From 2246afda3712f5bfe922552b06c1ef20259e5e2d Mon Sep 17 00:00:00 2001
From: Filip Jeretina <59307111+zrezke@users.noreply.github.com>
Date: Thu, 7 Dec 2023 15:13:24 +0100
Subject: [PATCH] OAK D SR POE and some reliability improvements (#35)

* WIP add support for tof (oak d sr poe)

* Accommodate new sdk, make tof stream show up, more or less properly. Still need to fix a few gui bugs.

* Fixed gui bugs with which sensors are "AI capable" improved a bit on resolution search stability.  did py-lints

* install wheel from artifactory

* Update rerun_py/depthai_viewer/_backend/device.py

* Update rerun_py/depthai_viewer/_backend/device.py
---
 rerun_py/depthai_viewer/_backend/device.py             |  1 +
 .../depthai_viewer/_backend/device_configuration.py    | 10 ++++------
 rerun_py/depthai_viewer/_backend/packet_handler.py     |  6 ++----
 3 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/rerun_py/depthai_viewer/_backend/device.py b/rerun_py/depthai_viewer/_backend/device.py
index 32cf84b8c1446..13574cd810b33 100644
--- a/rerun_py/depthai_viewer/_backend/device.py
+++ b/rerun_py/depthai_viewer/_backend/device.py
@@ -50,6 +50,7 @@
 )
 from depthai_viewer._backend.store import Store
 from depthai_viewer.install_requirements import model_dir
+from numpy.typing import NDArray
 
 
 class XlinkStatistics:
diff --git a/rerun_py/depthai_viewer/_backend/device_configuration.py b/rerun_py/depthai_viewer/_backend/device_configuration.py
index 0fe023ead6056..d57fafcd09592 100644
--- a/rerun_py/depthai_viewer/_backend/device_configuration.py
+++ b/rerun_py/depthai_viewer/_backend/device_configuration.py
@@ -56,9 +56,7 @@ def to_runtime_controls(self) -> Dict[str, Any]:
                 "align": (
                     "RECTIFIED_LEFT"
                     if self.align == dai.CameraBoardSocket.LEFT
-                    else "RECTIFIED_RIGHT"
-                    if self.align == dai.CameraBoardSocket.RIGHT
-                    else "CENTER"
+                    else "RECTIFIED_RIGHT" if self.align == dai.CameraBoardSocket.RIGHT else "CENTER"
                 ),
                 "lr_check": self.lr_check,
                 "lrc_check_threshold": self.lrc_threshold,
@@ -335,9 +333,9 @@ class DeviceProperties(BaseModel):  # type: ignore[misc]
     id: str
     cameras: List[CameraFeatures] = []
     imu: Optional[ImuKind]
-    stereo_pairs: List[
-        Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]
-    ] = []  # Which cameras can be paired for stereo
+    stereo_pairs: List[Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]] = (
+        []
+    )  # Which cameras can be paired for stereo
     default_stereo_pair: Optional[Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]] = None
     info: DeviceInfo = DeviceInfo()
 
diff --git a/rerun_py/depthai_viewer/_backend/packet_handler.py b/rerun_py/depthai_viewer/_backend/packet_handler.py
index 90ff9ddde0ceb..c783fb1cf7c51 100644
--- a/rerun_py/depthai_viewer/_backend/packet_handler.py
+++ b/rerun_py/depthai_viewer/_backend/packet_handler.py
@@ -2,6 +2,7 @@
 
 import cv2
 import depthai as dai
+import depthai_viewer as viewer
 import numpy as np
 from ahrs.filters import Mahony
 from depthai_sdk.classes.packets import (  # PointcloudPacket,
@@ -22,13 +23,10 @@
     StereoComponent,
 )
 from depthai_sdk.components.tof_component import ToFComponent
-from numpy.typing import NDArray
-from pydantic import BaseModel
-
-import depthai_viewer as viewer
 from depthai_viewer._backend.store import Store
 from depthai_viewer._backend.topic import Topic
 from depthai_viewer.components.rect2d import RectFormat
+from numpy.typing import NDArray
 
 
 class PacketHandlerContext(BaseModel):  # type: ignore[misc]