Depthai

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 ("<error>") 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 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 `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-python/pull/472
- Related PR: https://github.com/luxonis/depthai-core/pull/311

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