Software Stack
DepthAI

ON THIS PAGE

  • Release Notes
  • DepthAI V3
  • DepthAI 3.0.0rc2
  • DepthAI 3.0.0b1
  • DepthAI 3.0.0a15
  • DepthAI 3.0.0a14
  • DepthAI 3.0.0a13
  • DepthAI 3.0.0a12
  • DepthAI 3.0.0a11
  • DepthAI 3.0.0a10
  • DepthAI 3.0.0a9
  • DepthAI 3.0.0a8
  • DepthAI
  • DepthAI 2.28.0
  • Features
  • Bug Fixes
  • Misc
  • DepthAI 2.27.0
  • Features
  • Fixes and stability improvements
  • Python only
  • DepthAI 2.26.0
  • Features
  • Fixes and stability improvements
  • Misc
  • Python only

Release Notes

DepthAI V3

DepthAI 3.0.0rc2

Release date: 11th June 2025 Tag: 3.0.0-rc2What's new:
  • 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
Bug fixes:
  • Fix a regression in ImageManip node on RVC4 introduced on beta.1
  • Fix a regression in Camera resizers
RVC4 OS compatibility
  • Integration tested on Luxonis OS 1.2, 1.6.0-debug and 1.11.0-debug
Known issues / caveats:
  • 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
Installation:
Command Line
1python3 -m pip install depthai==3.0.0rc2
(the first v3 release that was pushed to PyPI!)It can also be installed by specifying the --pre flag like so:
Command Line
1python3 -m pip install --pre depthai --force-reinstall

DepthAI 3.0.0b1

Release date: May 23, 2025 Tag: 3.0.0-beta.1What's new:
  • 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
Bug fixes:
  • Fix embedded FE serving on Windows for Visualizer
  • Don't uploaded assets to Visualizer when showing the pipeline graph
Breaking changes:
  • 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
RVC4 OS compatibility
  • Integration tested on Luxonis OS 1.2, 1.6.0-debug and 1.11.0-debug
Known issues / caveats:
  • 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
To install:
Command Line
1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/ depthai==3.0.0b1

DepthAI 3.0.0a15

Release date: April 15, 2025
Tag: 3.0.0-alpha.15
  • 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.
Known issues / caveats On release flavors of Luxonis OS for RVC4 the camera stack can stall, requiring a reboot for streams to resume.
Until fixed, use ‑debug OS images.
Integration tested on Luxonis OS 1.2, 1.4.1, 1.5.0 and 1.6.0‑debug, but we recommend using latest (1.6-debug). You can Install this DepthAIv3 version using this command:
Command Line
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
Integration tested on Luxonis OS 1.2, 1.4.1, 1.5 and 1.6, but we recommend using latest (1.6). You can Install this DepthAIv3 version using this command:
Command Line
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:
Integration tested on Luxonis OS 1.4.1, but should work on anything above version 1.2. You can Install this DepthAIv3 version using this command:
Command Line
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)
Integration tested on Luxonis OS 1.2 and 1.3, Install using this command:
Command Line
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
Integration tested on Luxonis OS 1.2, initial tests with 0.26. Install using this command:
Command Line
1python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local/  depthai==3.0.0a11

DepthAI 3.0.0a10

Alpha.10 is mosty just a patch release.
  • 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
Integration tested on Luxonis OS 0.25, expected to work with 0.26 as well.Luxonis OS 1.0 does not work with DAI due to a bug in camera discovery and neither does the device setup

DepthAI 3.0.0a9

Released December 2, 2024. Compatible with Luxonis OS 0.25.
  • 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

Released December 2, 2024. Compatible with Luxonis OS 0.25.
  • 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

This is the v2 version of DepthAI, which doesn't support RVC4 devices.

DepthAI 2.28.0

Released August 20, 2024

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

Released June 27, 2024

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

Released: May 26, 2024

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.