Release v3.4.0

Features

• Add support for semantic segmentation

  • C++ example and Python example

• Add support for ingesting instance segmentation in the SpatialLocationCalculator to improve 3D detections

  • C++ example and Python example

• Add support for spatializing keypoints into 3D

  • Python example

• [RVC4] Add support for USB protocol
  * Requires LuxonisOS 1.27.1 or newer
  * It can be forced with DEPTHAI_PROTOCOL=usb in the environment

• Add isp output to Camera node

  • C++ example and Python example

• Add Gate node

  • Enables easy opening and closing a message stream in runtime
  • C++ example and Python example

• [RVC4] Add support for HFR (High frame rate) on IMX586:

  • 1280x720 @ 480 FPS
  • 1920x1080 @ 240 FPS
  • C++ examples and Python examples

• Add support for XLink packetization

  • Optionally packetize messages sent through XLink and limit the bitrate per connection
  • Useful in advanced scenarios to allow streams with large messages to run in the background
  • Usage example

• Visualizer updated to 2.0.10

  • Support for live pipeline visualization when DEPTHAI_PIPELINE_DEBUGGING=ON is set
  • Visualize keypoints when showing ImgDetections
  • Automatically remap detections and annotations to the target stream

• Add a new CalibrationMetrics output to DynamicCalibration node

• Add support for a callback for Snaps & Events to get notified when an event gets sent to Hub example

• [RVC4] Add support for external FSync

  • C++ example and Python example

• [RVC2] Add support for setting custom sensor tuning per sensor

• [RVC2] Add support for setting sensor orientation in the Camera node

Bug fixes

• Fix ownership when dai::Pipeline is copy-assigned to another variable
• Fix replay for StereoDepth for the case where ImgTransformations aren't set

Misc

• Deprecate creating nodes without pipeline.create
• Make basalt a private dependency instead of public
• ImageAlign:
  • Warn if a distorted image is sent to ImageAlign's alignTo
  • Use ImgTransformations to get intrinsics and distortion coefficients instead of relying on heuristics and global calibration
• [RVC4] Add support for RVC4 devices to DeviceManager
• [RVC2] Add new fields to ImgDetections inside Script node bindings

[RVC4] Luxonis OS compatibility

Integration tested on Luxonis OS 1.14.1, 1.20.5 and 1.27.1