Merge branch 'release_v2.22.0'

alex-luxonis · Jun 13, 2023 · 82ab07d · 82ab07d
2 parents 125feb8 + 2facab6
commit 82ab07d
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Showing 103 changed files with 1,545 additions and 338 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.21.2" LANGUAGES CXX C)
+project(depthai VERSION "2.22.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -204,6 +204,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/XLinkOut.cpp
     src/pipeline/node/ColorCamera.cpp
     src/pipeline/node/Camera.cpp
+    src/pipeline/node/ToF.cpp
     src/pipeline/node/MonoCamera.cpp
     src/pipeline/node/StereoDepth.cpp
     src/pipeline/node/NeuralNetwork.cpp
@@ -222,6 +223,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/SPIIn.cpp
     src/pipeline/node/FeatureTracker.cpp
     src/pipeline/node/DetectionParser.cpp
+    src/pipeline/node/UVC.cpp
     src/pipeline/datatype/Buffer.cpp
     src/pipeline/datatype/ImgFrame.cpp
     src/pipeline/datatype/ImageManipConfig.cpp
@@ -241,11 +243,14 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/EdgeDetectorConfig.cpp
     src/pipeline/datatype/TrackedFeatures.cpp
     src/pipeline/datatype/FeatureTrackerConfig.cpp
+    src/pipeline/datatype/ToFConfig.cpp
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
     src/utility/Path.cpp
     src/utility/Platform.cpp
     src/utility/Environment.cpp
+    src/utility/XLinkGlobalProfilingLogger.cpp
+    src/utility/Logging.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp

diff --git a/README.md b/README.md
@@ -177,7 +177,9 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_CONNECT_TIMEOUT | Specifies timeout in milliseconds for establishing a connection to a given device. |
 | DEPTHAI_BOOTUP_TIMEOUT | Specifies timeout in milliseconds for waiting the device to boot after sending the binary. |
 | DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: any, usb, tcpip. |
-| DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs |
+| DEPTHAI_DEVICE_MXID_LIST | Restricts default search to the specified MXIDs. Accepts comma separated list of MXIDs. Lists filter results in an "AND" manner and not "OR" |
+| DEPTHAI_DEVICE_ID_LIST | Alias to MXID list. Lists filter results in an "AND" manner and not "OR" |
+| DEPTHAI_DEVICE_NAME_LIST | Restricts default search to the specified NAMEs. Accepts comma separated list of NAMEs. Lists filter results in an "AND" manner and not "OR" |
 | DEPTHAI_DEVICE_BINARY | Overrides device Firmware binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |

diff --git a/cmake/Depthai/DepthaiBootloaderConfig.cmake b/cmake/Depthai/DepthaiBootloaderConfig.cmake
@@ -3,5 +3,5 @@ set(DEPTHAI_BOOTLOADER_MATURITY "release")
 # set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.24")
-# set(DEPTHAI_BOOTLOADER_VERSION "0.0.23+9704fa354a72599286e0be08663cee084266fda6")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.26")
+# set(DEPTHAI_BOOTLOADER_VERSION "0.0.24+57c26493754e2f00e57f6594b0b1a317f762d5f2")
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 "3575b77f20e796b4e79953bf3d2ba22f0416ee8b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "f033fd9c7eb0b3578d12f90302e87759c78cfb36")
 
 # "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/b7c3aca2ba8b9d598be886a8076a875b50f5184f.tar.gz"
-    SHA1 "6c19757c6fe6871a9f40688871edbfc6f1e939ee"
+    URL "https://github.com/luxonis/XLink/archive/457b23fb33e1146610e1a4e52defa7565046977a.tar.gz"
+    SHA1 "006a2bd391498aea7895e988b787a420e7f51fa9"
 )
 
 hunter_config(

diff --git a/examples/AprilTag/apriltag.cpp b/examples/AprilTag/apriltag.cpp
@@ -23,7 +23,7 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
 
     aprilTag->initialConfig.setFamily(dai::AprilTagConfig::Family::TAG_36H11);
 

diff --git a/examples/AprilTag/apriltag_rgb.cpp b/examples/AprilTag/apriltag_rgb.cpp
@@ -24,7 +24,7 @@ int main() {
 
     // Properties
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
 
     manip->initialConfig.setResize(480, 270);
     manip->initialConfig.setFrameType(dai::ImgFrame::Type::GRAY8);

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -241,6 +241,7 @@ dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
 dai_add_example(opencv_support host_side/opencv_support.cpp ON)
 dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
 dai_add_example(device_information host_side/device_information.cpp OFF)
+dai_add_example(device_logging host_side/device_logging.cpp OFF)
 
 # ImageManip
 dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)

diff --git a/examples/ColorCamera/rgb_isp_scale.cpp b/examples/ColorCamera/rgb_isp_scale.cpp
@@ -14,7 +14,7 @@ int main() {
     xoutVideo->setStreamName("video");
 
     // Properties
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
     camRgb->setIspScale(1, 2);
     camRgb->setVideoSize(1920, 1080);

diff --git a/examples/ColorCamera/rgb_preview.cpp b/examples/ColorCamera/rgb_preview.cpp
@@ -16,7 +16,7 @@ int main() {
 
     // Properties
     camRgb->setPreviewSize(300, 300);
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
     camRgb->setInterleaved(false);
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);

diff --git a/examples/ColorCamera/rgb_video.cpp b/examples/ColorCamera/rgb_video.cpp
@@ -14,7 +14,7 @@ int main() {
     xoutVideo->setStreamName("video");
 
     // Properties
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
     camRgb->setVideoSize(1920, 1080);
 

diff --git a/examples/EdgeDetector/edge_detector.cpp b/examples/EdgeDetector/edge_detector.cpp
@@ -34,13 +34,13 @@ int main() {
     xinEdgeCfg->setStreamName(edgeCfgStr);
 
     // Properties
-    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
 
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     edgeDetectorRgb->setMaxOutputFrameSize(camRgb->getVideoWidth() * camRgb->getVideoHeight());
 

diff --git a/examples/FeatureTracker/feature_detector.cpp b/examples/FeatureTracker/feature_detector.cpp
@@ -40,9 +40,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // Disable optical flow
     featureTrackerLeft->initialConfig.setMotionEstimator(false);

diff --git a/examples/FeatureTracker/feature_tracker.cpp b/examples/FeatureTracker/feature_tracker.cpp
@@ -106,9 +106,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // Linking
     monoLeft->out.link(featureTrackerLeft->inputImage);

diff --git a/examples/ImageManip/image_manip_rotate.cpp b/examples/ImageManip/image_manip_rotate.cpp
@@ -29,7 +29,7 @@ int main() {
     // Rotate mono frames
     auto monoLeft = pipeline.create<dai::node::MonoCamera>();
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
 
     auto manipLeft = pipeline.create<dai::node::ImageManip>();
     dai::RotatedRect rr = {{monoLeft->getResolutionWidth() / 2.0f, monoLeft->getResolutionHeight() / 2.0f},  // center

diff --git a/examples/MobileNet/mono_mobilenet.cpp b/examples/MobileNet/mono_mobilenet.cpp
@@ -38,7 +38,7 @@ int main(int argc, char** argv) {
     nnOut->setStreamName("nn");
 
     // Properties
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
 
     // Convert the grayscale frame into the nn-acceptable form

diff --git a/examples/MonoCamera/mono_camera_control.cpp b/examples/MonoCamera/mono_camera_control.cpp
@@ -50,8 +50,8 @@ int main() {
     dai::Point2f bottomRight(0.8f, 0.8f);
 
     // Properties
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoRight->setCamera("right");
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
     manipRight->initialConfig.setCropRect(topLeft.x, topLeft.y, bottomRight.x, bottomRight.y);

diff --git a/examples/MonoCamera/mono_full_resolution_saver.cpp b/examples/MonoCamera/mono_full_resolution_saver.cpp
@@ -17,7 +17,7 @@ int main() {
     xoutRight->setStreamName("right");
 
     // Properties
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
 
     // Linking

diff --git a/examples/MonoCamera/mono_preview.cpp b/examples/MonoCamera/mono_preview.cpp
@@ -17,9 +17,9 @@ int main() {
     xoutRight->setStreamName("right");
 
     // Properties
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P);
 
     // Linking

diff --git a/examples/NeuralNetwork/concat_multi_input.cpp b/examples/NeuralNetwork/concat_multi_input.cpp
@@ -31,7 +31,7 @@ int main(int argc, char** argv) {
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
     auto right = pipeline.create<dai::node::MonoCamera>();
-    right->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    right->setCamera("right");
     right->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
 
     auto manipRight = pipeline.create<dai::node::ImageManip>();
@@ -40,7 +40,7 @@ int main(int argc, char** argv) {
     right->out.link(manipRight->inputImage);
 
     auto left = pipeline.create<dai::node::MonoCamera>();
-    left->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    left->setCamera("left");
     left->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
 
     auto manipLeft = pipeline.create<dai::node::ImageManip>();

diff --git a/examples/ObjectTracker/spatial_object_tracker.cpp b/examples/ObjectTracker/spatial_object_tracker.cpp
@@ -48,14 +48,14 @@ int main(int argc, char** argv) {
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // setting node configs
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Align depth map to the perspective of RGB camera, on which inference is done
-    stereo->setDepthAlign(dai::CameraBoardSocket::RGB);
+    stereo->setDepthAlign(dai::CameraBoardSocket::CAM_A);
     stereo->setOutputSize(monoLeft->getResolutionWidth(), monoLeft->getResolutionHeight());
 
     spatialDetectionNetwork->setBlobPath(nnPath);

diff --git a/examples/Script/script_change_pipeline_flow.cpp b/examples/Script/script_change_pipeline_flow.cpp
@@ -7,7 +7,7 @@ int main() {
     dai::Pipeline pipeline;
 
     auto cam = pipeline.create<dai::node::ColorCamera>();
-    cam->setBoardSocket(dai::CameraBoardSocket::RGB);
+    cam->setBoardSocket(dai::CameraBoardSocket::CAM_A);
     cam->setInterleaved(false);
     cam->setIspScale(2, 3);
     cam->setVideoSize(720, 720);

diff --git a/examples/SpatialDetection/spatial_calculator_multi_roi.cpp b/examples/SpatialDetection/spatial_calculator_multi_roi.cpp
@@ -31,9 +31,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     stereo->setLeftRightCheck(true);

diff --git a/examples/SpatialDetection/spatial_location_calculator.cpp b/examples/SpatialDetection/spatial_location_calculator.cpp
@@ -31,9 +31,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     bool lrcheck = false;
     bool subpixel = false;

diff --git a/examples/SpatialDetection/spatial_mobilenet.cpp b/examples/SpatialDetection/spatial_mobilenet.cpp
@@ -48,14 +48,14 @@ int main(int argc, char** argv) {
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // Setting node configs
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Align depth map to the perspective of RGB camera, on which inference is done
-    stereo->setDepthAlign(dai::CameraBoardSocket::RGB);
+    stereo->setDepthAlign(dai::CameraBoardSocket::CAM_A);
     stereo->setOutputSize(monoLeft->getResolutionWidth(), monoLeft->getResolutionHeight());
 
     spatialDetectionNetwork->setBlobPath(nnPath);

diff --git a/examples/SpatialDetection/spatial_mobilenet_mono.cpp b/examples/SpatialDetection/spatial_mobilenet_mono.cpp
@@ -47,9 +47,9 @@ int main(int argc, char** argv) {
     imageManip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);
 
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // StereoDepth
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);

diff --git a/examples/SpatialDetection/spatial_tiny_yolo.cpp b/examples/SpatialDetection/spatial_tiny_yolo.cpp
@@ -58,14 +58,14 @@ int main(int argc, char** argv) {
     camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // setting node configs
     stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
     // Align depth map to the perspective of RGB camera, on which inference is done
-    stereo->setDepthAlign(dai::CameraBoardSocket::RGB);
+    stereo->setDepthAlign(dai::CameraBoardSocket::CAM_A);
     stereo->setOutputSize(monoLeft->getResolutionWidth(), monoLeft->getResolutionHeight());
 
     spatialDetectionNetwork->setBlobPath(nnPath);

diff --git a/examples/StereoDepth/depth_crop_control.cpp b/examples/StereoDepth/depth_crop_control.cpp
@@ -31,8 +31,8 @@ int main() {
     dai::Point2f bottomRight(0.8f, 0.8f);
 
     // Properties
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoRight->setCamera("right");
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
 

diff --git a/examples/StereoDepth/depth_post_processing.cpp b/examples/StereoDepth/depth_post_processing.cpp
@@ -24,9 +24,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
     depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);

diff --git a/examples/StereoDepth/depth_preview.cpp b/examples/StereoDepth/depth_preview.cpp
@@ -24,9 +24,9 @@ int main() {
 
     // Properties
     monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoLeft->setCamera("left");
     monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+    monoRight->setCamera("right");
 
     // Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
     depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);