Release v2.21.0.0

[SzabolcsGergely]

Features

• SpatialLocationCalculator/SpatialDetectionNetwork - Support for median and mode, default changed to median
  • Improved x/y accuracy
• StereoDepth
  • Multi stereo support, ability to run stereo between any 2 calibrated cameras
  • Support for LEFT/RIGHT alignment
  • Support to invalidate edge pixels: setNumInvalidateEdgePixels
  • BrightnessFilter - If the input frame pixel is too dark or too bright, the disparity will be invalidated. Default pixels with value 0 are invalidated
  • Added disparityToDepthUseSpecTranslation, rectificationUseSpecTranslation, and depthAlignmentUseSpecTranslation options for advanced usage
  • Fix for RGB alignment when RGB is configured to 12 MP
• Crash dump support - support to retrieve crash context from the device which can be shared with developers
• Configurable 3A fps - setIsp3aFps
• IMU - support to retrieve connected IMU type, and firmware version. Refactored firmware update API
  • BMI270 - enable interrupt mode, timestamps are more consistent now
  • BNO086* - fix for sequence number
• ImageManip -CSC improvements
• Camera sensor improvements
  • AR0234 improved AE smoothness, increased max gain to 400x (first 25.6x analog),
  • OV9782 on RGB/CAM-A socket max FPS: 120 (previously was only for OV9282), also improves image quality in very bright light,
  • OV9782/9282 minimum exposure time decreased: 20us -> 10us, helps in very bright light. TODO update tuning to make use of it, currently only possible to use with manual exposure
  • HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

Bug fixes

• FW: fix for UART0 / '/dev/ttyS0' init failure in Script node
• POE power cycle fix - in rare occasions POE devices got stuck after reboot, requiring a manual power cycle

Misc

• Updated readme on Android support
• [XLink] Increased max number of links from 32 to 64
• Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled
• Handle EEPROM boardOptions bit 7 for separate I2C on L/R

[themarpe]

LGTM