Release 2.26.0.0

[moratom]

Features

• ImageAlign node
  • it can align depth to any other sensor on the device - works for ToF too.
  • it can align two sensors with each other using intrinsics only, useful for thermal-rgb alignment
• Cast node
  • Cast NNData message to ImgFrame
  • Useful in case apps need to use outputs from NeuralNetwork node to be fed into nodes that only accept ImgFrame
• Full ToF support
  • Running live at 30 FPS
  • Measuring range of 20cm - 6m
  • < 1% error across the range
• Support for ToF in spatial nodes
• Add an option to limit bandwidth over XLink setXLinkRateLimit(int maxRateBytesPerSecond, int burstSize, int delayUs)

Stability improvements and bug fixes

• Improved PoE stability on reboots - eliminate the case where powercycle of the device was sometimes needed
• Improved runtime stability of heavy pipelines by increasing priority of the cameras in the NoC
• Improved ImageManip stability
• Improved XLink communication to be able to detect memory corruption and avoid it
• Fix a bug where stereo rectification was inaccurate when the calibration data didn't contain direct link between the two inputs
  • Relevant for custom setups on FFC devices

Misc

• Improve numerical stability of the rectification algorithm
  • Improves stereo quality on wide FOV sensors

Python only

• Add docstrings to stubs - docs are shown in Vscode by default now
• Fix stubs/autocomplete to correctly work with with dai.Device() as device
• Fix stubs/autocomplete to return the correct type in getCvFrame function.