Features

• Updated FW - BMI270 IMU improvements
• Added seq & timestamps for more messages
• New boards support
• Windows DLL improvements (install libusb dll alongside libdepthai-core.dll)

Bug fixes

• XLink - improved connecting directly to given IP
• StereoDepth ImgFrame metadata w/h when decimation filter is enabled
• Intrinsic read fix #379

Misc

• Node access refactor

Features

• Updated BL to 0.0.20 (improves upon stuck/unreachable device issues)

Bug fixes

• Fixed XLinkIn large (>5MiB) messages transfer
• Fixed AssetManager set function to allow overwriting assets
• Fixed Path.hpp 'filesystem' include issues
• Reverted: https://github.com/luxonis/depthai-core/pull/526 - until the startup bug is resolved
• PoE device discovery improvements (improves upon stuck/unreachable device issues)

Features

• Added on-device python (script node) binding for timestamp and sequence numbers

Bug fixes

• Fix for neural Inference stopped suddenly, 100% LEON RT usage
• Updated FW with a fix for stuck PoE devices that required to be power cycled
• Updated firmware with stability fixes
• Potentially fixes sporadic crashes, stability issues, critical errors, script node issues.

Misc

• Resolve compilation issues with spdlog and newer fmtlib (external)
• Fixed Backward integration for newer CMake versions

Depthai-shared changes: https://github.com/luxonis/depthai-shared/pull/102

Features

• Support for new S2/Pro devices
• FW: support for OAK-D-S2 / OAK-D-Pro using the latest board DM9098 R6M2E6
• Handle new resolutions THE_720_P and THE_800_P for ColorCamera, applicable to OV9782 on RGB/center socket
• StereoDepth: Add option for disparity shift to reduce minimum depth
• StereoDepth: extended and subpixel mode can be enabled simultaneously
• YoloV6 support
• Refactor ImageManip node
• macOS / Linux shared library and CI improvements
• Bootloader improvements
• Flash boot improvements
• Bootloader improvements (capability to flash and boot from eMMC)
• Flashed application information
• Memory querying
• XLink device search race fix
• Capability to flash BoardConfig along with the Pipeline
• Added host monitor thread to disconnect offline PoE devices

Bug fixes

Misc

• Modified examples where stereo RGB alignment was enabled to set lens position from calibration data

Depthai-shared changes: https://github.com/luxonis/depthai-shared/pull/101

Features

• OpenVINO 2022.1 support
• XLink device search improvements
• cross subnets for PoE devices
• drastically reduced discovery time
• Separated name / IP and MXID, to be able to query both USB path / IP and MXID
• Android support
• libusb dependency is now managed by Hunter
• IMU FW update for BNO sensor
• Added DetectionParser node as a standalone component of DetectionNetwork
• StereoDepth - subpixel fractional bits API
• VideoEncoder - lifted 16 frame pool limitation

Bug fixes

• ColorCamera setIspScale resource allocation bugfix

Misc

• XLinkConnection::bootBootloader improved error handling

Bug fixes

• Updated FW with EEPROM fixes
• Fixed nlohmann json < v3.9.0 compatibility
• Fixed intermediary toolchain generation

Features

• OV7251 (OAK-D Lite mono camera) configurable FPS (#455)
• Eeprom version v7 (#461)
• Improve PoE throughput and latency for some usecases (#428)

Bug fixes

• Regression: setLoadMesh didn't overwrite useHomographyRectification behavior (70d4796c94c6741af73c09731c3786cb68c1d15f)
• VideoEncoder:
• fix keyframe (IDR) rate config (before it didn't change from the default of 30)
• fix resource computations for JPEG (preset FPS per instance was hardcoded to 30, it didn't allow video MJPEG at 4K 30fps + still 12MP at about 1fps). The encoder limit for JPEG is about 450.. 460 MPix/s
• Fixed incorrect stereo calibration for 2 batches of OAK-D-LITEs. Board revisions affected: boardName = OAK-D-LITE; boardRev = R1M1E1 and R0M0E0. If incorrect depth measurements were observed it's highly recommended updating to this version.

Misc

• Stereo: Auto enable distortion correction for fisheye lenses (#470)
• Stereo: Enable RGB alignment in examples where inference is performed on RGB camera (#457)

Related PR: https://github.com/luxonis/depthai-shared/pull/96

Features

• UTF-8 support (#384)
• BMI270 support (#424)
• Add on-device mesh generator for Stereo (#437)
• Added capability to serialize pipeline to JSON (#452)

Bug fixes

• Fixed reporting when NN blob is not set (#449)

Misc

• Updated libnop - C++20 compatiblity fixes (#448)
• Added Clock.now on device side

Related PR: https://github.com/luxonis/depthai-shared/pull/93

Features

• Customizable depth unit

Bug fixes

• Warp engine improvements for RGB alignment/stereo rectification
• Device isClosed fix

Misc

• Bump Hunter version

Related PR: https://github.com/luxonis/depthai-shared/pull/90

Features

• Confidence map alignment optimizations
• Thermal protection critical log & shutdown

Bug fixes

• XLink library improvements and race fixes
• Fix for default delta parameters for spatial/temporal filters when subpixel mode was enabled (they were set to 0)
• Calib data RGB spec translation fix for some CM3/CM4 boards (https://github.com/luxonis/depthai-core/pull/422)

Misc

• move semantics with DataOutputQueue::addCallback() (https://github.com/luxonis/depthai-core/pull/398)
• Use focal length from calibration by default for Stereo node (https://github.com/luxonis/depthai-core/pull/426)

Features

• Support for IR laser dot projector and LED flood illuminator on OAK-D Pro devices (turned off by default)
• XLink library improvements for PoE devices
• Added watchdog protection for USB devices (fixes the need to power cycle the device)
• Updated Bootloader (v0.0.17) with PoE connectivity improvements
• Capability to use focal length from calibration for fisheye cameras
• Stereo
• Depth and RGB alignment optimization
• Subpixel + LR-check optimization - capable of 30fps @800p
• Confidence map and RGB alignment
• Exposed sequence numbers and timestamps for some additional messages for easier syncing
• Added capability to query network information using OpenVINO Blob class
• Message setter chaining for ease of development
• Exposed additional FeatureTracker metadata
• Testing CI
• OpenVINO 2021.4.2 support
• Apriltag support
• FPS change and image orientation control for IMX214 color camera (on OAK-1 Lite and OAK-D Lite)
• IMX378 camera driver can also handle now IMX380 and IMX577 sensors, besides IMX477

Bug fixes

• FW Bug Fixes for PoE stability issues
• Modified default Script processor from MSS to CSS (stability improvement measure)
• Swap ACCELEROMETER_RAW X and Y axis to match ACCELEROMETER readings
• Skip invalid devices ("") when searching and issue a warning instead.
• Default orientation corrected on OAK-1 Lite and some newer OAK-1 devices (was upside down)
• Fix for focus control not working with some IMX477 cameras

Misc

• MSVC INTERPROCEDURAL_OPTIMIZATION fix
• Modified libnop library to not require MSVC conforming preprocessor anymore
• Specified minimum nlohmann version to reduce version conflicts
• Documented and exposed many more environment variables to control library behavior
• Enabled queue size of zero for callback only operation
• Memory usage optimizations when ColorCamera still output is not used

Features

• Added checks for StereoDepth if input/output messages are not connected as expected

Bugs

• Fixed regression from 2.14.0.0 for ColorCamera, StereoDepth initial config
• Edge case fixes for StereoDepth: post-processing + median OFF + disparity only triggered a crash

Misc

Features

• Added watchdogInitialDelayMs to PrebootConfig, for the host to set optionally and override the device defaults, currently 8s for USB, 15s for Ethernet.
• Added libnop as serialization library instead of nlohmann, reducing CPU usage on both host and device side
• Added IO groups (Allows same names in different IO maps: node.inputs['test1'], node.passthroughs['test1']
• Added IO option waitForMessage to control this behavior
• Implemented stereo depth post processing filters:
• Spatial filter
• Temporal filter
• Speckle filter
• Decimation filter
• Threshold filter
• FeatureTracker: Add support for 4k/12MP inputs
• Add IMU support for CM4-POE board

Bug fixes

• Fix an issue with watchdog timeout being overridden to 1.5s for Ethernet case. Normally the device will choose 1.5s for USB, 4s for Ethernet. Might have been a cause for watchdog induced crashes in case of network congestion, but not confirmed.
• XLink related fixes. Thanks to @diablodale
• Fix for Stereo HW desync when extended mode is enabled

Misc

• Fix typo: assigment -> assignment in ObjectTracker node
• Code changes: https://github.com/luxonis/depthai-core/pull/311
• Related PR: https://github.com/luxonis/depthai-shared/pull/75

Features

• Added manual white balance (color temperature) camera control

Bug fixes

• Firmware:
• Fix a potential crash when VideoEncoder is used (regression from v2.13.0)
• Fix a crash when more than 4x VideoEncoder instances are created
• Fix a StereoDepth crash with RGB-depth alignment and missing RGB calibration (having the latest calib v6)
• Fix RGB-depth alignment when running at full mono camera resolution
• XLink:
• Fix a potential segmentation fault on device close
• Fix some incorrectly calculated timeouts (on wait for reset)

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/288; https://github.com/luxonis/depthai-shared/pull/69

Known issues

• OAK-D Lite
• FPS currently fixed to 30
• Auto-exposure flicker may be seen on Mono cameras

Features

Bugs

• Fix for resource allocation issues when setRuntimeModeSwitch is used in StereoDepthnode

Misc

Known issues

• OAK-D Lite
• FPS currently fixed to 30
• Auto-exposure flicker can be seen on Mono cameras
• Release 2.13.X
• Firmware might crash when using camera controls in conjunction with VideoEncoder. Issue: https://github.com/luxonis/depthai-core/issues/278

Features

• Improved initialization to be thread and exception safe (Thanks @diablodale)

Bugs

• Fixes regression in XLink library regarding SIGPIPE signal (PoE devices, Linux & macOS)

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/280

Known issues

• OAK-D Lite
• FPS currently fixed to 30
• Auto-exposure flicker can be seen on Mono cameras

Features

• Support for OAK-D lite
• Lazy loading for video encoder: memory is allocated based on the resolution of the first frame, no need to specify at pipeline build time. Bitrate is set automatically based on resolution unless specified explicitly.

Bugs

• Fixes for XLink build on macOS

Misc

• Resolved some static analyzer warnings in the codebase. Thanks to @diablodale
• Code changes: https://github.com/luxonis/depthai-core/pull/273, https://github.com/luxonis/depthai-shared/pull/66

Known issues

• OAK-D Lite
• FPS currently fixed to 30
• Auto-exposure flicker can be seen on Mono cameras

Bugs

• Fixed Windows prebuilt libraries (x64)
• Updated XLink dependency with a macOS build fix

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/266

Features

• Added stereo extended mode
• Fine-tuned stereo settings
• Default confidence threshold: 245
• Default left-right check mode enabled
• Default left-right check threshold: 10
• Updated object tracker, added KCF and short-term tracking modes
• Support for arbitrary YOLO v3/v4 resolution in YoloDetectionNetwork

Bugs

• Fixed Windows build and ZLIB target (https://github.com/luxonis/depthai-core/pull/237)
• Internal FW fixes for OpenVino, Script node

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/261

Features

Bugs

• Firmware fixes for occasional crashes between ISP and Stereo node
• Build fixes with Visual Studio 15 2017 Win64

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/230
• depthai-shared changes: https://github.com/luxonis/depthai-shared/pull/58

Features

• Improved Stereo Depth:
• Fixed runtime crashes when subpixel, LR-check was enabled.
• Reduced memory footprint, implemented median filtering for subpixel/LR-check, exposed all HW options.
• Note: extended mode is not available.
• Added Windows prebuilt library
• Added Backward - stack trace printer
• Preboot config (USB speed, vid & pid changes, ...)
• Updated Bootloader to v0.0.15
• Bootloader configuration (Boot timeout, IP settings, ...)
• Capability to compress FW when flashing
• Boots flashed FW by default even with host connected
• Resolved flashing bug with latest Bootloader
• Added Flash booted state
• SPI Improvements - Speed and correct message popping
• ImageManip rotate/warp transforms: maximum output height increased from 1520 to 2560
• Unlimited IO connections support

Bugs

• Resolved initial connection intermittent bug
• Fixes for RGB postprocessing for still images (runtime crash when video crop is defined).
• Fixed OAK-1-PoE default camera orientation (upside down).

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/224
• depthai-shared changes: https://github.com/luxonis/depthai-shared/pull/57

Features

• Feature tracking/corner detection support
• XLink chunk size configuration support

Bugs

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/201

Known issues

• Bootloader interaction (flashing and bootloader upgrading) is known to not work. A follow up bugfix release will address this issue
• Added a check to prevent flashing applications on Network type bootloaders (PoE). A follow up bootloader release will address this issue

Features

• Script Node (On device scripting using Python 3.9)
• SPIIn Node (Receive messages through SPI Interface)
• Asset managment improvement

Bugs

• XLink segfault fix
• Performance regression fix when using USB due to changed L2 cache behaviour from copy back to write through.
• Added missing IMU calibration field when reading EEPROM data

Misc

• Dependencies without git clone for piwheels compatibility
• Code changes: https://github.com/luxonis/depthai-core/pull/194

Features

• OpenVIno 2021.4 support
• RGB-mono camera soft synchronization in firmware

Bugs

• Host-FW RPC communication fix

Misc

• Removed OpenVIno 2020.1/2 support
• Code changes: https://github.com/luxonis/depthai-core/pull/185

Features

• Refactored getName, getInput, getOutput functions for Nodes

Bugs

• Out of memory error fix when multiple nodes were enabled: ImageManip + SpatialCalculator
• Queue destruction fix on device close

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/178

Features

Bugs

• NN memory allocation fix

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/176

Features

• Added support for PoE devices
• Bootloader improvements

Bugs

• Memory consumption fix

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/171

Features

• Added EdgeDetector node, using 3x3 HW sobel filter
• Added support for SpatialCalculator on RGB-depth aligned frames; Note: RGB ISP and depth frame must have the same output resolution (e.g. 1280x720), maximum frame width of 1920 pixels is supported
• Added bilateral filter on depth frame
• Added median filter after stereo LR-check
• Added runtime configuration for stereo node: confidence threshold, LR-check threshold, bilateral sigma, median filter
• Added calibration mesh support for fisheye lenses
• Bumped c++ standard to c++14

Bugs

• Calibration handler fixes

Misc

• Code changes: https://github.com/luxonis/depthai-python/pull/302

Features

• IMU support
• Calibration read/write API
• Added missing documentations
• Added depthMin, depthMax values to spatial calculator

Bugs

• Fixed timestamp synchronization between LeonOS and LeonRT cores in firmware
• Modified Python examples naming to py_ to avoid name clash
• Fixed RGB-depth misaligment

Misc

• Code changes: https://github.com/luxonis/depthai-core/pull/149

Features

• Synchronized python/cpp examples, added missing examples between python/cpp, added code tabs in documentation
• Lossless image encoding
• Added getUsbSpeed API to retrieve connection speed

Bugs

• Random crash on raspberry pi/jetson, stability fixes.
• OV9282: fix over-exposure outdoors, in sunlight
• Fix disparity/depth potential flipping between frames, with LR-check enabled
• StereoDepth depth output alignment to RGB works now (only disparity worked before)

Misc

• With LR-check enabled, disparity/depth is aligned to 'right' frame by default, and setRectifyMirrorFrame is ignored.

Features

• ColorCamera improvements
• StereoDepth alignment capability
• Build system improvements

Bugs

• DetectionNetwork - MobileNet parsing bugfix

Misc

• Deprecated startPipeline - decoupled Device and Pipeline

Bugs

• Internal FW bugfixes for SpatialCalculator

Features

• OpenVINO 2021.3 support
• Deprecated OpenVINO 2020.1
• Added object tracker / spatial object tracker
• Added lossless JPEG encoding

Bugs

• Internal FW bugfixes

Features

• Added SpatialCalculator node and specialized networks that combine depth and detection data
• Reworked CMake integration to support find_package by pointing to either build or installation directory
• Some documentation improvements
• Changed all stereo depth output format to U16 (FP16 previously)
• Undefined/invalid depth set to 0 to match standard instead of infinity previously (65535 mm)

Bugs

• Fixed setBitrate parameter documentation and added setBitrateKbps
• Fixed uninitialized values in ImageManip (timestamp, sequence number etc.)
• Fixed logger in resource allocator, the log didn't reach the host on error.

First Gen2 release

Gen2 releases now come included with complete source archives in both zip and tar.gz formats. These can be found under Assets

Features

Along the accumulated features of gen2_develop it also adds: - Support for find_package(depthai) as well as proper installing with all needed dependencies.
- Submodule not initialized checks - Documentation of public facing functions (and capability to generate doxygen documentation)

Final release for Gen1 codebase.

Flip camera orientation for OAK-1 by default. Removed deprecated CLI options.