Release v3.0.0-rc.4

Features

• 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

Bug fixes

• 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

Misc

• Removed the deprecated imageIn input on DetectionParser which has been replaced by using ImgTransformations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

RVC4 OS comaptibility

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