Release v3.10.0

Features

• [Beta] Stitching node
  • Stitches frames from two different sensors based on matching features in the overlap of the images
  • Supports two stitching modes:
    • Panorama stitching based on the image overlap
    • Planar projection onto a configurable plane
  • A panorama example and a planar projection example are available
• [RVC4] Align node
  • A generic way to align Transformable messages or ImgFrames with each other in any order
  • Can align an ImgFrame to any transformable message type
  • Supports transforming custom messages if they override the transformTo function and the node runs on the host. A Python example and a C++ example are available
  • ImgDetections alignment is shown in a C++ example and a Python example
• Message save and load functions
  • DepthAI messages can be written to a file and then read back with the new API: msg.save("name.dai") and msg.load("name.dai")
  • The saved file is a binary protobuf envelope
  • The following messages are supported: ImgFrame, NNData, ImgDetections, SpatialImgDetections, SegmentationMask, PointCloudData, RGBDData, IMUData, and ImgAnnotations
• [RVC4] ToF undistortion
  • setOutputUndistortion lets you undistort the ToF depth frame
• Extrinsics now carry a toDeviceId field
  • Used together with toCameraSocket for better transformation handling in multi-device setups
  • The field is automatically populated with the ID of the device that created the message, because that is the device toCameraSocket refers to

Bug fixes

• [RVC2] VideoEncoder checks parameter coherency
  • Unvalidated parameters caused significant performance degradation when rendering a video stream with incorrect parameters
• [RVC2] The LEON OS unwind section now uses the standard .eh_frame naming, so the linker cleans up stale unwind records
• getMaskData bindings for SpatialImgDetections and ImgDetections now return a generic py::object
• Device discovery functions (for example getAllConnectedDevices) now release the GIL, which prevents stuttering of a running pipeline
• Four-point transform in ImageManip now properly handles normalized coordinates
• Rotation is now properly applied to addCropRotatedRect when coordinates are normalized
• Stricter intrinsics matrix validation
• The device health check is now more robust when the device is in use
• DetectionParser only considers outputs with _yolo in the name when validating the number of strides

Misc

• [RVC4] Optimized the loading of NN models and reduced the RAM footprint by half
• Added a DepthAI-specific reviewer skill for easier development and a faster merge process
• Embedded visualizer updated to 3.9.6:
  • Improved performance and stability

Known issues

• Downgrading from OS 1.40.0 to any OS between 1.24.0 and 1.31.1 causes an STM flash error that leads to a device crash when running any pipeline. To fix the issue, downgrade to OS 1.35.0 first, before you downgrade to the above OS range

[RVC4] Luxonis OS compatibility

Integration tested with Luxonis OS 1.30.1, 1.35.0, and 1.40.0.