Release v2.26.0

Features

• ImageAlign node
  • it can align depth to any other sensor on the device - works for ToF too.
  • it can align two sensors with a static depth (default at infinity), useful for thermal-rgb alignment
• Cast node
  • Cast NNData message to ImgFrame
  • Useful in case apps need to use outputs from NeuralNetwork node to be fed into nodes that only accept ImgFrame
• Full ToF support
  • Running live at 30 FPS
  • Measuring range of 20cm - 6m
  • < 1% error across the range
• Support for ToF in spatial nodes
• Add an option to limit bandwidth over XLink setXLinkRateLimit(int maxRateBytesPerSecond, int burstSize, int delayUs)

Stability improvements and bug fixes

• Improved PoE stability on reboots - eliminate the case where powercycle of the device was sometimes needed
  • NOTE: This requires flashing the factory bootloader - by running the flash script or using the device manager
• Improved runtime stability of heavy pipelines by increasing priority of the cameras in the NoC
• Improved ImageManip stability
• Improved XLink communication to be able to detect memory corruption and avoid it
• Fix a bug where stereo rectification was inaccurate when the calibration data didn't contain direct link between the two inputs
  • Relevant for custom setups on FFC devices

Misc

• Improve numerical stability of the rectification algorithm
  • Improves stereo quality on wide FOV sensors

Release v2.25.1

Features

• Added DeviceBootloader::getFlashedVersion to retrieve the bootloader version that is flashed on device.

Bug Fixes

• Fixed fsync on OAK-D-SR.
• Fixed boot issue on OAK-D-SR-POE and OAK-T.
• Fixed compilation in same cases, because of problems with jsoncpp. (#980)

Misc

Release v2.25.0

Features

• PointCloud node along with the PointCloudData message
  • On device pointcloud generation
  • Native conversion to PCL message type - similar to getCvFrame()
• Support for the OAK Thermal
• New setManualFocusRaw() API with more granularity for setting manual focus position
• New getStereoPairs() and getAvailableStereoPairs() API to allow more device agnostic programming
• Add the intensity output to the ToF node
• Add the crop sensor configs in getConnectedCameraFeatures() now contain how each of the resolutions is cropped from the native sensor resolution

Bug fixes

• Bug fix for v2.24.0 regression with flashing the bootloader link
• Bug fix in message groups for large resolution frames when going through XLinkOut node
• Bug fix to apply AE limit during AF lens movement (before the fix, the AE limit wasn't applied during active AF movements)
• Bug fix for grayscale VideoEncoder node with 2 inputs of different sizes

Misc

• Fix timings for IMX214 4K resolution, which were slightly off

Release v2.24.0

Features

• New nodes and messages:
  • Sync node - syncs multiple inputs based on the timestamp, outputs a message group message
  • Demux node - demultiplexes message group in multiple messages
  • Message group message - a new message that can contain a map of arbitrary depthai messages, it's the output of the sync node and input to the demux node
  • Encoded frame message - a new message specialized for encoded frames
  • New output for the VideoEncoder node (out) for the encoded frame message
• Automatic crash dump retrieval for firmware crashes
• Added setIrFloodLightIntensity and setIrLaserDotProjectorIntensity methods for setting the intensity normalized between 0 and 1
• Added getConnectionInterfaces method to retrieve the list of available interfaces on a device
• Added an option to cap maximum time for exposure when using auto exposure with setAutoExposureLimit
• Initial integration for IMX283 and IMX462
• Improve time-syncing between the host and device to achieve sub 300 us offset
• Improved max FPS and image quality under low light for OV9282 and OV9782 #926 ,new ranges per resolution of:
  • THE_800_P: 1.687 .. 129.6 fps
  • THE_720_P: 1.687 .. 143.1 fps
  • THE_400_P: 1.687 .. 255.7 fps

Bug fixes

• Avoid overflow for XLink profiling #933
• Improve XLink stability when using multiple devices luxonis/XLink#73
• Fix a rare bug where the device would hand in the constructor #922
• Fix a bug where XLinkIn didn't work correctly for very small and very large buffers
• Fix a bug for running multiple stereo nodes with a shared input

Misc

• On multi-input NeuralNetworks set the output NNData to the newest input timestamp (previously undefined)
• Add NOC DDR usage reporting on DEPTHAI_LEVEL=info

Release v2.23.0

Features

• ImageManip - configurable interpolation type
• Script - added missing bindings for reading device releated data (on device calibration, etc...)
• Added Device::getDeviceName and Device::getProductName that target a user name and a "SKU" name
• Timesync - improved synchronization with tweaks to XLink
• Calibration - added housingExtrinsics

Bug fixes

• Fix CAM_D enumeration on OAK-FFC-4P R7
• BMI270 IMU - fix latency when slow reading
• Device related logging
• OAK-D-SR-POE - new revision bugfixes
• Fix 4 cameras crash on PoE due to memory allocation
• Fixed incorrect warp in issue #882

Misc

• #867
• #873
• XLink - updated number of devices to 64
• ToF - median filter and Z map support (still not the final decoding pipeline)
• hasAutofocus value fixed and introduced hasAutofocusIC
• Added timestamps and sequence numbers to all Message types
• Added DEPTHAI_ENABLE_LIBUSB for potentially disabling USB protocol (to not require libusb library)
• OV9782 and AR0234 improvements:
  • OV9782 FPS improvements
  • AR0234 max exposure time bump to 33ms and improved FSync INPUT mode

Release v2.22.0

Features

• UVC Node - Capability to create a pipeline that sends data over UVC (or flash it)
• ToF Node - Capability to decode ToF data into a depth map
• New devices: OAK-D-SR (fixes), OAK-D-LR R1, OAK-D SR PoE
• Reorganized CameraBoardSocket naming
• Logging improvements
• Added data throughput profiling, per device and globally
• Added DEPTHAI_DEVICE_NAME_LIST env var to filter devices by name

Bug fixes

• Bootloader v0.0.26 - Fix for bootloader crash (USB variant)
• Fix for 4 cameras via ETH
• Device constructor bugfixes (when taking pipeline, or pipeline with config preapplied, etc...)
• XLink - Bugfix for wrongly discovered usb path on Windows
• OV9782 startup stream issue fix
• #779 - Fixes a parsing issue
• #469 - Fixes a stuck case if same stream names are used

Misc

• Deprecated RGB/LEFT/RIGHT/... CamerBoardSocket naming. Rely on CAM_[A-H] or setName API
• Add option to clear crash dump
• XLink - Added 255.255.255.255 discovery and increased PoE search time

Release v2.21.2

Features

• SpatialLocationCalculator/SpatialDetectionNetwork - Support for median and mode, default changed to median
  • Improved x/y accuracy
• StereoDepth
  • Multi stereo support, ability to run stereo between any 2 calibrated cameras
  • Support for LEFT/RIGHT alignment
  • Support to invalidate edge pixels: setNumInvalidateEdgePixels
  • BrightnessFilter - If the input frame pixel is too dark or too bright, the disparity will be invalidated. Default pixels with value 0 are invalidated
  • Added disparityToDepthUseSpecTranslation, rectificationUseSpecTranslation, and depthAlignmentUseSpecTranslation options for advanced usage
  • Fix for RGB alignment when RGB is configured to 12 MP
• Crash dump support - support to retrieve crash context from the device which can be shared with developers
• Configurable 3A fps - setIsp3aFps
• IMU - support to retrieve connected IMU type, and firmware version. Refactored firmware update API
  • BMI270 - enable interrupt mode, timestamps are more consistent now
  • BNO086* - fix for sequence number
• ImageManip -CSC improvements
• Camera sensor improvements
  • AR0234 improved AE smoothness, increased max gain to 400x (first 25.6x analog),
  • OV9782 on RGB/CAM-A socket max FPS: 120 (previously was only for OV9282), also improves image quality in very bright light,
  • OV9782/9282 minimum exposure time decreased: 20us -> 10us, helps in very bright light. TODO update tuning to make use of it, currently only possible to use with manual exposure
  • HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

Bug fixes

• FW: fix for UART0 / '/dev/ttyS0' init failure in Script node
• POE power cycle fix - in rare occasions POE devices got stuck after reboot, requiring a manual power cycle

Misc

• Updated readme on Android support
• [XLink] Increased max number of links from 32 to 64
• Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled
• Handle EEPROM boardOptions bit 7 for separate I2C on L/R

Release v2.21.1

UPDATE: Use v2.21.2 due to issues this version carries

Release v2.21.0

UPDATE: Use v2.21.2 due to issues this version carries

Release v2.20.2

Bugfix

• Fix for ColorCamera at high resolution while using isp scaling
• Fix for OV9282 SW sync on devices with OV9782 RGB camera
• Fix for IMX378/477/577 on sockets other than CAM_A (RGB)