Feat: Beta namespace by aljazkonec1 · Pull Request #1919 · luxonis/depthai-core

aljazkonec1 · 2026-07-30T15:31:42Z

Purpose

This PR adds a new beta namespace to depthai. The namespace is meant to include features and new nodes that are subject to large API and behavioural changes in any proceeding depthai version without any prior warning. Beta node run only on RVC4 devices, if you have an RVC2 device, you have to run the node on host.

Specification

In addition, the first supported beta nodes are all parsers from depthai-nodes and their respective message types. Their implementations have been compared to their results from depthai-nodes with no difference in output for the same given NN input. It is not expected that the API for this batch of parsers will stay stable.

Dependencies & Potential Impact

Possible issues with RVC2 devices on enumeration of messages. Other than that the beta nodes are isolated

Deployment Plan

Testing & Validation

comparison of outputs with depthai-nodes implementations.

AI Usage

Assisted-by: Claude Fable 5 Max & Codex 5.6 Sol xhigh

Submitted code was reviewed by a human: tested and validated. Since it is beta feature

The author is taking the responsibility for the contribution: YES

…pace as a CMake option, default OFF

…BETA=ON

coderabbitai · 2026-07-30T15:31:54Z

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📥 Commits

Reviewing files that changed from the base of the PR and between 9377bcf and e715caa.

📒 Files selected for processing (166)

.github/workflows/main.workflow.yml
.github/workflows/python-main.yml
CMakeLists.txt
bindings/python/CMakeLists.txt
bindings/python/setup.py
bindings/python/src/DatatypeBindings.cpp
bindings/python/src/beta/datatype/ClassificationsBindings.cpp
bindings/python/src/beta/datatype/ClustersBindings.cpp
bindings/python/src/beta/datatype/KeypointsBindings.cpp
bindings/python/src/beta/datatype/LinesBindings.cpp
bindings/python/src/beta/datatype/Map2DBindings.cpp
bindings/python/src/beta/datatype/PredictionsBindings.cpp
bindings/python/src/beta/node/ClassificationParserBindings.cpp
bindings/python/src/beta/node/ClassificationSequenceParserBindings.cpp
bindings/python/src/beta/node/EmbeddingsParserBindings.cpp
bindings/python/src/beta/node/FastSAMParserBindings.cpp
bindings/python/src/beta/node/HRNetParserBindings.cpp
bindings/python/src/beta/node/ImageOutputParserBindings.cpp
bindings/python/src/beta/node/ImgDetectionsFilterBindings.cpp
bindings/python/src/beta/node/KeypointParserBindings.cpp
bindings/python/src/beta/node/LaneDetectionParserBindings.cpp
bindings/python/src/beta/node/MLSDParserBindings.cpp
bindings/python/src/beta/node/MPPalmDetectionParserBindings.cpp
bindings/python/src/beta/node/MapOutputParserBindings.cpp
bindings/python/src/beta/node/PPTextDetectionParserBindings.cpp
bindings/python/src/beta/node/RFDETRParserBindings.cpp
bindings/python/src/beta/node/RegressionParserBindings.cpp
bindings/python/src/beta/node/SCRFDParserBindings.cpp
bindings/python/src/beta/node/SuperAnimalParserBindings.cpp
bindings/python/src/beta/node/XFeatMonoParserBindings.cpp
bindings/python/src/beta/node/XFeatStereoParserBindings.cpp
bindings/python/src/beta/node/YuNetParserBindings.cpp
bindings/python/src/pipeline/PipelineBindings.cpp
bindings/python/src/pipeline/datatype/AprilTagsBindings.cpp
bindings/python/src/pipeline/datatype/MessageGroupBindings.cpp
bindings/python/src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp
bindings/python/src/pipeline/datatype/TrackedFeaturesBindings.cpp
bindings/python/src/pipeline/datatype/TrackletsBindings.cpp
bindings/python/src/pipeline/node/CameraBindings.cpp
bindings/python/src/pipeline/node/Common.hpp
bindings/python/src/pipeline/node/NodeBindings.cpp
bindings/python/tests/CMakeLists.txt
bindings/python/tests/beta_img_detections_filter_test.py
cmake/Depthai/DepthaiDeviceRVC4Config.cmake
cmake/depthaiConfig.cmake.in
cmake/depthaiOptions.cmake
examples/cpp/IMU/imu_gyroscope_accelerometer.cpp
examples/cpp/ToF/tof_align.cpp
examples/cpp/ToF/tof_all_queues.cpp
examples/cpp/ToF/tof_minimal.cpp
examples/python/Beta/img_detections_filter.py
include/depthai/beta/datatype/Classifications.hpp
include/depthai/beta/datatype/Clusters.hpp
include/depthai/beta/datatype/ImgDetectionsFilterConfig.hpp
include/depthai/beta/datatype/Keypoints.hpp
include/depthai/beta/datatype/Lines.hpp
include/depthai/beta/datatype/Map2D.hpp
include/depthai/beta/datatype/Predictions.hpp
include/depthai/beta/datatypes.hpp
include/depthai/beta/node/ClassificationParser.hpp
include/depthai/beta/node/ClassificationSequenceParser.hpp
include/depthai/beta/node/EmbeddingsParser.hpp
include/depthai/beta/node/FastSAMParser.hpp
include/depthai/beta/node/HRNetParser.hpp
include/depthai/beta/node/ImageOutputParser.hpp
include/depthai/beta/node/ImgDetectionsFilter.hpp
include/depthai/beta/node/KeypointParser.hpp
include/depthai/beta/node/LaneDetectionParser.hpp
include/depthai/beta/node/MLSDParser.hpp
include/depthai/beta/node/MPPalmDetectionParser.hpp
include/depthai/beta/node/MapOutputParser.hpp
include/depthai/beta/node/PPTextDetectionParser.hpp
include/depthai/beta/node/RFDETRParser.hpp
include/depthai/beta/node/RegressionParser.hpp
include/depthai/beta/node/SCRFDParser.hpp
include/depthai/beta/node/SuperAnimalParser.hpp
include/depthai/beta/node/XFeatMonoParser.hpp
include/depthai/beta/node/XFeatStereoParser.hpp
include/depthai/beta/node/YuNetParser.hpp
include/depthai/beta/nodes.hpp
include/depthai/beta/properties/ClassificationParserProperties.hpp
include/depthai/beta/properties/ClassificationSequenceParserProperties.hpp
include/depthai/beta/properties/EmbeddingsParserProperties.hpp
include/depthai/beta/properties/FastSAMParserProperties.hpp
include/depthai/beta/properties/HRNetParserProperties.hpp
include/depthai/beta/properties/ImageOutputParserProperties.hpp
include/depthai/beta/properties/ImgDetectionsFilterProperties.hpp
include/depthai/beta/properties/KeypointParserProperties.hpp
include/depthai/beta/properties/LaneDetectionParserProperties.hpp
include/depthai/beta/properties/MLSDParserProperties.hpp
include/depthai/beta/properties/MPPalmDetectionParserProperties.hpp
include/depthai/beta/properties/MapOutputParserProperties.hpp
include/depthai/beta/properties/PPTextDetectionParserProperties.hpp
include/depthai/beta/properties/RFDETRParserProperties.hpp
include/depthai/beta/properties/RegressionParserProperties.hpp
include/depthai/beta/properties/SCRFDParserProperties.hpp
include/depthai/beta/properties/SuperAnimalParserProperties.hpp
include/depthai/beta/properties/XFeatMonoParserProperties.hpp
include/depthai/beta/properties/XFeatStereoParserProperties.hpp
include/depthai/beta/properties/YuNetParserProperties.hpp
include/depthai/depthai.hpp
include/depthai/pipeline/datatype/DatatypeEnum.hpp
include/depthai/pipeline/node/StereoDepth.hpp
src/beta/datatype/Classifications.cpp
src/beta/datatype/Clusters.cpp
src/beta/datatype/ImgDetectionsFilterConfig.cpp
src/beta/datatype/Keypoints.cpp
src/beta/datatype/Lines.cpp
src/beta/datatype/Map2D.cpp
src/beta/datatype/Predictions.cpp
src/beta/node/ClassificationParser.cpp
src/beta/node/ClassificationSequenceParser.cpp
src/beta/node/EmbeddingsParser.cpp
src/beta/node/FastSAMParser.cpp
src/beta/node/HRNetParser.cpp
src/beta/node/ImageOutputParser.cpp
src/beta/node/ImgDetectionsFilter.cpp
src/beta/node/KeypointParser.cpp
src/beta/node/LaneDetectionParser.cpp
src/beta/node/MLSDParser.cpp
src/beta/node/MPPalmDetectionParser.cpp
src/beta/node/MapOutputParser.cpp
src/beta/node/PPTextDetectionParser.cpp
src/beta/node/RFDETRParser.cpp
src/beta/node/RegressionParser.cpp
src/beta/node/SCRFDParser.cpp
src/beta/node/SuperAnimalParser.cpp
src/beta/node/XFeatMonoParser.cpp
src/beta/node/XFeatStereoParser.cpp
src/beta/node/YuNetParser.cpp
src/beta/properties/ImgDetectionsFilterProperties.cpp
src/beta/utilities/Classification/ClassificationUtils.cpp
src/beta/utilities/Classification/ClassificationUtils.hpp
src/beta/utilities/Detection/DetectionUtils.cpp
src/beta/utilities/Detection/DetectionUtils.hpp
src/beta/utilities/Detection/MaskUtils.cpp
src/beta/utilities/Detection/MaskUtils.hpp
src/beta/utilities/FastSAM/FastSAMUtils.cpp
src/beta/utilities/FastSAM/FastSAMUtils.hpp
src/beta/utilities/Keypoints/KeypointsUtils.cpp
src/beta/utilities/Keypoints/KeypointsUtils.hpp
src/beta/utilities/LaneDetection/LaneDetectionUtils.cpp
src/beta/utilities/LaneDetection/LaneDetectionUtils.hpp
src/beta/utilities/MLSD/MLSDUtils.cpp
src/beta/utilities/MLSD/MLSDUtils.hpp
src/beta/utilities/MediaPipe/MediaPipeUtils.cpp
src/beta/utilities/MediaPipe/MediaPipeUtils.hpp
src/beta/utilities/PPText/PPTextUtils.cpp
src/beta/utilities/PPText/PPTextUtils.hpp
src/beta/utilities/RFDETR/RFDETRUtils.cpp
src/beta/utilities/RFDETR/RFDETRUtils.hpp
src/beta/utilities/SCRFD/SCRFDUtils.cpp
src/beta/utilities/SCRFD/SCRFDUtils.hpp
src/beta/utilities/XFeat/XFeatUtils.cpp
src/beta/utilities/XFeat/XFeatUtils.hpp
src/beta/utilities/YuNet/YuNetUtils.cpp
src/beta/utilities/YuNet/YuNetUtils.hpp
src/pipeline/datatype/DatatypeEnum.cpp
src/pipeline/datatype/StreamMessageParser.cpp
src/pipeline/node/Camera.cpp
src/pipeline/node/host/Replay.cpp
src/utility/ImageManipImpl.cpp
src/utility/ProtoSerialize.cpp
tests/CMakeLists.txt
tests/src/ondevice_tests/pipeline/node/image_manip_test.cpp
tests/src/onhost_tests/beta_parser_properties_test.cpp

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…uirement for push event

Copilot

Pull request overview

This PR introduces an opt-in beta (experimental) namespace in depthai-core, wiring new beta datatypes/nodes/utilities through CMake, core serialization/parsing, and Python bindings, along with initial examples/tests.

Changes:

Add DEPTHAI_BUILD_BETA build option and propagate DEPTHAI_HAVE_BETA to conditionally compile/export beta APIs.
Introduce beta datatypes/nodes/properties/utilities and integrate them into DatatypeEnum, stream parsing, and host replay behavior.
Add Catch2 + Python tests and a Python example for beta functionality; includes several formatting-only cleanups.

Reviewed changes

Copilot reviewed 163 out of 166 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
tests/src/onhost_tests/beta_parser_properties_test.cpp	Adds on-host tests for beta parser property serialization/round-tripping.
tests/src/ondevice_tests/pipeline/node/image_manip_test.cpp	Formatting change in ImageManip test config setup.
tests/CMakeLists.txt	Conditionally adds beta on-host test when `DEPTHAI_BUILD_BETA` is enabled.
src/utility/ProtoSerialize.cpp	Marks additional beta datatypes as not supported for protobuf deserialization.
src/utility/ImageManipImpl.cpp	Minor comment formatting tweak.
src/pipeline/node/host/Replay.cpp	Extends replay datatype handling for new enum values (unsupported types).
src/pipeline/node/Camera.cpp	Style-only formatting change.
src/pipeline/datatype/StreamMessageParser.cpp	Adds parsing branches for beta datatypes under `DEPTHAI_HAVE_BETA`.
src/pipeline/datatype/DatatypeEnum.cpp	Extends datatype hierarchy to include new beta datatypes.
src/beta/utilities/RFDETR/RFDETRUtils.hpp	Adds RF-DETR decoding utility API (beta).
src/beta/utilities/PPText/PPTextUtils.hpp	Adds PP-Text detection decoding utility API (beta).
src/beta/utilities/MLSD/MLSDUtils.hpp	Adds MLSD line decoding utility API (beta).
src/beta/utilities/MediaPipe/MediaPipeUtils.hpp	Adds MediaPipe palm detection utility API (beta).
src/beta/utilities/LaneDetection/LaneDetectionUtils.hpp	Adds lane detection utility API (beta).
src/beta/utilities/Detection/MaskUtils.hpp	Adds mask processing helpers (beta).
src/beta/utilities/Detection/DetectionUtils.hpp	Adds detection utilities (e.g., NMS) (beta).
src/beta/utilities/Classification/ClassificationUtils.hpp	Adds classification tensor helpers (beta).
src/beta/properties/ImgDetectionsFilterProperties.cpp	Implements beta properties dtor for ImgDetectionsFilter.
src/beta/node/EmbeddingsParser.cpp	Adds EmbeddingsParser node implementation (beta).
src/beta/datatype/Predictions.cpp	Adds Predictions datatype implementation (beta).
src/beta/datatype/Lines.cpp	Adds Lines datatype implementation (beta).
src/beta/datatype/Keypoints.cpp	Adds Keypoints datatype implementation (beta).
src/beta/datatype/ImgDetectionsFilterConfig.cpp	Adds ImgDetectionsFilterConfig datatype implementation (beta).
src/beta/datatype/Classifications.cpp	Adds Classifications datatype implementation (beta).
include/depthai/pipeline/node/StereoDepth.hpp	Wraps warning comment for formatting.
include/depthai/pipeline/datatype/DatatypeEnum.hpp	Adds new datatype enum entries for beta datatypes.
include/depthai/depthai.hpp	Conditionally exports beta headers when `DEPTHAI_HAVE_BETA` is set.
include/depthai/beta/properties/YuNetParserProperties.hpp	Adds YuNetParser properties (beta).
include/depthai/beta/properties/XFeatStereoParserProperties.hpp	Adds XFeatStereoParser properties (beta).
include/depthai/beta/properties/XFeatMonoParserProperties.hpp	Adds XFeatMonoParser properties (beta).
include/depthai/beta/properties/SuperAnimalParserProperties.hpp	Adds SuperAnimalParser properties (beta).
include/depthai/beta/properties/SCRFDParserProperties.hpp	Adds SCRFDParser properties (beta).
include/depthai/beta/properties/RFDETRParserProperties.hpp	Adds RFDETRParser properties (beta).
include/depthai/beta/properties/RegressionParserProperties.hpp	Adds RegressionParser properties (beta).
include/depthai/beta/properties/PPTextDetectionParserProperties.hpp	Adds PPTextDetectionParser properties (beta).
include/depthai/beta/properties/MPPalmDetectionParserProperties.hpp	Adds MPPalmDetectionParser properties (beta).
include/depthai/beta/properties/MLSDParserProperties.hpp	Adds MLSDParser properties (beta).
include/depthai/beta/properties/MapOutputParserProperties.hpp	Adds MapOutputParser properties (beta).
include/depthai/beta/properties/LaneDetectionParserProperties.hpp	Adds LaneDetectionParser properties (beta).
include/depthai/beta/properties/KeypointParserProperties.hpp	Adds KeypointParser properties (beta).
include/depthai/beta/properties/ImgDetectionsFilterProperties.hpp	Adds ImgDetectionsFilter properties (beta).
include/depthai/beta/properties/ImageOutputParserProperties.hpp	Adds ImageOutputParser properties (beta).
include/depthai/beta/properties/HRNetParserProperties.hpp	Adds HRNetParser properties (beta).
include/depthai/beta/properties/FastSAMParserProperties.hpp	Adds FastSAMParser properties (beta).
include/depthai/beta/properties/EmbeddingsParserProperties.hpp	Adds EmbeddingsParser properties (beta).
include/depthai/beta/properties/ClassificationSequenceParserProperties.hpp	Adds ClassificationSequenceParser properties (beta).
include/depthai/beta/properties/ClassificationParserProperties.hpp	Adds ClassificationParser properties (beta).
include/depthai/beta/nodes.hpp	Adds umbrella include for beta nodes.
include/depthai/beta/node/RegressionParser.hpp	Adds RegressionParser node API (beta).
include/depthai/beta/node/MapOutputParser.hpp	Adds MapOutputParser node API (beta).
include/depthai/beta/node/ImgDetectionsFilter.hpp	Adds ImgDetectionsFilter node API (beta).
include/depthai/beta/node/ImageOutputParser.hpp	Adds ImageOutputParser node API (beta).
include/depthai/beta/node/HRNetParser.hpp	Adds HRNetParser node API (beta).
include/depthai/beta/node/EmbeddingsParser.hpp	Adds EmbeddingsParser node API (beta).
include/depthai/beta/node/ClassificationParser.hpp	Adds ClassificationParser node API (beta).
include/depthai/beta/datatypes.hpp	Adds umbrella include for beta datatypes.
include/depthai/beta/datatype/Predictions.hpp	Adds Predictions datatype API (beta).
include/depthai/beta/datatype/Map2D.hpp	Adds Map2D datatype API (beta).
include/depthai/beta/datatype/Lines.hpp	Adds Lines datatype API (beta).
include/depthai/beta/datatype/Keypoints.hpp	Adds Keypoints datatype API (beta).
include/depthai/beta/datatype/ImgDetectionsFilterConfig.hpp	Adds ImgDetectionsFilterConfig datatype API (beta).
include/depthai/beta/datatype/Clusters.hpp	Adds Clusters datatype API (beta).
include/depthai/beta/datatype/Classifications.hpp	Adds Classifications datatype API (beta).
examples/python/Beta/img_detections_filter.py	Adds beta Python example for ImgDetectionsFilter.
examples/cpp/ToF/tof_minimal.cpp	Formatting-only change.
examples/cpp/ToF/tof_all_queues.cpp	Formatting-only change.
examples/cpp/ToF/tof_align.cpp	Include ordering + formatting-only changes.
examples/cpp/IMU/imu_gyroscope_accelerometer.cpp	Whitespace cleanup.
CMakeLists.txt	Adds beta sources + compile definition `DEPTHAI_HAVE_BETA` when enabled.
cmake/depthaiOptions.cmake	Introduces `DEPTHAI_BUILD_BETA` option.
cmake/depthaiConfig.cmake.in	Exports `DEPTHAI_BUILD_BETA` in package config.
cmake/Depthai/DepthaiDeviceRVC4Config.cmake	Updates RVC4 version string.
bindings/python/tests/CMakeLists.txt	Adds beta Python test when beta build is enabled.
bindings/python/tests/beta_img_detections_filter_test.py	Adds Python tests for beta ImgDetectionsFilter availability/passthrough.
bindings/python/src/pipeline/PipelineBindings.cpp	Treats `depthai.beta.node` classes as “from bindings” for create-path selection.
bindings/python/src/pipeline/node/NodeBindings.cpp	Adds beta node bind callstack entries and creates `depthai.beta.node` submodule.
bindings/python/src/pipeline/node/Common.hpp	Adds helper to register beta nodes (`addBetaNode` / `ADD_BETA_NODE_DERIVED`).
bindings/python/src/pipeline/node/CameraBindings.cpp	Formatting-only change.
bindings/python/src/pipeline/datatype/TrackletsBindings.cpp	Formatting-only change.
bindings/python/src/pipeline/datatype/TrackedFeaturesBindings.cpp	Formatting-only change.
bindings/python/src/pipeline/datatype/SpatialLocationCalculatorDataBindings.cpp	Formatting-only change.
bindings/python/src/pipeline/datatype/MessageGroupBindings.cpp	Formatting-only change.
bindings/python/src/pipeline/datatype/AprilTagsBindings.cpp	Formatting-only change.
bindings/python/src/DatatypeBindings.cpp	Adds conditional exposure of beta datatype enum values and binding callstack entries.
bindings/python/src/beta/node/YuNetParserBindings.cpp	Adds Python bindings for YuNetParser (beta).
bindings/python/src/beta/node/XFeatStereoParserBindings.cpp	Adds Python bindings for XFeatStereoParser (beta).
bindings/python/src/beta/node/XFeatMonoParserBindings.cpp	Adds Python bindings for XFeatMonoParser (beta).
bindings/python/src/beta/node/SuperAnimalParserBindings.cpp	Adds Python bindings for SuperAnimalParser (beta).
bindings/python/src/beta/node/SCRFDParserBindings.cpp	Adds Python bindings for SCRFDParser (beta).
bindings/python/src/beta/node/RFDETRParserBindings.cpp	Adds Python bindings for RFDETRParser (beta).
bindings/python/src/beta/node/RegressionParserBindings.cpp	Adds Python bindings for RegressionParser (beta).
bindings/python/src/beta/node/PPTextDetectionParserBindings.cpp	Adds Python bindings for PPTextDetectionParser (beta).
bindings/python/src/beta/node/MPPalmDetectionParserBindings.cpp	Adds Python bindings for MPPalmDetectionParser (beta).
bindings/python/src/beta/node/MLSDParserBindings.cpp	Adds Python bindings for MLSDParser (beta).
bindings/python/src/beta/node/MapOutputParserBindings.cpp	Adds Python bindings for MapOutputParser (beta).
bindings/python/src/beta/node/LaneDetectionParserBindings.cpp	Adds Python bindings for LaneDetectionParser (beta).
bindings/python/src/beta/node/KeypointParserBindings.cpp	Adds Python bindings for KeypointParser (beta).
bindings/python/src/beta/node/ImgDetectionsFilterBindings.cpp	Adds Python bindings for ImgDetectionsFilter + config/properties (beta).
bindings/python/src/beta/node/ImageOutputParserBindings.cpp	Adds Python bindings for ImageOutputParser (beta).
bindings/python/src/beta/node/HRNetParserBindings.cpp	Adds Python bindings for HRNetParser (beta).
bindings/python/src/beta/node/FastSAMParserBindings.cpp	Adds Python bindings for FastSAMParser (beta).
bindings/python/src/beta/node/EmbeddingsParserBindings.cpp	Adds Python bindings for EmbeddingsParser (beta).
bindings/python/src/beta/node/ClassificationSequenceParserBindings.cpp	Adds Python bindings for ClassificationSequenceParser (beta).
bindings/python/src/beta/node/ClassificationParserBindings.cpp	Adds Python bindings for ClassificationParser (beta).
bindings/python/src/beta/datatype/PredictionsBindings.cpp	Adds Python bindings for Predictions datatype (beta).
bindings/python/src/beta/datatype/Map2DBindings.cpp	Adds Python bindings for Map2D datatype (beta).
bindings/python/src/beta/datatype/LinesBindings.cpp	Adds Python bindings for Lines datatype (beta).
bindings/python/src/beta/datatype/KeypointsBindings.cpp	Adds Python bindings for Keypoints datatype (beta).
bindings/python/src/beta/datatype/ClustersBindings.cpp	Adds Python bindings for Clusters datatype (beta).
bindings/python/src/beta/datatype/ClassificationsBindings.cpp	Adds Python bindings for Classifications datatype (beta).
bindings/python/setup.py	Allows enabling beta build via env var to CMake args.
bindings/python/CMakeLists.txt	Adds beta binding sources when `DEPTHAI_BUILD_BETA` is enabled.
.github/workflows/python-main.yml	Enables beta build in Python CI workflow and passes CMake flag.
.github/workflows/main.workflow.yml	Adds workflow input + env-based logic to build with/without beta; passes CMake flag.

Suppressed comments (1)

tests/src/onhost_tests/beta_parser_properties_test.cpp:75

The schema validation loop only asserts properties if the expected nodes are encountered; if a node is missing from schema.nodes, the test will still pass (false negative). Consider tracking which expected node names were seen and REQUIRE at the end that all expected nodes were found.

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+#include <catch2/catch_all.hpp>
+#include <depthai/depthai.hpp>


+        case DatatypeEnum::ImgDetectionsFilterConfig:
+#ifdef DEPTHAI_HAVE_BETA
+            return parseDatatype<beta::ImgDetectionsFilterConfig>(metadataStart, serializedObjectSize, data, fd);
+#else
+            break;
+#endif


moratom · 2026-08-05T12:22:45Z

+    using namespace dai;
+    using namespace dai::beta::node;
+
+    auto betaModule = m.def_submodule("beta", "Experimental APIs");


bindings/python/src/beta/node/KeypointParserBindings.cpp doesn't have this (at least not explicit). How come the difference?

moratom

Neat, some experimental nodes :)

A few high level comments:

I think basic tests would make sense still, even though the API is experimental
Maybe makes sense to add a notice to README what's the purpuse of the beta submodule (unstable API, ...)
RVC2 FW still needs to be bumped for safety, to get the enums updated

moratom · 2026-08-05T12:23:45Z

        cv::Mat colored;
-        logDepth.convertTo(
-            colored, CV_8U, 255.0 / (logMaxDepth - logMinDepth), -logMinDepth * 255.0 / (logMaxDepth - logMinDepth));
+        logDepth.convertTo(colored, CV_8U, 255.0 / (logMaxDepth - logMinDepth), -logMinDepth * 255.0 / (logMaxDepth - logMinDepth));


formatting intentional?

moratom · 2026-08-05T12:33:33Z

From CI:

[RVC4] 91: -------------------------------------------------------------------------------
[RVC4] 91: Test raw camera output
[RVC4] 91: -------------------------------------------------------------------------------
[RVC4] 91: /workspace/tests/src/ondevice_tests/pipeline/node/camera_test.cpp:18
[RVC4] 91: ...............................................................................
[RVC4] 91:
[RVC4] 91: /workspace/tests/src/ondevice_tests/pipeline/node/camera_test.cpp:21: FAILED:
[RVC4] 91: due to unexpected exception with message:
[RVC4] 91:   RPC 'getConnectedCameraFeatures' failed: [json.exception.parse_error.101]
[RVC4] 91:   parse error at line 1, column 1: syntax error while parsing value -
[RVC4] 91:   unexpected end of input; expected '[', '{', or a literal
[RVC4] 91:
[RVC4] 91: -------------------------------------------------------------------------------
[RVC4] 91: Test camera with multiple outputs with different FPS
[RVC4] 91: -------------------------------------------------------------------------------
[RVC4] 91: /workspace/tests/src/ondevice_tests/pipeline/node/camera_test.cpp:44
[RVC4] 91: ...............................................................................
[RVC4] 91:
[RVC4] 91: /workspace/tests/src/ondevice_tests/pipeline/node/camera_test.cpp:44: FAILED:
[RVC4] 91: due to unexpected exception with message:
[RVC4] 91:   RPC 'getConnectedCameraFeatures' failed: [json.exception.parse_error.101]
[RVC4] 91:   parse error at line 1, column 1: syntax error while parsing value -
[RVC4] 91:   unexpected end of input; expected '[', '{', or a literal

this doesn't seem like a flaky test, OS 1.27.1 RVC4

aljazkonec1 added 22 commits July 27, 2026 17:32

Add beta namespace and detections filter node

962bb55

Update ImgDetectionsFilter node to be device runnable, add BETA names…

bc5f1de

…pace as a CMake option, default OFF

Update main workflow and python-main workflows to set DDEPTHAI_BUILD_…

6abc8ac

…BETA=ON

Add beta ClassificationParser

c64654e

Add beta ClassificationSequenceParser

ccb2a6d

Add beta EmbeddingsParser

44937c0

Add beta KeypointParser

65bf7ba

Add beta HRNetParser

f057e8a

Add beta SuperAnimalParser

d3ffb4b

Add beta LaneDetectionParser

dc250ad

Add beta ImageOutputParser

fbbb036

Add beta MapOutputParser

11a50f9

Add beta MPPalmDetectionParser

71b5e0a

Add beta MLSDParser

369aac8

Add beta RegressionParser

88a789e

Add beta XFeatMonoParser

148d1fa

Add beta XFeatStereoParser

eff9617

Add beta SCRFDParser

25cd38f

Add beta YuNetParser

20e81a7

Add beta RFDETRParser

f08c7ec

Add beta FastSAMParser

fad4bf8

Add beta PPTextDetectionParser

9a4fb28

aljazkonec1 added 7 commits August 3, 2026 20:57

Merge remote-tracking branch 'origin/develop' into feat/beta_namespace

22861a6

Parsers need to be device nodes and serializable

8167977

Add input and output block events

229976d

More input output blocks

9362a9f

Bump FW

a50ac17

Clang format

d170d38

Enable beta building on develop, release and v** branches. Remove req…

86c98e3

…uirement for push event

add build_beta as a workflow dispatch

e715caa

aljazkonec1 requested a review from moratom August 4, 2026 20:07

moratom requested a review from Copilot August 5, 2026 09:18

Copilot started reviewing on behalf of moratom August 5, 2026 09:18 View session

Copilot AI reviewed Aug 5, 2026

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aljazkonec1 added the testable PR is ready to be tested - run vanilla tests label Aug 5, 2026

moratom reviewed Aug 5, 2026

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moratom approved these changes Aug 5, 2026

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Feat: Beta namespace - #1919

Feat: Beta namespace#1919
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		#include <catch2/catch_all.hpp>
		#include <depthai/depthai.hpp>

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aljazkonec1 commented Jul 30, 2026 •

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