Enable dynamic calibration for NeuralDepth and Rectification nodes

cmake/Depthai/DepthaiDeviceRVC4Config.cmake

@@ -3,4 +3,4 @@
 set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+619c87a0023757020150faf07ccbddb13af24533")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+3a19ee3e8dc838e417fa752567c282d92145d2dd")

include/depthai/pipeline/node/ToF.hpp

@@ -5,9 +5,6 @@
 #include <depthai/pipeline/Subnode.hpp>
 #include <depthai/pipeline/node/ImageFilters.hpp>
 
-// standard
-#include <fstream>
-
 // shared
 #include <depthai/properties/ToFProperties.hpp>
 

src/pipeline/node/Rectification.cpp

@@ -101,17 +101,13 @@ CalibrationHandler Rectification::getCalibrationData() const {
 void Rectification::run() {
     auto& logger = pimpl->logger;
     using namespace std::chrono;
-    if(runOnHost()) {
-        auto device = getParentPipeline().getDefaultDevice();
-        if(device && device->getPlatform() != Platform::RVC4) {
-            throw std::runtime_error("Rectification node is only supported on RVC4 platform");
-        }
-    }
 
     bool initialized = false;
     cv::Mat cv_rectificationMap1X, cv_rectificationMap1Y;
     cv::Mat cv_rectificationMap2X, cv_rectificationMap2Y;
 
+    uint32_t latestEepromId = getParentPipeline().getEepromId();
+
     cv::Mat cv_targetCameraMatrix1, cv_targetCameraMatrix2;
     std::array<std::array<float, 3>, 3> targetM1, targetM2;
     dai::ImgTransformation output1ImgTransformation;
@@ -141,6 +137,13 @@ void Rectification::run() {
             output2FrameHeight = input2Frame->getHeight();
         }
 
+        // If the EEPROM identifier has changed, we need to re-initialize the rectification matrices
+        uint32_t currentEepromId = getParentPipeline().getEepromId();
+        if(latestEepromId != currentEepromId) {
+            latestEepromId = currentEepromId;
+            initialized = false;
+        }
+
         if(!initialized) {
             output1ImgTransformation = input1Frame->transformation;
             output2ImgTransformation = input2Frame->transformation;