Update StereoNode to facilitate DynamicCalibration for EEPROM v<6 (#1523)

* change EEPROM data default for stereoEnableDistortionCorrection to true

* issue a warning instead of throwing

* update rvc2 commit hash

* formatting

* bump rvc2 fw commit hash

* Update src/pipeline/node/DynamicCalibrationNode.cpp

Co-authored-by: moratom <[email protected]>

* change defaults

* bump rvc2 fw hash

* bump rvc2 fw hash

* fix macos integration errors

---------

Co-authored-by: moratom <[email protected]>

Author: lnotspotl

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 "6046548aea636182aa0b028aff7bf3ec4bdf6988")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "913e44e627a6e24f794bce4c4eed2a94691072a4")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

include/depthai/pipeline/node/DynamicCalibrationNode.hpp

@@ -198,6 +198,9 @@ class DynamicCalibration : public DeviceNodeCRTP<DeviceNode, DynamicCalibration,
      * - Reseting of data
      */
     bool runOnHostVar = true;
+
+    // When old calibration is encountered, issue a warning once
+    bool oldCalibrationWarningIssued = false;
 };
 
 }  // namespace node

src/pipeline/node/DynamicCalibrationNode.cpp

@@ -417,8 +417,9 @@ DynamicCalibration::ErrorCode DynamicCalibration::initializePipeline(const std::
     calibrationHandler = daiDevice->getCalibration();
     auto eepromData = calibrationHandler.getEepromData();
     auto platform = daiDevice->getPlatform();
-    if(platform == dai::Platform::RVC2 && (!eepromData.stereoEnableDistortionCorrection || eepromData.stereoUseSpecTranslation)) {
-        throw std::runtime_error("The calibration on the device is too old to perform DynamicCalibration, full re-calibration required!");
+    if(platform == dai::Platform::RVC2 && !eepromData.stereoEnableDistortionCorrection && !oldCalibrationWarningIssued) {
+        logger->info("The calibration on the device is old (distortion correction is disabled), for optimal performance full re-calibration is recommended!");
+        oldCalibrationWarningIssued = true;
     }
     auto [calibA, calibB] = DclUtils::convertDaiCalibrationToDcl(calibrationHandler, daiSocketA, daiSocketB, resolutionA, resolutionB);
 

src/remote_connection/RemoteConnectionImpl.cpp

@@ -454,7 +454,7 @@ void RemoteConnectionImpl::exposeLibraryVersionService() {
     assert(ids.size() == 1);
     auto id = ids[0];
 
-    serviceMap[id] = [this](foxglove::ServiceResponse request) {
+    serviceMap[id] = [](foxglove::ServiceResponse request) {
         nlohmann::json jsonRequest = nlohmann::json::parse(request.data);
         std::string responseMsg = std::string(build::VERSION);
         foxglove::ServiceResponse ret;