2Mode, OpenVINO::Version version = OpenVINO::VERSION_UNIVERSAL) const;
     std::vector<std::uint8_t> getDeviceFirmware(Device::Config config, dai::Path pathToMvcmd = {}) const;
     std::vector<std::uint8_t> getBootloaderFirmware(DeviceBootloader::Type type = DeviceBootloader::Type::USB) const;
+    std::vector<std::uint8_t> getDeviceRVC3Fwp() const;
+    std::vector<std::uint8_t> getDeviceRVC4Fwp() const;
 
 };
 
diff --git a/src/utility/matrixOps.hpp b/src/utility/matrixOps.cpp
similarity index 79%
rename from src/utility/matrixOps.hpp
rename to src/utility/matrixOps.cpp
index b73b39d32..e9e223bc7 100644
--- a/src/utility/matrixOps.hpp
+++ b/src/utility/matrixOps.cpp
@@ -1,17 +1,8 @@
-#pragma once
-
-#include <iostream>
-#include <vector>
+#include "depthai/utility/matrixOps.hpp"
 
 namespace dai {
 namespace matrix {
-/**
- * @brief Matrix multiplication between two matrixs of shape (m x n) and (n x p) of type float. -> firstMatrix * secondMatrix
- *
- * @param firstMatrix - vector of vector of float of shape (m x n)
- * @param secondMatrix - vector of vector of float of shape (n x p)
- * @return std::vector<std::vector<float>> - product of firstMatrix * secondMatrix, a vector of vector of float of shape (m x p)
- */
+
 std::vector<std::vector<float>> matMul(std::vector<std::vector<float>>& firstMatrix, std::vector<std::vector<float>>& secondMatrix) {
     std::vector<std::vector<float>> res;
 
@@ -39,10 +30,6 @@ std::vector<std::vector<float>> matMul(std::vector<std::vector<float>>& firstMat
     return res;
 }
 
-/*
- * Function to get cofactor of A[p][q] in temp. n is current
- * dimension of part of A that we are calculating cofactor for.
- */
 static void getCofactor(std::vector<std::vector<float>>& A, std::vector<std::vector<float>>& temp, size_t p, size_t q, size_t n) {
     size_t i = 0, j = 0;
 
@@ -65,8 +52,6 @@ static void getCofactor(std::vector<std::vector<float>>& A, std::vector<std::vec
     }
 }
 
-/* Recursive function for finding determinant of matrix.
-   n is current dimension of A[][]. */
 static float determinant(std::vector<std::vector<float>>& A, size_t n) {
     float D = 0;  // Initialize result
 
@@ -89,7 +74,6 @@ static float determinant(std::vector<std::vector<float>>& A, size_t n) {
     return D;
 }
 
-// Function to get adjoint of A in adj.
 static void adjoint(std::vector<std::vector<float>>& A, std::vector<std::vector<float>>& adj) {
     if(A.size() == 1) {
         adj[0][0] = 1;
@@ -116,8 +100,6 @@ static void adjoint(std::vector<std::vector<float>>& A, std::vector<std::vector<
     }
 }
 
-// Function to calculate and store inverse, returns false if
-// matrix is singular
 bool matInv(std::vector<std::vector<float>>& A, std::vector<std::vector<float>>& inverse) {
     // Find determinant of A[][]
     if(A[0].size() != A.size()) {
@@ -147,5 +129,30 @@ bool matInv(std::vector<std::vector<float>>& A, std::vector<std::vector<float>>&
     return true;
 }
 
+std::vector<std::vector<float>> createRotationMatrix(float theta) {
+    float radian = theta * static_cast<float>(M_PI) / 180.0f;  // convert degree to radian
+    std::vector<std::vector<float>> rotationMatrix = {{std::cos(radian), -std::sin(radian), 0}, {std::sin(radian), std::cos(radian), 0}, {0, 0, 1}};
+    return rotationMatrix;
+}
+
+std::vector<std::vector<float>> createScalingMatrix(float scaleX, float scaleY) {
+    std::vector<std::vector<float>> scalingMatrix = {{scaleX, 0, 0}, {0, scaleY, 0}, {0, 0, 1}};
+    return scalingMatrix;
+}
+
+std::vector<std::vector<float>> createTranslationMatrix(float dx, float dy) {
+    std::vector<std::vector<float>> translationMatrix = {{1, 0, dx}, {0, 1, dy}, {0, 0, 1}};
+    return translationMatrix;
+}
+
+void printMatrix(std::vector<std::vector<float>>& matrix) {
+    for(size_t i = 0; i < matrix.size(); ++i) {
+        for(size_t j = 0; j < matrix[0].size(); ++j) {
+            std::cout << matrix[i][j] << " ";
+        }
+        std::cout << std::endl;
+    }
+}
+
 }  // namespace matrix
-}  // namespace dai
\ No newline at end of file
+}  // namespace dai
diff --git a/src/xlink/XLinkConnection.cpp b/src/xlink/XLinkConnection.cpp
index 61fe0c5b7..870f14a54 100644
--- a/src/xlink/XLinkConnection.cpp
+++ b/src/xlink/XLinkConnection.cpp
@@ -105,6 +105,27 @@ static XLinkProtocol_t getDefaultProtocol() {
     return defaultProtocol;
 }
 
+static XLinkPlatform_t getDefaultPlatform() {
+    XLinkPlatform_t defaultPlatform = X_LINK_ANY_PLATFORM;
+
+    auto protocolStr = utility::getEnv("DEPTHAI_PLATFORM");
+
+    std::transform(protocolStr.begin(), protocolStr.end(), protocolStr.begin(), ::tolower);
+    if(protocolStr.empty() || protocolStr == "any") {
+        defaultPlatform = X_LINK_ANY_PLATFORM;
+    } else if(protocolStr == "rvc2" || protocolStr == "myriadx") {
+        defaultPlatform = X_LINK_MYRIAD_X;
+    } else if(protocolStr == "rvc3") {
+        defaultPlatform = X_LINK_RVC3;
+    } else if(protocolStr == "rvc4") {
+        defaultPlatform = X_LINK_RVC4;
+    } else {
+        spdlog::warn("Unsupported platform specified");
+    }
+
+    return defaultPlatform;
+}
+
 // STATIC
 constexpr std::chrono::milliseconds XLinkConnection::WAIT_FOR_BOOTUP_TIMEOUT;
 constexpr std::chrono::milliseconds XLinkConnection::WAIT_FOR_CONNECT_TIMEOUT;
@@ -119,7 +140,7 @@ std::vector<DeviceInfo> XLinkConnection::getAllConnectedDevices(XLinkDeviceState
     std::array<deviceDesc_t, 64> deviceDescAll = {};
     deviceDesc_t suitableDevice = {};
     suitableDevice.protocol = getDefaultProtocol();
-    suitableDevice.platform = X_LINK_ANY_PLATFORM;
+    suitableDevice.platform = getDefaultPlatform();
     suitableDevice.state = state;
 
     auto allowedDeviceMxIds = utility::getEnv("DEPTHAI_DEVICE_MXID_LIST");
@@ -445,8 +466,8 @@ void XLinkConnection::initDevice(const DeviceInfo& deviceToInit, XLinkDeviceStat
         }
     }
 
-    // Search for booted device
-    {
+    // Search for booted device (if expected state is specified)
+    if(expectedState != X_LINK_ANY_STATE) {
         // Create description of device to look for
         DeviceInfo bootedDeviceInfo = lastDeviceInfo;
         // Has to match expected state
diff --git a/src/xlink/XLinkStream.cpp b/src/xlink/XLinkStream.cpp
index 107012ab5..0d9214475 100644
--- a/src/xlink/XLinkStream.cpp
+++ b/src/xlink/XLinkStream.cpp
@@ -77,18 +77,21 @@ StreamPacketDesc::~StreamPacketDesc() noexcept {
 // BLOCKING VERSIONS
 ////////////////////
 
-void XLinkStream::write(const std::uint8_t* data, std::size_t size) {
-    auto status = XLinkWriteData(streamId, data, static_cast<int>(size));
+void XLinkStream::write(span<const uint8_t> data, span<const uint8_t> data2) {
+    auto status = XLinkWriteData2(streamId, data.data(), static_cast<int>(data.size()), data2.data(), data2.size());
     if(status != X_LINK_SUCCESS) {
         throw XLinkWriteError(status, streamName);
     }
 }
-void XLinkStream::write(const void* data, std::size_t size) {
-    write(reinterpret_cast<const uint8_t*>(data), size);
-}
 
-void XLinkStream::write(const std::vector<std::uint8_t>& data) {
-    write(data.data(), data.size());
+void XLinkStream::write(span<const uint8_t> data) {
+    auto status = XLinkWriteData(streamId, data.data(), static_cast<int>(data.size()));
+    if(status != X_LINK_SUCCESS) {
+        throw XLinkWriteError(status, streamName);
+    }
+}
+void XLinkStream::write(const void* data, std::size_t size) {
+    write(span<const uint8_t>(reinterpret_cast<const uint8_t*>(data), size));
 }
 
 void XLinkStream::read(std::vector<std::uint8_t>& data) {
@@ -231,6 +234,10 @@ streamId_t XLinkStream::getStreamId() const {
     return streamId;
 }
 
+std::string XLinkStream::getStreamName() const {
+    return streamName;
+}
+
 XLinkReadError::XLinkReadError(XLinkError_t status, const std::string& streamName)
     : XLinkError(status, streamName, fmt::format("Couldn't read data from stream: '{}' ({})", streamName, XLinkConnection::convertErrorCodeToString(status))) {}
 
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 4459d6bc6..7c25aa834 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -29,7 +29,7 @@ function(dai_add_test test_name test_src)
 
     # check compiler for C++ standard
     if(NOT DAT_CXX_STANDARD)
-        set(DAT_CXX_STANDARD 14)
+        set(DAT_CXX_STANDARD 17)
     endif()
     if(NOT COMPILER_SUPPORTS_CXX${DAT_CXX_STANDARD})
         message(STATUS "Skipping test ${test_name} with c++${DAT_CXX_STANDARD}; no compiler support")
@@ -229,6 +229,8 @@ dai_add_test(encoded_frame_test src/encoded_frame_test.cpp CXX_STANDARD 17)
 
 dai_add_test(message_group_frame_test src/message_group_test.cpp CXX_STANDARD 17)
 
+dai_add_test(pointcloud_test src/pointcloud_test.cpp CXX_STANDARD 17)
+
 # Unlimited io connections test
 dai_add_test(unlimited_io_connection_test src/unlimited_io_connection_test.cpp)
 
@@ -252,13 +254,15 @@ dai_add_test(bootloader_version_test src/bootloader_version_test.cpp)
 # XLinkIn -> XLinkOut passthrough with large frames
 dai_add_test(xlink_roundtrip_test src/xlink_roundtrip_test.cpp)
 
+dai_add_test(image_transformations_test src/image_transformations_test.cpp)
+
 # Stability stress test (OAK-D oriented USB/PoE)
 # TODO
 # # dai_add_test(stability_stress_test src/stability_stress_test.cpp)
 option(DEPTHAI_STABILITY_STRESS_TEST_DEBUG "Enable visualization for stability stress test" OFF)
 add_executable(stability_stress_test src/stability_stress_test.cpp)
 # Set compiler features (c++14), and disables extensions (g++14)
-set_property(TARGET stability_stress_test PROPERTY CXX_STANDARD 14)
+set_property(TARGET stability_stress_test PROPERTY CXX_STANDARD 17)
 set_property(TARGET stability_stress_test PROPERTY CXX_STANDARD_REQUIRED ON)
 set_property(TARGET stability_stress_test PROPERTY CXX_EXTENSIONS OFF)
 
diff --git a/tests/src/encoded_frame_test.cpp b/tests/src/encoded_frame_test.cpp
index 8c68bd79f..b7f664292 100644
--- a/tests/src/encoded_frame_test.cpp
+++ b/tests/src/encoded_frame_test.cpp
@@ -2,8 +2,6 @@
 #include <catch2/catch_test_macros.hpp>
 #include <iostream>
 
-#include "depthai-shared/datatype/RawEncodedFrame.hpp"
-#include "depthai-shared/properties/VideoEncoderProperties.hpp"
 #include "depthai/device/Device.hpp"
 #include "depthai/pipeline/Pipeline.hpp"
 #include "depthai/pipeline/datatype/EncodedFrame.hpp"
@@ -11,6 +9,7 @@
 #include "depthai/pipeline/node/ColorCamera.hpp"
 #include "depthai/pipeline/node/VideoEncoder.hpp"
 #include "depthai/pipeline/node/XLinkOut.hpp"
+#include "depthai/properties/VideoEncoderProperties.hpp"
 
 dai::Pipeline getPipeline(dai::VideoEncoderProperties::Profile profile, unsigned int quality, bool lossless, unsigned int bitrate) {
     dai::Pipeline pipeline;
diff --git a/tests/src/image_manip_node_test.cpp b/tests/src/image_manip_node_test.cpp
index e47fea211..d92d9871d 100644
--- a/tests/src/image_manip_node_test.cpp
+++ b/tests/src/image_manip_node_test.cpp
@@ -40,11 +40,11 @@ int main() {
     // Send 10 messages
     for(int i = 0; i < 10; i++) {
         // Create 'rgb interleaved' frame
-        dai::ImgFrame inFrame;
-        inFrame.getData().resize(originalWidth * originalHeight * 3);
-        inFrame.setWidth(originalWidth);
-        inFrame.setHeight(originalHeight);
-        inFrame.setType(dai::ImgFrame::Type::RGB888p);
+        auto inFrame = std::make_shared<dai::ImgFrame>();
+        inFrame->setData(std::vector<uint8_t>(originalWidth * originalHeight * 3));
+        inFrame->setWidth(originalWidth);
+        inFrame->setHeight(originalHeight);
+        inFrame->setType(dai::ImgFrame::Type::RGB888p);
 
         // Send the frame
         in->send(inFrame);
diff --git a/tests/src/image_transformations_test.cpp b/tests/src/image_transformations_test.cpp
new file mode 100644
index 000000000..46a2e7786
--- /dev/null
+++ b/tests/src/image_transformations_test.cpp
@@ -0,0 +1,172 @@
+// Add test case for every transformation + edge cases
+
+#define CATCH_CONFIG_MAIN
+
+#include <catch2/catch_all.hpp>
+#include <chrono>
+#include <iostream>
+#include <thread>
+
+#include "depthai/depthai.hpp"
+
+int testFov() {
+    dai::ImgFrame frame;
+    frame.setSourceSize(1280, 800);
+    frame.setSourceHFov(72.79);
+    REQUIRE_THAT(82.0, Catch::Matchers::WithinAbs(frame.getSourceDFov(), 0.1));
+    REQUIRE_THAT(72.79, Catch::Matchers::WithinAbs(frame.getSourceHFov(), 0.1));
+    REQUIRE_THAT(49.47, Catch::Matchers::WithinAbs(frame.getSourceVFov(), 0.1));
+    return 0;
+}
+
+int testPadding() {
+    auto sourceImageFrame = std::make_shared<dai::ImgFrame>();
+    sourceImageFrame->setWidth(1920);
+    sourceImageFrame->setHeight(1080);
+    sourceImageFrame->setSourceSize(1920, 1080);
+    sourceImageFrame->transformations.addPadding(100, 200, 300, 400);
+    sourceImageFrame->setWidth(2620);
+    sourceImageFrame->setHeight(1380);
+    REQUIRE(sourceImageFrame->validateTransformations());
+
+    dai::Rect sourceRect{0.3, 0.7, 0.1, 0.1};
+    auto outRect = sourceImageFrame->remapRectToSource(sourceRect);
+    REQUIRE_THAT(0.25, Catch::Matchers::WithinAbs(outRect.x, 0.01));
+    REQUIRE_THAT(0.80, Catch::Matchers::WithinAbs(outRect.y, 0.01));
+    REQUIRE_THAT(0.13, Catch::Matchers::WithinAbs(outRect.width, 0.01));
+    REQUIRE_THAT(0.12, Catch::Matchers::WithinAbs(outRect.height, 0.01));
+    auto reverseBackRect = sourceImageFrame->remapRectFromSource(outRect);
+    REQUIRE_THAT(reverseBackRect.x, Catch::Matchers::WithinAbs(sourceRect.x, 0.01));
+    REQUIRE_THAT(reverseBackRect.y, Catch::Matchers::WithinAbs(sourceRect.y, 0.01));
+    REQUIRE_THAT(reverseBackRect.width, Catch::Matchers::WithinAbs(sourceRect.width, 0.01));
+    REQUIRE_THAT(reverseBackRect.height, Catch::Matchers::WithinAbs(sourceRect.height, 0.01));
+    return 0;
+}
+
+int testCropping() {
+    auto sourceImageFrame = std::make_shared<dai::ImgFrame>();
+    sourceImageFrame->setWidth(1920);
+    sourceImageFrame->setHeight(1080);
+    sourceImageFrame->setSourceSize(1920, 1080);
+    float x = 100;
+    float y = 200;
+    float width = 300;
+    float height = 400;
+
+    sourceImageFrame->transformations.addCrop(x, y, x + width, y + height);
+    sourceImageFrame->setSize(300, 400);
+    REQUIRE(sourceImageFrame->validateTransformations());
+
+    dai::Rect sourceRect{150, 250, 50, 50};
+    auto outRect = sourceImageFrame->remapRectToSource(sourceRect);
+    REQUIRE_THAT(250, Catch::Matchers::WithinAbs(outRect.x, 0.01));
+    REQUIRE_THAT(450, Catch::Matchers::WithinAbs(outRect.y, 0.01));
+    REQUIRE_THAT(50, Catch::Matchers::WithinAbs(outRect.width, 0.01));
+    REQUIRE_THAT(50, Catch::Matchers::WithinAbs(outRect.height, 0.01));
+    auto reverseBackRect = sourceImageFrame->remapRectFromSource(outRect);
+    REQUIRE_THAT(reverseBackRect.x, Catch::Matchers::WithinAbs(sourceRect.x, 0.01));
+    REQUIRE_THAT(reverseBackRect.y, Catch::Matchers::WithinAbs(sourceRect.y, 0.01));
+    REQUIRE_THAT(reverseBackRect.width, Catch::Matchers::WithinAbs(sourceRect.width, 0.01));
+    REQUIRE_THAT(reverseBackRect.height, Catch::Matchers::WithinAbs(sourceRect.height, 0.01));
+    return 0;
+}
+
+int testFlipping() {
+    auto sourceImageFrame = std::make_shared<dai::ImgFrame>();
+    sourceImageFrame->setWidth(1920);
+    sourceImageFrame->setHeight(1080);
+    sourceImageFrame->setSourceSize(1920, 1080);
+    sourceImageFrame->transformations.addFlipHorizontal();
+    REQUIRE(sourceImageFrame->validateTransformations());
+    dai::Rect sourceRect{100, 0, 300, 300};
+    auto outRect = sourceImageFrame->remapRectToSource(sourceRect);
+    REQUIRE_THAT(1520, Catch::Matchers::WithinAbs(outRect.x, 0.01));
+    REQUIRE_THAT(0, Catch::Matchers::WithinAbs(outRect.y, 0.01));
+    REQUIRE_THAT(300, Catch::Matchers::WithinAbs(outRect.width, 0.01));
+    REQUIRE_THAT(300, Catch::Matchers::WithinAbs(outRect.height, 0.01));
+    auto reverseBackRect = sourceImageFrame->remapRectFromSource(outRect);
+    REQUIRE_THAT(reverseBackRect.x, Catch::Matchers::WithinAbs(sourceRect.x, 0.01));
+    REQUIRE_THAT(reverseBackRect.y, Catch::Matchers::WithinAbs(sourceRect.y, 0.01));
+    REQUIRE_THAT(reverseBackRect.width, Catch::Matchers::WithinAbs(sourceRect.width, 0.01));
+    REQUIRE_THAT(reverseBackRect.height, Catch::Matchers::WithinAbs(sourceRect.height, 0.01));
+    return 0;
+}
+
+int testScale() {
+    auto sourceImageFrame = std::make_shared<dai::ImgFrame>();
+    sourceImageFrame->setWidth(1920);
+    sourceImageFrame->setHeight(1080);
+    sourceImageFrame->setSourceSize(1920, 1080);
+
+    sourceImageFrame->transformations.addScale(12, 0.3);
+    sourceImageFrame->setWidth(std::round(12 * 1920));
+    sourceImageFrame->setHeight(std::round(0.3 * 1080));
+    REQUIRE(sourceImageFrame->validateTransformations());
+
+    dai::Rect sourceRect{0.3, 0.7, 0.1, 0.1};
+    auto outRect = sourceImageFrame->remapRectToSource(sourceRect);
+    REQUIRE_THAT(0.3, Catch::Matchers::WithinAbs(outRect.x, 0.01));
+    REQUIRE_THAT(0.7, Catch::Matchers::WithinAbs(outRect.y, 0.01));
+    REQUIRE_THAT(0.1, Catch::Matchers::WithinAbs(outRect.width, 0.01));
+    REQUIRE_THAT(0.1, Catch::Matchers::WithinAbs(outRect.height, 0.01));
+    auto reverseBackRect = sourceImageFrame->remapRectFromSource(outRect);
+    REQUIRE_THAT(reverseBackRect.x, Catch::Matchers::WithinAbs(sourceRect.x, 0.01));
+    REQUIRE_THAT(reverseBackRect.y, Catch::Matchers::WithinAbs(sourceRect.y, 0.01));
+    REQUIRE_THAT(reverseBackRect.width, Catch::Matchers::WithinAbs(sourceRect.width, 0.01));
+    REQUIRE_THAT(reverseBackRect.height, Catch::Matchers::WithinAbs(sourceRect.height, 0.01));
+    return 0;
+}
+
+int testRotation(dai::Point2f inPoint,
+                 float angle,
+                 dai::Point2f outPointCheck,
+                 dai::Point2f rotationPoint = dai::Point2f(960, 540),
+                 dai::Point2f backPointCheck = dai::Point2f(0, 0)) {
+    auto sourceImageFrame = std::make_shared<dai::ImgFrame>();
+    sourceImageFrame->setWidth(1920);
+    sourceImageFrame->setHeight(1080);
+    sourceImageFrame->setSourceSize(1920, 1080);
+    REQUIRE(sourceImageFrame->validateTransformations());
+
+    sourceImageFrame->transformations.addRotation(angle, rotationPoint, sourceImageFrame->getWidth(), sourceImageFrame->getHeight());
+    auto outPoint = sourceImageFrame->remapPointToSource(inPoint);
+    REQUIRE_THAT(outPointCheck.x, Catch::Matchers::WithinAbs(outPoint.x, 0.01));
+    REQUIRE_THAT(outPointCheck.y, Catch::Matchers::WithinAbs(outPoint.y, 0.01));
+    auto reverseBackPoint = sourceImageFrame->remapPointFromSource(outPoint);
+    if(backPointCheck.x != 0 || backPointCheck.y != 0) {
+        inPoint = backPointCheck;
+    }
+    REQUIRE_THAT(reverseBackPoint.x, Catch::Matchers::WithinAbs(inPoint.x, 0.01));
+    REQUIRE_THAT(reverseBackPoint.y, Catch::Matchers::WithinAbs(inPoint.y, 0.01));
+    return 0;
+}
+
+TEST_CASE("testCropping") {
+    testCropping();
+}
+
+TEST_CASE("testPadding") {
+    testPadding();
+}
+
+TEST_CASE("testScale") {
+    testScale();
+}
+
+TEST_CASE("testFlip") {
+    testFlipping();
+}
+
+TEST_CASE("testRotation") {
+    testRotation(dai::Point2f(960, 540), 0, dai::Point2f(960, 540));
+    testRotation(dai::Point2f(0, 0), 0, dai::Point2f(0, 0));
+    testRotation(dai::Point2f(1000, 1000), 0, dai::Point2f(1000, 1000));
+    testRotation(dai::Point2f(420, 1080), -90, dai::Point2f(420, 0));
+    testRotation(dai::Point2f(420, 1080), 90, dai::Point2f(1500, 1080));
+    testRotation(dai::Point2f(1920, 0), 90, dai::Point2f(420, 0), dai::Point2f(960, 540), dai::Point2f(1500, 0));
+    testRotation(dai::Point2f(0, 0), 90, dai::Point2f(0, 0), dai::Point2f(0, 0), dai::Point2f(0, 0));
+}
+
+TEST_CASE("testFOV") {
+    testFov();
+}
diff --git a/tests/src/logging_test.cpp b/tests/src/logging_test.cpp
index b411d6a42..806db26ec 100644
--- a/tests/src/logging_test.cpp
+++ b/tests/src/logging_test.cpp
@@ -39,7 +39,7 @@ int test(dai::LogLevel logLevel) {
 
     auto in = device.getInputQueue("input");
     auto out = device.getOutputQueue("output");
-    dai::Buffer message;  // Arbitrary message, used only to control flow
+    auto message = std::make_shared<dai::Buffer>();  // Arbitrary message, used only to control flow
 
     device.setLogLevel(logLevel);
     device.setLogOutputLevel(logLevel);
diff --git a/tests/src/message_group_test.cpp b/tests/src/message_group_test.cpp
index 39c6707fd..b92d36b62 100644
--- a/tests/src/message_group_test.cpp
+++ b/tests/src/message_group_test.cpp
@@ -4,31 +4,34 @@
 #include <depthai/pipeline/datatype/Buffer.hpp>
 #include <depthai/pipeline/datatype/ImgFrame.hpp>
 #include <depthai/pipeline/datatype/MessageGroup.hpp>
-#include "depthai-shared/common/CameraBoardSocket.hpp"
+
+bool operator==(const dai::span<uint8_t>& lhs, const std::vector<unsigned char>& rhs) {
+    return std::equal(lhs.begin(), lhs.end(), rhs.begin(), rhs.end());
+}
 
 TEST_CASE("Set and get messages") {
     auto buf1Ts = std::chrono::steady_clock::now() + std::chrono::milliseconds(100);
     auto buf2Ts = std::chrono::steady_clock::now() + std::chrono::milliseconds(200);
     std::vector<unsigned char> buf1Data = {1, 2, 3};
     std::vector<unsigned char> buf2Data = {4, 5, 6};
-    dai::MessageGroup msgGrp;
-    dai::Buffer buf;
-    buf.setTimestamp(buf1Ts);
-    buf.setData(buf1Data);
-    msgGrp.add("buf1", buf);
-
-    dai::ImgFrame img;
-    img.setTimestamp(buf2Ts);
-    img.setData(buf2Data);
-    img.setSize({5, 6});
-    msgGrp.add("img1", img);
-
-    REQUIRE(msgGrp.get<dai::Buffer>("buf1")->getTimestamp() == buf1Ts);
-    REQUIRE(msgGrp.get<dai::ImgFrame>("img1")->getTimestamp() == buf2Ts);
-    REQUIRE(msgGrp.get<dai::Buffer>("buf1")->getData() == buf1Data);
-    REQUIRE(msgGrp.get<dai::ImgFrame>("img1")->getData() == buf2Data);
-    REQUIRE(msgGrp.get<dai::ImgFrame>("img1")->getWidth() == 5);
-    REQUIRE(msgGrp.get<dai::ImgFrame>("img1")->getHeight() == 6);
+    auto msgGrp = std::make_shared<dai::MessageGroup>();
+    auto buf = std::make_shared<dai::Buffer>();
+    buf->setTimestamp(buf1Ts);
+    buf->setData(buf1Data);
+    msgGrp->add("buf1", buf);
+
+    auto img = std::make_shared<dai::ImgFrame>();
+    img->setTimestamp(buf2Ts);
+    img->setData(buf2Data);
+    img->setSize({5, 6});
+    msgGrp->add("img1", img);
+
+    REQUIRE(msgGrp->get<dai::Buffer>("buf1")->getTimestamp() == buf1Ts);
+    REQUIRE(msgGrp->get<dai::ImgFrame>("img1")->getTimestamp() == buf2Ts);
+    REQUIRE((msgGrp->get<dai::Buffer>("buf1")->getData() == buf1Data));
+    REQUIRE((msgGrp->get<dai::ImgFrame>("img1")->getData() == buf2Data));
+    REQUIRE(msgGrp->get<dai::ImgFrame>("img1")->getWidth() == 5);
+    REQUIRE(msgGrp->get<dai::ImgFrame>("img1")->getHeight() == 6);
 }
 
 TEST_CASE("Send large messages") {
@@ -64,7 +67,6 @@ TEST_CASE("Send large messages") {
     bool hasTimedOut = false;
     auto msg = q->get(std::chrono::seconds(1), hasTimedOut);
     REQUIRE(!hasTimedOut);
-    
 }
 
 // TODO(asahtik): Bring back when the [issue](https://github.com/luxonis/depthai-core/issues/929) is fixed
@@ -142,18 +144,18 @@ TEST_CASE("MessageGroup ping-pong") {
     auto inQ = device.getInputQueue("in");
     auto outQ = device.getOutputQueue("out");
 
-    dai::Buffer buf1;
-    buf1.setData({1, 2, 3, 4, 5});
-    buf1.setTimestamp(buf1Ts);
+    auto buf1 = std::make_shared<dai::Buffer>();
+    buf1->setData({1, 2, 3, 4, 5});
+    buf1->setTimestamp(buf1Ts);
 
-    dai::ImgFrame img1;
-    img1.setData({6, 7, 8, 9, 10});
-    img1.setTimestamp(buf2Ts);
-    img1.setSize({5, 6});
+    auto img1 = std::make_shared<dai::ImgFrame>();
+    img1->setData({6, 7, 8, 9, 10});
+    img1->setTimestamp(buf2Ts);
+    img1->setSize({5, 6});
 
-    dai::MessageGroup msgGrp;
-    msgGrp.add("buf1", buf1);
-    msgGrp.add("img1", img1);
+    auto msgGrp = std::make_shared<dai::MessageGroup>();
+    msgGrp->add("buf1", buf1);
+    msgGrp->add("img1", img1);
 
     inQ->send(msgGrp);
 
@@ -161,8 +163,11 @@ TEST_CASE("MessageGroup ping-pong") {
 
     // REQUIRE(out->get<dai::Buffer>("buf1")->getTimestamp() == buf1Ts);
     // REQUIRE(out->get<dai::ImgFrame>("img1")->getTimestamp() == buf2Ts);
-    REQUIRE(out->get<dai::Buffer>("buf1")->getData() == std::vector<unsigned char>{1, 2, 3, 4, 5});
-    REQUIRE(out->get<dai::ImgFrame>("img1")->getData() == std::vector<unsigned char>{6, 7, 8, 9, 10});
+    REQUIRE(out != nullptr);
+    REQUIRE(out->get<dai::Buffer>("buf1") != nullptr);
+    REQUIRE(out->get<dai::ImgFrame>("img1") != nullptr);
+    REQUIRE((out->get<dai::Buffer>("buf1")->getData() == std::vector<unsigned char>{1, 2, 3, 4, 5}));
+    REQUIRE((out->get<dai::ImgFrame>("img1")->getData() == std::vector<unsigned char>{6, 7, 8, 9, 10}));
     REQUIRE(out->get<dai::ImgFrame>("img1")->getWidth() == 5);
     REQUIRE(out->get<dai::ImgFrame>("img1")->getHeight() == 6);
 }
diff --git a/tests/src/multiple_devices_test.cpp b/tests/src/multiple_devices_test.cpp
index d65dcae65..5bd49b9c5 100644
--- a/tests/src/multiple_devices_test.cpp
+++ b/tests/src/multiple_devices_test.cpp
@@ -57,11 +57,11 @@ int main() {
             device->getOutputQueue("rgb", 4, false);
 
             cout << "MXID: " << device->getMxId() << endl;
-            cout << "Connected cameras: ";
-            for(const auto& cam : device->getConnectedCameras()) {
-                cout << cam << " ";
-            }
-            cout << endl;
+            // cout << "Connected cameras: ";
+            // for(const auto& cam : device->getConnectedCameras()) {
+            //     cout << cam << " ";
+            // }
+            // cout << endl;
 
             unique_lock<std::mutex> l(mtx);
             devices.push_back({device, 0});
diff --git a/tests/src/neural_network_test.cpp b/tests/src/neural_network_test.cpp
index e01ed2e9a..f9ca88997 100644
--- a/tests/src/neural_network_test.cpp
+++ b/tests/src/neural_network_test.cpp
@@ -3,10 +3,13 @@
 // std
 #include <atomic>
 #include <iostream>
+#include <memory>
 
 // Include depthai library
 #include <depthai/depthai.hpp>
 
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+
 const auto MOBILENET_BLOB_PATH = BLOB_PATH;
 const auto MOBILENET_WIDTH = 300;
 const auto MOBILENET_HEIGHT = 300;
@@ -64,23 +67,27 @@ void test(bool manualBlob) {
     // Iterate 10 times
     for(int i = 0; i < 10; i++) {
         // Setup messages
-        dai::Buffer buffer;
-        buffer.setData(std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
+        auto buffer = std::make_shared<dai::Buffer>();
+        buffer->setData(std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
 
-        dai::NNData nndata1, nndata2;
+        auto nndata1 = std::make_shared<dai::NNData>();
+        auto nndata2 = std::make_shared<dai::NNData>();
         // Specify tensor by name
-        nndata1.setLayer(MOBILENET_INPUT_TENSOR, std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
+        nndata1->addTensor(MOBILENET_INPUT_TENSOR, std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
         // Specify tensor by index
-        nndata2.setLayer("", std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
+        nndata2->addTensor("", std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
+
+        auto frame = std::make_shared<dai::ImgFrame>();
+        frame->setWidth(MOBILENET_WIDTH);
+        frame->setHeight(MOBILENET_HEIGHT);
+        frame->setType(dai::ImgFrame::Type::BGR888p);
+        frame->setData(std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
 
-        dai::ImgFrame frame;
-        frame.setWidth(MOBILENET_WIDTH);
-        frame.setHeight(MOBILENET_HEIGHT);
-        frame.setType(dai::ImgFrame::Type::BGR888p);
-        frame.setData(std::vector<uint8_t>(MOBILENET_DATA_SIZE + i * 1024 * 10));
+        // Create an explicit initializer list of shared pointers
+        std::initializer_list<std::shared_ptr<dai::ADatatype>> messages = {buffer, nndata1, nndata2, frame};
 
         int msgIndex = 0;
-        for(const dai::ADatatype& msg : std::initializer_list<std::reference_wrapper<dai::ADatatype>>{buffer, nndata1, nndata2, frame}) {
+        for(const auto& msg : messages) {
             std::cout << msgIndex << "\n";
             device.getInputQueue("input")->send(msg);
             bool timedOut = false;
@@ -92,6 +99,42 @@ void test(bool manualBlob) {
         }
     }
 
+    auto nndata = std::make_shared<dai::NNData>();
+
+    xt::xarray<int, xt::layout_type::dynamic> tensorA1 = {{1, 2, 3}, {4, 5, 7}};
+    xt::xarray<double, xt::layout_type::dynamic> tensorB1 = {{1, 2, 3}, {4, 5, 7}};
+    std::vector<int> tensorC1 = {1, 2, 3, 4, 5};
+    std::vector<double> tensorD1 = {1, 2, 3, 4, 5};
+
+    nndata->addTensor<int>("a", tensorA1);
+    nndata->addTensor<double>("b", tensorB1);
+    nndata->addTensor<int>("c", tensorC1);
+    nndata->addTensor<double>("d", tensorD1);
+
+    const auto tensorA2 = nndata->getTensor<int>("a");
+    const auto tensorB2 = nndata->getTensor<double>("b");
+    const auto tensorC2 = nndata->getTensor<int>("c");
+    const auto tensorD2 = nndata->getTensor<double>("d");
+
+    REQUIRE((tensorA1 == tensorA2));
+    REQUIRE((tensorB1 == tensorB2));
+    REQUIRE([&]() {
+        for(uint32_t i = 0; i < tensorC1.size(); i++) {
+            if(tensorC1[i] != tensorC2[i]) {
+                return 0;
+            }
+        }
+        return 1;
+    }());
+    REQUIRE([&]() {
+        for(uint32_t i = 0; i < tensorD1.size(); i++) {
+            if(tensorD1[i] != tensorD2[i]) {
+                return 0;
+            }
+        }
+        return 1;
+    }());
+
     // At the end test if any error messages appeared
     REQUIRE(receivedLogMessage == false);
 }
diff --git a/tests/src/pointcloud_test.cpp b/tests/src/pointcloud_test.cpp
new file mode 100644
index 000000000..2a2ff6b44
--- /dev/null
+++ b/tests/src/pointcloud_test.cpp
@@ -0,0 +1,70 @@
+#include <catch2/catch_all.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <depthai/depthai.hpp>
+
+#include "depthai/properties/StereoDepthProperties.hpp"
+#include "depthai/pipeline/datatype/PointCloudData.hpp"
+
+dai::Pipeline getPipeline(bool sparse) {
+    dai::Pipeline pipeline;
+    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
+    auto monoRight = pipeline.create<dai::node::MonoCamera>();
+    auto stereo = pipeline.create<dai::node::StereoDepth>();
+    auto pointcloud = pipeline.create<dai::node::PointCloud>();
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+
+    monoLeft->setCamera("left");
+    monoRight->setCamera("right");
+
+    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
+    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
+
+    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
+    stereo->setOutputSize(1280, 720);
+
+    xout->setStreamName("out");
+
+    pointcloud->initialConfig.setSparse(sparse);
+
+    monoLeft->out.link(stereo->left);
+    monoRight->out.link(stereo->right);
+    stereo->depth.link(pointcloud->inputDepth);
+    pointcloud->outputPointCloud.link(xout->input);
+
+    return pipeline;
+}
+
+TEST_CASE("dense pointcloud") {
+    dai::Device device(getPipeline(false));
+
+    auto outQ = device.getOutputQueue("out");
+    for(int i = 0; i < 10; ++i) {
+        auto pcl = outQ->get<dai::PointCloudData>();
+        REQUIRE(pcl != nullptr);
+        REQUIRE(pcl->getWidth() == 1280);
+        REQUIRE(pcl->getHeight() == 720);
+        REQUIRE(pcl->getPoints().size() == 1280UL * 720UL);
+        REQUIRE(pcl->getMinX() < 0.0f);
+        REQUIRE(pcl->getMaxX() > 0.0f);
+        REQUIRE(pcl->getMinY() < 0.0f);
+        REQUIRE(pcl->getMaxY() > 0.0f);
+    }
+}
+
+TEST_CASE("sparse pointcloud") {
+    dai::Device device(getPipeline(true));
+
+    auto outQ = device.getOutputQueue("out");
+    for(int i = 0; i < 10; ++i) {
+        auto pcl = outQ->get<dai::PointCloudData>();
+        REQUIRE(pcl != nullptr);
+        REQUIRE(pcl->getWidth() == 1280);
+        REQUIRE(pcl->getHeight() == 720);
+        REQUIRE(pcl->getPoints().size() < 1280UL * 720UL);
+        REQUIRE(pcl->getMinX() < 0.0f);
+        REQUIRE(pcl->getMaxX() > 0.0f);
+        REQUIRE(pcl->getMinY() < 0.0f);
+        REQUIRE(pcl->getMaxY() > 0.0f);
+        REQUIRE(pcl->getMinZ() > 0.0f);
+    }
+}
diff --git a/tests/src/stream_message_parser_test.cpp b/tests/src/stream_message_parser_test.cpp
index 07ef8839b..3fb345c30 100644
--- a/tests/src/stream_message_parser_test.cpp
+++ b/tests/src/stream_message_parser_test.cpp
@@ -8,21 +8,21 @@
 
 TEST_CASE("Correct message") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     streamPacketDesc_t packet;
     packet.data = ser.data();
     packet.length = ser.size();
 
-    auto des = dai::StreamMessageParser::parseMessageToADatatype(&packet);
-    auto ser2 = dai::StreamMessageParser::serializeMessage(des);
+    auto des = dai::StreamMessageParser::parseMessage(&packet);
+    auto ser2 = dai::StreamMessageParser::serializeMetadata(des);
 
     REQUIRE(ser == ser2);
 }
 
 TEST_CASE("Incorrect message bad size") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     // wreak havoc on serialized data
     ser[ser.size() - 1] = 100;
@@ -31,12 +31,12 @@ TEST_CASE("Incorrect message bad size") {
     packet.data = ser.data();
     packet.length = ser.size();
 
-    REQUIRE_THROWS(dai::StreamMessageParser::parseMessageToADatatype(&packet));
+    REQUIRE_THROWS(dai::StreamMessageParser::parseMessage(&packet));
 }
 
 TEST_CASE("Incorrect message negative size") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     // wreak havoc on serialized data
     ser[ser.size() - 1] = 200;
@@ -45,7 +45,7 @@ TEST_CASE("Incorrect message negative size") {
     packet.data = ser.data();
     packet.length = ser.size();
 
-    REQUIRE_THROWS(dai::StreamMessageParser::parseMessageToADatatype(&packet));
+    REQUIRE_THROWS(dai::StreamMessageParser::parseMessage(&packet));
 }
 
 TEST_CASE("Incorrect message too small size") {
@@ -55,7 +55,7 @@ TEST_CASE("Incorrect message too small size") {
     packet.data = ser.data();
     packet.length = ser.size();
 
-    REQUIRE_THROWS(dai::StreamMessageParser::parseMessageToADatatype(&packet));
+    REQUIRE_THROWS(dai::StreamMessageParser::parseMessage(&packet));
 }
 
 TEST_CASE("Incorrect message too small size 2") {
@@ -65,26 +65,26 @@ TEST_CASE("Incorrect message too small size 2") {
     packet.data = ser.data();
     packet.length = ser.size();
 
-    REQUIRE_THROWS(dai::StreamMessageParser::parseMessageToADatatype(&packet));
+    REQUIRE_THROWS(dai::StreamMessageParser::parseMessage(&packet));
 }
 
 TEST_CASE("Raw - Correct message") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     streamPacketDesc_t packet;
     packet.data = ser.data();
     packet.length = ser.size();
 
     auto des = dai::StreamMessageParser::parseMessage(&packet);
-    auto ser2 = dai::StreamMessageParser::serializeMessage(des);
+    auto ser2 = dai::StreamMessageParser::serializeMetadata(des);
 
     REQUIRE(ser == ser2);
 }
 
 TEST_CASE("Raw - Incorrect message bad size") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     // wreak havoc on serialized data
     ser[ser.size() - 1] = 100;
@@ -98,7 +98,7 @@ TEST_CASE("Raw - Incorrect message bad size") {
 
 TEST_CASE("Raw - Incorrect message negative size") {
     dai::ImgFrame frm;
-    auto ser = dai::StreamMessageParser::serializeMessage(frm);
+    auto ser = dai::StreamMessageParser::serializeMetadata(frm);
 
     // wreak havoc on serialized data
     ser[ser.size() - 1] = 200;
diff --git a/tests/src/xlink_roundtrip_test.cpp b/tests/src/xlink_roundtrip_test.cpp
index ab99e9a00..ec741925f 100644
--- a/tests/src/xlink_roundtrip_test.cpp
+++ b/tests/src/xlink_roundtrip_test.cpp
@@ -3,13 +3,19 @@
 // Include depthai library
 #include <depthai/depthai.hpp>
 
+#include "depthai/pipeline/datatype/ADatatype.hpp"
+
 using namespace std::chrono;
 using namespace std::chrono_literals;
 
+static bool operator==(const dai::span<uint8_t>& lhs, const std::vector<unsigned char>& rhs) {
+    return std::equal(lhs.begin(), lhs.end(), rhs.begin(), rhs.end());
+}
+
 auto TIMEOUT = 5s;
 
 static void test_xlink_roundtrip(int w, int h) {
-    std::vector<std::uint8_t> data(w * h * 3);
+    std::vector<std::uint8_t> data(w * h * 3, 0xFF);
 
     dai::Pipeline p;
     auto x_in = p.create<dai::node::XLinkIn>();
@@ -24,24 +30,70 @@ static void test_xlink_roundtrip(int w, int h) {
     auto outQ = device.getOutputQueue("to_host");
     auto inQ = device.getInputQueue("to_device");
 
-    dai::ImgFrame imgFrame;
+    auto imgFrame = std::make_shared<dai::ImgFrame>();
 
-    imgFrame.setSequenceNum(123);
-    imgFrame.setWidth(w);
-    imgFrame.setHeight(h);
+    imgFrame->setSequenceNum(123);
+    imgFrame->setWidth(w);
+    imgFrame->setHeight(h);
 
-    imgFrame.setData(data);
-    imgFrame.setType(dai::RawImgFrame::Type::BGR888p);
+    imgFrame->setData(data);
+    imgFrame->setType(dai::ImgFrame::Type::BGR888p);
     // Send the frame
     inQ->send(imgFrame);
 
-    // TODO: add timeout
     auto t1 = steady_clock::now();
     bool success = false;
     do {
-        auto retFrm = outQ->tryGet();
+        auto retFrm = outQ->tryGet<dai::ImgFrame>();
         if(retFrm) {
-            REQUIRE(imgFrame.getSequenceNum() == 123);
+            REQUIRE(imgFrame->getSequenceNum() == 123);
+            REQUIRE(imgFrame->getWidth() == w);
+            REQUIRE(imgFrame->getHeight() == h);
+            REQUIRE((imgFrame->getData() == data));
+            return;
+        }
+    } while(steady_clock::now() - t1 < TIMEOUT);
+    // Timeout
+    FAIL("Timeout receiving back the sent message");
+}
+
+template <class T, typename = std::enable_if_t<std::is_base_of<dai::Buffer, T>::value>>
+static void test_xlink_message_type(T) {
+    dai::Pipeline p;
+    auto x_in = p.create<dai::node::XLinkIn>();
+    x_in->setStreamName("to_device");
+    auto x_out = p.create<dai::node::XLinkOut>();
+    x_out->setStreamName("to_host");
+    x_in->out.link(x_out->input);
+
+    dai::Device device(p);
+
+    auto outQ = device.getOutputQueue("to_host");
+    auto inQ = device.getInputQueue("to_device");
+    auto message = std::make_shared<T>();
+    auto time = steady_clock::now();
+    message->setSequenceNum(123);
+    message->setTimestamp(time);
+    message->setData({1, 2, 3, 4, 5});
+    message->setTimestampDevice(time);
+    // Send the frame
+    inQ->send(message);
+
+    auto t1 = steady_clock::now();
+    bool success = false;
+    do {
+        auto retFrm = outQ->tryGet<dai::Buffer>();
+        if(retFrm) {
+            REQUIRE(retFrm->getSequenceNum() == 123);
+            REQUIRE(retFrm->getTimestamp() == time);
+            REQUIRE((retFrm->getData() == std::vector<unsigned char>{1, 2, 3, 4, 5}));
+            REQUIRE(retFrm->getTimestampDevice() == time);
+
+            // For a sanity check, check also that the original message returns the same values
+            REQUIRE(message->getSequenceNum() == 123);
+            REQUIRE(message->getTimestamp() == time);
+            REQUIRE((message->getData() == std::vector<unsigned char>{1, 2, 3, 4, 5}));
+            REQUIRE(message->getTimestampDevice() == time);
             return;
         }
     } while(steady_clock::now() - t1 < TIMEOUT);
@@ -59,4 +111,23 @@ TEST_CASE("Test XLinkIn->XLinkOut passthrough with random 2000x1000 frame") {
 
 TEST_CASE("Test XLinkIn->XLinkOut passthrough with random 4000x3000 frame") {
     test_xlink_roundtrip(4000, 3000);
-}
\ No newline at end of file
+}
+
+
+TEST_CASE("Buffer message type") {
+    test_xlink_message_type(dai::Buffer());
+}
+
+TEST_CASE("ImgFrame message type") {
+    test_xlink_message_type(dai::ImgFrame());
+}
+
+TEST_CASE("EncodedFrame message type") {
+    test_xlink_message_type(dai::EncodedFrame());
+}
+
+TEST_CASE("NNData message type") {
+    test_xlink_message_type(dai::NNData());
+}
+
+// TODO(Morato) - add the rest of the messages here