1.22.0

• Fixed OAK-D depth map alignment to use rectified camera
• Fixed mapping api output poses to have correct timestamps
• Improved tracking accuracy

1.21.0

• Add useGrayDepth option to OAK-D plugin Configuration: Use one gray image and depth map for tracking (without feature tracker)
• Improve GNSS SLAM performance

1.20.0

• OAK-D plugin: Use device time for more accurate time sync between camera and IMU
• Update depthai-core to v2.22.0 (Fixes rectification issue on OAK-D Pro W)
• K4A plugin: Add getDeviceHandle() to Pipeline, user can now adjust all device settings using K4A SDK API
• Bug fixes

1.19.1

• Bug fixes

1.19.0

• Add forceUnrectified option to OAK-D plugin Configuration
• Support OpenCV omnidir camera model
• Improve useVioAutoExposure with OAK-D plugin
• Bug fixes

1.18.2

• Bug fixes

1.18.1

• Fix synchronization and depth alignment issues with OAK-D plugin
• Added useVioAutoExposure flag to OAK-D plugin Configuration. Enables SpectacularAI auto exposure, which optimizes exposure parameters for VIO performance (BETA)
• Update depthai-core to v2.21.2.0
• Improve VIO and SLAM performance
• Bug fixes

1.16.1

• Fix a crash in mapping API with no feature tracker

1.16.0

• Improve VIO and SLAM performance
• Improve AprilTag performance

1.15.0

• Improve VIO and SLAM performance
• Bug fixes