From 39d4b6ad82c4cd2fc48143d078a8c14883c3ac78 Mon Sep 17 00:00:00 2001
From: SzabolcsGergely <szabi@luxonis.com>
Date: Fri, 20 Oct 2023 14:55:02 +0300
Subject: [PATCH 1/3] Add optional vertical stereo and stereo rectification
 interpolation type

---
 include/depthai-shared/common/Interpolation.hpp |  3 ++-
 .../properties/StereoDepthProperties.hpp        | 17 ++++++++++++++++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/include/depthai-shared/common/Interpolation.hpp b/include/depthai-shared/common/Interpolation.hpp
index 8a06b83c..da049dd7 100644
--- a/include/depthai-shared/common/Interpolation.hpp
+++ b/include/depthai-shared/common/Interpolation.hpp
@@ -15,7 +15,8 @@ enum class Interpolation : std::int32_t {
     NEAREST_NEIGHBOR = 2,
     BYPASS = NEAREST_NEIGHBOR,
     DEFAULT = BICUBIC,
-    DEFAULT_DISPARITY_DEPTH = NEAREST_NEIGHBOR
+    DEFAULT_DISPARITY_DEPTH = NEAREST_NEIGHBOR,
+    DEFAULT_STEREO_RECTIFICATION = BICUBIC,
 
 };
 
diff --git a/include/depthai-shared/properties/StereoDepthProperties.hpp b/include/depthai-shared/properties/StereoDepthProperties.hpp
index fb3ed12f..98646940 100644
--- a/include/depthai-shared/properties/StereoDepthProperties.hpp
+++ b/include/depthai-shared/properties/StereoDepthProperties.hpp
@@ -2,6 +2,7 @@
 
 #include "depthai-shared/common/CameraBoardSocket.hpp"
 #include "depthai-shared/common/EepromData.hpp"
+#include "depthai-shared/common/Interpolation.hpp"
 #include "depthai-shared/common/optional.hpp"
 #include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
 #include "depthai-shared/properties/Properties.hpp"
@@ -182,6 +183,18 @@ struct StereoDepthProperties : PropertiesSerializable<Properties, StereoDepthPro
      * See getOptimalNewCameraMatrix from opencv for more details.
      */
     tl::optional<float> alphaScaling;
+
+    /**
+     * Whether to use vertical stereo mode or not.
+     * Default value: auto, extrinsic calibration data will determine whether it's vertical or horizontal stereo.
+     */
+    tl::optional<bool> verticalStereo;
+
+    /**
+     * Interpolation type used for stereo rectification.
+     * Default value: DEFAULT_STEREO_RECTIFICATION.
+     */
+    Interpolation interpolation = Interpolation::DEFAULT_STEREO_RECTIFICATION;
 };
 
 DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
@@ -206,6 +219,8 @@ DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
                       disparityToDepthUseSpecTranslation,
                       rectificationUseSpecTranslation,
                       depthAlignmentUseSpecTranslation,
-                      alphaScaling);
+                      alphaScaling,
+                      verticalStereo,
+                      interpolation);
 
 }  // namespace dai

From 9d6c046a944265df239794a7cae338e6a1c11ff4 Mon Sep 17 00:00:00 2001
From: SzabolcsGergely <szabi@luxonis.com>
Date: Fri, 20 Oct 2023 15:32:00 +0300
Subject: [PATCH 2/3] Rename to rectificationInterpolation

---
 include/depthai-shared/properties/StereoDepthProperties.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/depthai-shared/properties/StereoDepthProperties.hpp b/include/depthai-shared/properties/StereoDepthProperties.hpp
index 98646940..5c8d4439 100644
--- a/include/depthai-shared/properties/StereoDepthProperties.hpp
+++ b/include/depthai-shared/properties/StereoDepthProperties.hpp
@@ -194,7 +194,7 @@ struct StereoDepthProperties : PropertiesSerializable<Properties, StereoDepthPro
      * Interpolation type used for stereo rectification.
      * Default value: DEFAULT_STEREO_RECTIFICATION.
      */
-    Interpolation interpolation = Interpolation::DEFAULT_STEREO_RECTIFICATION;
+    Interpolation rectificationInterpolation = Interpolation::DEFAULT_STEREO_RECTIFICATION;
 };
 
 DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
@@ -221,6 +221,6 @@ DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
                       depthAlignmentUseSpecTranslation,
                       alphaScaling,
                       verticalStereo,
-                      interpolation);
+                      rectificationInterpolation);
 
 }  // namespace dai

From 800f3c9f3391d27d89657252e6799364d20f13bd Mon Sep 17 00:00:00 2001
From: Matevz Morato <matevz.morato@gmail.com>
Date: Thu, 7 Dec 2023 02:11:47 +0100
Subject: [PATCH 3/3] Fix windows build

---
 include/depthai-shared/datatype/RawIMUData.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/include/depthai-shared/datatype/RawIMUData.hpp b/include/depthai-shared/datatype/RawIMUData.hpp
index f3f26c70..1f021032 100644
--- a/include/depthai-shared/datatype/RawIMUData.hpp
+++ b/include/depthai-shared/datatype/RawIMUData.hpp
@@ -220,8 +220,7 @@ struct RawIMUData : public RawBuffer {
         return DatatypeEnum::IMUData;
     }
 
-
-    DEPTHAI_SERIALIZE(RawIMUData, packets, sequenceNum, ts, tsDevice);
+    DEPTHAI_SERIALIZE(RawIMUData, packets, RawBuffer::sequenceNum, RawBuffer::ts, RawBuffer::tsDevice);
 };
 
 }  // namespace dai