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