Add C++ debugging example

cpp/debugging_example/.gitignore

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+build/

cpp/debugging_example/.oakappignore

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+# Build artifacts
+build/
+
+# Documentation
+README.md
+
+# VCS
+.git/
+.github/
+.gitlab/

cpp/debugging_example/.vscode/launch.json

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+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "Attach to OAK (gdbserver)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/build/main_device",
+      "cwd": "${workspaceFolder}",
+      "MIMode": "gdb",
+      "targetArchitecture": "arm64",
+      "miDebuggerArgs": "-ex \"shell mkdir -p ${workspaceFolder}/build && touch -a ${workspaceFolder}/build/main_device\"",
+      "stopAtEntry": false,
+      "externalConsole": false,
+      "sourceFileMap": {
+        "/app": "${workspaceFolder}"
+      },
+      "customLaunchSetupCommands": [
+        {
+          "description": "Connect to gdbserver",
+          "text": "target remote ${input:boardIP}:5678",
+          "ignoreFailures": false
+        },
+        {
+          "description": "Pull binary from device",
+          "text": "remote get /app/build/main ${workspaceFolder}/build/main_device",
+          "ignoreFailures": false
+        },
+        {
+          "description": "Reload symbols from fresh binary",
+          "text": "exec-file ${workspaceFolder}/build/main_device",
+          "ignoreFailures": false
+        },
+        {
+          "description": "Enable pretty printing",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        },
+        {
+          "description": "Map container sources to workspace",
+          "text": "set substitute-path /app ${workspaceFolder}",
+          "ignoreFailures": true
+        },
+        {
+          "description": "Disable pagination",
+          "text": "set pagination off",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ],
+  "inputs": [
+    {
+      "id": "boardIP",
+      "type": "promptString",
+      "description": "Enter OAK board IP address",
+      "default": "192.168.1.198"
+    }
+  ]
+}

cpp/debugging_example/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20)
+
+project(camera_stream VERSION 1.0 LANGUAGES CXX)
+
+# Use C++17 standard
+set(CMAKE_CXX_STANDARD 17)
+
+# Depthai dependency
+find_package(depthai REQUIRED)
+message(STATUS "Found depthai: ${depthai_DIR}")
+
+# Add source files
+add_executable(main src/main.cpp)
+
+# Link with libraries
+target_link_libraries(main PUBLIC depthai::core)
+
+# Suppress warnings about C++17 ABI in GCC 10.1+
+target_compile_options(main PRIVATE -Wno-psabi)

cpp/debugging_example/README.md

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+# Remote Debugging Setup for OAK C++ Apps
+
+This example shows the steps to add VS Code remote debugging to any C++ OAK app.
+
+## 1. Copy `.vscode/launch.json`
+
+Copy the `.vscode/launch.json` from this project into your app's `.vscode/` folder. No changes needed — it uses `${workspaceFolder}` throughout so it works in any project location.
+
+On launch it will prompt for:
+
+- **Board IP** — IP address of your OAK device
+
+## 2. Update `backend-run.sh`
+
+Your `backend-run.sh` should start `gdbserver` wrapping your binary instead of running it directly:
+
+```sh
+#!/bin/sh
+gdbserver 0.0.0.0:5678 /app/build/main
+```
+
+## 3. Update `oakapp.toml`
+
+Add the following to your `build_steps`:
+
+```toml
+build_steps = [
+    # Install gdbserver
+    "apt-get install -y --no-install-recommends gdb gdbserver",
+
+    # Create and enable backend service startup.
+    "mkdir -p /etc/service/backend",
+    "cp /app/backend-run.sh /etc/service/backend/run",
+    "chmod +x /etc/service/backend/run",
+
+    # Build in Debug mode so the binary has symbols
+    "cmake -S /app -B /app/build -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON",
+    "cmake --build /app/build -- -j",
+]
+```
+
+## 4. Deploy and Debug
+
+```bash
+oakctl app run .
+```
+
+Then set breakpoints and press **F5** in VS Code. GDB connects to `gdbserver` on port 5678, pulls the binary directly from the container, reloads symbols, and starts the debug session.

cpp/debugging_example/backend-run.sh

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+#!/bin/sh
+echo "Starting Backend"
+gdbserver 0.0.0.0:5678 /app/build/main

cpp/debugging_example/oakapp.toml

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+identifier = "com.example.cpp.camera_stream"
+entrypoint = ["bash", "-c", "/usr/bin/runsvdir -P /etc/service"]
+app_version = "1.0.0"
+
+build_steps = [
+    "apt-get install -y --no-install-recommends gdb gdbserver",
+    "mkdir -p /etc/service/backend",
+    "cp /app/backend-run.sh /etc/service/backend/run",
+    "chmod +x /etc/service/backend/run",
+    "cmake -S /app -B /app/build -DCMAKE_BUILD_TYPE=Debug",
+    "cmake --build /app/build --parallel",
+]
+
+assign_frontend_port = true
+
+[base_image]
+api_url = "https://registry-1.docker.io"
+service = "registry.docker.io"
+oauth_url = "https://auth.docker.io/token"
+auth_type = "repository"
+auth_name = "luxonis/oakapp-base"
+image_name = "luxonis/oakapp-base"
+image_tag = "1.2.6-cpp"

cpp/debugging_example/src/main.cpp

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+#include <depthai/depthai.hpp>
+#include <depthai/remote_connection/RemoteConnection.hpp>
+
+int main(int argc, char** argv) {
+    dai::RemoteConnection remoteConnector;
+
+    dai::Pipeline pipeline;
+
+    // Create a camera and request a 800p output
+    auto cameraNode = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);
+    auto* cameraOutputVisualize = cameraNode->requestOutput(std::make_pair(1280, 800), dai::ImgFrame::Type::NV12);
+
+    // Register the output so it's visualized on the remote connection
+    remoteConnector.addTopic("stream", *cameraOutputVisualize);
+
+    // Start the pipeline
+    pipeline.start();
+    while(pipeline.isRunning()) {
+        int key = remoteConnector.waitKey(1);
+        if(key == 'q') {
+            std::cout << "Got 'q' key from the remote connection!" << std::endl;
+            break;
+        }
+    }
+    return 0;
+}