Release Notes

DepthAI V3

• DepthAIv3 rc4
• DepthAIv3 rc3
• DepthAIv3 rc2
• DepthAIv3 beta.1
• DepthAIv3 alpha.15
• DepthAIv3 alpha.14
• DepthAIv3 alpha.13
• DepthAIv3 alpha.12
• DepthAIv3 alpha.11
• DepthAIv3 alpha.10
• DepthAIv3 alpha.9
• DepthAIv3 alpha.8

DepthAI 3.0.0rc4

• Added ObjectTracker node on RVC4 which can also run as a host node.
  • Based on OC-Sort algorithm
  • Improved performance compared to the RVC2 implementation
  • Examples
• Added support for runtime calibration changes on RVC4
• Support for undistorted outputs in Camera node on RVC4
  • Example
• Added ToF Filtering
  • Greatly reduces noise and improves quality
  • Filtering is enabled by default on the ToF node
  • The filters currently run on the host
  • The filtering can also be used independently with the new ImageFilters node
  • Example

• Fixed an issue where using OV9728 at resolutions smaller than 640x400 forced a mono-only sensor config on RVC2
• Stabilized internal camera clock and monotonic clock syncing
• Fixed the Camera->IMU extrinsics setting in BasaltVIO node
• Fixed an edge case where dai.Device constructor could get stuck indefinitely if the device lost connection at the wrong time by adding a timeout internally

• Removed the deprecated imageIn input on DetectionParser which has been replaced by using ImgTransformations
• Skipped file locking for Zoo model downloads when filesystem is read-only
• getCalibration always returns the current active calibration, even when not set by setCalibration
• Changed the RGBD autocreate logic to use ToF depth on OAK-ToF instead of stereo.
• Added ToF RGB align example
• Added a convenience getNNArchive getter to NeuralNetwork node

• Integration tested on Luxonis OS 1.6.0-debug, 1.14.1-debug and 1.15.0-debug

• On release flavors of the OS on RVC4, the camera stack can get stuck in a bad state, where cameras don't start streaming again and a reboot is needed
  • It is recommended to use -debug versions of the OS, until this is resolved

1python3 -m pip install depthai==3.0.0rc4

1python3 -m pip install --pre depthai --force-reinstall

DepthAI 3.0.0rc3

• Optimized XLink memory usage on RVC2 allowing for larger pipelines without running out of memory
• Added support for the latest revision of the OAK-ToF (R4)

• Edge case in ToF decoding overflow fixed
• Fixed a regression on DSP post-processing in Stereo node on RVC4
• Addressed the camera timestamp drift on RVC4
• CalibrationHandler.getCameraExtrinsics() regression fixed by flipping the matrix multiplication order
• Fixed a possible race condition in ImageManip in LOW_POWER mode on RVC4

• Added missing bindings for RotatedRect in Script node on RVC2
• Switched to standardized access for EEPROM on RVC4 platform
• Switched to std::filesystem::path from dai::Path throughout the codebase
• Added unique input names by default making multi-input host nodes work without the need to explicitly name inputs/outputs
• Added examples for EdgeDetector and SystemLogger
• Added filesystem locks for Zoo model downloading for multi-process usage
• Added support for parallel Debug and Release builds on Windows (previous limitation due to vcpkg)

• Integration tested on Luxonis OS 1.2, 1.6.0-debug and 1.14.1-debug

• On release flavors of the OS on RVC4, the camera stack can get stuck in a bad state, where cameras don't start streaming again and a reboot is needed
  • It is recommended to use -debug versions of the OS, until this is resolved

1python3 -m pip install depthai==3.0.0rc3

1python3 -m pip install --pre depthai --force-reinstall

DepthAI 3.0.0rc2

• Pre-rotated the IMU outputs to the RH coordinate system so from the perspective of the camera the axis are:
  • X pointing right
  • Y pointing down
  • Z pointing to front (out of the glass)
• Updated dependencies to support latest compilers and CMake 4
• Forward ported the setCalibration and getCalibration functions on RVC2 to support dynamic calibration

• Fix a regression in ImageManip node on RVC4 introduced on beta.1
• Fix a regression in Camera resizers

• Integration tested on Luxonis OS 1.2, 1.6.0-debug and 1.11.0-debug

• On release flavors of the OS on RVC4, the camera stack can get stuck in a bad state, where cameras don't start streaming again and a reboot is needed
• It is recommended to use -debug versions of the OS, until this is resolved

1python3 -m pip install depthai==3.0.0rc2

1python3 -m pip install --pre depthai --force-reinstall

DepthAI 3.0.0b1

• Missing C++ were added to match the Python examples
• Add support for C++ integration of the library
• Add low power mode to ImageManip on RVC4
• Lower resource usage for OAK-D-Lite IMX214, much improving the experience with the Lite on v3
• Add support for very small outputs out of Camera node on RVC2
• Add support for all resize modes on Camera node on RVC4 (letter box, scale, crop)
• Turn off luma de-noising on stereo sensors by default on RVC4 to improve Stereo performance
• Add a new field name to ImgDetections and SpatialImgDetections
• Embedded visualizer bumped to 0.12.33

• Fix embedded FE serving on Windows for Visualizer
• Don't uploaded assets to Visualizer when showing the pipeline graph

• Yolo/Mobilenet variations of [Spatial]DetectionNetwork were removed.
• ColorCamera and MonoCamera were deprecated
• ImageManipV2 was renamed to ImageManip and the old ImageManip was removed
• Deprecated alternatives to initialConfig on all nodes were removed
• [C++ only] - initialConfigs on applicable nodes are now held by std::shared_ptr
• Spatial nodes now output results in right hand coordinate system

• Integration tested on Luxonis OS 1.2, 1.6.0-debug and 1.11.0-debug

• On release flavors of the OS on RVC4, the camera stack can get stuck in a bad state, where cameras don't start streaming again and a reboot is needed
  • It is recommended to use -debug versions of the OS, until this is resolved

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/ depthai==3.0.0b1

DepthAI 3.0.0a15

• New
  • Full support for MJPEG and H26x encoders from non‑camera sources on RVC4.
  • Added RGBD node with both color point‑cloud output and combined RGB‑D message.
    • Supports autocreate mode to auto‑align RGB and depth.
    • Examples ↗
  • Holistic Record & Replay (early access) — convert examples to record/replay without changing source code.
    • Early‑access limitation: device‑capability mocking not yet implemented; replay for stereo or advanced examples must run on the same device.
    • Examples ↗
  • Device discoverability in setup mode with guidance to setup.luxonis.com.
  • HDR support for IMX586 on RVC4.
    • Works on OAK4‑S; requires a forthcoming Luxonis OS update for OAK4‑D / OAK4‑Pro.
    • Enable with camera.initialControl.setHdr(True) (runtime configurable).
  • DSP implementation for StereoDepth algorithms (filters, LR‑check, disparity to depth conversion) on RVC4.
  • NeuralNetwork node now copies ImgTransformations to additional inputs in multi‑input models when only one input defines them.
  • Embedded visualizer bumped to v0.9.20.
• Bug fixes
  • Prevent dead‑lock edge‑cases when adding callbacks to queues at runtime.
  • Fix dai.ImgAnnotations casting error on Windows.
  • Address undistortion edge‑cases in Camera node.

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/ depthai==3.0.0a15

DepthAI 3.0.0a14

• New:
  • Added support for 48MP (8000x6000) resolution on OAK4 cameras (example here). Current limitations:
    • Only one additional camera can run in parallel with 48MP
    • Only one output (full-res) can be requested from the Camera node. Please use ImageManip to create additional streams.
  • ROI-based auto-exposure and auto-focus for OAK4 cameras, example here
  • Camera node now supports raw output, example here
  • Greatly improved connection time on OAK4 cameras (needs OS 1.5 or newer)
• Bug fixes:
  • Fix CameraSocker not found issue that sometimes happened when starting the pipeline

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/  depthai==3.0.0a14

DepthAI 3.0.0a13

• New:
  • Initial FeatureTracker node implementation for RVC4
  • Warp node now works with RVC4
  • Added features for StereoDepth node RVC4:
    • Split filtering in a separate thread to improve throughput
    • Turn off software LR check and software thresholding by default
    • Now runs at 60FPS for 800P (with LR check enabled), 55FPS for both LR check + Extended disparity
• Bug fixes:
  • ImageManip node on RVC4 fix for Windows
  • Fix issues with excessive logging

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/  depthai==3.0.0a13

DepthAI 3.0.0a12

• New:
  • Manual focus support on RVC4
  • Initial IMU support on RVC4
  • Added BenchmarkIn and BenchmarkOut nodes for both RVC2 and RVC4
  • Undistortion support added for Camera node on RVC2 (WIP for RVC4)
  • Improved NeuralNetwork implementation for multiple threads on RVC4. Before, multiple threads didn't provide better performance, while NN node now matches snpe-throughput-run performance when both are run with the same number of threads.
• Bug fixes:
  • Error out verbosely nicer when unsupported color conversion is requested from ImageManip on RVC4
  • Avoid duplication of NN models in memory on RVC4 (now it's possible to run 1.7GB NN model on RVC4)

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/  depthai==3.0.0a12

DepthAI 3.0.0a11

• New:
  • Crashdump collection for both RVC2 and RVC4
  • New stereo filters from v2.29.0
  • Added .io input/output map to Script node on RVC4 to match the legacy API of the RVC2
• Bug fixes:
  • Fix ImageManip: resizing size off by 1 bug, fix operation where image is reused
  • Fix multiple GIL issues that caused deadlocks on device/pipeline destruction

1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/  depthai==3.0.0a11

DepthAI 3.0.0a10

• Bug fixes:
  • Fix the manylinux wheels
  • Patch calibration for an early run of OAK4-Ds with missing extrinsics for the RGB camera and removing cyclic connections
  • Fix the case when multiple callbacks are added to a single queue

DepthAI 3.0.0a9

• What's new:
  • ImageAlign node on RVC4
  • Add an overridable getVisualizationMessage function to messages to be able to bind the visualization per message for custom parsers, etc.
  • Improved handling in CalibrationHandler which now detects cyclic extrinsics.
  • Update NNArchiveConfig definition to latest and respect the new daiType field if it's set.
  • Added Python3.13 wheels for all platforms.
  • Updated the embedded visualizer
• Bug fixes:
  • Fix passthroughs outputs with multi-input NN on RVC4
  • Fix ImageManip issues with setting the output size on RVC2, RVC4 and Host
  • Fix ImageManip issues with runtime config changes on RVC2
• Misc:
  • Add missing bindings for dai.Point2f constructors which explicit normalize flag
  • For RVC4 alpha.9 was integration tested on Luxonis OS 0.25 but is expected to run fine on 0.26 and 1.0 as well.

DepthAI 3.0.0a8

• What's new:
  • Custom RPCs added to dai.RemoteConnection
  • Lift the limitation of the message size on the host->device bridge on RVC4 to virtually unlimited
  • Wheels sizes reduced by ~50%
  • Support for fine grained FPS on RVC4 (OS 0.25 required)
    • OV9282: 3.0 - 60.0 FPS
    • IMX586: 2.0 - 30.0 FPS
  • Support for the Luxonis OS 0.25 and above
• Bug fixes:
  • Fix support for combined multi-input using NNData on RVC4
• Misc:
  • Hunter was removed and replaced with vcpkg

DepthAI

• DepthAI 2.28.0
• DepthAI 2.27.0
• DepthAI 2.26.0

DepthAI 2.28.0

Features

• Changed the automatic crashdump collection to always on unless DEPTHAI_DISABLE_CRASHDUMP_COLLECTION is set.
• Added DEPTHAI_ENABLE_ANALYTICS_COLLECTION environment variable - when set, analytic data (pipeline schema only) is sent to Luxonis which will be used to further improve the library.
• Undistort both outputs of ToF by default.
• Improved 3A syncing on OAK-D-LR.
• Added support for YoloV10.

Bug Fixes

• Fix Camera node to correctly allocate resources for undistortion.
• Fix StereoDepth node when decimation filter and depth alignment are used.
• Fix host timestamps on OAK-T to be synced correctly.

Misc

• Updated XLink to support clangd and shared libraries on Windows.
• Removed a custom assert to always produce a crash dump to improve the UX with the automatic crashdump collection.
• Increased watchdog priority on device side to improve stability during high load.

DepthAI 2.27.0

Features

• Automatic crash dump collection when DEPTHAI_ENABLE_FEEDBACK_CRASHDUMP is set

Fixes and stability improvements

• Fix PointCloud generation when depth comes out of the ImageAlign node
• Fix IMX214 (OAK Lite) potential crash on init with more complex pipelines
• Fix a rare bug on a crash if a camera stream is closed after 1 second while AF is running

Python only

• Add support for numpy 2

DepthAI 2.26.0

Features

• ImageAlign node
  • it can align depth to any other sensor on the device - works for ToF too.
  • it can align two sensors with a static depth (default at infinity), useful for thermal-rgb alignment
• Cast node
  • Casts NNData message to ImgFrame
  • Useful in case apps need to use outputs from NeuralNetwork node to be fed into nodes that only accept ImgFrame
• Full ToF support
  • Running live at 30 FPS
  • Measuring range of 20cm - 6m
  • < 1% error across the range
• Support for ToF in spatial nodes
• An option to limit bandwidth over XLink setXLinkRateLimit(int maxRateBytesPerSecond, int burstSize, int delayUs)

Fixes and stability improvements

• Improved PoE stability on reboots - eliminate a case where power cycle of the device was sometimes needed
• Improved runtime stability of heavy pipelines by increasing priority of the cameras in the NoC
• Improved ImageManip stability
• Improved XLink communication to be able to detect memory corruption and avoid it
• Fix a bug where stereo rectification was inaccurate when the calibration data didn't contain direct link between the two inputs
  • Relevant for custom setups on FFC devices

Misc

• Improve numerical stability of the rectification algorithm
  • Improves stereo quality on wide FOV sensors

Python only

• Add docs strings to stubs - docs are shown in vscode by default now
• Fix stubs/autocomplete to correctly work with with dai.Device() as device
• Fix stubs/autocomplete to return the correct type in getCvFrame function.