Using DepthAI Hardware / OAK depth sensors {#tutorial_gapi_oak_devices}
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![Oak-D and Oak-D-Light cameras](pics/oak.jpg)

Depth sensors compatible with Luxonis DepthAI library are supported through OpenCV Graph API (or G-API) module. RGB image and some other formats of output can be retrieved by using familiar interface of G-API module.

In order to use DepthAI sensor with OpenCV you should do the following preliminary steps:
-#  Install Luxonis DepthAI library [depthai-core](https://github.com/luxonis/depthai-core).

-#  Configure OpenCV with DepthAI library support by setting `WITH_OAK` flag in CMake. If DepthAI library is found in install folders OpenCV will be built with depthai-core (see a status `WITH_OAK` in CMake log).

-#  Build OpenCV.

Source code
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You can find source code how to process heterogeneous graphs in the `modules/gapi/samples/oak_basic_infer.cpp` of the OpenCV source code library.

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    @include modules/gapi/samples/oak_basic_infer.cpp
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