1.40.1

• New API in core C++ SDK (available for commercial customers):
  • Vio::addHeading(...) to input heading direction (for initialization)
• Add support for OAK-D Lite devices with an IMU
• Mapping API (and sai-cli process) bug fix for iPhone data with TOF sensor
• New option to initialize heading from GNSS
• Improved take-off initialization feature
• Bug fixes

Supported versions:

• DepthAI v2.28.0
• librealsense v2.55.1 (requires Microsoft Visual C++ Redistributables installed)
• OrbbecSDK v1.10.12

1.39.0

• New API in core C++ SDK (available for commercial customers):
  • Vio::addBarometer(...) to input raw barometer measurements
• Improvements to sai-cli calibrate calibration tool (calibration report, bug fixes)
• Bug fixes to sai-cli process (#56, #60)

Supported versions:

• DepthAI v2.28.0
• librealsense v2.55.1 (requires Microsoft Visual C++ Redistributables installed)
• OrbbecSDK v1.10.12

1.38.3

• Added camera intrinsics and extrinsics calibration with sai-cli calibrate command to Python tools. See -h for instructions. Installed from PyPi via pip install spectacularai.

Supported versions:

• DepthAI v2.28.0
• librealsense v2.55.1 (requires Microsoft Visual C++ Redistributables installed)
• OrbbecSDK v1.10.12

1.37.0

• New API in core C++ SDK (available for commercial customers):
  • Vio::addFrameMono(...)to input image and features
  • Vio::recordJsonString(...) to add custom metadata JSON line to the recording output.
• Mac support (Apple Silicon) for core C++ SDK (available for commercial customers)
• Bug fixes

NOTE: SpectacularAI Realsense C++ Plugin for Windows version 1.37.0 will be released later.

Supported versions:

• DepthAI v2.28.0
• librealsense v2.55.1
• OrbbecSDK v1.10.12

1.36.0

• Update DepthAI to v2.28.0 (Built with -D'DEPTHAI_ENABLE_CURL=OFF')
• Update librealsense to v2.55.1
• Update OrbbecSDK to v1.10.12
• Bug fixes

NOTE: SpectacularAI Realsense C++ Plugin version 1.36.0 will be released later.

1.35.0

• Python 3.12 support
• Support for 14 coefficient brown-conrady camera calibration model
• Support OAK-D-SR
• Internal ENU coordinate system now always starts at 0 altitude

1.34.0

• Update OrbbecSDK to v1.10.5
• Support OAK devices without middle RGB camera (#39)
• Bug fixes

1.33.0

• Added option to get detected April Tags from Mapping API
  • You can test it using this example code: https://github.com/SpectacularAI/sdk-examples/blob/main/python/oak/april_tag.py
• Fixed issue where tracking didn't always initialize when April Tags were used

1.32.0

• Add low latency mode to OAK-D plugin. Output on every IMU sample (instead of frame). Polling an output returns the latest output, instead of next the output in the queue. (Note: issue on Windows, where IMU samples are batched.)
• Update DepthAI version to v2.25.0 in OAK-D C++ plugin
• New Python API (previously only on C++ side): Camera::pixelToRay(...), Camera::rayToPixel(...), CameraPose::pixelToWorld(...), CameraPose::worldToPixel(...)
• Improve SDK warnings about clearly invalid calibration (#31)
• Add mesh output support to sai-cli process
• Add April Tag recording support to sai-cli record oak
• Bug fixes

1.31.0

• New API: Added option to ignore vio_config.yaml in recording folder in Replay API.
  C++: ReplayBuilder::setIgnoreFolderConfiguration(bool ignoreFolderConfiguration)
  Python: Replay(ignoreFolderConfiguration)
• Improvements to sai-cli process tool