Ros release 2.21.0 (#795)

* Several FW updates: - !!! For all sockets/cameras to be scanned, the EEPROM calib data boardName/productName should contain "FFC" or an FFC-related board name: 1090/2090/2088. Otherwise the behavior is to scan only for standard OAK devices sockets/cameras - Some more checks for the LCM48 (on MAX) supported resolutions - Fixes for RGB-mono SW-sync for standard OAK-D / OAK-D-Lite camera configs - AR0234 monochrome support, however needs an OV9282 enabled at the same time for now * Color/MonoCamera: handle some more cases for newly added resolutions/sockets * Update shared/FW after merge, fix error log printed for MonoCamera AUTO socket * Closes: #355 * Bump version to 2.18.0 * Updated FW with some Color/MonoCamera fixes * stability test * Update FW: - fix for high system load crash, especially on PoE devices - for for OV9282 as MonoCamera on RGB/CAM_A socket * FW: OV9282 720p/800p max FPS: 60 -> 120 * stability test * Added a convinience setTimesync function * Added isUserBootloaderSupported to DeviceBootloader * Updated XLink with Windows improvements when scanning for already booted USB devices * Updated FW with device time reset on boot * Bump to v2.19.0 * Improved wording on unavailable devices * Fix yolo v5 decoding when there is a single class * FW: fixes for certain OV9782 and OV9282 permutations/configs, fix for OV9782/OV9282 alone failing on RGB/CAM_A socket * Update CI to Node16 compatible actions * Update FW: fix image size when decimation filter is enabled * Stability test - limit FPS (#633) * Print CPU usage * Limit the FPS so POE devices aren't maxed out * Increase FPS * Reverse changes to the system logger example Co-authored-by: TheMarpe <[email protected]> Co-authored-by: Matevz Morato <[email protected]> * Added getProductName * Added ids to IO for trace events * Modified pipeline schema dump to happen on trace log level as well * Renamed to getDeviceName and added some legacy handling * Updated FW with productName as protected field and ImageManip behavior revert * Updated style * Added IR driver support for new OAK-FFC 4P * FW: bugfix for device bootup with default static IP * OAK-FFC 4P R5M1E5 IR/Dot support * Bump to v2.19.1 * Added EepromError exception class and improved exception handling in calibration related methods * Increased limit on DeviceBootloader monitor timeout * Fixed check for user-provided toolchain file when given relative path (#645) * Fixed check for user-provided toolchain file when given relative path * WIP: camera/socket board configuration and capability to specify name/alias for a camera instead of socket * Updated Bootloader to v0.0.22 * Added camera naming capabilites, setting and retrieving. WIP: rest of devices * FW/CameraControl: fix still-capture for sockets other than RGB/center * [FW] Fixed ImageManip + Subpixel issues and added FFC camera naming * get/set camera FrameEvent filter * Update depthai-shared submodule * Disable depthai-shared commit hash check * Change github workflows ubuntu version * Update submodule * Rename event filter * fix #650 missing XLinkProtocolToStr() (#657) - add local xlinkproto -> string from luxonis/XLink/tree/5c61615066af6539e50a4a17b5df3466e4350b21 * Updated grammar * Update firmware * WIP: Camera node * Added capability to set XLink logging level via XLINK_LEVEL env var * Replace "_CMAKE_" variables with "_DEPTHAI_" (#662) "_CMAKE_" variables are reserved for internal use and should not be used. This change also makes it harder for other CMake scripts to accidentall overwrite this variable. Co-authored-by: Cameron Blomquist <[email protected]> * Add comments * Update FW: Add missing python bindings for boundingBoxMapping * Updated NETWORK Bootloader with dual protocol capabilities * [FW] Fixed a bug in board downselection. OAK-D S2/Pro camera enumeration fix. * [FW] Added support for Mono video/preview in Camera node * CI - Fixed style & tidy jobs * Updated dual BL to v0.0.23 temporary build * Added OAK-D-LR support. WIP: Orientation capability * [FW/XLink] Explicitly limited to single connection * ImageManip added colormap capability. TODO min/max range selection * Add option to override baseline and/or focal length for disparity to depth conversion * [FW] OAK-D-LR - Fixed default image orientation * Updated brief description that affects docs of the DetectionParser node. * Modified API of Camera a bit * Updated FW with Camera changes and warp capabilities * Updated FW with Camera warp capabilities * Added dai::span * Added undistort/warp API to Camera node * FW - Modifed watchdog to do a graceful reset instead * Added additional API to retrieve timestamps at various exposure points * Fixed documentation on ObjectTracker::setMaxObjectsToTrack * WIP: mockIsp capabilities * [FW] Fix for CAM_C not being detected * Device - Added non exclusive boot option * Slight Colormap API improvements * [FW] Added OpenVINO version 'universal' * Added DeviceBase convinience constructors taking name or deviceid as string * Add mode and median support to SLC * Disabled some of the functionality for now * Tweaked getTimestamp & exposure offset API * FW: IMX296 support, added THE_1440x1080 resolution * FW: IMX296 Camera node, IMX378 1080p limited to 60fps * Bump version to 2.20.0 * Applied formatting * Temporary revert to macos-11 for CI due to Catch2 issues * Update FW, API * Update FW * Modified OpenVINO::VERSION_UNIVERSAL * Updated Bootloader to 0.0.24 * Bump version and FW to 2.20.1 (Status LEDs improvement) * calibration_flash example fix * Fixed api docs for Warp HW ids * FW: fix crash with ColorCamera at high resolution and certain ISP scaling * FW: fix crash with ColorCamera at high resolution and certain ISP scaling * Bump version to 2.20.2 * Added an ColorCamera isp scale example, and modified test workflow * Implement multi stereo support * Implement brightness filter * FW: fix OV9282 SW-sync on devices with OV9782 RGB camera * Update FW: Fix OOM due to too many SIPP pipelines * Modified default device config OpenVINO version to universal * Merge branch 'catch2_update' * FW: handle EEPROM `boardOptions` bit 7 for separate I2C on L/R * FW: fix for IMX378/477/577 on sockets other than RGB * Update FW: support for stereo alignment to original left or right inputs; OOM fix for 4 stereo nodes with median filter * Update FW: parsing optimization and improvements for Yolo v6, v6r2, v8 * Update FW w/ syncing stall fix * Update stereo with more robust frame sync * Update FW with optional override of spec translation for stereo algorithm calculations * Correct type * Update SPIOut.hpp to address error C4458: declaration of 'id' hides class member * Expose center alignment scale factor for debug purposes * Expose SIPP mempool configurable sizes * Update FW * Fixed usage of DeviceBootloader with incomplete DeviceInfo and added a convinience constructor * Closes: #714 * Add alpha scaling option for StereoDepth * Update FW before merge * Update FW with RGB alignment fix * Update FW with performance metrics when DEPTHAI_LEVEL=info is enabled; enable brightness filter for 0 intensity pixels by default * Improve spatial calculation X and Y accuracy; fix RGB alignment when custom output depth size is specified * [XLink] Increased max number of links from 32 to 64 * Add crash dump functionality * Change API to return just crash dump * Update FW with commit hash attached to crash dump * Update FW with fix for serialization of thread name * Add hasCrashDump API * Update FW * Update FW, crash dump contains device ID * Enable MEDAIN spatial calculation method for SpatialDetectionNetwork * Update FW * Update docs * FW: HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS * Change default SIPP buffer sizes * Add 3A skipping option to reduce CPU usage * Change API to be able to configure isp 3A FPS * Update BoarConfig with limits * Update script node python bindings * Update FW: Add workaround for BNO sequence number limit of 256 (sensors sends uint8) * FW: 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 * Update stereo_depth_video.cpp * Enable interrupt mode: Update BMI driver with fixes from: boschsensortec/BMI270_SensorAPI#16 * Update ObjectTracker with improvements from rvc3 * Add API to set trackingPerClass in ObjectTracker node * Update FW before merge * Update FW with IMU fix for BNO * Add IMU versioning; firmware versioning, firmware update status callbacks * Update FW with fix for BMI timestamp * Update FW: IMU support for OAK-D-SR * Fix 'default constrictible' error on some compilers * Update FW * Add IMU FW update RPC * Updated yolo description * Update examples * Update FW with deprecation warning for enableFirmwareUpdate * Change imu version to imu type * Update FW before merge * Added C++14 requirement to examples & tests * Tweaked crash_report example * [FW] Added missing bindings for CameraControl and ImgFrame * Update FW with fix for calibration load example * fix stability_stress_test fail to link on ubuntu - fixes #769 * fix isClosed/checkClosed threading, rpcClient exceptions - remove thread-unsafe checkClosed() - update isClosed() doxygen + comments - protect DataInputQueue::maxDataSize with std::atomic - remove unused dai::DeviceBase::rpcStream - fixes #520 * fix var hides class member, this-> in constructors - fix few compile warn 'ex' unreferenced local variable - rename setBusId() param to not hide class member - refactor XLinkConnection constructors - partial fix #247 * fix: stdexcept header added for std::runtime_error Signed-off-by: Onuralp SEZER <[email protected]> * [FW] Removed UTF-8 degree sign from temperature prints. Closes: #773 * Move sipp buffer size from BoardConfig to GlobalProperties * Update style * Partially reverted bce1444 - only kept the C++14 specified in examples, tests already had the version specified * [Stereo] Add option to invalidate edge pixels on disparity/depth frame * Update FW: handle disparity flipping * Update FW: support for stereo.setOutputSize when LEFT or RIGHT alignment is set * Update FW: support for stereo between RGB and LEFT/RIGHT * [FW] ImageManip CSC improvements, New boards and power cycle fix * FW: fix for UART0 / '/dev/ttyS0' init failure in Script node * Update FW with fix for USB devices stuck after reboot * Release v2.21.0 * updated version and changelot * removed merge missing functions --------- Signed-off-by: Onuralp SEZER <[email protected]> Co-authored-by: alex-luxonis <[email protected]> Co-authored-by: alex-luxonis <[email protected]> Co-authored-by: TheMarpe <[email protected]> Co-authored-by: SzabolcsGergely <[email protected]> Co-authored-by: szabi-luxonis <[email protected]> Co-authored-by: moratom <[email protected]> Co-authored-by: Matevz Morato <[email protected]> Co-authored-by: camblomquist <[email protected]> Co-authored-by: Tommy <[email protected]> Co-authored-by: Dale Phurrough <[email protected]> Co-authored-by: Erol444 <[email protected]> Co-authored-by: Cameron Blomquist <[email protected]> Co-authored-by: anonymous-1000 <[email protected]> Co-authored-by: TheMarpe <[email protected]> Co-authored-by: Onuralp SEZER <[email protected]>
luxonis · Apr 3, 2023 · 0dc56ee · 0dc56ee
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,33 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.21.0 (2023-04-03)
+-----------
+* Improved x/y accuracy for SpatialLocationCalculator/SpatialDetectionNetwork 
+* Support for median and mode, default changed to median in SpatialLocationCalculator/SpatialDetectionNetwork
+* Multi stereo support, ability to run stereo between any 2 calibrated cameras
+* Support for LEFT/RIGHT alignment in stereo node
+* Support to invalidate edge pixels: setNumInvalidateEdgePixels in Stereo Node
+* BrightnessFilter - If the input frame pixel is too dark or too bright, the disparity will be invalidated. Default pixels with value 0 are invalidated in Stereo Node
+* Added disparityToDepthUseSpecTranslation, rectificationUseSpecTranslation, and depthAlignmentUseSpecTranslation options for advanced usage in Stereo Node
+* Fix for RGB-depth 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
+* 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
+* 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
+* [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 cameras
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
+
 2.20.2 (2023-01-31)
 -----------
 * Fix for ColorCamera at high resolution while using isp scaling

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -45,7 +45,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.20.2" LANGUAGES CXX C)
+project(depthai VERSION "2.21.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)

diff --git a/README.md b/README.md
@@ -47,6 +47,29 @@ cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
 cmake --build build
 ```
 
+
+### Android
+
+Android is supported to some extent but not actively pursued nor tested. PRs with any improvements are welcome.
+
+Steps:
+
+ - Install Android NDK (for example via Android Studio).
+ - Set the NDK path:
+```
+export ANDROID_HOME=$HOME/.local/lib/Android
+export PATH=$PATH:$ANDROID_HOME/emulator:$ANDROID_HOME/platform-tools
+export NDK=$ANDROID_HOME/ndk/23.1.7779620/ # Check version
+```
+ - Ensure a recent version of cmake (apt version is outdated, install snap install cmake --classic)
+ - Run cmake, set your ABI and Platform as needed:
+
+```
+cmake -S. -Bbuild -DCMAKE_TOOLCHAIN_FILE=$NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DANDROID_PLATFORM=android-25
+cmake --build build
+```
+
+
 ## Running examples
 
 To build the examples configure with following option added

diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "57ca2c171f6ef53cb83fbbc3aabfe512c67796ce")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/1ef2f960eec66540891434c9a3341c11e66e4360.tar.gz"
-    SHA1 "23641bb9ae698d0e016abcce349094a38577838b"
+    URL "https://github.com/luxonis/XLink/archive/b7c3aca2ba8b9d598be886a8076a875b50f5184f.tar.gz"
+    SHA1 "6c19757c6fe6871a9f40688871edbfc6f1e939ee"
 )
 
 hunter_config(
@@ -100,8 +100,8 @@ hunter_config(
 hunter_config(
     Catch2
     VERSION "2.13.7"
-    URL "https://github.com/catchorg/Catch2/archive/refs/tags/v2.13.7.tar.gz"
-    SHA1 "fa8f14ccf852413d3c6d3999145ada934d37d773"
+    URL "https://github.com/catchorg/Catch2/archive/refs/tags/v3.2.1.tar.gz"
+    SHA1 "acfba7f71cbbbbf60bc1bc4c0e3efca4a9c70df7"
 )
 
 # ZLib - Luxonis fix for alias on imported target for old CMake versions

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -32,6 +32,10 @@ function(dai_add_example example_name example_src enable_test)
     add_executable(${example_name} ${example_src})
     add_default_flags(${example_name} LEAN)
     target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS} Threads::Threads)
+    # Set compiler features (c++14), and disables extensions (g++14)
+    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD 14)
+    set_property(TARGET ${example_name} PROPERTY CXX_STANDARD_REQUIRED ON)
+    set_property(TARGET ${example_name} PROPERTY CXX_EXTENSIONS OFF)
 
     # Add sanitizers for example
     if(COMMAND add_sanitizers)
@@ -359,3 +363,6 @@ dai_add_example(apriltag_rgb AprilTag/apriltag_rgb.cpp ON)
 # DetectionParser
 dai_add_example(detection_parser NeuralNetwork/detection_parser.cpp ON)
 target_compile_definitions(detection_parser PRIVATE BLOB_PATH="${mobilenet_blob}")
+
+# DetectionParser
+dai_add_example(crash_report CrashReport/crash_report.cpp OFF)
diff --git a/examples/CrashReport/crash_report.cpp b/examples/CrashReport/crash_report.cpp
@@ -0,0 +1,41 @@
+#include <fstream>
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static bool fileExists(dai::Path path) {
+    std::ifstream file(path);
+    return file.is_open();
+}
+
+int main() {
+    using namespace std;
+
+    // Connect to device and start pipeline
+    dai::Device device;
+    if(device.hasCrashDump()) {
+        auto crashDump = device.getCrashDump();
+        std::string commitHash = crashDump.depthaiCommitHash;
+        std::string deviceId = crashDump.deviceId;
+
+        auto json = crashDump.serializeToJson();
+
+        for(int i = 0;; i++) {
+            dai::Path destPath = "crashDump_" + to_string(i) + "_" + deviceId + "_" + commitHash + ".json";
+            if(fileExists(destPath)) continue;
+
+            std::ofstream ob(destPath);
+            ob << std::setw(4) << json << std::endl;
+
+            std::cout << "Crash dump found on your device!" << std::endl;
+            std::cout << "Saved to " << destPath.string() << std::endl;
+            std::cout << "Please report to developers!" << std::endl;
+            break;
+        }
+    } else {
+        std::cout << "There was no crash dump found on your device!" << std::endl;
+    }
+
+    return 0;
+}
diff --git a/examples/FeatureTracker/feature_tracker.cpp b/examples/FeatureTracker/feature_tracker.cpp
@@ -72,9 +72,7 @@ class FeatureTrackerDrawer {
         }
     }
 
-    FeatureTrackerDrawer(std::string trackbarName, std::string windowName) {
-        this->trackbarName = trackbarName;
-        this->windowName = windowName;
+    FeatureTrackerDrawer(std::string trackbarName, std::string windowName) : trackbarName(trackbarName), windowName(windowName) {
         cv::namedWindow(windowName.c_str());
         cv::createTrackbar(trackbarName.c_str(), windowName.c_str(), &trackedFeaturesPathLength, maxTrackedFeaturesPathLength, nullptr);
     }

diff --git a/examples/IMU/imu_firmware_update.cpp b/examples/IMU/imu_firmware_update.cpp
@@ -11,6 +11,14 @@ int main() {
     using namespace std;
     using namespace std::chrono;
 
+    dai::Device device;
+
+    auto imuType = device.getConnectedIMU();
+    auto imuFirmwareVersion = device.getIMUFirmwareVersion();
+    auto embeddedIMUFirmwareVersion = device.getEmbeddedIMUFirmwareVersion();
+    std::cout << "IMU type: " << imuType << " firmware version: " << imuFirmwareVersion
+              << " embedded firmware version: " << embeddedIMUFirmwareVersion << std::endl;
+
     std::cout << "Warning! Flashing IMU firmware can potentially soft brick your device and should be done with caution." << std::endl;
     std::cout << "Do not unplug your device while the IMU firmware is flashing." << std::endl;
     std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
@@ -20,68 +28,26 @@ int main() {
         return -1;
     }
 
-    // Create pipeline
-    dai::Pipeline pipeline;
-
-    // Define sources and outputs
-    auto imu = pipeline.create<dai::node::IMU>();
-    auto xlinkOut = pipeline.create<dai::node::XLinkOut>();
-
-    xlinkOut->setStreamName("imu");
-
-    // enable ACCELEROMETER_RAW at 500 hz rate
-    imu->enableIMUSensor(dai::IMUSensor::ACCELEROMETER_RAW, 500);
-    // enable GYROSCOPE_RAW at 400 hz rate
-    imu->enableIMUSensor(dai::IMUSensor::GYROSCOPE_RAW, 400);
-    // it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
-    // above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
-    imu->setBatchReportThreshold(1);
-    // maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
-    // if lower or equal to batchReportThreshold then the sending is always blocking on device
-    // useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
-    imu->setMaxBatchReports(10);
-
-    // Link plugins IMU -> XLINK
-    imu->out.link(xlinkOut->input);
-
-    imu->enableFirmwareUpdate(true);
-
-    // Pipeline is defined, now we can connect to the device
-    dai::Device d(pipeline);
-
-    bool firstTs = false;
-
-    auto imuQueue = d.getOutputQueue("imu", 50, false);
-    auto baseTs = std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>();
+    auto started = device.startIMUFirmwareUpdate();
+    if(!started) {
+        std::cout << "Couldn't start IMU firmware update" << std::endl;
+        return 1;
+    }
 
     while(true) {
-        auto imuData = imuQueue->get<dai::IMUData>();
-
-        auto imuPackets = imuData->packets;
-        for(auto& imuPacket : imuPackets) {
-            auto& acceleroValues = imuPacket.acceleroMeter;
-            auto& gyroValues = imuPacket.gyroscope;
-
-            auto acceleroTs1 = acceleroValues.getTimestampDevice();
-            auto gyroTs1 = gyroValues.getTimestampDevice();
-            if(!firstTs) {
-                baseTs = std::min(acceleroTs1, gyroTs1);
-                firstTs = true;
+        bool fwUpdateFinished;
+        float percentage;
+        std::tie(fwUpdateFinished, percentage) = device.getIMUFirmwareUpdateStatus();
+        std::cout << "IMU FW update status: " << std::setprecision(1) << percentage << std::endl;
+        if(fwUpdateFinished) {
+            if(percentage == 100) {
+                std::cout << "Firmware update successful!" << std::endl;
+            } else {
+                std::cout << "Firmware update failed!" << std::endl;
             }
-
-            auto acceleroTs = acceleroTs1 - baseTs;
-            auto gyroTs = gyroTs1 - baseTs;
-
-            printf("Accelerometer timestamp: %ld ms\n", static_cast<long>(duration_cast<milliseconds>(acceleroTs).count()));
-            printf("Accelerometer [m/s^2]: x: %.3f y: %.3f z: %.3f \n", acceleroValues.x, acceleroValues.y, acceleroValues.z);
-            printf("Gyroscope timestamp: %ld ms\n", static_cast<long>(duration_cast<milliseconds>(gyroTs).count()));
-            printf("Gyroscope [rad/s]: x: %.3f y: %.3f z: %.3f \n", gyroValues.x, gyroValues.y, gyroValues.z);
-        }
-
-        int key = cv::waitKey(1);
-        if(key == 'q') {
-            return 0;
+            break;
         }
+        std::this_thread::sleep_for(1s);
     }
 
     return 0;

diff --git a/examples/SpatialDetection/spatial_location_calculator.cpp b/examples/SpatialDetection/spatial_location_calculator.cpp
@@ -49,6 +49,8 @@ int main() {
     dai::SpatialLocationCalculatorConfigData config;
     config.depthThresholds.lowerThreshold = 100;
     config.depthThresholds.upperThreshold = 10000;
+    auto calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
+    config.calculationAlgorithm = calculationAlgorithm;
     config.roi = dai::Rect(topLeft, bottomRight);
 
     spatialDataCalculator->inputConfig.setWaitForMessage(false);
@@ -144,12 +146,38 @@ int main() {
                     newConfig = true;
                 }
                 break;
+            case '1':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEAN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MEAN!" << std::endl;
+                break;
+            case '2':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MIN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MIN!" << std::endl;
+                break;
+            case '3':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MAX;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MAX!" << std::endl;
+                break;
+            case '4':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MODE;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MODE!" << std::endl;
+                break;
+            case '5':
+                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
+                newConfig = true;
+                std::cout << "Switching calculation algorithm to MEDIAN!" << std::endl;
+                break;
             default:
                 break;
         }
 
         if(newConfig) {
             config.roi = dai::Rect(topLeft, bottomRight);
+            config.calculationAlgorithm = calculationAlgorithm;
             dai::SpatialLocationCalculatorConfig cfg;
             cfg.addROI(config);
             spatialCalcConfigInQueue->send(cfg);

diff --git a/examples/StereoDepth/stereo_depth_video.cpp b/examples/StereoDepth/stereo_depth_video.cpp
@@ -98,7 +98,6 @@ int main() {
         cv::imshow("right", right->getFrame());
 
         if(withDepth) {
-            // Note: in some configurations (if depth is enabled), disparity may output garbage data
             auto disparity = dispQueue->get<dai::ImgFrame>();
             cv::Mat disp(disparity->getCvFrame());
             disp.convertTo(disp, CV_8UC1, disparityMultiplier);  // Extend disparity range

diff --git a/include/depthai/device/DataQueue.hpp b/include/depthai/device/DataQueue.hpp
@@ -43,6 +43,10 @@ class DataOutputQueue {
 
     /**
      * Check whether queue is closed
+     *
+     * @warning This function is thread-unsafe and may return outdated incorrect values. It is
+     * only meant for use in simple single-threaded code. Well written code should handle
+     * exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.
      */
     bool isClosed() const;
 
@@ -343,7 +347,7 @@ class DataInputQueue {
     std::atomic<bool> running{true};
     std::string exceptionMessage;
     const std::string name;
-    std::size_t maxDataSize = device::XLINK_USB_BUFFER_MAX_SIZE;
+    std::atomic<std::size_t> maxDataSize{device::XLINK_USB_BUFFER_MAX_SIZE};
 
    public:
     DataInputQueue(const std::shared_ptr<XLinkConnection> conn,
@@ -355,6 +359,10 @@ class DataInputQueue {
 
     /**
      * Check whether queue is closed
+     *
+     * @warning This function is thread-unsafe and may return outdated incorrect values. It is
+     * only meant for use in simple single-threaded code. Well written code should handle
+     * exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.
      */
     bool isClosed() const;