1.47.1

• Improve VIO tracking status
• Add FrontRightDown calibration tool (sai-cli calibrate-frd)
• Make useStereo=false optional for monocular data
• Fix replay crash with iOS TOF data

Supported versions:

• DepthAI v2.28.0
• librealsense v2.56.5 (requires Microsoft Visual C++ Redistributables installed)
• OrbbecSDK v1.10.18

1.46.0

• Orbbec: Fix SLAM module not working in Replay mode
• Orbbec: Fix an issue where IMU is stopped little later than camera, resulting in confusing warning SpectacularAI WARN: IMU buffer max size exceeded, not waiting for more frames.

Supported versions:

• DepthAI v2.28.0
• librealsense v2.56.5 (requires Microsoft Visual C++ Redistributables installed)
• OrbbecSDK v1.10.18

1.45.1

• Fix a rare crash in recording mode when I/O blocks
• Improve frame drop warning messages

1.45.0

• Use FFmpeg ultrafast preset by default in recording
• Add passThroughColorImages to point-cloud parameter set to preserve point cloud RGB colors
• Supported versions: OrbbecSDK v1.10.18
• Fix tracking on Orbbec Femto Mega (change interpreted gyroscope orientation)

1.44.0

• Add a GnssVioOutputStatus field to GnssVioOutput (one of VIO, GNSS, VPS)
• Move AutoExposureOutput to the core SDK
• Update librealsense to v2.56.5

1.43.1

• Support external features with input framesets (Commercial users)
• Improved V4L2 plugin user manual for Raspberry Pi 4, 5 and Jetson integrations (Commercial users)
• No RealSense release (use https://github.com/SpectacularAI/sdk/releases/tag/v1.41.0)

1.43.0

• Fix a rare deadlock when using single output thread
• Report lost tracking after significant frame gap
• No RealSense release (use https://github.com/SpectacularAI/sdk/releases/tag/v1.41.0)

1.42.2

• Improved PDF user manual
• Bug fixes
• RealSense plugin is not included in this release because a needed bug fix has not been included in latest librealsense release.

1.41.2

• New API in core C++ SDK (available for commercial customers):
  • CameraRayTo3DMatch and CameraRayToWgsMatch inputs now have optional variance field
  • Support YUYV422 image format
• Improved VIO initialization
• Fix Vio::addHeading() to use clockwise from north convention as documented

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