Segfault originating from depthai-core

RudolfLovrencic

Greetings,

We are using OaK PoE cameras. In our usecase, we have cameras that could get unplugged and re-plugged during the application runtime. The IPs of PoE cameras are known in advance. If the dai::Device fails to construct with a given IP address, we simply retry to construct it after a preconfigured delay. Sometimes, our application crashes due to a segfault originating from depthai-core (we are on version 3.2.1).

Below is a minimalistic example that crashes occasionally with two cameras at 192.168.226.101 and 192.168.226.102. The camera at 192.168.226.103 is never accessible.

#include <depthai/depthai.hpp>

#include <future>
#include <thread>
#include <chrono>
#include <string>
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <exception>
#include <stdexcept>
#include <filesystem>

namespace {

dai::Pipeline connect_to_device(std::string device_ip,
                                unsigned attempt_count                          = 70,
                                std::chrono::steady_clock::duration retry_delay = std::chrono::seconds{2})
{
    for (unsigned attempt_index{0}; attempt_index < attempt_count; ++attempt_index) {
        try {
            {
                std::ostringstream oss;
                oss << "Connecting to device at IP " << device_ip << "...\n";
                std::cout << oss.str();
            }
            dai::Pipeline pipeline{std::make_shared<dai::Device>(dai::DeviceInfo{std::string{device_ip}})};
            {
                std::ostringstream oss;
                oss << "Connected to device at IP " << device_ip << "!\n";
                std::cout << oss.str();
            }
            return pipeline;
        } catch (const std::exception& err) {
            std::ostringstream oss;
            oss << "Failed to connect to device " << device_ip << " (attempt " << attempt_index << '/' << attempt_count
                << "): " << err.what() << '\n';
            std::cout << oss.str();
            std::this_thread::sleep_for(retry_delay);
        }
    }
    throw std::runtime_error{"failed to connect to device " + device_ip + " in " + std::to_string(attempt_count) +
                             " attempts"};
}

void connect_to_device_and_capture_images(std::string device_ip, unsigned image_count)
{
    auto pipeline = connect_to_device(device_ip);

    const auto camera = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);

    const auto script = pipeline.create<dai::node::Script>();
    script->setScript(R"(
            while True:
                node.warn("Waiting for trigger event...")
                trigger = node.inputs["trigger"].get()
                node.warn("Trigger received!")
                message = node.inputs["image_in"].get()
                node.io["image_out"].send(message)
        )");

    const auto encoder = pipeline.create<dai::node::VideoEncoder>();
    encoder->setDefaultProfilePreset(1.0f, dai::VideoEncoderProperties::Profile::MJPEG);

    auto& script_image_input = script->inputs["image_in"];
    script_image_input.setMaxSize(1);
    script_image_input.setBlocking(false);

    auto& encoder_input = encoder->input;
    encoder_input.setMaxSize(1);
    encoder_input.setBlocking(true);

    auto* const camera_output = camera->requestOutput({1280, 800}, dai::ImgFrame::Type::NV12, dai::ImgResizeMode::CROP);
    if (!camera_output) { throw std::runtime_error{"failed to get camera output"}; }

    camera_output->link(script_image_input);
    script->outputs["image_out"].link(encoder_input);

    const auto script_trigger_queue = script->inputs["trigger"].createInputQueue(1, true);
    const auto encoder_output_queue = encoder->bitstream.createOutputQueue(1, true);

    pipeline.start();

    const std::filesystem::path image_path{"image-" + device_ip + ".jpg"};
    for (unsigned image_index{0}; image_index < image_count; ++image_index) {
        script_trigger_queue->send(std::make_shared<dai::Buffer>());
        const auto img = encoder_output_queue->get<dai::ImgFrame>();
        if (!img) {
            std::cout << "Device queue returned null message.\n";
            continue;
        }

        const auto jpeg_data = img->getData();
        std::ofstream outfile{image_path, std::ios::binary};
        if (!outfile) { throw std::runtime_error{"failed to open file for writing: " + image_path.string()}; }
        outfile.write(reinterpret_cast<const char*>(jpeg_data.data()), static_cast<std::streamsize>(jpeg_data.size()));
        if (!outfile) { throw std::runtime_error{"failed to write image: " + image_path.string()}; }
        {
            std::ostringstream oss;
            oss << "Written image to file " << image_path << ".\n";
            std::cout << oss.str();
        }
        std::this_thread::sleep_for(std::chrono::seconds{2});
    }
}

}

int main()
{
    try {
        static constexpr unsigned image_count{10};
        auto future1 = std::async(
            std::launch::async, connect_to_device_and_capture_images, std::string{"192.168.226.102"}, image_count);
        auto future2 = std::async(
            std::launch::async, connect_to_device_and_capture_images, std::string{"192.168.226.103"}, image_count);
        connect_to_device_and_capture_images(std::string{"192.168.226.101"}, image_count);
        future1.get();
        future2.get();
        return EXIT_SUCCESS;
    } catch (const std::exception& err) {
        std::cerr << "error: " << err.what() << '\n';
        return EXIT_FAILURE;
    }
}

Here is the output with DEPTHAI_DEBUG=1:

Connecting to device at IP 192.168.226.101...
[2026-01-19 10:51:49.867] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2026-01-19 10:51:49.867] [depthai] [info] Environment variable DEPTHAI_INSTALL_SIGNAL_HANDLER is not set. Using default value: ''
[2026-01-19 10:51:49.867] [depthai] [info] Environment variable DEPTHAI_LIBUSB_ANDROID_JAVAVM is not set. Using default value: ''
[2026-01-19 10:51:49.867] [depthai] [debug] Library information - version: 3.2.1, commit: 465b6a1ce70a8d99ba06849f2b6b0ffe7603e1ea from 2025-11-28 11:35:18 +0100, build: 2026-01-14 12:40:35 +0000, libusb enabled: false
Connecting to device at IP 192.168.226.103...
Connecting to device at IP 192.168.226.102...
[2026-01-19 10:51:49.868] [depthai] [info] Environment variable DEPTHAI_PROFILING is not set. Using default value: ''
[2026-01-19 10:51:49.868] [depthai] [info] Environment variable XLINK_LEVEL is not set. Using default value: ''
[2026-01-19 10:51:49.868] [depthai] [debug] Initialize - finished
[2026-01-19 10:51:49.870] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-19 10:51:49.870] [host] [debug] Device - OpenVINO version: universal
[2026-01-19 10:51:49.870] [depthai] [info] Environment variable DEPTHAI_WATCHDOG is not set. Using default value: ''
[2026-01-19 10:51:49.870] [depthai] [info] Environment variable DEPTHAI_WATCHDOG_INITIAL_DELAY is not set. Using default value: ''
[1944301071DD732700] [192.168.226.101] [1768816309.870] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-01-19 10:51:49.871] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-19 10:51:49.871] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1768816309.871] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-01-19 10:51:49.904] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 36ms
[2026-01-19 10:51:50.081] [depthai] [debug] Resources - Archive 'depthai-device-fwp-dd6bf31e9ae1e4f4d75804f077f575b967d1b757.tar.xz' open: 1ms, archive read: 213ms
[2026-01-19 10:51:50.081] [depthai] [info] Environment variable DEPTHAI_DEVICE_BINARY is not set. Using default value: ''
[2026-01-19 10:51:50.099] [depthai] [info] Environment variable DEPTHAI_CONNECT_TIMEOUT is not set. Using default value: ''
[2026-01-19 10:51:50.099] [depthai] [info] Environment variable DEPTHAI_BOOTUP_TIMEOUT is not set. Using default value: ''
[2026-01-19 10:51:50.099] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-01-19 10:51:50.102] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-01-19 10:51:50.373] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:51:50.373] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816310.373] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 0/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:51:52.886] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:51:52.886] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816312.886] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 1/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
Failed to connect to device 192.168.226.101 (attempt 0/70): Failed to connect to device with name "192.168.226.101". Error: X_LINK_DEVICE_NOT_FOUND
Failed to connect to device 192.168.226.102 (attempt 0/70): Failed to connect to device with name "192.168.226.102". Error: X_LINK_DEVICE_NOT_FOUND
[2026-01-19 10:51:55.389] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:51:55.389] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816315.390] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 2/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.101...
Connecting to device at IP 192.168.226.102...
[2026-01-19 10:51:57.111] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-19 10:51:57.111] [host] [debug] Device - OpenVINO version: universal
[2026-01-19 10:51:57.111] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-19 10:51:57.112] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1768816317.112] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[1944301071DD732700] [192.168.226.101] [1768816317.112] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-01-19 10:51:57.123] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-01-19 10:51:57.128] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:51:57.894] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:51:57.894] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816317.895] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 3/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:00.399] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:00.399] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816320.399] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 4/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:02.904] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:02.904] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816322.904] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 5/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:05.408] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:05.408] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816325.408] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 6/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:07.911] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:07.912] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816327.912] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 7/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:10.415] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:10.415] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816330.416] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 8/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:12.920] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:12.920] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816332.920] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 9/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:15.423] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:15.424] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816335.424] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 10/70): Cannot find any device with given deviceInfo
[1944301071DD732700] [192.168.226.101] [1768816336.012] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1768816336.012] [host] [debug] Device about to be closed...
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:17.928] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:17.928] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816337.928] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 11/70): Cannot find any device with given deviceInfo
[14442C102142E7D600] [192.168.226.102] [1768816339.339] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[14442C102142E7D600] [192.168.226.102] [1768816339.339] [host] [debug] Device about to be closed...
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:20.432] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:20.432] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816340.432] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 12/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:22.938] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:22.938] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816342.938] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 13/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-19 10:52:25.442] [host] [debug] Searched, but no actual device found by given DeviceInfo
[2026-01-19 10:52:25.442] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1768816345.442] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 14/70): Cannot find any device with given deviceInfo
[1944301071DD732700] [192.168.226.101] [1768816346.014] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1768816346.014] [host] [debug] shutdown call error: Device already closed or disconnected: Input/output error

Process 14597, './dai-test' from job 1, 'DEPTHAI_DEBUG=1 ./dai-test' terminated by signal SIGSEGV (Address boundary error)

Likely useful observation is that I've noticed it tends to happen when X_LINK_DEVICE_NOT_FOUND is reported as the reason for failing to connect the the device. Additionally, this error seems to occur after previous invokation of the program was terminated abruptly (e.g., crash, CTRL+C) which means that the dai::Device and dai::Pipeline destructors were not invoked.

The devices reporting the X_LINK_DEVICE_NOT_FOUND errors are responding to pings. Once a device gets into a state where it reports X_LINK_DEVICE_NOT_FOUND, it seems to be stuck there for extended amount of time.

UPDATE: the same segfault is present with depthai-core v3.3.0.

Any help is greatly appreciated.

jakaskerl

Hi RudolfLovrencic
I can not reproduce this issue on my side. Works perfectly fine even if I kill the process and the restart it.

I'm interested in the next:

what does depthai -l return when devices are waiting and when they are in the error state (but pingable).
what is the bootloader version flashed to the devices?

Seems more network related.

Thanks,
Jaka

RudolfLovrencic

jakaskerl
Bootloader version is v0.0.28.
With the program running in the background, I ran depthai -l multiple times and got different results:

$ depthai -l
[]
$ depthai -l
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[]
$ depthai -l
[]
$ depthai -l
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
$ depthai -l
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]

jakaskerl

RudolfLovrencic
Can you run it periodically before and after starting the script? Right now it seems 102 should be found during runtime but it also seems like the device are falling in and out. Maybe check the POE switch for power..

Thanks,
Jaka

RudolfLovrencic

jakaskerl
We are using Netgear GS305Pv2 PoE+ switch.
The swtich works as expected with OAK4D device and we have seen these issues on multiple systems with OAK-D PoE.

We have also found systemd logs from our production app that point that the segfault coming from libdepthai-core.so:

Jan 15 11:11:51 SYS0145 kernel: XLinkInHost(10)[4083]: segfault at 78b1eb66246a ip 000078b67d98d834 sp 000078b60acf8618 error 4 in libdepthai-core.so[78d834,78b67d416000+e82000] likely on CPU 0 (core 0, socket 0)
Jan 15 11:11:51 SYS0145 kernel: Code: 84 00 00 00 00 00 48 83 c1 01 41 b8 01 00 00 00 e9 53 ff ff ff 90 48 83 c1 01 be 01 00 00 00 49 89 09 eb a4 66 90 f3 0f 1e fa <8b> 47 08 39 c6 0f 9d c0 c3 90 66 90 f3 0f 1e fa 89 77 08 c3 0f 1f
Jan 15 11:11:51 SYS0145 kernel: XLinkInHost(8)[4082]: segfault at 78b1eb66246a ip 000078b67d98d834 sp 000078b60b4f9618 error 4 in libdepthai-core.so[78d834,78b67d416000+e82000] likely on CPU 9 (core 13, socket 0)
Jan 15 11:11:51 SYS0145 kernel: Code: 84 00 00 00 00 00 48 83 c1 01 41 b8 01 00 00 00 e9 53 ff ff ff 90 48 83 c1 01 be 01 00 00 00 49 89 09 eb a4 66 90 f3 0f 1e fa <8b> 47 08 39 c6 0f 9d c0 c3 90 66 90 f3 0f 1e fa 89 77 08 c3 0f 1f

I have also tried asking for the available devices before constructing dai::Device and dai::Pipeline:

auto device_infos = dai::Device::getAllAvailableDevices();
const auto it     = std::find_if(device_infos.cbegin(),
                             device_infos.cend(),
                             [&device_ip](const dai::DeviceInfo& device_info) noexcept -> bool {
                                 return device_info.name == device_ip;
                             });
if (it == device_infos.cend()) { throw std::runtime_error{"device not found"}; }
auto device = std::make_shared<dai::Device>(std::move(*it));
dai::Pipeline pipeline{std::make_shared<dai::Device>(dai::DeviceInfo{std::string{device_ip}})};

The issue is present with this approach as well.
Is there maybe a better/safer approach for working with devices that could be going offline and coming back online at any point during the application runtime?

jakaskerl

RudolfLovrencic
Might be a depthai issue. Meanwhile I'm testing this on a linux machine as well, try putting a global mutex around the dai::Device andgetAllAvailableDevices() parts...

Also can you give me the periodic output of depthai -l, for the whole demonstration? So before the issues begin as well as once they start after a crash/shutdown. In a continuous log.

Thanks,
Jaka

RudolfLovrencic

jakaskerl
This is the depthai -l output every second:

$ while true; sleep 1; depthai -l; end
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[]
[]
[]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
///*** Approximate time of the crash ***///
[DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[]
[]
[]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]
[DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]

This is the program output with the crash:

Connecting to device at IP 192.168.226.101...
[2026-01-21 15:49:53.291] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2026-01-21 15:49:53.291] [depthai] [info] Environment variable DEPTHAI_INSTALL_SIGNAL_HANDLER is not set. Using default value: ''
[2026-01-21 15:49:53.291] [depthai] [info] Environment variable DEPTHAI_LIBUSB_ANDROID_JAVAVM is not set. Using default value: ''
[2026-01-21 15:49:53.291] [depthai] [debug] Library information - version: 3.3.0, commit: 8d8175701d5be6194316dfecd0a41a4d276f758c from 2026-01-15 13:52:40 +0100, build: 2026-01-19 12:01:03 +0000, libusb enabled: false
Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.103...
[2026-01-21 15:49:53.293] [depthai] [info] Environment variable DEPTHAI_PROFILING is not set. Using default value: ''
[2026-01-21 15:49:53.293] [depthai] [info] Environment variable XLINK_LEVEL is not set. Using default value: ''
[2026-01-21 15:49:53.293] [depthai] [debug] Initialize - finished
[2026-01-21 15:49:53.293] [depthai] [info] Environment variable DEPTHAI_SEARCH_TIMEOUT is not set. Using default value: ''
[2026-01-21 15:49:53.296] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-21 15:49:53.296] [host] [debug] Device - OpenVINO version: universal
[2026-01-21 15:49:53.296] [depthai] [info] Environment variable DEPTHAI_WATCHDOG is not set. Using default value: ''
[2026-01-21 15:49:53.296] [depthai] [info] Environment variable DEPTHAI_WATCHDOG_INITIAL_DELAY is not set. Using default value: ''
[1944301071DD732700] [192.168.226.101] [1769006993.296] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-01-21 15:49:53.297] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-01-21 15:49:53.297] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1769006993.297] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-01-21 15:49:53.341] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 47ms
[2026-01-21 15:49:53.515] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a406121b872f3502d3fc666e21441edf91707554.tar.xz' open: 1ms, archive read: 222ms
[2026-01-21 15:49:53.516] [depthai] [info] Environment variable DEPTHAI_DEVICE_BINARY is not set. Using default value: ''
[2026-01-21 15:49:53.530] [depthai] [info] Environment variable DEPTHAI_CONNECT_TIMEOUT is not set. Using default value: ''
[2026-01-21 15:49:53.530] [depthai] [info] Environment variable DEPTHAI_BOOTUP_TIMEOUT is not set. Using default value: ''
[2026-01-21 15:49:53.530] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-01-21 15:49:53.535] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-01-21 15:50:03.578] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
[2026-01-21 15:50:03.578] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1769007003.578] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 0/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[1944301071DD732700] [192.168.226.101] [1769007013.622] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1769007013.622] [host] [debug] Device about to be closed...
[2026-01-21 15:50:15.851] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
[2026-01-21 15:50:15.851] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1769007015.851] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 1/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[14442C102142E7D600] [192.168.226.102] [1769007018.868] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[14442C102142E7D600] [192.168.226.102] [1769007018.868] [host] [debug] Device about to be closed...
[1944301071DD732700] [192.168.226.101] [1769007023.624] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1769007023.624] [host] [debug] shutdown call error: Device already closed or disconnected: Input/output error
fish: Process 78801, './dai-test' from job 1, 'DEPTHAI_DEBUG=1 ./dai-test' terminated by signal SIGSEGV (Address boundary error)

RudolfLovrencic

jakaskerl
Additionally, global std::mutex did not help. At least not in the way I've done it:

// global std::mutex m;

    //...
    const std::scoped_lock l{m};
    dai::Pipeline pipeline{std::make_shared<dai::Device>(dai::DeviceInfo{device_ip})};
    {
        std::ostringstream oss;
        oss << "Connected to device at IP " << device_ip << "!\n";
        std::cout << oss.str();
    }
    return pipeline;

jakaskerl

Hi @RudolfLovrencic
Was able to repro on ubuntu. Can you try with this code?

#include <depthai/depthai.hpp>

#include <future>
#include <thread>
#include <chrono>
#include <string>
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <exception>
#include <stdexcept>
#include <filesystem>

namespace {

std::shared_ptr<dai::Pipeline> connect_to_device(std::string device_ip,
                                unsigned attempt_count                          = 70,
                                std::chrono::steady_clock::duration retry_delay = std::chrono::seconds{2})
{
    for (unsigned attempt_index{0}; attempt_index < attempt_count; ++attempt_index) {
        try {
            {
                std::ostringstream oss;
                oss << "Connecting to device at IP " << device_ip << "...\n";
                std::cout << oss.str();
            }
            std::shared_ptr<dai::Pipeline> pipeline = std::make_shared<dai::Pipeline>(std::make_shared<dai::Device>(dai::DeviceInfo{std::string{device_ip}}));
            {
                std::ostringstream oss;
                oss << "Connected to device at IP " << device_ip << "!\n";
                std::cout << oss.str();
            }
            return pipeline;
        } catch (const std::exception& err) {
            std::ostringstream oss;
            oss << "Failed to connect to device " << device_ip << " (attempt " << attempt_index << '/' << attempt_count
                << "): " << err.what() << '\n';
            std::cout << oss.str();
            std::this_thread::sleep_for(retry_delay);
        }
    }
    throw std::runtime_error{"failed to connect to device " + device_ip + " in " + std::to_string(attempt_count) +
                             " attempts"};
}

void connect_to_device_and_capture_images(std::string device_ip, unsigned image_count)
{
    auto pipeline = connect_to_device(device_ip);

    const auto camera = pipeline->create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);

    const auto script = pipeline->create<dai::node::Script>();
    script->setScript(R"(
            while True:
                node.warn("Waiting for trigger event...")
                trigger = node.inputs["trigger"].get()
                node.warn("Trigger received!")
                message = node.inputs["image_in"].get()
                node.io["image_out"].send(message)
        )");

    const auto encoder = pipeline->create<dai::node::VideoEncoder>();
    encoder->setDefaultProfilePreset(1.0f, dai::VideoEncoderProperties::Profile::MJPEG);

    auto& script_image_input = script->inputs["image_in"];
    script_image_input.setMaxSize(1);
    script_image_input.setBlocking(false);

    auto& encoder_input = encoder->input;
    encoder_input.setMaxSize(1);
    encoder_input.setBlocking(true);

    auto* const camera_output = camera->requestOutput({1280, 800}, dai::ImgFrame::Type::NV12, dai::ImgResizeMode::CROP);
    if (!camera_output) { throw std::runtime_error{"failed to get camera output"}; }

    camera_output->link(script_image_input);
    script->outputs["image_out"].link(encoder_input);

    const auto script_trigger_queue = script->inputs["trigger"].createInputQueue(1, true);
    const auto encoder_output_queue = encoder->bitstream.createOutputQueue(1, true);

    pipeline->start();

    const std::filesystem::path image_path{"image-" + device_ip + ".jpg"};
    for (unsigned image_index{0}; image_index < image_count; ++image_index) {
        script_trigger_queue->send(std::make_shared<dai::Buffer>());
        const auto img = encoder_output_queue->get<dai::ImgFrame>();
        if (!img) {
            std::cout << "Device queue returned null message.\n";
            continue;
        }

        const auto jpeg_data = img->getData();
        std::ofstream outfile{image_path, std::ios::binary};
        if (!outfile) { throw std::runtime_error{"failed to open file for writing: " + image_path.string()}; }
        outfile.write(reinterpret_cast<const char*>(jpeg_data.data()), static_cast<std::streamsize>(jpeg_data.size()));
        if (!outfile) { throw std::runtime_error{"failed to write image: " + image_path.string()}; }
        {
            std::ostringstream oss;
            oss << "Written image to file " << image_path << ".\n";
            std::cout << oss.str();
        }
        std::this_thread::sleep_for(std::chrono::seconds{2});
    }
}

}

int main()
{
    try {
        static constexpr unsigned image_count{10};
        auto future1 = std::async(
            std::launch::async, connect_to_device_and_capture_images, std::string{"192.168.226.102"}, image_count);
        auto future2 = std::async(
            std::launch::async, connect_to_device_and_capture_images, std::string{"192.168.226.103"}, image_count);
        connect_to_device_and_capture_images(std::string{"192.168.226.101"}, image_count);
        future1.get();
        future2.get();
        return EXIT_SUCCESS;
    } catch (const std::exception& err) {
        std::cerr << "error: " << err.what() << '\n';
        return EXIT_FAILURE;
    }
}

Thanks,
Jaka

RudolfLovrencic

jakaskerl
I'll try and report back.

If diff doesn't lie to me, the only difference is that dai::Pipeline is allocated on the heap so that it always has the same memory address. If that's the requirement, since the dai::Device keeps a reference to the dai::Pipeline object for example, I'd advise making the dai::Pipeline objects immovable:

dai::Pipeline(dai::Pipeline&& other) noexcept            = delete;
dai::Pipeline& operator=(dai::Pipeline&& other) noexcept = delete;

EDIT: Unfortunately, I am able to get it to crash with the std::shared_ptr<dai::Pipeline>.

jakaskerl

RudolfLovrencic
Whats the error now? Can you backtrace it with gdb and paste the result? It did segfault on my side, but with the change, it seems to be fixed.

Whats your OS?

Thanks,
Jaka

RudolfLovrencic

jakaskerl
We are getting these crashes on Ubuntu 24.04 and on Arch Linux.
I've built depthai-core in Debug mode, but I am not able to get the crash in Debug when gdb is attached.
I'll try with RelWithDebInfo when I get the chance.

Do you have an idea about what is causing this since your suggestion was to allocate dai::Pipeline?

UPDATE: also didn't manage to get it with RelWithDebInfo, but I cannot guarantee it isn't just bad luck. On the other hand, I changed to Relase mode and I could get the crash within few minutes. This suggest some ugly UB/race.

jakaskerl

RudolfLovrencic
I see. Was running it in debug mode by default so I found no issues.

Try luxonis/depthai-coretree/fix/unsafe_ref_usage
It worked fine for me in release mode. Please confirm and we can merge it to develop

Thanks,
Jaka

RudolfLovrencic

jakaskerl
Unfortunately, the fix didn't work. I've managed to get it to crash multiple times (below are two program logs with the depthai-core commit hash printed on startup).

9f72399ec2ecaf8fabf0ede85d0a2bbaedcbaf01
Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.101...
Connecting to device at IP 192.168.226.103...
Connected to device at IP 192.168.226.101!
[1944301071DD732700] [192.168.226.101] [5.792] [Script(1)] [warning] Waiting for trigger event...
[1944301071DD732700] [192.168.226.101] [5.792] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [5.792] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [7.823] [Script(1)] [warning] Trigger received!
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [7.824] [Script(1)] [warning] Waiting for trigger event...
[1944301071DD732700] [192.168.226.101] [9.865] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [9.865] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [11.908] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [11.909] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[2026-01-30 10:58:23.813] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 0/70): Cannot find any device with given deviceInfo
[1944301071DD732700] [192.168.226.101] [13.950] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [13.950] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
Connecting to device at IP 192.168.226.103...
[1944301071DD732700] [192.168.226.101] [15.992] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [15.993] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [18.042] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [18.042] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [20.081] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [20.082] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [22.120] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [22.120] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[1944301071DD732700] [192.168.226.101] [24.159] [Script(1)] [warning] Trigger received!
[1944301071DD732700] [192.168.226.101] [24.160] [Script(1)] [warning] Waiting for trigger event...
Written image to file "image-192.168.226.101.jpg".
[2026-01-30 10:58:36.108] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 1/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-30 10:58:48.483] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 2/70): Cannot find any device with given deviceInfo
fish: Job 1, './build/examples/depthai-captur…' terminated by signal SIGSEGV (Address boundary error)

9f72399ec2ecaf8fabf0ede85d0a2bbaedcbaf01
Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.101...
Connecting to device at IP 192.168.226.103...
Failed to connect to device 192.168.226.102 (attempt 0/70): Failed to connect to device with name "192.168.226.102". Error: X_LINK_DEVICE_NOT_FOUND
Failed to connect to device 192.168.226.101 (attempt 0/70): Failed to connect to device with name "192.168.226.101". Error: X_LINK_DEVICE_NOT_FOUND
Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.101...
[2026-01-30 11:12:54.996] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 0/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-30 11:13:07.272] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 1/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-01-30 11:13:19.544] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
Failed to connect to device 192.168.226.103 (attempt 2/70): Cannot find any device with given deviceInfo
fish: Job 1, './build/examples/depthai-captur…' terminated by signal SIGSEGV (Address boundary error)

jakaskerl

RudolfLovrencic
Strange... Can you give me the DEPTHAI_DEBUG=1 output from the script. Also your build steps would help as well. The way I'm building it is just overriding one of the examples and rebuilding it.

Thanks,
Jaka

RudolfLovrencic

jakaskerl
Here is the log with DEPTHAI_DEBUG=1:

Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.103...
Connecting to device at IP 192.168.226.101...
[2026-02-02 09:15:37.790] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2026-02-02 09:15:37.790] [depthai] [info] Environment variable DEPTHAI_INSTALL_SIGNAL_HANDLER is not set. Using default value: ''
[2026-02-02 09:15:37.790] [depthai] [info] Environment variable DEPTHAI_LIBUSB_ANDROID_JAVAVM is not set. Using default value: ''
[2026-02-02 09:15:37.790] [depthai] [debug] Library information - version: 3.3.0, commit: 9f72399ec2ecaf8fabf0ede85d0a2bbaedcbaf01 from 2026-01-23 23:46:35 +0100, build: 2026-01-30 08:39:01 +0000, libusb enabled: false
[2026-02-02 09:15:37.791] [depthai] [info] Environment variable DEPTHAI_PROFILING is not set. Using default value: ''
[2026-02-02 09:15:37.791] [depthai] [info] Environment variable XLINK_LEVEL is not set. Using default value: ''
[2026-02-02 09:15:37.791] [depthai] [debug] Initialize - finished
[2026-02-02 09:15:37.791] [depthai] [info] Environment variable DEPTHAI_SEARCH_TIMEOUT is not set. Using default value: ''
[2026-02-02 09:15:37.793] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-02-02 09:15:37.793] [host] [debug] Device - OpenVINO version: universal
[2026-02-02 09:15:37.793] [depthai] [info] Environment variable DEPTHAI_WATCHDOG is not set. Using default value: ''
[2026-02-02 09:15:37.793] [depthai] [info] Environment variable DEPTHAI_WATCHDOG_INITIAL_DELAY is not set. Using default value: ''
[1944301071DD732700] [192.168.226.101] [1770020137.793] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-02-02 09:15:37.795] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-02-02 09:15:37.795] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1770020137.795] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-02-02 09:15:37.830] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 38ms
[2026-02-02 09:15:38.011] [depthai] [debug] Resources - Archive 'depthai-device-fwp-276d50325cb0954fc5afd51dae933c8474907e13.tar.xz' open: 1ms, archive read: 219ms
[2026-02-02 09:15:38.011] [depthai] [info] Environment variable DEPTHAI_DEVICE_BINARY is not set. Using default value: ''
[2026-02-02 09:15:38.032] [depthai] [info] Environment variable DEPTHAI_CONNECT_TIMEOUT is not set. Using default value: ''
[2026-02-02 09:15:38.032] [depthai] [info] Environment variable DEPTHAI_BOOTUP_TIMEOUT is not set. Using default value: ''
[2026-02-02 09:15:38.032] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-02-02 09:15:38.034] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
Failed to connect to device 192.168.226.102 (attempt 0/70): Failed to connect to device with name "192.168.226.102". Error: X_LINK_DEVICE_NOT_FOUND
Failed to connect to device 192.168.226.101 (attempt 0/70): Failed to connect to device with name "192.168.226.101". Error: X_LINK_DEVICE_NOT_FOUND
Connecting to device at IP 192.168.226.102...
Connecting to device at IP 192.168.226.101...
[2026-02-02 09:15:45.042] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-02-02 09:15:45.042] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1770020145.042] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-02-02 09:15:45.043] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-02-02 09:15:45.043] [host] [debug] Device - OpenVINO version: universal
[1944301071DD732700] [192.168.226.101] [1770020145.043] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-02-02 09:15:45.058] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-02-02 09:15:45.061] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.101, deviceId=1944301071DD732700, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-02-02 09:15:48.098] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
[2026-02-02 09:15:48.098] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1770020148.098] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 0/70): Cannot find any device with given deviceInfo
Connecting to device at IP 192.168.226.103...
[2026-02-02 09:16:00.371] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
[2026-02-02 09:16:00.372] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1770020160.372] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 1/70): Cannot find any device with given deviceInfo
Failed to connect to device 192.168.226.102 (attempt 1/70): Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
Connecting to device at IP 192.168.226.103...
Connecting to device at IP 192.168.226.102...
[2026-02-02 09:16:02.527] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2026-02-02 09:16:02.527] [host] [debug] Device - OpenVINO version: universal
[14442C102142E7D600] [192.168.226.102] [1770020162.527] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
[2026-02-02 09:16:02.537] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-02-02 09:16:02.563] [depthai] [debug] Connected bootloader version 0.0.28
[1944301071DD732700] [192.168.226.101] [1770020163.197] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1770020163.197] [host] [debug] Device about to be closed...
[14442C102142E7D600] [192.168.226.102] [1770020165.363] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 2799ms
[2026-02-02 09:16:05.363] [depthai] [debug] DeviceBootloader about to be closed...
[2026-02-02 09:16:05.364] [depthai] [debug] XLinkResetRemote of linkId: (213)
[2026-02-02 09:16:06.584] [depthai] [debug] DeviceBootloader closed, 1220
[2026-02-02 09:16:06.588] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.226.102, deviceId=14442C102142E7D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2026-02-02 09:16:10.761] [depthai] [info] Environment variable DEPTHAI_CRASHDUMP is not set. Using default value: ''
[14442C102142E7D600] [192.168.226.102] [4.819] [system] [warning] [32mPRINT:LeonCss:[0m [1;32m[OK]: INIT_NOC: noc probes timer create
[1m[1;32m[OK]: INIT_NOC: noc probes timer start
[1m[1;32m[OK]: INIT_NOC: ddr bandwith profiling!
[1mGPIO boot mode 0x3, interface SPI_MASTER_EFF
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 7
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: 276d50325cb0954fc5afd51dae933c8474907e13
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
Found a device/board entry matching the eeprom data - Board: OAK-D POE (DM2088 R1M1E3) Device: 
Board options: 00000001
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: 20 bb 19
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 16 11 45 15 15 06 08 15 15 16 14 45 11 08 06
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Setup network with bootloader config
OsDrvCprSysDeviceAction() for PCIe failed: 13
nexus0: <RTEMS Nexus device>
pcib0: <MyriadX PCIe RC> on nexus0
PCIE_REGS_PCIE_CFG_ADR = 0x60100
PCIE_REGS_PCIE_PLL_CNTRL_ADR = 0x1
pcib0: Link training complete, PCIe downstream link is UP
pcib0: myriad_pcie_err_interrupt: SMLH LINK UP
pcib0: myriad_pcie_err_interrupt: SMLH LINK DOWN
pcib0: myriad_pcie_err_interrupt: RDLH LINK UP
pcib0: myriad_pcie_err_interrupt: RDLH LINK DOWN
pcib0: myriad_pcie_err_interrupt: CORE RST
pcib0: myriad_pcie_err_interrupt: CORE RSTN
pcib0: myriad_pcie_err_interrupt: LINK REQ RST
pci0: <PCI bus> on pcib0
memcpy_dma_init: got DMA id 62
re0: <Realtek PCIe GBE Family Controller> at device 0.0 on pci0
re0: Using Memory Mapping!
re0: Using 1 MSI message
Overriden invalid mac address, mac: 44:A9:2C:33:DD:A7
re0: version:1.95.00
re0: Ethernet address: 0x83fd7e70

This product is covered by one or more of the following patents:            
US6,570,884, US6,115,776, and US6,327,625.
info: re0: Ethernet address: 44:a9:2c:33:dd:a7
myriad_mmc2: <MyriadX MMC> on nexus0
myriad_mmc2: Memory resource: rid 0 tag 0x0 handle 0x33000000 size 0x1
myriad_mmc2: Found that the memory was NULL - releasing.
myriad_mmc2: Error getting voltage regulator resource.
myriad_mmc2: Found that the memory was NULL - releasing.
myriad_mmc2: Error getting card detect resource.
myriad_mmc2: Memory resource: rid 3 tag 0x0 handle 0x20280000 size 0x1
myriad_mmc2: Memory resource: rid 4 tag 0x0 handle 0x83dfce78 size 0x1
myriad_mmc2: IRQ resource: start 0xa001b: irq = 27, priority = 10
myriad_mmc2: Doing host configuration ... 5
myriad_mmc2: CFG 0x0 = 0xffb23840
myriad_mmc2: CFG 0x4 = 0x1c008be
myriad_mmc2: CFG 0x24 = 0xb00a621
myriad_mmc2: CFG 0x2c = 0xa000
myriad_mmc2: Polling CFG 0x40 for 0x40
myriad_mmc2: Polling complete, value became 0x42
myriad_mmc2: Base clock = 200000000 Hz
myriad_mmc2: Re-tuning mode is 1
myriad_mmc2: Re-Tuning timer count is 1 seconds
myriad_mmc2: SDR50 needs tuning.
myriad_mmc2: Supports Vdd=3.3
myriad_mmc2: Supports Vdd=3.0
myriad_mmc2: Supports Vdd=1.8
myriad_mmc2: Supports 8-bit bus width
myriad_mmc2: Supports High Speed
myriad_mmc2: Supports DDR50, DDR52 @ 1.8V
myriad_mmc2: Supports HS200 @ 1.8V
myriad_mmc2: Supports Driver Type A
myriad_mmc2: Supports Driver Type C
myriad_mmc2: Supports Driver Type D
myriad_mmc2: Data timeout counter value = 0xc
myriad_mmc2: Data timeout clock frequency = 48000 kHz, timeout count = 0xc
myriad_mmc2: No voltage regulator.
myriad_mmc2: Card detect task up!
myriad_mmc2: Card attached!
mmc0: <MMC/SD bus> on myriad_mmc2
myriad_mmc2: Updating card mode to SD
myriad_mmc2: Updating card mode to MMC
Probed device vendor id: 0x0, device id 0x0
mmc0: No information for this mode.
mmcsd0: 16GB <MMCHC DF4016 0.1 SN 6339560D MFG 05/2019 by 69 0x0000> at mmc0 200.0MHz/8bit/1-block
mmcsd0boot0: 4MB partition 1 at mmcsd0
mmcsd1boot1: 4MB partition 2 at mmcsd0
mmcsd0rpmb: 4MB partition 3 at mmcsd0
net.inet.tcp.delayed_ack: 1 -> 0
info: lo0: link state changed to UP
ifconfig: inet6: bad value
ifcommand setting static ip: 192.168.226.102 mask: 255.255.255.0, gateway: 
route: bad address: 
ifcommand failed: exit_code = 68
=== Network ready!
Is booted from flash by bootloader: 0
Started device discovery service!
Waiting for broadcast message..
=== Enumerating on socket: Cam_A / RGB / Center
  >> Registered camera CCM OV9782 as /dev/Camera_0
camera socket: 0, name: 
        config - w: 1280, h: 720, type: COLOR
        config - w: 1280, h: 800, type: COLOR
        config - w: 1280, h: 720, type: MONO
        config - w: 1280, h: 800, type: MONO
        config - w: 640, h: 400, type: MONO
Adding socket 0: cam 5. Sen name: OV9782
=== Enumerating on socket: Cam_B / Left
  >> Registered camera TG161B (ov9282) as /dev/Camera_1
camera socket: 1, name: 
        config - w: 1280, h: 720, type: COLOR
        config - w: 1280, h: 800, type: COLOR
        config - w: 1280, h: 720, type: MONO
        config - w: 1280, h: 800, type: MONO
        config - w: 640, h: 400, type: MONO
Adding socket 1: cam 5. Sen name: OV9282
=== Enumerating on socket: Cam_C / Right
  >> Registered camera TG161B (ov9282) as /dev/Camera_2
camera socket: 2, name: 
        config - w: 1280, h: 720, type: COLOR
        config - w: 1280, h: 800, type: COLOR
        config - w: 1280, h: 720, type: MONO
        config - w: 1280, h: 800, type: MONO
        config - w: 640, h: 400, type: MONO
Adding socket 2: cam 5. Sen name: OV9282
=== Enumerating on socket: Aux
        skipped OV9282
        skipped OV7251
        skipped IMX214
        skipped AR0234
        skipped S5K33D
        skipped IMX378
        skipped IMX296
        skipped IMX462
        skipped IMX678
        skipped IMX715
        skipped IMX283
        skipped OV5645
info: re0: link state changed to DOWN
Found a device/board entry matching the eeprom data - Board: OAK-D POE (DM2088 R1M1E3) Device: 
Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read

initial keepalive, countdown: 6
SH2 Reset.
IMU version: BNO086
Initializing XLink...
initial keepalive, countdown: 5
info: re0: link state changed to UP
re0: flags=8843<UP,BROADCAST,RUNNING,SIMPLEX,MULTICAST> metric 0 mtu 1500
        options=8219b<RXCSUM,TXCSUM,VLAN_MTU,VLAN_HWTAGGING,VLAN_HWCSUM,TSO4,WOL_MAGIC,LINKSTATE>
        ether 44:a9:2c:33:dd:a7
        inet 192.168.226.102 netmask 0xffffff00 broadcast 192.168.226.255
        media: Ethernet autoselect (1000baseT <full-duplex>)
        status: active
Received device discovery request, sending back - mxid: 14442C102142E7D600, state: 1
Received device discovery request, sending back - mxid: 14442C102142E7D600, state: 1
Done!
Reading..........Reading VERSION 7 --- ->
Found a device/board entry matching the eeprom data - Board: OAK-D POE (DM2088 R1M1E3) Device: 
Temperature: Driver registered.
[14442C102142E7D600] [192.168.226.102] [4.830] [system] [warning] [32mPRINT:LeonCss:[0m Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[14442C102142E7D600] [192.168.226.102] [4.834] [system] [info] Memory Usage - DDR: 0.12 / 333.07 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 25.06 / 80.65 MiB, LeonRT Heap: 2.89 / 38.54 MiB / NOC ddr: 0 MB/s
[14442C102142E7D600] [192.168.226.102] [4.834] [system] [info] Temperatures - Average: 27.21C, CSS: 29.10C, MSS 26.16C, UPA: 26.90C, DSS: 26.66C
[14442C102142E7D600] [192.168.226.102] [4.834] [system] [info] Cpu Usage - LeonOS 26.68%, LeonRT: 0.62%
Connected to device at IP 192.168.226.102!
[14442C102142E7D600] [192.168.226.102] [4.853] [system] [warning] [32mPRINT:LeonCss:[0m [36mI: [Timesync] [   6026201] [XLin] startSync:186     Timesync | Callback not set[0m
[2026-02-02 09:16:10.785] [depthai] [info] Environment variable DEPTHAI_RECORD is not set. Using default value: ''
[2026-02-02 09:16:10.785] [depthai] [info] Environment variable DEPTHAI_REPLAY is not set. Using default value: ''
[2026-02-02 09:16:10.789] [depthai] [info] Environment variable DEPTHAI_PIPELINE_DEBUGGING is not set. Using default value: 'false'
[2026-02-02 09:16:10.808] [depthai] [debug] Full schema dump: 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[14442C102142E7D600] [192.168.226.102] [1770020170.830] [host] [debug] Schema dump: {"bridges":[],"connections":[{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":1,"node2Input":"trigger","node2InputGroup":"io"},{"node1Id":2,"node1Output":"bitstream","node1OutputGroup":"","node2Id":6,"node2Input":"in","node2InputGroup":""},{"node1Id":1,"node1Output":"image_out","node1OutputGroup":"io","node2Id":2,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"0","node1OutputGroup":"dynamicOutputs","node2Id":1,"node2Input":"image_in","node2InputGroup":"io"}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","eepromId":0,"leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[6,{"alias":"","deviceId":"14442C102142E7D600","deviceNode":true,"id":6,"ioInfo":[[["","pipelineEventOutput"],{"blocking":false,"group":"","id":21,"name":"pipelineEventOutput","queueSize":8,"type":0,"waitForMessage":false}],[["","in"],{"blocking":true,"group":"","id":20,"name":"in","queueSize":3,"type":3,"waitForMessage":false}]],"logLevel":1,"name":"XLinkOut","parentId":-1,"properties":[185,3,136,0,0,128,191,189,15,95,95,120,95,50,95,98,105,116,115,116,114,101,97,109,0]}],[5,{"alias":"","deviceId":"14442C102142E7D600","deviceNode":true,"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":19,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","pipelineEventOutput"],{"blocking":false,"group":"","id":18,"name":"pipelineEventOutput","queueSize":8,"type":0,"waitForMessage":false}]],"logLevel":1,"name":"XLinkIn","parentId":-1,"properties":[185,3,189,16,95,95,120,95,49,95,105,111,95,116,114,105,103,103,101,114,130,0,6,26,1,8]}],[2,{"alias":"","deviceId":"14442C102142E7D600","deviceNode":true,"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":12,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","bitstream"],{"blocking":false,"group":"","id":11,"name":"bitstream","queueSize":8,"type":0,"waitForMessage":false}],[["","pipelineEventOutput"],{"blocking":false,"group":"","id":10,"name":"pipelineEventOutput","queueSize":8,"type":0,"waitForMessage":false}],[["","in"],{"blocking":true,"group":"","id":9,"name":"in","queueSize":1,"type":3,"waitForMessage":false}]],"logLevel":1,"name":"VideoEncoder","parentId":-1,"properties":[185,11,0,30,0,0,0,0,4,95,0,0,136,0,0,128,63]}],[1,{"alias":"","deviceId":"14442C102142E7D600","deviceNode":true,"id":1,"ioInfo":[[["","pipelineEventOutput"],{"blocking":false,"group":"","id":7,"name":"pipelineEventOutput","queueSize":8,"type":0,"waitForMessage":false}],[["io","image_in"],{"blocking":false,"group":"io","id":6,"name":"image_in","queueSize":1,"type":3,"waitForMessage":false}],[["io","image_out"],{"blocking":false,"group":"io","id":8,"name":"image_out","queueSize":8,"type":0,"waitForMessage":false}],[["io","trigger"],{"blocking":true,"group":"io","id":5,"name":"trigger","queueSize":8,"type":3,"waitForMessage":false}]],"logLevel":1,"name":"Script","parentId":-1,"properties":[185,3,189,14,97,115,115,101,116,58,95,95,115,99,114,105,112,116,189,8,60,115,99,114,105,112,116,62,1]}],[0,{"alias":"","deviceId":"14442C102142E7D600","deviceNode":true,"id":0,"ioInfo":[[["dynamicOutputs","0"],{"blocking":false,"group":"dynamicOutputs","id":4,"name":"0","queueSize":8,"type":0,"waitForMessage":false}],[["","pipelineEventOutput"],{"blocking":false,"group":"","id":2,"name":"pipelineEventOutput","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":3,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","mockIsp"],{"blocking":true,"group":"","id":1,"name":"mockIsp","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":0,"name":"inputControl","queueSize":3,"type":3,"waitForMessage":false}]],"logLevel":1,"name":"Camera","parentId":-1,"properties":[185,21,185,33,0,3,0,136,0,0,0,0,5,0,185,3,0,130,36,0,14,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,4,0,62,185,3,128,128,4,0,185,3,133,124,7,134,16,0,2,0,130,74,93,128,105,129,104,39,1,0,7,0,0,0,0,0,0,0,0,186,0,0,255,189,0,255,255,255,255,255,136,0,0,128,191,0,3,134,0,0,160,0,3,134,0,0,160,0,4,4,4,190,190,186,1,185,5,185,1,184,0,186,2,129,0,5,129,32,3,185,1,190,22,0,190]}]]}
[14442C102142E7D600] [192.168.226.102] [1770020170.831] [host] [debug] Asset map dump: {"map":{"/node/1/__script":{"alignment":64,"offset":0,"size":300}}}
[14442C102142E7D600] [192.168.226.102] [4.940] [system] [warning] [32mPRINT:LeonCss:[0m Calling IPC set assets
[2026-02-02 09:16:10.875] [depthai] [info] Environment variable DEPTHAI_ENABLE_ANALYTICS_COLLECTION is not set. Using default value: ''
[2026-02-02 09:16:10.875] [depthai] [info] Logging disabled
[14442C102142E7D600] [192.168.226.102] [4.953] [Camera(0)] [debug] Sensor type COLOR selected automatically for camera on socket CAM_A. Officially supported sensor types: [COLOR, MONO]
[14442C102142E7D600] [192.168.226.102] [4.953] [Camera(0)] [debug] Full FoV configs:
[14442C102142E7D600] [192.168.226.102] [4.953] [Camera(0)] [debug]   1280x800 @ 129.6fps
[14442C102142E7D600] [192.168.226.102] [4.953] [Camera(0)] [debug] Output requests: Request 0: size: 1280x800, fps: 30, type: 22, resizeMode: CROP
[14442C102142E7D600] [192.168.226.102] [4.953] [Camera(0)] [debug] Best camera config selected: 1280x800 @ 30fps
[14442C102142E7D600] [192.168.226.102] [4.955] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[14442C102142E7D600] [192.168.226.102] [4.995] [system] [warning] [32mPRINT:LeonCss:[0m XLinkIn | Created plgPool as shared: 1
[14442C102142E7D600] [192.168.226.102] [4.995] [system] [warning] [34mPRINT:LeonMss:[0m sippPalThreadCreate: Thread /SIPP created
Initing ImgPreproc system!
Inited ImgPreproc system!
Could not find platform independent libraries <prefix>
Could not find platform dependent libraries <exec_prefix>
Consider setting $PYTHONHOME to <prefix>[:<exec_prefix>]
[14442C102142E7D600] [192.168.226.102] [4.990] [system] [info] ImageManip internal buffer size '393408'B, shave buffer size '36864'B
[14442C102142E7D600] [192.168.226.102] [4.990] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 

[14442C102142E7D600] [192.168.226.102] [4.991] [Camera(0)] [debug] Camera scale factors: hNum: 0, hDen: 0, vNum: 0, vDen: 0
[14442C102142E7D600] [192.168.226.102] [4.992] [Camera(0)] [debug] Patching intrinsics for socket 0
[14442C102142E7D600] [192.168.226.102] [4.992] [Camera(0)] [debug] Original intrinsics for 1280x800:
794.950 0.000 622.371 
0.000 794.950 414.982 
0.000 0.000 1.000 
Patched intrinsics for 1280x800:
794.950 0.000 622.371 
0.000 794.950 414.982 
0.000 0.000 1.000 

[14442C102142E7D600] [192.168.226.102] [4.993] [Camera(0)] [info] Camera::Create: Number of frames for the Outputs frame pool was capped by the max size of the pool or increased to minPoolFramesOutputs (=2) to 3 (orig: 3) |  maxSizePoolOutputs: 10485760 B | output frame size: 1536000 B
[14442C102142E7D600] [192.168.226.102] [5.237] [system] [warning] [32mPRINT:LeonCss:[0m [1970-01-01 00:00:05.231] [info] Time taken to build the pipeline: 278ms
[14442C102142E7D600] [192.168.226.102] [5.237] [system] [warning] [34mPRINT:LeonMss:[0m LRT - build pipeline call
[14442C102142E7D600] [192.168.226.102] [5.248] [system] [warning] [32mPRINT:LeonCss:[0m == FSYNC enabled for cam mask 0x0
CAM ID: 0, width: 1280, height: 800, orientation: 0
getDefaultDtp: camType:5, color:1, orientation:0
DTP: ext_dtp_database_ov9782_wfov_normal
Loaded DTP, handle 0x845e33a0
== SW-SYNC: 0, cam mask 0x1
!!! Master Slave config is: single_master_slave !!!
Starting camera 0, server 0x845e33a0
[91m[E] app_guzzi_command_callback():173: command->id:1[0m
[91m[E] app_guzzi_command_callback():193: command "1 0" sent
[0m
[14442C102142E7D600] [192.168.226.102] [5.271] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] iq_debug_create():161: iq_debug address 0x877ad680[0m
[14442C102142E7D600] [192.168.226.102] [5.281] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] hai_cm_driver_load_dtp():852: Features for camera CCM OV9782 are received[0m
[91m[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0[0m
[91m[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0[0m
[91m[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0[0m
camera_id 0: 3A-sync to camera_alt_id 0
[14442C102142E7D600] [192.168.226.102] [5.292] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] camera_control_start():360: Camera_id = 0 started.
[0m
=== osDrvOV9782Control: set mode for Camera_0_sen
[14442C102142E7D600] [192.168.226.102] [5.303] [system] [warning] [32mPRINT:LeonCss:[0m PCLK 80000000 FPS 30 PPLN 724 LPFR 3682 fract 165 extra 733
[91m[E] vpipe_conv_config():1465: Exit Ok[0m
[14442C102142E7D600] [192.168.226.102] [5.314] [system] [warning] [32mPRINT:LeonCss:[0m [91m[E] callback():133: Camera CB START_DONE event.[0m
[14442C102142E7D600] [192.168.226.102] [5.325] [system] [warning] [32mPRINT:LeonCss:[0m inc_camera_process set exposure and gain
Starting Guzzi command handling loop...
[14442C102142E7D600] [192.168.226.102] [5.358] [system] [warning] [34mPRINT:LeonMss:[0m finished sippPrePrepareLinesFreeRT
[14442C102142E7D600] [192.168.226.102] [5.402] [system] [warning] [34mPRINT:LeonMss:[0m luma: 17822us, chroma: 20474us
[14442C102142E7D600] [192.168.226.102] [5.654] [Script(1)] [warning] Waiting for trigger event...
[14442C102142E7D600] [192.168.226.102] [5.655] [Script(1)] [warning] Trigger received!
[14442C102142E7D600] [192.168.226.102] [5.655] [Script(1)] [warning] Waiting for trigger event...
[14442C102142E7D600] [192.168.226.102] [5.662] [VideoEncoder(2)] [debug] Bitstream frame size: 1625088, num frames in pool: 4
Written image to file "image-192.168.226.102.jpg".
[14442C102142E7D600] [192.168.226.102] [5.835] [system] [info] Memory Usage - DDR: 18.90 / 333.07 MiB, CMX: 2.49 / 2.50 MiB, LeonOS Heap: 40.23 / 80.65 MiB, LeonRT Heap: 7.69 / 38.54 MiB / NOC ddr: 149 MB/s
[14442C102142E7D600] [192.168.226.102] [5.835] [system] [info] Temperatures - Average: 27.63C, CSS: 30.80C, MSS 26.16C, UPA: 26.66C, DSS: 26.90C
[14442C102142E7D600] [192.168.226.102] [5.835] [system] [info] Cpu Usage - LeonOS 28.85%, LeonRT: 71.79%
[14442C102142E7D600] [192.168.226.102] [6.040] [system] [warning] [32mPRINT:LeonCss:[0m initial keepalive, countdown: 4
[2026-02-02 09:16:12.643] [host] [error] Searched, but no actual device found by given DeviceInfo: DeviceInfo(name=192.168.226.103, deviceId=, X_LINK_ANY_STATE, X_LINK_ANY_PROTOCOL, X_LINK_ANY_PLATFORM, X_LINK_SUCCESS)
[2026-02-02 09:16:12.644] [host] [debug] Device - OpenVINO version: universal
[] [192.168.226.103] [1770020172.644] [host] [debug] Device - BoardConfig: {"camera":[],"defaultImuExtr":{},"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 13 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be bb 00
Failed to connect to device 192.168.226.103 (attempt 2/70): Cannot find any device with given deviceInfo
[14442C102142E7D600] [192.168.226.102] [6.836] [system] [info] Memory Usage - DDR: 18.90 / 333.07 MiB, CMX: 2.49 / 2.50 MiB, LeonOS Heap: 40.23 / 80.65 MiB, LeonRT Heap: 7.69 / 38.54 MiB / NOC ddr: 299 MB/s
[14442C102142E7D600] [192.168.226.102] [6.836] [system] [info] Temperatures - Average: 28.49C, CSS: 30.56C, MSS 27.15C, UPA: 27.64C, DSS: 28.62C
[14442C102142E7D600] [192.168.226.102] [6.836] [system] [info] Cpu Usage - LeonOS 20.01%, LeonRT: 3.16%
[1944301071DD732700] [192.168.226.101] [1770020173.207] [host] [debug] RPC error: Couldn't read data from stream: '__rpc_main' (X_LINK_TIMEOUT)
[1944301071DD732700] [192.168.226.101] [1770020173.207] [host] [debug] shutdown call error: Device already closed or disconnected: Input/output error
fish: Process 10088, './build/depthai-capture' from job 1, 'DEPTHAI_DEBUG=1 ./build/depthai-capture' terminated by signal SIGSEGV (Address boundary error)

This is how we configure, build, and install depthai-core:

cmake -S . -B build -D'CMAKE_BUILD_TYPE=Release' \
                    -D'CMAKE_POSITION_INDEPENDENT_CODE=true' \
                    -D'BUILD_SHARED_LIBS=true' \
                    -D'DEPTHAI_ENABLE_LIBUSB=false'\
                    -D'DEPTHAI_BUILD_TESTS=false' \
                    -D'DEPTHAI_BUILD_EXAMPLES=false' \
                    -D'DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT=false' && \
cmake --build build --parallel $(nproc) && \
cmake --install build --prefix '/usr/local'

This is CMakeLists.txt that builds the example:

cmake_minimum_required(VERSION "3.28.3")
project(dai-crash-example VERSION "0.1.0" LANGUAGES "CXX")

set(DEPTHAI_OPENCV_SUPPORT false)
find_package(depthai "3.2.1" REQUIRED)

add_executable(depthai-capture)
target_sources(depthai-capture PRIVATE "main.cpp")
target_link_libraries(depthai-capture PRIVATE depthai::core)

MatevzMorato

Hi @RudolfLovrencic - if we combine both adding a mutex for device connection (which has to be single process/thread at a time for now) and the patch for dai::Pipeline it works reliably on our side.

commit 569fc75240b69434cdcbf7677e68891b132d0dea (HEAD -> develop, origin/develop)
Merge: 598f21376 123514172
Author: moratom <47612463+moratom@users.noreply.github.com>
Date:   Tue Feb 3 13:56:12 2026 +0100

    Merge pull request #1669 from luxonis/fix/unsafe_ref_usage
    
    Refactored wrong usage of parant ref from PipelineImpl class

#include <chrono>
#include <cstdlib>
#include <depthai/depthai.hpp>
#include <exception>
#include <filesystem>
#include <fstream>
#include <future>
#include <iostream>
#include <stdexcept>
#include <string>
#include <thread>

namespace {
std::mutex deviceConnectionMutex;
dai::Pipeline connect_to_device(std::string device_ip, unsigned attempt_count = 70, std::chrono::steady_clock::duration retry_delay = std::chrono::seconds{2}) {
    for(unsigned attempt_index{0}; attempt_index < attempt_count; ++attempt_index) {
        try {
            {
                std::ostringstream oss;
                oss << "Connecting to device at IP " << device_ip << "...\n";
                std::cout << oss.str();
            }
                std::lock_guard<std::mutex> lock{deviceConnectionMutex};
                dai::Pipeline pipeline{std::make_shared<dai::Device>(dai::DeviceInfo{std::string{device_ip}})};
            {
                std::ostringstream oss;
                oss << "Connected to device at IP " << device_ip << "!\n";
                std::cout << oss.str();
            }
            return pipeline;
        } catch(const std::exception& err) {
            std::ostringstream oss;
            oss << "Failed to connect to device " << device_ip << " (attempt " << attempt_index << '/' << attempt_count << "): " << err.what() << '\n';
            std::cout << oss.str();
            std::this_thread::sleep_for(retry_delay);
        }
    }
    throw std::runtime_error{"failed to connect to device " + device_ip + " in " + std::to_string(attempt_count) + " attempts"};
}

void connect_to_device_and_capture_images(std::string device_ip, unsigned image_count) {
    auto pipeline = connect_to_device(device_ip);

    const auto camera = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);

    const auto script = pipeline.create<dai::node::Script>();
    script->setScript(R"(
            while True:
                node.info("Waiting for trigger event...")
                trigger = node.inputs["trigger"].get()
                node.info("Trigger received!")
                message = node.inputs["image_in"].get()
                node.io["image_out"].send(message)
        )");

    const auto encoder = pipeline.create<dai::node::VideoEncoder>();
    encoder->setDefaultProfilePreset(1.0f, dai::VideoEncoderProperties::Profile::MJPEG);

    auto& script_image_input = script->inputs["image_in"];
    script_image_input.setMaxSize(1);
    script_image_input.setBlocking(false);

    auto& encoder_input = encoder->input;
    encoder_input.setMaxSize(1);
    encoder_input.setBlocking(true);

    auto* const camera_output = camera->requestOutput({1280, 800}, dai::ImgFrame::Type::NV12, dai::ImgResizeMode::CROP);
    if(!camera_output) {
        throw std::runtime_error{"failed to get camera output"};
    }

    camera_output->link(script_image_input);
    script->outputs["image_out"].link(encoder_input);

    const auto script_trigger_queue = script->inputs["trigger"].createInputQueue(1, true);
    const auto encoder_output_queue = encoder->bitstream.createOutputQueue(1, true);

    pipeline.start();

    const std::filesystem::path image_path{"image-" + device_ip + ".jpg"};
    for(unsigned image_index{0}; image_index < image_count; ++image_index) {
        script_trigger_queue->send(std::make_shared<dai::Buffer>());
        const auto img = encoder_output_queue->get<dai::ImgFrame>();
        if(!img) {
            std::cout << "Device queue returned null message.\n";
            continue;
        }

        const auto jpeg_data = img->getData();
        std::ofstream outfile{image_path, std::ios::binary};
        if(!outfile) {
            throw std::runtime_error{"failed to open file for writing: " + image_path.string()};
        }
        outfile.write(reinterpret_cast<const char*>(jpeg_data.data()), static_cast<std::streamsize>(jpeg_data.size()));
        if(!outfile) {
            throw std::runtime_error{"failed to write image: " + image_path.string()};
        }
        {
            std::ostringstream oss;
            // oss << "Written image to file " << image_path << ".\n";
            // std::cout << oss.str();
        }
        std::this_thread::sleep_for(std::chrono::seconds{2});
    }
}

}  // namespace

int main() {
    try {
        int i = 0;
        while(true) {
            static constexpr unsigned image_count{10};
            auto future1 = std::async(std::launch::async, connect_to_device_and_capture_images, std::string{"10.12.103.158"}, image_count);
            auto future2 = std::async(std::launch::async, connect_to_device_and_capture_images, std::string{"10.12.103.243"}, image_count);
            connect_to_device_and_capture_images(std::string{"10.12.103.76"}, image_count);
            future1.get();
            future2.get();
            std::cout << "Completed iteration " << ++i << ".\n";
        }
    } catch(const std::exception& err) {
        std::cerr << "error: " << err.what() << '\n';
        return EXIT_FAILURE;
    }
}

RudolfLovrencic

MatevzMorato
Okay, I didn't realise that both, the fix from the branch AND the device creation mutex are required.
Initially it looks all right. I'll do more testing and close the thread if all goes well.

RudolfLovrencic

I have adjusted our app with the changes and will keep monitoring your releases on GitHub for new version.