1.5.0

• Replay API: Fixes to RGB-D input
• Python mapping API: Add image undistortion & RGB-D alignment helpers
• Improvements to SLAM performance

1.4.0

• Enable OAK-D Pro/S2 color camera for VIO/SLAM & RGBD mapping
• RealSense: new post-processing flag for mapping API. Improves final reconstructions
• OAK fix: should recognize OAK-D S2 the device by board name and set the IMU-cam extrinsics correctly
• OAK bug fix in saving .bin SLAM map (appeared in vio_record.py example code: error on exit)
• Improve SLAM performance

1.3.0

• Support for OAK-D S2 devices
• Update to DepthAI v2.17.3
• Improved tracking accuracy
• Fixes issues with DepthAI plugin on Windows

1.2.0

• Improvements to SLAM accuracy
• Use depthai-core v2.16.0

Known issues:

• DepthAI plugin C++ version doesn't work properly on Windows. To get around this you can use the previous 1.1.1 version with depthai-core v2.15.3 or use SDK 1.2.0 with Python

1.1.1

• Fix OAK-D gyroscope spike anomaly issue by decreasing input IMU frequency. Improves performance on OAK devices
• Improve SLAM accuracy
• Reduce log spam on Windows

1.1.0

Release notes

• Improved SLAM
• Gyroscope anomaly filter for OAK-D
• close() and runReplay() to Replay API, startReplay() no longer blocks

1.0.0

Non-commercial C++ plugins for OAK-D and RealSense devices