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

1.30.0

• Enabled useExternalPoseOrientation by default, this means addAbsolutePose(...) will also apply rotation by default
• Add angular and linear velocity to Mapping API outputs
• Fix potential memory leak in Mapping API

1.29.0

• Improved SLAM performance
• Bug fixes to sai-cli commandline tool
• Updated OrbbecSDK version to 1.9.4

1.28.0

• Realsense, Azure Kinect and Orbbec recording tools (sai-record-device) now have live visualization!
• Orbbec plugin new API: Pipeline::imuToCameraLeft. Adds support for most Orbbec devices (not needed with Femto and Astra2 devices)
• Fix Orbbec imu/camera timesync issue
• Updated Azure Kinect release
• Bug fixes

1.27.0

• New API: Vio::addVelocity(...) (in core C++ SDK)
• New documentation: https://spectacularai.github.io/docs/sdk/
• Orbbec Astra 2 support
• Orbbec Windows support
• Bug fixes

Known issues:

• Orbbec examples, vio_visu.py and vio_jsonl.cpp leave the camera in bad state when closing, causing tracking to fail when used second time.

1.26.2

• Support for Orbbec Femto Mega & Femto Bolt (BETA)
• A new addition to Mapping API, you can get sparse feature points used by SLAM via spectacularAI::mapping::Frame::sparseFeatures
• Fixes sai-cli process failing with Android data
• Fixes useVioAutoExposure = True

1.26.1

• Orbbec Astra 2 support (BETA)!
• OAK-D: Fixes crashes related to missing getTimestampDevice() method
• Improved sai-cli processing and preview visualizations
• Bugfixes

Known Issues:

• useVioAutoExposure = True is buggy, this issue also affects earlier releases to some degree

1.25.1

• Fix monocular video replay on some datasets

1.25.0

• New Python sai-cli command line tool that makes using the Spetacular AI tools and recording data more straight forward
• Better optimized ffmpeg settings for recording
• Bug fixes