1.14.0

• Improved AprilTag performance
• OAK-D SDK: Bugfix in RGB-to-gray extrinsics (camera alignment). Caused issues in mixed reality examples and with the useColor flag

1.13.1

• Support for Python 3.11
• Support for April Tags: see https://github.com/SpectacularAI/docs/blob/main/pdf/april_tag_instructions.pdf
• Improved SLAM performance

1.12.1

• Use depthai.ImgFrame.getData() rather than getRaw() to acquire image data from DepthAI API to improve compatibility

1.12.0

• Improve performance
• Improve SLAM map post-processing (with Azure Kinect)
• Fixed a bug in spectacularAI::getHorizontalUncertainty(...) in include/spectacularAI/util.hpp

1.11.0

• Bundle depthai with C++ plugin
• Improve performance
• Bug fixes

1.10.0

• Update depthai-core to v2.19.1
• Improve performance
• Bug fixes

1.9.0

• Replay API now supports Windows
• Option to use pre-tracked features with SLAM keyframes
• Fix RealSense frame drops
• Improve performance
• Bug fixes

1.8.0

• Improve RealSense performance on embedded hardware (Enable with config.fastVio = true)
• Output 3d meshes in OAK-D Python plugin (See include/spectacularAI/mapping.hpp)
  • Demo example
• Improve SLAM performance
• Bug fixes

1.7.0

• Improved tracking performance on stereo cameras with low overlap
• Improved SLAM
• Improved Python documentation
• Bug fixes

1.6.0

• Improved tracking performance
• Various SLAM tweaks
• Bug fixes