diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
index 82a8a32833fe..aedba554dbef 100644
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -88,10 +88,11 @@ jobs:
 
           if [[ $TAGGED_OR_MAIN ]]; then
             # MacOS build is really slow (>30 mins); uses up a lot of CI minutes
-            matrix+=('{"platform": "macos", "runs_on": "macos-latest"},')
+            matrix+=('{"platform": "macos", "runs_on": "macos-latest", "pip": "pip", "python": "python3"},')
           fi
-          matrix+=('{"platform": "windows", "runs_on": "windows-latest"},')
-          matrix+=('{"platform": "linux", "runs_on": "ubuntu-latest", container: {"image": "rerunio/ci_docker:0.5"}}')
+          matrix+=('{"platform": "windows", "runs_on": "windows-latest", "pip": "pip", "python": "python"},')
+          matrix+=('{"platform": "linux", "runs_on": "ubuntu-latest", container: {"image": "rerunio/ci_docker:0.5"}, "pip": "pip", "python": "python3"},')
+          matrix+=('{"platform": "aarch64", "runs_on": ["self-hosted", "linux", "ARM64"], container: {"image": "quay.io/pypa/manylinux_2_28_aarch64"}, "pip": "python3.8 -m pip", "python": "python3.8"}')
 
           echo "Matrix values: ${matrix[@]}"
 
@@ -109,6 +110,10 @@ jobs:
     container: ${{ matrix.container }}
 
     steps:
+      - name: Install rust
+        if: matrix.platform == 'aarch64'
+        run: curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y && echo "$HOME/.cargo/bin" >> $GITHUB_PATH
+
       - uses: actions/checkout@v3
 
       # These should already be in the docker container, but run for good measure. A no-op install
@@ -122,6 +127,20 @@ jobs:
           version: 2.0 # Increment this to pull newer packages
           execute_install_scripts: true
 
+      - name: Cache DNF packages
+        if: matrix.platform == 'aarch64'
+        uses: actions/cache@v2
+        with:
+          path: |
+            /var/cache/dnf
+          key: ${{ runner.os }}-dnf-aarch64
+
+      - name: AARCH64 install packages
+        if: matrix.platform == 'aarch64'
+        run: |
+          dnf makecache --refresh
+          dnf install -y gtk3-devel openssl-devel
+
       - name: Set up cargo cache
         uses: Swatinem/rust-cache@v2
         with:
@@ -134,7 +153,7 @@ jobs:
       # The pip-cache setup logic doesn't work in the ubuntu docker container
       # That's probably fine since we bake these deps into the container already
       - name: Setup python
-        if: matrix.platform != 'linux'
+        if: matrix.platform != 'linux' && matrix.platform != 'aarch64'
         uses: actions/setup-python@v4
         with:
           python-version: ${{ env.PYTHON_VERSION }}
@@ -144,7 +163,14 @@ jobs:
       # These should already be in the docker container, but run for good measure. A no-op install
       # should be fast, and this way things don't break if we add new packages without rebuilding
       # docker
-      - run: pip install -r rerun_py/requirements-build.txt
+      - name: "Install build requirements"
+        run: |
+          if [ "${{ matrix.platform }}" = "aarch64" ]; then
+            ${{ matrix.pip }} install -r rerun_py/requirements-build.txt && echo "/opt/_internal/cpython-3.8.16/bin" >> $GITHUB_PATH
+          else
+            ${{ matrix.pip }} install -r rerun_py/requirements-build.txt
+          fi
+        shell: bash
 
       # ----------------------------------------------------------------------------------
       # Install prerequisites for building the web-viewer Wasm
@@ -186,16 +212,17 @@ jobs:
         # After patching the pre-release version, run cargo check.
         # This updates the cargo.lock file with the new version numbers and keeps the wheel build from failing
         run: |
-          python3 scripts/version_util.py --patch_prerelease
+          ${{ matrix.python }} scripts/version_util.py --patch_prerelease
           cargo check
 
       - name: Version check for tagged-release
         if: startsWith(github.ref, 'refs/tags/v') && github.event_name != 'workflow_dispatch'
         # This call to version_util.py will assert version from Cargo.toml matches git tagged version vX.Y.Z
         run: |
-          python3 scripts/version_util.py --check_version
+          ${{ matrix.python }} scripts/version_util.py --check_version
 
       - name: Build Wheel
+        if: matrix.platform != 'aarch64'
         uses: PyO3/maturin-action@v1
         with:
           maturin-version: "0.14.10"
@@ -209,19 +236,33 @@ jobs:
             --features pypi
             --universal2
             --out pre-dist
+            -i ${{ matrix.python }}
+      - name: Build Wheel (aarch64)
+        if: matrix.platform == 'aarch64'
+        run: python3.8 -m maturin build --manifest-path rerun_py/Cargo.toml --release --no-default-features --features pypi --universal2 --out pre-dist
 
       - name: Install built wheel
         run: |
-          pip install depthai_viewer --find-links pre-dist --force-reinstall
+          ${{ matrix.pip }} install depthai_viewer --find-links pre-dist --force-reinstall
 
       - name: Run tests
-        run: cd rerun_py/tests && pytest
+        shell: bash
+        run: |
+          if [ "${{ matrix.platform }}" = "aarch64" ]; then
+            cd rerun_py/tests && python3.8 -m pytest
+          else
+            cd rerun_py/tests && pytest
+          fi
 
       - name: Unpack the wheel
         shell: bash
         run: |
           mkdir unpack-dist
-          wheel unpack pre-dist/*.whl --dest unpack-dist
+          if [ "${{ matrix.platform }}" == "aarch64" ]; then
+            python3.8 -m wheel unpack pre-dist/*.whl --dest unpack-dist
+          else
+            wheel unpack pre-dist/*.whl --dest unpack-dist
+          fi
 
       - name: Get the folder name
         shell: bash
@@ -232,7 +273,11 @@ jobs:
         shell: bash
         run: |
           mkdir dist
-          wheel pack unpack-dist/${{ env.pkg_folder }} --dest dist/
+          if [ "${{ matrix.platform }}" == "aarch64" ]; then
+            python3.8 -m wheel pack unpack-dist/${{ env.pkg_folder }} --dest dist/
+          else
+            wheel pack unpack-dist/${{ env.pkg_folder }} --dest dist/
+          fi
 
       - name: Upload wheels
         uses: actions/upload-artifact@v3
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2bb4140268fb..6184621915ed 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # Depthai Viewer changelog
 
+## 0.1.9
+
+- Added the new ToF decoding improvements.
+- The default AI model is now Yolo V6 instead of mobilenet-ssd.
+- Fixed OAK-D-SR-POE crashing on startup.
+- Fixed deformed bounding boxes.
+
 ## 0.1.8
 
 - Performance fix.
diff --git a/Cargo.lock b/Cargo.lock
index 02440f66adaa..a890af3072a5 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -45,9 +45,9 @@ checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
 [[package]]
 name = "ahash"
-version = "0.8.10"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b79b82693f705137f8fb9b37871d99e4f9a7df12b917eed79c3d3954830a60b"
+checksum = "91429305e9f0a25f6205c5b8e0d2db09e0708a7a6df0f42212bb56c32c8ac97a"
 dependencies = [
  "cfg-if",
  "const-random",
@@ -120,9 +120,9 @@ checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
 
 [[package]]
 name = "anstream"
-version = "0.6.13"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d96bd03f33fe50a863e394ee9718a706f988b9079b20c3784fb726e7678b62fb"
+checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -134,9 +134,9 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.6"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8901269c6307e8d93993578286ac0edf7f195079ffff5ebdeea6a59ffb7e36bc"
+checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
 name = "anstyle-parse"
@@ -149,9 +149,9 @@ dependencies = [
 
 [[package]]
 name = "anstyle-query"
-version = "1.0.2"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
+checksum = "a3a318f1f38d2418400f8209655bfd825785afd25aa30bb7ba6cc792e4596748"
 dependencies = [
  "windows-sys 0.52.0",
 ]
@@ -168,16 +168,16 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.80"
+version = "1.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ad32ce52e4161730f7098c077cd2ed6229b5804ccf99e5366be1ab72a98b4e1"
+checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
 
 [[package]]
 name = "api_demo"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
- "clap 4.5.1",
+ "clap 4.4.11",
  "depthai-viewer",
  "glam",
  "itertools",
@@ -188,12 +188,12 @@ dependencies = [
 
 [[package]]
 name = "arboard"
-version = "3.3.1"
+version = "3.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1faa3c733d9a3dd6fbaf85da5d162a2e03b2e0033a90dceb0e2a90fdd1e5380a"
+checksum = "aafb29b107435aa276664c1db8954ac27a6e105cdad3c88287a199eb0e313c08"
 dependencies = [
  "clipboard-win",
- "core-graphics 0.23.1",
+ "core-graphics",
  "image",
  "log",
  "objc",
@@ -201,7 +201,7 @@ dependencies = [
  "objc_id",
  "parking_lot 0.12.1",
  "thiserror",
- "windows-sys 0.48.0",
+ "winapi",
  "x11rb",
 ]
 
@@ -338,13 +338,13 @@ dependencies = [
 
 [[package]]
 name = "async-channel"
-version = "2.2.0"
+version = "2.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f28243a43d821d11341ab73c80bed182dc015c514b951616cf79bd4af39af0c3"
+checksum = "1ca33f4bc4ed1babef42cad36cc1f51fa88be00420404e5b1e80ab1b18f7678c"
 dependencies = [
  "concurrent-queue",
- "event-listener 5.2.0",
- "event-listener-strategy 0.5.0",
+ "event-listener 4.0.0",
+ "event-listener-strategy",
  "futures-core",
  "pin-project-lite",
 ]
@@ -355,11 +355,11 @@ version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "17ae5ebefcc48e7452b4987947920dac9450be1110cadf34d1b8c116bdbaf97c"
 dependencies = [
- "async-lock 3.3.0",
+ "async-lock 3.2.0",
  "async-task",
  "concurrent-queue",
  "fastrand 2.0.1",
- "futures-lite 2.2.0",
+ "futures-lite 2.1.0",
  "slab",
 ]
 
@@ -377,16 +377,16 @@ dependencies = [
 
 [[package]]
 name = "async-global-executor"
-version = "2.4.1"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05b1b633a2115cd122d73b955eadd9916c18c8f510ec9cd1686404c60ad1c29c"
+checksum = "9b4353121d5644cdf2beb5726ab752e79a8db1ebb52031770ec47db31d245526"
 dependencies = [
- "async-channel 2.2.0",
+ "async-channel 2.1.1",
  "async-executor",
- "async-io 2.3.1",
- "async-lock 3.3.0",
+ "async-io 2.2.1",
+ "async-lock 3.2.0",
  "blocking",
- "futures-lite 2.2.0",
+ "futures-lite 2.1.0",
  "once_cell",
 ]
 
@@ -412,18 +412,18 @@ dependencies = [
 
 [[package]]
 name = "async-io"
-version = "2.3.1"
+version = "2.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f97ab0c5b00a7cdbe5a371b9a782ee7be1316095885c8a4ea1daf490eb0ef65"
+checksum = "d6d3b15875ba253d1110c740755e246537483f152fa334f91abd7fe84c88b3ff"
 dependencies = [
- "async-lock 3.3.0",
+ "async-lock 3.2.0",
  "cfg-if",
  "concurrent-queue",
  "futures-io",
- "futures-lite 2.2.0",
+ "futures-lite 2.1.0",
  "parking",
- "polling 3.5.0",
- "rustix 0.38.31",
+ "polling 3.3.1",
+ "rustix 0.38.26",
  "slab",
  "tracing",
  "windows-sys 0.52.0",
@@ -440,12 +440,12 @@ dependencies = [
 
 [[package]]
 name = "async-lock"
-version = "3.3.0"
+version = "3.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d034b430882f8381900d3fe6f0aaa3ad94f2cb4ac519b429692a1bc2dda4ae7b"
+checksum = "7125e42787d53db9dd54261812ef17e937c95a51e4d291373b670342fa44310c"
 dependencies = [
- "event-listener 4.0.3",
- "event-listener-strategy 0.4.0",
+ "event-listener 4.0.0",
+ "event-listener-strategy",
  "pin-project-lite",
 ]
 
@@ -462,7 +462,7 @@ dependencies = [
  "cfg-if",
  "event-listener 3.1.0",
  "futures-lite 1.13.0",
- "rustix 0.38.31",
+ "rustix 0.38.26",
  "windows-sys 0.48.0",
 ]
 
@@ -474,7 +474,7 @@ checksum = "5fd55a5ba1179988837d24ab4c7cc8ed6efdeff578ede0416b4225a5fca35bd0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -483,13 +483,13 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e47d90f65a225c4527103a8d747001fc56e375203592b25ad103e1ca13124c5"
 dependencies = [
- "async-io 2.3.1",
+ "async-io 2.2.1",
  "async-lock 2.8.0",
  "atomic-waker",
  "cfg-if",
  "futures-core",
  "futures-io",
- "rustix 0.38.31",
+ "rustix 0.38.26",
  "signal-hook-registry",
  "slab",
  "windows-sys 0.48.0",
@@ -540,24 +540,24 @@ checksum = "16e62a023e7c117e27523144c5d2459f4397fcc3cab0085af8e2224f643a0193"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "async-task"
-version = "4.7.0"
+version = "4.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb36e985947064623dbd357f727af08ffd077f93d696782f3c56365fa2e2799"
+checksum = "b4eb2cdb97421e01129ccb49169d8279ed21e829929144f4a22a6e54ac549ca1"
 
 [[package]]
 name = "async-trait"
-version = "0.1.77"
+version = "0.1.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c980ee35e870bd1a4d2c8294d4c04d0499e67bca1e4b5cefcc693c2fa00caea9"
+checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -628,9 +628,9 @@ checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
 [[package]]
 name = "base64"
-version = "0.21.7"
+version = "0.21.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567"
+checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
 
 [[package]]
 name = "bincode"
@@ -664,9 +664,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.4.2"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed570934406eb16438a4e976b1b4500774099c13b8cb96eec99f620f05090ddf"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
 dependencies = [
  "serde",
 ]
@@ -711,27 +711,27 @@ version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a37913e8dc4ddcc604f0c6d3bf2887c995153af3611de9e23c352b44c1b9118"
 dependencies = [
- "async-channel 2.2.0",
- "async-lock 3.3.0",
+ "async-channel 2.1.1",
+ "async-lock 3.2.0",
  "async-task",
  "fastrand 2.0.1",
  "futures-io",
- "futures-lite 2.2.0",
+ "futures-lite 2.1.0",
  "piper",
  "tracing",
 ]
 
 [[package]]
 name = "bumpalo"
-version = "3.15.3"
+version = "3.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ea184aa71bb362a1157c896979544cc23974e08fd265f29ea96b59f0b4a555b"
+checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec"
 
 [[package]]
 name = "bytemuck"
-version = "1.14.3"
+version = "1.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2ef034f05691a48569bd920a96c81b9d91bbad1ab5ac7c4616c1f6ef36cb79f"
+checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6"
 dependencies = [
  "bytemuck_derive",
 ]
@@ -744,7 +744,7 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -784,9 +784,9 @@ dependencies = [
 
 [[package]]
 name = "cargo-platform"
-version = "0.1.7"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "694c8807f2ae16faecc43dc17d74b3eb042482789fd0eb64b39a2e04e087053f"
+checksum = "e34637b3140142bdf929fb439e8aa4ebad7651ebf7b1080b3930aa16ac1459ff"
 dependencies = [
  "serde",
 ]
@@ -825,10 +825,11 @@ checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
 [[package]]
 name = "cc"
-version = "1.0.88"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02f341c093d19155a6e41631ce5971aac4e9a868262212153124c15fa22d1cdc"
+checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
 dependencies = [
+ "jobserver",
  "libc",
 ]
 
@@ -852,23 +853,23 @@ checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
 [[package]]
 name = "chrono"
-version = "0.4.34"
+version = "0.4.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bc015644b92d5890fab7489e49d21f879d5c990186827d42ec511919404f38b"
+checksum = "7f2c685bad3eb3d45a01354cedb7d5faa66194d1d58ba6e267a8de788f79db38"
 dependencies = [
  "android-tzdata",
  "iana-time-zone",
  "js-sys",
  "num-traits",
  "wasm-bindgen",
- "windows-targets 0.52.4",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
 name = "ciborium"
-version = "0.2.2"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42e69ffd6f0917f5c029256a24d0161db17cea3997d185db0d35926308770f0e"
+checksum = "effd91f6c78e5a4ace8a5d3c0b6bfaec9e2baaef55f3efc00e45fb2e477ee926"
 dependencies = [
  "ciborium-io",
  "ciborium-ll",
@@ -877,18 +878,18 @@ dependencies = [
 
 [[package]]
 name = "ciborium-io"
-version = "0.2.2"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05afea1e0a06c9be33d539b876f1ce3692f4afea2cb41f740e7743225ed1c757"
+checksum = "cdf919175532b369853f5d5e20b26b43112613fd6fe7aee757e35f7a44642656"
 
 [[package]]
 name = "ciborium-ll"
-version = "0.2.2"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57663b653d948a338bfb3eeba9bb2fd5fcfaecb9e199e87e1eda4d9e8b240fd9"
+checksum = "defaa24ecc093c77630e6c15e17c51f5e187bf35ee514f4e2d67baaa96dae22b"
 dependencies = [
  "ciborium-io",
- "half",
+ "half 1.8.2",
 ]
 
 [[package]]
@@ -905,9 +906,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.1"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c918d541ef2913577a0f9566e9ce27cb35b6df072075769e0b26cb5a554520da"
+checksum = "bfaff671f6b22ca62406885ece523383b9b64022e341e53e009a62ebc47a45f2"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -915,26 +916,26 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.1"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f3e7391dad68afb0c2ede1bf619f579a3dc9c2ec67f089baa397123a2f3d1eb"
+checksum = "a216b506622bb1d316cd51328dce24e07bdff4a6128a47c7e7fad11878d5adbb"
 dependencies = [
  "anstream",
  "anstyle",
- "clap_lex 0.7.0",
+ "clap_lex 0.6.0",
  "strsim",
 ]
 
 [[package]]
 name = "clap_derive"
-version = "4.5.0"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "307bc0538d5f0f83b8248db3087aa92fe504e4691294d0c96c0eabc33f47ba47"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -948,9 +949,9 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98cc8fbded0c607b7ba9dd60cd98df59af97e84d24e49c8557331cfc26d301ce"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "clean-path"
@@ -960,11 +961,13 @@ checksum = "aaa6b4b263a5d737e9bf6b7c09b72c41a5480aec4d7219af827f6564e950b6a5"
 
 [[package]]
 name = "clipboard-win"
-version = "5.2.0"
+version = "4.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12f9a0700e0127ba15d1d52dd742097f821cd9c65939303a44d970465040a297"
+checksum = "7191c27c2357d9b7ef96baac1773290d4ca63b24205b82a3fd8a0637afcf0362"
 dependencies = [
  "error-code",
+ "str-buf",
+ "winapi",
 ]
 
 [[package]]
@@ -977,8 +980,8 @@ dependencies = [
  "block",
  "cocoa-foundation",
  "core-foundation",
- "core-graphics 0.22.3",
- "foreign-types 0.3.2",
+ "core-graphics",
+ "foreign-types",
  "libc",
  "objc",
 ]
@@ -1069,14 +1072,14 @@ dependencies = [
 
 [[package]]
 name = "console"
-version = "0.15.8"
+version = "0.15.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e1f83fc076bd6dd27517eacdf25fef6c4dfe5f1d7448bafaaf3a26f13b5e4eb"
+checksum = "c926e00cc70edefdc64d3a5ff31cc65bb97a3460097762bd23afb4d8145fccf8"
 dependencies = [
  "encode_unicode",
  "lazy_static",
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.45.0",
 ]
 
 [[package]]
@@ -1134,20 +1137,7 @@ dependencies = [
  "bitflags 1.3.2",
  "core-foundation",
  "core-graphics-types",
- "foreign-types 0.3.2",
- "libc",
-]
-
-[[package]]
-name = "core-graphics"
-version = "0.23.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "970a29baf4110c26fedbc7f82107d42c23f7e88e404c4577ed73fe99ff85a212"
-dependencies = [
- "bitflags 1.3.2",
- "core-foundation",
- "core-graphics-types",
- "foreign-types 0.5.0",
+ "foreign-types",
  "libc",
 ]
 
@@ -1164,18 +1154,18 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.12"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53fe5e26ff1b7aef8bca9c6080520cfb8d9333c7568e1829cef191a9723e5504"
+checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
 dependencies = [
  "libc",
 ]
 
 [[package]]
 name = "crc32fast"
-version = "1.4.0"
+version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3855a8a784b474f333699ef2bbca9db2c4a1f6d9088a90a2d25b1eb53111eaa"
+checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
 dependencies = [
  "cfg-if",
 ]
@@ -1218,10 +1208,11 @@ dependencies = [
 
 [[package]]
 name = "crossbeam"
-version = "0.8.4"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
+checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
 dependencies = [
+ "cfg-if",
  "crossbeam-channel",
  "crossbeam-deque",
  "crossbeam-epoch",
@@ -1231,46 +1222,56 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.12"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab3db02a9c5b5121e1e42fbdb1aeb65f5e02624cc58c43f2884c6ccac0b82f95"
+checksum = "a33c2bf77f2df06183c3aa30d1e96c0695a313d4f9c453cc3762a6db39f99200"
 dependencies = [
+ "cfg-if",
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.5"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
+checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
 dependencies = [
+ "cfg-if",
  "crossbeam-epoch",
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.18"
+version = "0.9.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
+checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
 dependencies = [
+ "autocfg",
+ "cfg-if",
  "crossbeam-utils",
+ "memoffset 0.9.0",
+ "scopeguard",
 ]
 
 [[package]]
 name = "crossbeam-queue"
-version = "0.3.11"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df0346b5d5e76ac2fe4e327c5fd1118d6be7c51dfb18f9b7922923f287471e35"
+checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
 dependencies = [
+ "cfg-if",
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.19"
+version = "0.8.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "248e3bacc7dc6baa3b21e405ee045c3047101a49145e7e9eca583ab4c2ca5345"
+checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
+dependencies = [
+ "cfg-if",
+]
 
 [[package]]
 name = "crossterm"
@@ -1315,12 +1316,12 @@ dependencies = [
 
 [[package]]
 name = "ctrlc"
-version = "3.4.2"
+version = "3.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b467862cc8610ca6fc9a1532d7777cee0804e678ab45410897b9396495994a0b"
+checksum = "82e95fbd621905b854affdc67943b043a0fbb6ed7385fd5a25650d19a8a6cfdf"
 dependencies = [
  "nix 0.27.1",
- "windows-sys 0.52.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1335,9 +1336,9 @@ dependencies = [
 
 [[package]]
 name = "darling"
-version = "0.20.8"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
+checksum = "0209d94da627ab5605dcccf08bb18afa5009cfbef48d8a8b7d7bdbc79be25c5e"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -1345,26 +1346,26 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.20.8"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
+checksum = "177e3443818124b357d8e76f53be906d60937f0d3a90773a664fa63fa253e621"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.20.8"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
+checksum = "836a9bbc7ad63342d6d6e7b815ccab164bc77a2d95d84bc3117a8c0d5c98e2d5"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1389,11 +1390,11 @@ dependencies = [
 
 [[package]]
 name = "depthai-viewer"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
  "backtrace",
- "clap 4.5.1",
+ "clap 4.4.11",
  "ctrlc",
  "document-features",
  "itertools",
@@ -1421,9 +1422,9 @@ dependencies = [
 
 [[package]]
 name = "deranged"
-version = "0.3.11"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b42b6fa04a440b495c8b04d0e71b707c585f83cb9cb28cf8cd0d976c315e31b4"
+checksum = "8eb30d70a07a3b04884d2677f06bec33509dc67ca60d92949e5535352d3191dc"
 dependencies = [
  "powerfmt",
  "serde",
@@ -1489,12 +1490,12 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412"
 dependencies = [
- "libloading 0.8.2",
+ "libloading 0.8.1",
 ]
 
 [[package]]
 name = "dna"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "depthai-viewer",
  "itertools",
@@ -1503,9 +1504,9 @@ dependencies = [
 
 [[package]]
 name = "document-features"
-version = "0.2.8"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
+checksum = "e493c573fce17f00dcab13b6ac057994f3ce17d1af4dc39bfd482b83c6eb6157"
 dependencies = [
  "litrs",
 ]
@@ -1518,9 +1519,9 @@ checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
 
 [[package]]
 name = "dyn-clone"
-version = "1.0.17"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d6ef0072f8a535281e4876be788938b528e9a1d43900b82c2569af7da799125"
+checksum = "545b22097d44f8a9581187cdf93de7a71e4722bf51200cfaba810865b49a495d"
 
 [[package]]
 name = "ecolor"
@@ -1659,9 +1660,9 @@ dependencies = [
 
 [[package]]
 name = "either"
-version = "1.10.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
+checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
 name = "emath"
@@ -1689,9 +1690,9 @@ dependencies = [
 
 [[package]]
 name = "enumflags2"
-version = "0.7.9"
+version = "0.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3278c9d5fb675e0a51dabcf4c0d355f692b064171535ba72361be1528a9d8e8d"
+checksum = "5998b4f30320c9d93aed72f63af821bfdac50465b75428fce77b48ec482c3939"
 dependencies = [
  "enumflags2_derive",
  "serde",
@@ -1699,24 +1700,24 @@ dependencies = [
 
 [[package]]
 name = "enumflags2_derive"
-version = "0.7.9"
+version = "0.7.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c785274071b1b420972453b306eeca06acf4633829db4223b58a2a8c5953bc4"
+checksum = "f95e2801cd355d4a1a3e3953ce6ee5ae9603a5c833455343a8bfe3f44d418246"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "enumn"
-version = "0.1.13"
+version = "0.1.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fd000fd6988e73bbe993ea3db9b1aa64906ab88766d654973924340c8cddb42"
+checksum = "c2ad8cef1d801a4686bfd8919f0b30eac4c8e48968c437a6405ded4fb5272d2b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1737,14 +1738,14 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "env_logger"
-version = "0.10.2"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cd405aab171cb85d6735e5c8d9db038c17d3ca007a4d2c25f337935c3d90580"
+checksum = "95b3f3e67048839cb0d0781f445682a35113da7121f7c949db0e2be96a4fbece"
 dependencies = [
  "humantime",
  "is-terminal",
@@ -1802,9 +1803,13 @@ dependencies = [
 
 [[package]]
 name = "error-code"
-version = "3.2.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0474425d51df81997e2f90a21591180b38eccf27292d755f3e30750225c175b"
+checksum = "64f18991e7bf11e7ffee451b5318b5c1a73c52d0d0ada6e5a3017c8c1ced6a21"
+dependencies = [
+ "libc",
+ "str-buf",
+]
 
 [[package]]
 name = "ethnum"
@@ -1831,20 +1836,9 @@ dependencies = [
 
 [[package]]
 name = "event-listener"
-version = "4.0.3"
+version = "4.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67b215c49b2b248c855fb73579eb1f4f26c38ffdc12973e20e07b91d78d5646e"
-dependencies = [
- "concurrent-queue",
- "parking",
- "pin-project-lite",
-]
-
-[[package]]
-name = "event-listener"
-version = "5.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b5fb89194fa3cad959b833185b3063ba881dbfc7030680b314250779fb4cc91"
+checksum = "770d968249b5d99410d61f5bf89057f3199a077a04d087092f58e7d10692baae"
 dependencies = [
  "concurrent-queue",
  "parking",
@@ -1857,17 +1851,7 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "958e4d70b6d5e81971bebec42271ec641e7ff4e170a6fa605f2b8a8b65cb97d3"
 dependencies = [
- "event-listener 4.0.3",
- "pin-project-lite",
-]
-
-[[package]]
-name = "event-listener-strategy"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "feedafcaa9b749175d5ac357452a9d41ea2911da598fde46ce1fe02c37751291"
-dependencies = [
- "event-listener 5.2.0",
+ "event-listener 4.0.0",
  "pin-project-lite",
 ]
 
@@ -1907,9 +1891,9 @@ checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5"
 
 [[package]]
 name = "fdeflate"
-version = "0.3.4"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4f9bfee30e4dedf0ab8b422f03af778d9612b63f502710fc500a334ebe2de645"
+checksum = "64d6dafc854908ff5da46ff3f8f473c6984119a2876a383a860246dd7841a868"
 dependencies = [
  "simd-adler32",
 ]
@@ -1940,13 +1924,13 @@ dependencies = [
 
 [[package]]
 name = "fixed"
-version = "1.25.1"
+version = "1.24.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e29e5681dc8556fb9df1409e95eae050e12e8776394313da3546dcb8cf390c73"
+checksum = "02c69ce7e7c0f17aa18fdd9d0de39727adb9c6281f2ad12f57cbe54ae6e76e7d"
 dependencies = [
  "az",
  "bytemuck",
- "half",
+ "half 2.3.1",
  "serde",
  "typenum",
 ]
@@ -1979,28 +1963,7 @@ version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f6f339eb8adc052cd2ca78910fda869aefa38d22d5cb648e6485e4d3fc06f3b1"
 dependencies = [
- "foreign-types-shared 0.1.1",
-]
-
-[[package]]
-name = "foreign-types"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d737d9aa519fb7b749cbc3b962edcf310a8dd1f4b67c91c4f83975dbdd17d965"
-dependencies = [
- "foreign-types-macros",
- "foreign-types-shared 0.3.1",
-]
-
-[[package]]
-name = "foreign-types-macros"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.52",
+ "foreign-types-shared",
 ]
 
 [[package]]
@@ -2009,12 +1972,6 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
 
-[[package]]
-name = "foreign-types-shared"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa9a19cbb55df58761df49b23516a86d432839add4af60fc256da840f66ed35b"
-
 [[package]]
 name = "foreign_vec"
 version = "0.1.0"
@@ -2047,9 +2004,9 @@ checksum = "a06f77d526c1a601b7c4cdd98f54b5eaabffc14d5f2f0296febdc7f357c6d3ba"
 
 [[package]]
 name = "futures"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
+checksum = "da0290714b38af9b4a7b094b8a37086d1b4e61f2df9122c3cad2577669145335"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -2062,9 +2019,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -2072,15 +2029,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a576fc72ae164fca6b9db127eaa9a9dda0d61316034f33a0a0d4eda41f02b01d"
+checksum = "0f4fb8693db0cf099eadcca0efe2a5a22e4550f98ed16aba6c48700da29597bc"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -2089,9 +2046,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
+checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
 
 [[package]]
 name = "futures-lite"
@@ -2110,9 +2067,9 @@ dependencies = [
 
 [[package]]
 name = "futures-lite"
-version = "2.2.0"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "445ba825b27408685aaecefd65178908c36c6e96aaf6d8599419d46e624192ba"
+checksum = "aeee267a1883f7ebef3700f262d2d54de95dfaf38189015a74fdc4e0c7ad8143"
 dependencies = [
  "fastrand 2.0.1",
  "futures-core",
@@ -2123,32 +2080,32 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
+checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
 
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
 
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -2174,19 +2131,19 @@ dependencies = [
 
 [[package]]
 name = "gethostname"
-version = "0.4.3"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0176e0459c2e4a1fe232f984bca6890e681076abb9934f6cea7c326f3fc47818"
+checksum = "bb65d4ba3173c56a500b555b532f72c42e8d1fe64962b518897f8959fae2c177"
 dependencies = [
  "libc",
- "windows-targets 0.48.5",
+ "winapi",
 ]
 
 [[package]]
 name = "getrandom"
-version = "0.2.12"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "190092ea657667030ac6a35e305e62fc4dd69fd98ac98631e5d3a2b1575a12b5"
+checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2244,36 +2201,35 @@ dependencies = [
 
 [[package]]
 name = "gltf"
-version = "1.4.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b78f069cf941075835822953c345b9e1edd67ae347b81ace3aea9de38c2ef33"
+checksum = "ad2dcfb6dd7a66f9eb3d181a29dcfb22d146b0bcdc2e1ed1713cbf03939a88ea"
 dependencies = [
  "base64 0.13.1",
  "byteorder",
  "gltf-json",
  "image",
  "lazy_static",
- "serde_json",
  "urlencoding",
 ]
 
 [[package]]
 name = "gltf-derive"
-version = "1.4.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "438ffe1a5540d75403feaf23636b164e816e93f6f03131674722b3886ce32a57"
+checksum = "f2cbcea5dd47e7ad4e9ee6f040384fcd7204bbf671aa4f9e7ca7dfc9bfa1de20"
 dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "gltf-json"
-version = "1.4.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "655951ba557f2bc69ea4b0799446bae281fa78efae6319968bdd2c3e9a06d8e1"
+checksum = "7d5b810806b78dde4b71a95cc0e6fdcab34c4c617da3574df166f9987be97d03"
 dependencies = [
  "gltf-derive",
  "serde",
@@ -2319,7 +2275,7 @@ version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc11df1ace8e7e564511f53af41f3e42ddc95b56fd07b3f4445d2a6048bc682c"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "gpu-descriptor-types",
  "hashbrown 0.14.3",
 ]
@@ -2330,14 +2286,14 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6bf0b36e6f090b7e1d8a4b49c0cb81c1f8376f72198c65dd3ad9ff3556b8b78c"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
 ]
 
 [[package]]
 name = "h2"
-version = "0.3.24"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb2c4422095b67ee78da96fbb51a4cc413b3b25883c7717ff7ca1ab31022c9c9"
+checksum = "4d6250322ef6e60f93f9a2162799302cd6f68f79f6e5d85c8c16f14d1d958178"
 dependencies = [
  "bytes",
  "fnv",
@@ -2345,7 +2301,7 @@ dependencies = [
  "futures-sink",
  "futures-util",
  "http",
- "indexmap 2.2.5",
+ "indexmap 2.1.0",
  "slab",
  "tokio",
  "tokio-util",
@@ -2354,9 +2310,15 @@ dependencies = [
 
 [[package]]
 name = "half"
-version = "2.4.0"
+version = "1.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
+
+[[package]]
+name = "half"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5eceaaeec696539ddaf7b333340f1af35a5aa87ae3e4f3ead0532f72affab2e"
+checksum = "bc52e53916c08643f1b56ec082790d1e86a32e58dc5268f897f313fbae7b4872"
 dependencies = [
  "bytemuck",
  "cfg-if",
@@ -2437,9 +2399,9 @@ dependencies = [
 
 [[package]]
 name = "hermit-abi"
-version = "0.3.9"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+checksum = "d77f7ec81a6d05a3abb01ab6eb7590f6083d08449fe5a1c8b1e620283546ccb7"
 
 [[package]]
 name = "hex"
@@ -2455,11 +2417,11 @@ checksum = "dfa686283ad6dd069f105e5ab091b04c62850d3e4cf5d67debad1933f55023df"
 
 [[package]]
 name = "home"
-version = "0.5.9"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5"
+checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
 dependencies = [
- "windows-sys 0.52.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2486,9 +2448,9 @@ dependencies = [
 
 [[package]]
 name = "http-body"
-version = "0.4.6"
+version = "0.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ceab25649e9960c0311ea418d17bee82c0dcec1bd053b5f9a66e265a693bed2"
+checksum = "d5f38f16d184e36f2408a55281cd658ecbd3ca05cce6d6510a176eca393e26d1"
 dependencies = [
  "bytes",
  "http",
@@ -2515,9 +2477,9 @@ checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
 [[package]]
 name = "hyper"
-version = "0.14.28"
+version = "0.14.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf96e135eb83a2a8ddf766e426a841d8ddd7449d5f00d34ea02b41d2f19eef80"
+checksum = "ffb1cfd654a8219eaef89881fdb3bb3b1cdc5fa75ded05d6933b2b382e395468"
 dependencies = [
  "bytes",
  "futures-channel",
@@ -2530,7 +2492,7 @@ dependencies = [
  "httpdate",
  "itoa",
  "pin-project-lite",
- "socket2 0.5.6",
+ "socket2 0.4.10",
  "tokio",
  "tower-service",
  "tracing",
@@ -2552,9 +2514,9 @@ dependencies = [
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.60"
+version = "0.1.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7ffbb5a1b541ea2561f8c41c087286cc091e21e556a4f09a8f6cbf17b69b141"
+checksum = "8326b86b6cff230b97d0d312a6c40a60726df3332e721f72a1b035f451663b20"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -2597,14 +2559,15 @@ dependencies = [
 
 [[package]]
 name = "image"
-version = "0.24.9"
+version = "0.24.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5690139d2f55868e080017335e4b94cb7414274c74f1669c84fb5feba2c9f69d"
+checksum = "6f3dfdbdd72063086ff443e297b61695500514b1e41095b6fb9a5ab48a70a711"
 dependencies = [
  "bytemuck",
  "byteorder",
  "color_quant",
  "jpeg-decoder",
+ "num-rational",
  "num-traits",
  "png",
  "tiff",
@@ -2628,9 +2591,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.2.5"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4"
+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
  "equivalent",
  "hashbrown 0.14.3",
@@ -2670,9 +2633,9 @@ dependencies = [
 
 [[package]]
 name = "insta"
-version = "1.35.1"
+version = "1.34.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c985c1bef99cf13c58fade470483d81a2bfe846ebde60ed28cc2dddec2df9e2"
+checksum = "5d64600be34b2fcfc267740a243fa7744441bb4947a619ac4e5bb6507f35fbfc"
 dependencies = [
  "console",
  "lazy_static",
@@ -2699,7 +2662,7 @@ version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
 dependencies = [
- "hermit-abi 0.3.9",
+ "hermit-abi 0.3.3",
  "libc",
  "windows-sys 0.48.0",
 ]
@@ -2712,13 +2675,13 @@ checksum = "8f518f335dce6725a761382244631d86cf0ccb2863413590b31338feb467f9c3"
 
 [[package]]
 name = "is-terminal"
-version = "0.4.12"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
+checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
 dependencies = [
- "hermit-abi 0.3.9",
- "libc",
- "windows-sys 0.52.0",
+ "hermit-abi 0.3.3",
+ "rustix 0.38.26",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2732,9 +2695,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.10"
+version = "1.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
+checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
 
 [[package]]
 name = "jni"
@@ -2758,11 +2721,20 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
+[[package]]
+name = "jobserver"
+version = "0.1.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c37f63953c4c63420ed5fd3d6d398c719489b9f872b9fa683262f8edd363c7d"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "jpeg-decoder"
-version = "0.3.1"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f5d4a7da358eff58addd2877a45865158f0d78c911d43a5784ceb7bbf52833b0"
+checksum = "bc0000e42512c92e31c2252315bda326620a4e034105e900c98ec492fa077b3e"
 
 [[package]]
 name = "js-sys"
@@ -2891,9 +2863,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.153"
+version = "0.2.150"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
+checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
 
 [[package]]
 name = "libloading"
@@ -2907,12 +2879,12 @@ dependencies = [
 
 [[package]]
 name = "libloading"
-version = "0.8.2"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2caa5afb8bf9f3a2652760ce7d4f62d21c4d5a423e68466fca30df82f2330164"
+checksum = "c571b676ddfc9a8c12f1f3d3085a7b163966a8fd8098a90640953ce5f6170161"
 dependencies = [
  "cfg-if",
- "windows-targets 0.52.4",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2937,7 +2909,7 @@ version = "0.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "libc",
  "redox_syscall 0.4.1",
 ]
@@ -2948,7 +2920,7 @@ version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "libc",
  "redox_syscall 0.4.1",
 ]
@@ -2967,15 +2939,15 @@ checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.13"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c"
+checksum = "c4cd1a83af159aa67994778be9070f0ae1bd732942279cabb14f86f986a21456"
 
 [[package]]
 name = "litrs"
-version = "0.4.1"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
+checksum = "f9275e0933cf8bb20f008924c0cb07a0692fe54d8064996520bf998de9eb79aa"
 
 [[package]]
 name = "lock_api"
@@ -2989,18 +2961,18 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.21"
+version = "0.4.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
+checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 dependencies = [
  "value-bag",
 ]
 
 [[package]]
 name = "log-once"
-version = "0.4.1"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d8a05e3879b317b1b6dbf353e5bba7062bedcc59815267bb23eaa0c576cebf0"
+checksum = "1ae8737764ac12e9cfc5ab42a9ec2bdb7e2b376ce9694a4dffc92b7adee09cb5"
 dependencies = [
  "log",
 ]
@@ -3043,9 +3015,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.7.1"
+version = "2.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
+checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
 
 [[package]]
 name = "memmap2"
@@ -3111,7 +3083,7 @@ dependencies = [
  "bitflags 1.3.2",
  "block",
  "core-graphics-types",
- "foreign-types 0.3.2",
+ "foreign-types",
  "log",
  "objc",
 ]
@@ -3133,26 +3105,32 @@ checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
 [[package]]
 name = "minimal"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "depthai-viewer",
 ]
 
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
 [[package]]
 name = "minimal_options"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
- "clap 4.5.1",
+ "clap 4.4.11",
  "depthai-viewer",
  "glam",
 ]
 
 [[package]]
 name = "miniz_oxide"
-version = "0.7.2"
+version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d811f3e15f28568be3407c8e7fdb6514c1cda3cb30683f15b6a1a1dc4ea14a7"
+checksum = "e7810e0be55b428ada41041c41f32c9f1a42817901b4ccf45fa3d4b6561e74c7"
 dependencies = [
  "adler",
  "simd-adler32",
@@ -3166,9 +3144,9 @@ checksum = "e53debba6bda7a793e5f99b8dacf19e626084f525f7829104ba9898f367d85ff"
 
 [[package]]
 name = "mio"
-version = "0.8.11"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
+checksum = "3dce281c5e46beae905d4de1870d8b1509a9142b62eedf18b443b011ca8343d0"
 dependencies = [
  "libc",
  "log",
@@ -3341,7 +3319,7 @@ version = "0.27.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2eb04e9c688eff1c89d72b407f168cf79bb9e867a9d3323ed6c01519eb9cc053"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "cfg-if",
  "libc",
 ]
@@ -3352,6 +3330,16 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
 
+[[package]]
+name = "nom"
+version = "7.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
 [[package]]
 name = "notify"
 version = "5.2.0"
@@ -3406,19 +3394,13 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.5"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23c6602fda94a57c990fe0df199a035d83576b496aa29f4e634a8ac6004e68a6"
+checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
 dependencies = [
  "num-traits",
 ]
 
-[[package]]
-name = "num-conv"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9"
-
 [[package]]
 name = "num-derive"
 version = "0.3.3"
@@ -3432,18 +3414,19 @@ dependencies = [
 
 [[package]]
 name = "num-integer"
-version = "0.1.46"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
 dependencies = [
+ "autocfg",
  "num-traits",
 ]
 
 [[package]]
 name = "num-iter"
-version = "0.1.44"
+version = "0.1.43"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
+checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -3464,9 +3447,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
  "libm",
@@ -3478,7 +3461,7 @@ version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4161fcb6d602d4d2081af7c3a45852d875a03dd337a6bfdd6e06407b61342a43"
 dependencies = [
- "hermit-abi 0.3.9",
+ "hermit-abi 0.3.3",
  "libc",
 ]
 
@@ -3521,7 +3504,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -3530,7 +3513,7 @@ version = "0.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "96b0fee4571867d318651c24f4a570c3f18408cf95f16ccb576b3ce85496a46e"
 dependencies = [
- "half",
+ "half 2.3.1",
  "libc",
  "ndarray",
  "num-complex",
@@ -3607,19 +3590,19 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.32.2"
+version = "0.32.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6a622008b6e321afc04970976f62ee297fdbaa6f95318ca343e3eebb9648441"
+checksum = "9cf5f9dd3933bd50a9e1f149ec995f39ae2c496d31fd772c1fd45ebc27e902b0"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "objectron"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
- "clap 4.5.1",
+ "clap 4.4.11",
  "depthai-viewer",
  "glam",
  "prost",
@@ -3628,9 +3611,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.19.0"
+version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
 [[package]]
 name = "oorandom"
@@ -3640,13 +3623,13 @@ checksum = "0ab1bc2a289d34bd04a330323ac98a1b4bc82c9d9fcb1e66b63caa84da26b575"
 
 [[package]]
 name = "openssl"
-version = "0.10.64"
+version = "0.10.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95a0481286a310808298130d22dd1fef0fa571e05a8f44ec801801e84b216b1f"
+checksum = "6b8419dc8cc6d866deb801274bba2e6f8f6108c1bb7fcc10ee5ab864931dbb45"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "cfg-if",
- "foreign-types 0.3.2",
+ "foreign-types",
  "libc",
  "once_cell",
  "openssl-macros",
@@ -3661,7 +3644,7 @@ checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -3672,9 +3655,9 @@ checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf"
 
 [[package]]
 name = "openssl-sys"
-version = "0.9.101"
+version = "0.9.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dda2b0f344e78efc2facf7d195d098df0dd72151b26ab98da807afc26c198dff"
+checksum = "c3eaad34cdd97d81de97964fc7f29e2d104f483840d906ef56daa1912338460b"
 dependencies = [
  "cc",
  "libc",
@@ -3818,7 +3801,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
 dependencies = [
  "fixedbitset",
- "indexmap 2.2.5",
+ "indexmap 2.1.0",
 ]
 
 [[package]]
@@ -3852,9 +3835,9 @@ dependencies = [
 
 [[package]]
 name = "pkg-config"
-version = "0.3.30"
+version = "0.3.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
+checksum = "26072860ba924cbfa98ea39c8c19b4dd6a4a25423dbdf219c1eca91aa0cf6964"
 
 [[package]]
 name = "planus"
@@ -3895,9 +3878,9 @@ dependencies = [
 
 [[package]]
 name = "png"
-version = "0.17.13"
+version = "0.17.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06e4b0d3d1312775e782c86c91a111aa1f910cbb65e1337f9975b5f9a554b5e1"
+checksum = "dd75bf2d8dd3702b9707cdbc56a5b9ef42cec752eb8b3bafc01234558442aa64"
 dependencies = [
  "bitflags 1.3.2",
  "crc32fast",
@@ -3993,14 +3976,14 @@ dependencies = [
 
 [[package]]
 name = "polling"
-version = "3.5.0"
+version = "3.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24f040dee2588b4963afb4e420540439d126f73fdacf4a9c486a96d840bac3c9"
+checksum = "cf63fa624ab313c11656b4cda960bfc46c410187ad493c41f6ba2d8c1e991c9e"
 dependencies = [
  "cfg-if",
  "concurrent-queue",
  "pin-project-lite",
- "rustix 0.38.31",
+ "rustix 0.38.26",
  "tracing",
  "windows-sys 0.52.0",
 ]
@@ -4069,18 +4052,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.78"
+version = "1.0.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
+checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "profiling"
-version = "1.0.15"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43d84d1d7a6ac92673717f9f6d1518374ef257669c24ebc5ac25d5033828be58"
+checksum = "f89dff0959d98c9758c88826cc002e2c3d0b9dfac4139711d1f30de442f1139b"
 
 [[package]]
 name = "prost"
@@ -4252,9 +4235,9 @@ dependencies = [
 
 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
 dependencies = [
  "proc-macro2",
 ]
@@ -4341,11 +4324,11 @@ checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9"
 
 [[package]]
 name = "raw_mesh"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
  "bytes",
- "clap 4.5.1",
+ "clap 4.4.11",
  "depthai-viewer",
  "gltf",
  "mimalloc",
@@ -4359,9 +4342,9 @@ checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
 name = "rayon"
-version = "1.9.0"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4963ed1bc86e4f3ee217022bd855b297cef07fb9eac5dfa1f788b220b49b3bd"
+checksum = "9c27db03db7734835b3f53954b534c91069375ce6ccaa2e065441e07d9b6cdb1"
 dependencies = [
  "either",
  "rayon-core",
@@ -4369,9 +4352,9 @@ dependencies = [
 
 [[package]]
 name = "rayon-core"
-version = "1.12.1"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+checksum = "5ce3fb6ad83f861aac485e76e1985cd109d9a3713802152be56c3b1f0e0658ed"
 dependencies = [
  "crossbeam-deque",
  "crossbeam-utils",
@@ -4388,7 +4371,7 @@ dependencies = [
 
 [[package]]
 name = "re_analytics"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
  "crossbeam",
@@ -4409,7 +4392,7 @@ dependencies = [
 
 [[package]]
 name = "re_arrow_store"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "anyhow",
@@ -4436,7 +4419,7 @@ dependencies = [
 
 [[package]]
 name = "re_build_build_info"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
  "time",
@@ -4444,18 +4427,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.1.8"
+version = "0.1.9"
 
 [[package]]
 name = "re_build_web_viewer"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "cargo_metadata",
 ]
 
 [[package]]
 name = "re_data_store"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "criterion",
@@ -4478,14 +4461,14 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "re_format"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -4495,7 +4478,7 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "criterion",
  "insta",
@@ -4506,7 +4489,7 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "env_logger",
  "js-sys",
@@ -4519,7 +4502,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "criterion",
  "ehttp",
@@ -4544,7 +4527,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "array-init",
@@ -4555,7 +4538,7 @@ dependencies = [
  "ecolor",
  "fixed",
  "glam",
- "half",
+ "half 2.3.1",
  "image",
  "itertools",
  "lazy_static",
@@ -4583,7 +4566,7 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "backtrace",
@@ -4603,7 +4586,7 @@ dependencies = [
 
 [[package]]
 name = "re_query"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "arrow2",
  "criterion",
@@ -4621,7 +4604,7 @@ dependencies = [
 
 [[package]]
 name = "re_renderer"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "anyhow",
@@ -4639,7 +4622,7 @@ dependencies = [
  "glam",
  "glob",
  "gltf",
- "half",
+ "half 2.3.1",
  "image",
  "instant",
  "itertools",
@@ -4674,7 +4657,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "arrow2_convert",
  "document-features",
@@ -4694,7 +4677,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "anyhow",
@@ -4710,7 +4693,7 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "crossbeam",
  "instant",
@@ -4718,7 +4701,7 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "nohash-hasher",
@@ -4729,7 +4712,7 @@ dependencies = [
 
 [[package]]
 name = "re_tensor_ops"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "ndarray",
@@ -4739,7 +4722,7 @@ dependencies = [
 
 [[package]]
 name = "re_tuid"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -4753,7 +4736,7 @@ dependencies = [
 
 [[package]]
 name = "re_ui"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "eframe",
  "egui",
@@ -4772,7 +4755,7 @@ dependencies = [
 
 [[package]]
 name = "re_viewer"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "ahash",
  "anyhow",
@@ -4791,7 +4774,7 @@ dependencies = [
  "enumset",
  "ewebsock",
  "glam",
- "half",
+ "half 2.3.1",
  "image",
  "instant",
  "itertools",
@@ -4847,7 +4830,7 @@ dependencies = [
 
 [[package]]
 name = "re_web_viewer_server"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "cargo_metadata",
  "ctrlc",
@@ -4864,7 +4847,7 @@ dependencies = [
 
 [[package]]
 name = "re_ws_comms"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "anyhow",
  "bincode",
@@ -4922,9 +4905,9 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.10.3"
+version = "1.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b62dbe01f0b06f9d8dc7d49e05a0785f153b00b2c227856282f671e0318c9b15"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -4934,9 +4917,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.5"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bb987efffd3c6d0d8f5f89510bb458559eab11e4f869acb20bf845e016259cd"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -4966,11 +4949,11 @@ checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
 
 [[package]]
 name = "reqwest"
-version = "0.11.24"
+version = "0.11.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6920094eb85afde5e4a138be3f2de8bbdf28000f0029e72c45025a56b042251"
+checksum = "046cd98826c46c2ac8ddecae268eb5c2e58628688a5fc7a2643704a73faba95b"
 dependencies = [
- "base64 0.21.7",
+ "base64 0.21.5",
  "bytes",
  "encoding_rs",
  "futures-core",
@@ -4988,11 +4971,9 @@ dependencies = [
  "once_cell",
  "percent-encoding",
  "pin-project-lite",
- "rustls-pemfile",
  "serde",
  "serde_json",
  "serde_urlencoded",
- "sync_wrapper",
  "system-configuration",
  "tokio",
  "tokio-native-tls",
@@ -5006,7 +4987,7 @@ dependencies = [
 
 [[package]]
 name = "rerun_py"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "arrow2",
  "depthai-viewer",
@@ -5077,17 +5058,16 @@ dependencies = [
 
 [[package]]
 name = "ring"
-version = "0.17.8"
+version = "0.17.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c17fa4cb658e3583423e915b9f3acc01cceaee1860e33d59ebae66adc3a2dc0d"
+checksum = "688c63d65483050968b2a8937f7995f443e27041a0f7700aa59b0822aedebb74"
 dependencies = [
  "cc",
- "cfg-if",
  "getrandom",
  "libc",
  "spin 0.9.8",
  "untrusted 0.9.0",
- "windows-sys 0.52.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -5118,15 +5098,15 @@ version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
- "base64 0.21.7",
- "bitflags 2.4.2",
+ "base64 0.21.5",
+ "bitflags 2.4.1",
  "serde",
  "serde_derive",
 ]
 
 [[package]]
 name = "run_wasm"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "cargo-run-wasm",
  "pico-args",
@@ -5170,14 +5150,14 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.31"
+version = "0.38.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ea3e1a662af26cd7a3ba09c0297a31af215563ecf42817c98df621387f4e949"
+checksum = "9470c4bf8246c8daf25f9598dca807fb6510347b1e1cfa55749113850c79d88a"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "errno",
  "libc",
- "linux-raw-sys 0.4.13",
+ "linux-raw-sys 0.4.12",
  "windows-sys 0.52.0",
 ]
 
@@ -5195,41 +5175,23 @@ dependencies = [
 
 [[package]]
 name = "rustls"
-version = "0.22.2"
+version = "0.21.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e87c9956bd9807afa1f77e0f7594af32566e830e088a5576d27c5b6f30f49d41"
+checksum = "629648aced5775d558af50b2b4c7b02983a04b312126d45eeead26e7caa498b9"
 dependencies = [
  "log",
- "ring 0.17.8",
- "rustls-pki-types",
+ "ring 0.17.7",
  "rustls-webpki",
- "subtle",
- "zeroize",
-]
-
-[[package]]
-name = "rustls-pemfile"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1c74cae0a4cf6ccbbf5f359f08efdf8ee7e1dc532573bf0db71968cb56b1448c"
-dependencies = [
- "base64 0.21.7",
+ "sct",
 ]
 
-[[package]]
-name = "rustls-pki-types"
-version = "1.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ede67b28608b4c60685c7d54122d4400d90f62b40caee7700e700380a390fa8"
-
 [[package]]
 name = "rustls-webpki"
-version = "0.102.2"
+version = "0.101.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "faaa0a62740bedb9b2ef5afa303da42764c012f743917351dc9a237ea1663610"
+checksum = "8b6275d1ee7a1cd780b64aca7726599a1dbc893b1e64144529e55c3c2f745765"
 dependencies = [
- "ring 0.17.8",
- "rustls-pki-types",
+ "ring 0.17.7",
  "untrusted 0.9.0",
 ]
 
@@ -5252,9 +5214,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.17"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
+checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
 
 [[package]]
 name = "safemem"
@@ -5273,11 +5235,11 @@ dependencies = [
 
 [[package]]
 name = "schannel"
-version = "0.1.23"
+version = "0.1.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbc91545643bcf3a0bbb6569265615222618bdf33ce4ffbbd13c4bbd4c093534"
+checksum = "0c3733bf4cf7ea0880754e19cb5a462007c4a8c1914bff372ccc95b464f1df88"
 dependencies = [
- "windows-sys 0.52.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -5298,7 +5260,7 @@ version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "da046153aa2352493d6cb7da4b6e5c0c057d8a1d0a9aa8560baffdd945acd414"
 dependencies = [
- "ring 0.17.8",
+ "ring 0.17.7",
  "untrusted 0.9.0",
 ]
 
@@ -5340,9 +5302,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "836fa6a3e1e547f9a2c4040802ec865b5d85f4014efe00555d7090a3dcaa1090"
 dependencies = [
  "serde",
 ]
@@ -5457,38 +5419,38 @@ dependencies = [
 
 [[package]]
 name = "serde"
-version = "1.0.197"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fb1c873e1b9b056a4dc4c0c198b24c3ffa059243875552b2bd0933b1aee4ce2"
+checksum = "25dd9975e68d0cb5aa1120c288333fc98731bd1dd12f561e468ea4728c042b89"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_bytes"
-version = "0.11.14"
+version = "0.11.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b8497c313fd43ab992087548117643f6fcd935cbf36f176ffda0aacf9591734"
+checksum = "ab33ec92f677585af6d88c65593ae2375adde54efdbf16d597f2cbc7a6d368ff"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.197"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7eb0b34b42edc17f6b7cac84a52a1c5f0e1bb2227e997ca9011ea3dd34e8610b"
+checksum = "43576ca501357b9b071ac53cdc7da8ef0cbd9493d8df094cd821777ea6e894d3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.114"
+version = "1.0.108"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5f09b1bd632ef549eaa9f60a1f8de742bdbc698e6cee2095fc84dde5f549ae0"
+checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
 dependencies = [
  "itoa",
  "ryu",
@@ -5497,13 +5459,13 @@ dependencies = [
 
 [[package]]
 name = "serde_repr"
-version = "0.1.18"
+version = "0.1.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b2e6b945e9d3df726b65d6ee24060aff8e3533d431f677a9695db04eff9dfdb"
+checksum = "3081f5ffbb02284dda55132aa26daecedd7372a42417bbbab6f14ab7d6bb9145"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -5604,9 +5566,9 @@ checksum = "f27f6278552951f1f2b8cf9da965d10969b2efdea95a6ec47987ab46edfe263a"
 
 [[package]]
 name = "similar"
-version = "2.4.0"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32fea41aca09ee824cc9724996433064c89f7777e60762749a4170a14abbfa21"
+checksum = "2aeaf503862c419d66959f5d7ca015337d864e9c49485d771b732e2a20453597"
 
 [[package]]
 name = "slab"
@@ -5629,9 +5591,9 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.13.1"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6ecd384b10a64542d77071bd64bd7b231f4ed5940fba55e98c3de13824cf3d7"
+checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 dependencies = [
  "serde",
 ]
@@ -5688,12 +5650,12 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.5.6"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05ffd9c0a93b7543e062e759284fcf5f5e3b098501104bfbdde4d404db792871"
+checksum = "7b5fac59a5cb5dd637972e5fca70daf0523c9067fcdc4842f053dae04a18f8e9"
 dependencies = [
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -5724,6 +5686,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 
+[[package]]
+name = "str-buf"
+version = "1.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e08d8363704e6c71fc928674353e6b7c23dcea9d82d7012c8faf2a3a025f8d0"
+
 [[package]]
 name = "strength_reduce"
 version = "0.2.4"
@@ -5738,9 +5706,9 @@ checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
 
 [[package]]
 name = "strsim"
-version = "0.11.0"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ee073c9e4cd00e28217186dbe12796d692868f432bf2e97ee73bed0c56dfa01"
+checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
 
 [[package]]
 name = "strum"
@@ -5799,12 +5767,6 @@ dependencies = [
  "winapi",
 ]
 
-[[package]]
-name = "subtle"
-version = "2.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81cdd64d312baedb58e21336b31bc043b77e01cc99033ce76ef539f78e965ebc"
-
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -5818,21 +5780,15 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.52"
+version = "2.0.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b699d15b36d1f02c3e7c69f8ffef53de37aefae075d8488d4ba1a7788d574a07"
+checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
 dependencies = [
  "proc-macro2",
  "quote",
  "unicode-ident",
 ]
 
-[[package]]
-name = "sync_wrapper"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160"
-
 [[package]]
 name = "synstructure"
 version = "0.12.6"
@@ -5882,9 +5838,9 @@ dependencies = [
 
 [[package]]
 name = "target-lexicon"
-version = "0.12.14"
+version = "0.12.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1fc403891a21bcfb7c37834ba66a547a8f402146eba7265b5a6d88059c9ff2f"
+checksum = "14c39fd04924ca3a864207c66fc2cd7d22d7c016007f9ce846cbb9326331930a"
 
 [[package]]
 name = "tempdir"
@@ -5898,28 +5854,29 @@ dependencies = [
 
 [[package]]
 name = "tempfile"
-version = "3.10.1"
+version = "3.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85b77fafb263dd9d05cbeac119526425676db3784113aa9295c88498cbf8bff1"
+checksum = "7ef1adac450ad7f4b3c28589471ade84f25f731a7a0fe30d71dfa9f60fd808e5"
 dependencies = [
  "cfg-if",
  "fastrand 2.0.1",
- "rustix 0.38.31",
- "windows-sys 0.52.0",
+ "redox_syscall 0.4.1",
+ "rustix 0.38.26",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "termcolor"
-version = "1.4.1"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
+checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
 dependencies = [
  "winapi-util",
 ]
 
 [[package]]
 name = "test_image_memory"
-version = "0.1.8"
+version = "0.1.9"
 dependencies = [
  "depthai-viewer",
  "mimalloc",
@@ -5928,28 +5885,28 @@ dependencies = [
 
 [[package]]
 name = "textwrap"
-version = "0.16.1"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23d434d3f8967a09480fb04132ebe0a3e088c173e6d0ee7897abbdf4eab0f8b9"
+checksum = "222a222a5bfe1bba4a77b45ec488a741b3cb8872e5e499451fd7d0129c9c7c3d"
 
 [[package]]
 name = "thiserror"
-version = "1.0.57"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e45bcbe8ed29775f228095caf2cd67af7a4ccf756ebff23a306bf3e8b47b24b"
+checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.57"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a953cb265bef375dae3de6663da4d3804eee9682ea80d8e2542529b73c531c81"
+checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -5964,9 +5921,9 @@ dependencies = [
 
 [[package]]
 name = "tiff"
-version = "0.9.1"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba1310fcea54c6a9a4fd1aad794ecc02c31682f6bfbecdf460bf19533eed1e3e"
+checksum = "6d172b0f4d3fba17ba89811858b9d3d97f928aece846475bbda076ca46736211"
 dependencies = [
  "flate2",
  "jpeg-decoder",
@@ -5975,14 +5932,13 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.34"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c8248b6521bb14bc45b4067159b9b6ad792e2d6d754d6c41fb50e29fefe38749"
+checksum = "c4a34ab300f2dee6e562c10a046fc05e358b29f9bf92277f30c3c8d82275f6f5"
 dependencies = [
  "deranged",
  "itoa",
  "js-sys",
- "num-conv",
  "powerfmt",
  "serde",
  "time-core",
@@ -5997,11 +5953,10 @@ checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "time-macros"
-version = "0.2.17"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ba3a3ef41e6672a2f0f001392bb5dcd3ff0a9992d618ca761a11c3121547774"
+checksum = "4ad70d68dba9e1f8aceda7aa6711965dfec1cac869f311a51bd08b3a2ccbce20"
 dependencies = [
- "num-conv",
  "time-core",
 ]
 
@@ -6075,9 +6030,9 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.36.0"
+version = "1.34.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61285f6515fa018fb2d1e46eb21223fff441ee8db5d0f1435e8ab4f5cdb80931"
+checksum = "d0c014766411e834f7af5b8f4cf46257aab4036ca95e9d2c144a10f59ad6f5b9"
 dependencies = [
  "backtrace",
  "bytes",
@@ -6085,7 +6040,7 @@ dependencies = [
  "mio",
  "num_cpus",
  "pin-project-lite",
- "socket2 0.5.6",
+ "socket2 0.5.5",
  "tokio-macros",
  "windows-sys 0.48.0",
 ]
@@ -6098,7 +6053,7 @@ checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -6164,7 +6119,7 @@ version = "0.19.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
- "indexmap 2.2.5",
+ "indexmap 2.1.0",
  "toml_datetime",
  "winnow",
 ]
@@ -6195,7 +6150,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -6219,9 +6174,9 @@ dependencies = [
 
 [[package]]
 name = "try-lock"
-version = "0.2.5"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b"
+checksum = "3528ecfd12c466c6f163363caf2d02a71161dd5e1cc6ae7b34207ea2d42d81ed"
 
 [[package]]
 name = "ttf-parser"
@@ -6278,11 +6233,10 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "uds_windows"
-version = "1.1.0"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89daebc3e6fd160ac4aa9fc8b3bf71e1f74fbf92367ae71fb83a037e8bf164b9"
+checksum = "ce65604324d3cce9b966701489fbd0cf318cb1f7bd9dd07ac9a4ee6fb791930d"
 dependencies = [
- "memoffset 0.9.0",
  "tempfile",
  "winapi",
 ]
@@ -6298,9 +6252,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-bidi"
-version = "0.3.15"
+version = "0.3.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08f95100a766bf4f8f28f90d77e0a5461bbdb219042e7679bebe79004fed8d75"
+checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
 
 [[package]]
 name = "unicode-ident"
@@ -6310,18 +6264,18 @@ checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.23"
+version = "0.1.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
+checksum = "5c5713f0fc4b5db668a2ac63cdb7bb4469d8c9fed047b1d0292cc7b0ce2ba921"
 dependencies = [
  "tinyvec",
 ]
 
 [[package]]
 name = "unicode-segmentation"
-version = "1.11.0"
+version = "1.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4c87d22b6e3f4a18d4d40ef354e97c90fcb14dd91d7dc0aa9d8a1172ebf7202"
+checksum = "1dd624098567895118886609431a7c3b8f516e41d30e0643f03d94592a147e36"
 
 [[package]]
 name = "unicode-width"
@@ -6355,22 +6309,21 @@ checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
 [[package]]
 name = "ureq"
-version = "2.9.6"
+version = "2.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11f214ce18d8b2cbe84ed3aa6486ed3f5b285cf8d8fbdbce9f3f767a724adc35"
+checksum = "f8cdd25c339e200129fe4de81451814e5228c9b771d57378817d6117cc2b3f97"
 dependencies = [
- "base64 0.21.7",
+ "base64 0.21.5",
  "flate2",
  "log",
  "native-tls",
  "once_cell",
- "rustls 0.22.2",
- "rustls-pki-types",
+ "rustls 0.21.9",
  "rustls-webpki",
  "serde",
  "serde_json",
  "url",
- "webpki-roots 0.26.1",
+ "webpki-roots 0.25.3",
 ]
 
 [[package]]
@@ -6405,9 +6358,9 @@ checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
 
 [[package]]
 name = "uuid"
-version = "1.7.0"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f00cc9702ca12d3c81455259621e676d0f7251cec66a21e98fe2e9a37db93b2a"
+checksum = "5e395fcf16a7a3d8127ec99782007af141946b4795001f876d54fb0d55978560"
 dependencies = [
  "getrandom",
  "serde",
@@ -6422,9 +6375,9 @@ checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
 
 [[package]]
 name = "value-bag"
-version = "1.7.0"
+version = "1.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "126e423afe2dd9ac52142e7e9d5ce4135d7e13776c529d27fd6bc49f19e3280b"
+checksum = "4a72e1902dde2bd6441347de2b70b7f5d59bf157c6c62f0c44572607a1d55bbe"
 
 [[package]]
 name = "vcpkg"
@@ -6458,9 +6411,9 @@ checksum = "f3c4517f54858c779bbcbf228f4fca63d121bf85fbecb2dc578cdf4a39395690"
 
 [[package]]
 name = "walkdir"
-version = "2.5.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
+checksum = "d71d857dc86794ca4c280d616f7da00d2dbfd8cd788846559a6813e6aa4b54ee"
 dependencies = [
  "same-file",
  "winapi-util",
@@ -6793,7 +6746,7 @@ version = "0.22.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed63aea5ce73d0ff405984102c42de94fc55a6b75765d621c65262469b3c9b53"
 dependencies = [
- "ring 0.17.8",
+ "ring 0.17.7",
  "untrusted 0.9.0",
 ]
 
@@ -6808,18 +6761,15 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.26.1"
+version = "0.25.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3de34ae270483955a94f4b21bdaaeb83d508bb84a01435f393818edb0012009"
-dependencies = [
- "rustls-pki-types",
-]
+checksum = "1778a42e8b3b90bff8d0f5032bf22250792889a5cdc752aa0020c84abe3aaf10"
 
 [[package]]
 name = "weezl"
-version = "0.1.8"
+version = "0.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53a85b86a771b1c87058196170769dd264f66c0782acf1ae6cc51bfd64b39082"
+checksum = "9193164d4de03a926d909d3bc7c30543cecb35400c02114792c2cae20d5e2dbb"
 
 [[package]]
 name = "wgpu"
@@ -6851,7 +6801,7 @@ source = "git+https://github.com/rerun-io/wgpu?rev=de497aeda152a3515bac5eb4bf1b1
 dependencies = [
  "arrayvec",
  "bit-vec",
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "codespan-reporting",
  "log",
  "naga",
@@ -6875,11 +6825,11 @@ dependencies = [
  "arrayvec",
  "ash",
  "bit-set",
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "block",
  "core-graphics-types",
  "d3d12",
- "foreign-types 0.3.2",
+ "foreign-types",
  "glow",
  "gpu-alloc",
  "gpu-allocator",
@@ -6888,7 +6838,7 @@ dependencies = [
  "js-sys",
  "khronos-egl",
  "libc",
- "libloading 0.8.2",
+ "libloading 0.8.1",
  "log",
  "metal",
  "naga",
@@ -6912,7 +6862,7 @@ name = "wgpu-types"
 version = "0.16.0"
 source = "git+https://github.com/rerun-io/wgpu?rev=de497aeda152a3515bac5eb4bf1b17f1757b9dac#de497aeda152a3515bac5eb4bf1b17f1757b9dac"
 dependencies = [
- "bitflags 2.4.2",
+ "bitflags 2.4.1",
  "js-sys",
  "web-sys",
 ]
@@ -6926,7 +6876,7 @@ dependencies = [
  "either",
  "home",
  "once_cell",
- "rustix 0.38.31",
+ "rustix 0.38.26",
 ]
 
 [[package]]
@@ -6960,6 +6910,15 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "winapi-wsapoll"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "44c17110f57155602a80dca10be03852116403c9ff3cd25b079d666f2aa3df6e"
+dependencies = [
+ "winapi",
+]
+
 [[package]]
 name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
@@ -6977,11 +6936,11 @@ dependencies = [
 
 [[package]]
 name = "windows-core"
-version = "0.52.0"
+version = "0.51.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33ab640c8d7e35bf8ba19b884ba838ceb4fba93a4e8c65a9059d08afcfc683d9"
+checksum = "f1f8cf84f35d2db49a46868f947758c7a1138116f7fac3bc844f43ade1292e64"
 dependencies = [
- "windows-targets 0.52.4",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -7008,7 +6967,7 @@ version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
 dependencies = [
- "windows-targets 0.52.4",
+ "windows-targets 0.52.0",
 ]
 
 [[package]]
@@ -7043,17 +7002,17 @@ dependencies = [
 
 [[package]]
 name = "windows-targets"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7dd37b7e5ab9018759f893a1952c9420d060016fc19a472b4bb20d1bdd694d1b"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
 dependencies = [
- "windows_aarch64_gnullvm 0.52.4",
- "windows_aarch64_msvc 0.52.4",
- "windows_i686_gnu 0.52.4",
- "windows_i686_msvc 0.52.4",
- "windows_x86_64_gnu 0.52.4",
- "windows_x86_64_gnullvm 0.52.4",
- "windows_x86_64_msvc 0.52.4",
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
 ]
 
 [[package]]
@@ -7070,9 +7029,9 @@ checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bcf46cf4c365c6f2d1cc93ce535f2c8b244591df96ceee75d8e83deb70a9cac9"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
 
 [[package]]
 name = "windows_aarch64_msvc"
@@ -7088,9 +7047,9 @@ checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da9f259dd3bcf6990b55bffd094c4f7235817ba4ceebde8e6d11cd0c5633b675"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
 
 [[package]]
 name = "windows_i686_gnu"
@@ -7106,9 +7065,9 @@ checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b474d8268f99e0995f25b9f095bc7434632601028cf86590aea5c8a5cb7801d3"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
 
 [[package]]
 name = "windows_i686_msvc"
@@ -7124,9 +7083,9 @@ checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
 [[package]]
 name = "windows_i686_msvc"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1515e9a29e5bed743cb4415a9ecf5dfca648ce85ee42e15873c3cd8610ff8e02"
+checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
 
 [[package]]
 name = "windows_x86_64_gnu"
@@ -7142,9 +7101,9 @@ checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
 [[package]]
 name = "windows_x86_64_gnu"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5eee091590e89cc02ad514ffe3ead9eb6b660aedca2183455434b93546371a03"
+checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
@@ -7160,9 +7119,9 @@ checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77ca79f2451b49fa9e2af39f0747fe999fcda4f5e241b2898624dca97a1f2177"
+checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
 
 [[package]]
 name = "windows_x86_64_msvc"
@@ -7178,9 +7137,9 @@ checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
 [[package]]
 name = "windows_x86_64_msvc"
-version = "0.52.4"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32b752e52a2da0ddfbdbcc6fceadfeede4c939ed16d13e648833a61dfb611ed8"
+checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 
 [[package]]
 name = "winit"
@@ -7192,7 +7151,7 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg_aliases",
  "core-foundation",
- "core-graphics 0.22.3",
+ "core-graphics",
  "dispatch",
  "instant",
  "libc",
@@ -7219,9 +7178,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.5.40"
+version = "0.5.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
+checksum = "b7e87b8dfbe3baffbe687eef2e164e32286eff31a5ee16463ce03d991643ec94"
 dependencies = [
  "memchr",
 ]
@@ -7313,34 +7272,42 @@ dependencies = [
 
 [[package]]
 name = "x11rb"
-version = "0.13.0"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8f25ead8c7e4cba123243a6367da5d3990e0d3affa708ea19dce96356bd9f1a"
+checksum = "b1641b26d4dec61337c35a1b1aaf9e3cba8f46f0b43636c609ab0291a648040a"
 dependencies = [
  "gethostname",
- "rustix 0.38.31",
+ "nix 0.26.4",
+ "winapi",
+ "winapi-wsapoll",
  "x11rb-protocol",
 ]
 
 [[package]]
 name = "x11rb-protocol"
-version = "0.13.0"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e63e71c4b8bd9ffec2c963173a4dc4cbde9ee96961d4fcb4429db9929b606c34"
+checksum = "82d6c3f9a0fb6701fab8f6cea9b0c0bd5d6876f1f89f7fada07e558077c344bc"
+dependencies = [
+ "nix 0.26.4",
+]
 
 [[package]]
 name = "xcursor"
-version = "0.3.5"
+version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a0ccd7b4a5345edfcd0c3535718a4e9ff7798ffc536bb5b5a0e26ff84732911"
+checksum = "463705a63313cd4301184381c5e8042f0a7e9b4bb63653f216311d4ae74690b7"
+dependencies = [
+ "nom",
+]
 
 [[package]]
 name = "xdg-home"
-version = "1.1.0"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21e5a325c3cb8398ad6cf859c1135b25dd29e186679cf2da7581d9679f63b38e"
+checksum = "2769203cd13a0c6015d515be729c526d041e9cf2c0cc478d57faee85f40c6dcd"
 dependencies = [
- "libc",
+ "nix 0.26.4",
  "winapi",
 ]
 
@@ -7352,9 +7319,9 @@ checksum = "0fcb9cbac069e033553e8bb871be2fbdffcab578eb25bd0f7c508cedc6dcd75a"
 
 [[package]]
 name = "xxhash-rust"
-version = "0.8.10"
+version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "927da81e25be1e1a2901d59b81b37dd2efd1fc9c9345a55007f09bf5a2d3ee03"
+checksum = "9828b178da53440fa9c766a3d2f73f7cf5d0ac1fe3980c1e5018d899fd19e07b"
 
 [[package]]
 name = "yaml-rust"
@@ -7367,9 +7334,9 @@ dependencies = [
 
 [[package]]
 name = "zbus"
-version = "3.15.2"
+version = "3.14.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "675d170b632a6ad49804c8cf2105d7c31eddd3312555cffd4b740e08e97c25e6"
+checksum = "31de390a2d872e4cd04edd71b425e29853f786dc99317ed72d73d6fcf5ebb948"
 dependencies = [
  "async-broadcast",
  "async-executor",
@@ -7408,9 +7375,9 @@ dependencies = [
 
 [[package]]
 name = "zbus_macros"
-version = "3.15.2"
+version = "3.14.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7131497b0f887e8061b430c530240063d33bf9455fa34438f388a245da69e0a5"
+checksum = "41d1794a946878c0e807f55a397187c11fc7a038ba5d868e7db4f3bd7760bc9d"
 dependencies = [
  "proc-macro-crate",
  "proc-macro2",
@@ -7422,9 +7389,9 @@ dependencies = [
 
 [[package]]
 name = "zbus_names"
-version = "2.6.1"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "437d738d3750bed6ca9b8d423ccc7a8eb284f6b1d6d4e225a0e4e6258d864c8d"
+checksum = "fb80bb776dbda6e23d705cf0123c3b95df99c4ebeaec6c2599d4a5419902b4a9"
 dependencies = [
  "serde",
  "static_assertions",
@@ -7433,30 +7400,24 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "5d075cf85bbb114e933343e087b92f2146bac0d55b534cbb8188becf0039948e"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "86cd5ca076997b97ef09d3ad65efe811fa68c9e874cb636ccb211223a813b0c2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.52",
+ "syn 2.0.39",
 ]
 
-[[package]]
-name = "zeroize"
-version = "1.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "525b4ec142c6b68a2d10f01f7bbf6755599ca3f81ea53b8431b7dd348f5fdb2d"
-
 [[package]]
 name = "zip"
 version = "0.6.6"
@@ -7500,9 +7461,9 @@ dependencies = [
 
 [[package]]
 name = "zvariant"
-version = "3.15.2"
+version = "3.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eef2be88ba09b358d3b58aca6e41cd853631d44787f319a1383ca83424fb2db"
+checksum = "44b291bee0d960c53170780af148dca5fa260a63cdd24f1962fa82e03e53338c"
 dependencies = [
  "byteorder",
  "enumflags2",
@@ -7515,9 +7476,9 @@ dependencies = [
 
 [[package]]
 name = "zvariant_derive"
-version = "3.15.2"
+version = "3.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "37c24dc0bed72f5f90d1f8bb5b07228cbf63b3c6e9f82d82559d4bae666e7ed9"
+checksum = "934d7a7dfc310d6ee06c87ffe88ef4eca7d3e37bb251dece2ef93da8f17d8ecd"
 dependencies = [
  "proc-macro-crate",
  "proc-macro2",
diff --git a/Cargo.toml b/Cargo.toml
index e22b775e8055..7b79f8524777 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,39 +16,39 @@ include = ["../../LICENSE-APACHE", "../../LICENSE-MIT", "**/*.rs", "Cargo.toml"]
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/rerun-io/rerun"
 rust-version = "1.74"
-version = "0.1.8"
+version = "0.1.9"
 
 [workspace.dependencies]
 # When using alpha-release, always use exact version, e.g. `version = "=0.x.y-alpha.z"
 # This is because we treat alpha-releases as incompatible, but semver doesn't.
 # In particular: if we compile rerun 0.3.0-alpha.0 we only want it to use
 # re_log_types 0.3.0-alpha.0, NOT 0.3.0-alpha.4 even though it is newer and semver-compatible.
-re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.1.8" }
-re_analytics = { path = "crates/re_analytics", version = "0.1.8" }
-re_arrow_store = { path = "crates/re_arrow_store", version = "0.1.8" }
-re_build_build_info = { path = "crates/re_build_build_info", version = "0.1.8" }
-re_build_info = { path = "crates/re_build_info", version = "0.1.8" }
-re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.1.8", default-features = false }
-re_data_store = { path = "crates/re_data_store", version = "0.1.8" }
-re_error = { path = "crates/re_error", version = "0.1.8" }
-re_format = { path = "crates/re_format", version = "0.1.8" }
-re_int_histogram = { path = "crates/re_int_histogram", version = "0.1.8" }
-re_log = { path = "crates/re_log", version = "0.1.8" }
-re_log_encoding = { path = "crates/re_log_encoding", version = "0.1.8" }
-re_log_types = { path = "crates/re_log_types", version = "0.1.8" }
-re_memory = { path = "crates/re_memory", version = "0.1.8" }
-re_query = { path = "crates/re_query", version = "0.1.8" }
-re_renderer = { path = "crates/re_renderer", version = "0.1.8", default-features = false }
-re_sdk = { path = "crates/re_sdk", version = "0.1.8" }
-re_smart_channel = { path = "crates/re_smart_channel", version = "0.1.8" }
-re_string_interner = { path = "crates/re_string_interner", version = "0.1.8" }
-re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.1.8" }
-re_tuid = { path = "crates/re_tuid", version = "0.1.8" }
-re_ui = { path = "crates/re_ui", version = "0.1.8" }
-re_viewer = { path = "crates/re_viewer", version = "0.1.8", default-features = false }
-re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.1.8" }
-re_ws_comms = { path = "crates/re_ws_comms", version = "0.1.8" }
-depthai-viewer = { path = "crates/rerun", version = "0.1.8" }
+re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.1.9" }
+re_analytics = { path = "crates/re_analytics", version = "0.1.9" }
+re_arrow_store = { path = "crates/re_arrow_store", version = "0.1.9" }
+re_build_build_info = { path = "crates/re_build_build_info", version = "0.1.9" }
+re_build_info = { path = "crates/re_build_info", version = "0.1.9" }
+re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.1.9", default-features = false }
+re_data_store = { path = "crates/re_data_store", version = "0.1.9" }
+re_error = { path = "crates/re_error", version = "0.1.9" }
+re_format = { path = "crates/re_format", version = "0.1.9" }
+re_int_histogram = { path = "crates/re_int_histogram", version = "0.1.9" }
+re_log = { path = "crates/re_log", version = "0.1.9" }
+re_log_encoding = { path = "crates/re_log_encoding", version = "0.1.9" }
+re_log_types = { path = "crates/re_log_types", version = "0.1.9" }
+re_memory = { path = "crates/re_memory", version = "0.1.9" }
+re_query = { path = "crates/re_query", version = "0.1.9" }
+re_renderer = { path = "crates/re_renderer", version = "0.1.9", default-features = false }
+re_sdk = { path = "crates/re_sdk", version = "0.1.9" }
+re_smart_channel = { path = "crates/re_smart_channel", version = "0.1.9" }
+re_string_interner = { path = "crates/re_string_interner", version = "0.1.9" }
+re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.1.9" }
+re_tuid = { path = "crates/re_tuid", version = "0.1.9" }
+re_ui = { path = "crates/re_ui", version = "0.1.9" }
+re_viewer = { path = "crates/re_viewer", version = "0.1.9", default-features = false }
+re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.1.9" }
+re_ws_comms = { path = "crates/re_ws_comms", version = "0.1.9" }
+depthai-viewer = { path = "crates/rerun", version = "0.1.9" }
 
 ahash = "0.8"
 anyhow = "1.0"
diff --git a/crates/re_renderer/src/config.rs b/crates/re_renderer/src/config.rs
index 7b85283b505f..6808976753e1 100644
--- a/crates/re_renderer/src/config.rs
+++ b/crates/re_renderer/src/config.rs
@@ -1,3 +1,5 @@
+use std::process::Command;
+
 /// Hardware tiers `re_renderer` distinguishes.
 ///
 /// To reduce complexity, we don't do fine-grained feature checks,
@@ -57,11 +59,23 @@ impl HardwareTier {
 
     /// Wgpu limits required by the given hardware tier.
     pub fn limits(self) -> wgpu::Limits {
+        // RPI are a specific platform where we know max texture size is 4096.
+        let mut is_rpi = false;
+        if cfg!(unix) {
+            if let Ok(cat_out) = Command::new("cat")
+                .arg("/sys/firmware/devicetree/base/model")
+                .output()
+            {
+                if let Ok(stdout) = String::from_utf8(cat_out.stdout) {
+                    is_rpi = stdout.find("Raspberry Pi").is_some();
+                }
+            }
+        }
         wgpu::Limits {
             // In any scenario require high texture resolution to facilitate rendering into large surfaces
             // (important for 4k screens and beyond)
             // 8192 is widely supported by now.
-            max_texture_dimension_2d: 8192,
+            max_texture_dimension_2d: if is_rpi { 4096 } else { 8192 },
             ..wgpu::Limits::downlevel_webgl2_defaults()
         }
     }
diff --git a/crates/re_ui/src/lib.rs b/crates/re_ui/src/lib.rs
index 034052bfd0bf..4b85be33799e 100644
--- a/crates/re_ui/src/lib.rs
+++ b/crates/re_ui/src/lib.rs
@@ -316,20 +316,27 @@ impl ReUi {
         response
     }
 
-    pub fn labeled_toggle_switch(&self, ui: &mut egui::Ui, label: &str, value: &mut bool) {
+    pub fn labeled_toggle_switch(
+        &self,
+        ui: &mut egui::Ui,
+        label: &str,
+        value: &mut bool,
+    ) -> egui::Response {
         let text_color = ui.style().visuals.weak_text_color();
         ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
-            ui.add_sized(
+            let toggle_response = ui.add_sized(
                 [Self::box_width(), Self::box_height()],
                 |ui: &mut egui::Ui| {
                     ui.with_layout(egui::Layout::left_to_right(egui::Align::Min), |ui| {
-                        ui.add(toggle_switch(value));
+                        ui.add(toggle_switch(value))
                     })
-                    .response
+                    .inner
                 },
             );
             ui.label(egui::RichText::new(label).color(text_color));
-        });
+            toggle_response
+        })
+        .inner
     }
 
     pub fn top_panel_frame(&self) -> egui::Frame {
diff --git a/crates/re_viewer/src/depthai/api.rs b/crates/re_viewer/src/depthai/api.rs
index b020e48a26e9..7cdc459342d9 100644
--- a/crates/re_viewer/src/depthai/api.rs
+++ b/crates/re_viewer/src/depthai/api.rs
@@ -1,5 +1,5 @@
 use super::depthai;
-use super::ws::{ BackWsMessage as WsMessage, WebSocket, WsMessageData, WsMessageType };
+use super::ws::{BackWsMessage as WsMessage, WebSocket, WsMessageData, WsMessageType};
 
 #[derive(Clone, serde::Serialize, serde::Deserialize)]
 pub struct ApiError {
@@ -26,57 +26,53 @@ impl BackendCommChannel {
 
     pub fn set_subscriptions(&mut self, subscriptions: &Vec<depthai::ChannelId>) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::Subscriptions,
-                        data: WsMessageData::Subscriptions(subscriptions.clone()),
-                        ..Default::default()
-                    })
-                )
-                .unwrap()
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::Subscriptions,
+                    data: WsMessageData::Subscriptions(subscriptions.clone()),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 
     pub fn set_pipeline(&mut self, config: &depthai::DeviceConfig, runtime_only: bool) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::Pipeline,
-                        data: WsMessageData::Pipeline((config.clone(), runtime_only)),
-                        ..Default::default()
-                    })
-                )
-                .unwrap()
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::Pipeline,
+                    data: WsMessageData::Pipeline((config.clone(), runtime_only)),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 
     pub fn set_dot_brightness(&mut self, brightness: u32) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::SetDotBrightness,
-                        data: WsMessageData::SetDotBrightness(brightness),
-                        ..Default::default()
-                    })
-                )
-                .unwrap()
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::SetDotBrightness,
+                    data: WsMessageData::SetDotBrightness(brightness),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 
     pub fn set_flood_brightness(&mut self, brightness: u32) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::SetFloodBrightness,
-                        data: WsMessageData::SetFloodBrightness(brightness),
-                        ..Default::default()
-                    })
-                )
-                .unwrap()
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::SetFloodBrightness,
+                    data: WsMessageData::SetFloodBrightness(brightness),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 
@@ -86,32 +82,47 @@ impl BackendCommChannel {
 
     pub fn get_devices(&mut self) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::Devices,
-                        data: WsMessageData::Devices(Vec::new()),
-                        ..Default::default()
-                    })
-                )
-                .unwrap()
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::Devices,
+                    data: WsMessageData::Devices(Vec::new()),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 
     pub fn select_device(&mut self, device_id: depthai::DeviceId) {
         self.ws.send(
-            serde_json
-                ::to_string(
-                    &(WsMessage {
-                        kind: WsMessageType::DeviceProperties,
-                        data: WsMessageData::DeviceProperties(depthai::DeviceProperties {
-                            id: device_id,
-                            ..Default::default()
-                        }),
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::DeviceProperties,
+                    data: WsMessageData::DeviceProperties(depthai::DeviceProperties {
+                        id: device_id,
                         ..Default::default()
-                    })
-                )
-                .unwrap()
+                    }),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
+        );
+    }
+
+    pub fn set_tof_config(
+        &mut self,
+        socket: depthai::CameraBoardSocket,
+        config: depthai::ToFConfig,
+    ) {
+        self.ws.send(
+            serde_json::to_string(
+                &(WsMessage {
+                    kind: WsMessageType::SetToFConfig,
+                    data: WsMessageData::SetToFConfig((socket, config)),
+                    ..Default::default()
+                }),
+            )
+            .unwrap(),
         );
     }
 }
diff --git a/crates/re_viewer/src/depthai/depthai.rs b/crates/re_viewer/src/depthai/depthai.rs
index a1827714b99a..3cefbb35d294 100644
--- a/crates/re_viewer/src/depthai/depthai.rs
+++ b/crates/re_viewer/src/depthai/depthai.rs
@@ -101,8 +101,7 @@ impl Default for CameraBoardSocket {
 }
 
 impl CameraBoardSocket {
-    pub fn display_name(&self, ctx: &ViewerContext<'_>) -> String {
-        let camera_features = ctx.depthai_state.get_connected_cameras();
+    pub fn display_name(&self, camera_features: &Vec<CameraFeatures>) -> String {
         if let Some(cam) = camera_features.iter().find(|cam| cam.board_socket == *self) {
             if !cam.name.is_empty() {
                 return format!("{} ({self:?})", cam.name);
@@ -186,6 +185,7 @@ pub struct CameraFeatures {
     pub stereo_pairs: Vec<CameraBoardSocket>, // Which cameras can be paired with this one
     pub name: String,
     pub intrinsics: Option<[[f32; 3]; 3]>,
+    pub tof_config: Option<ToFConfig>,
 }
 
 impl CameraFeatures {
@@ -234,14 +234,14 @@ impl fmt::Display for DepthProfilePreset {
 
 #[derive(serde::Deserialize, serde::Serialize, Clone, Copy, PartialEq, Debug, EnumIter)]
 #[allow(non_camel_case_types)]
-pub enum DepthMedianFilter {
+pub enum MedianFilter {
     MEDIAN_OFF,
     KERNEL_3x3,
     KERNEL_5x5,
     KERNEL_7x7,
 }
 
-impl Default for DepthMedianFilter {
+impl Default for MedianFilter {
     fn default() -> Self {
         Self::KERNEL_7x7
     }
@@ -249,7 +249,7 @@ impl Default for DepthMedianFilter {
 
 #[derive(serde::Deserialize, serde::Serialize, Clone, PartialEq, Debug)]
 pub struct StereoDepthConfig {
-    pub median: DepthMedianFilter,
+    pub median: MedianFilter,
     pub lr_check: bool,
     pub lrc_threshold: u64,
     pub extended_disparity: bool,
@@ -263,7 +263,7 @@ pub struct StereoDepthConfig {
 impl Default for StereoDepthConfig {
     fn default() -> Self {
         Self {
-            median: DepthMedianFilter::default(),
+            median: MedianFilter::default(),
             lr_check: true,
             lrc_threshold: 5,
             extended_disparity: false,
@@ -303,7 +303,7 @@ impl From<&DeviceProperties> for Option<StereoDepthConfig> {
         if let Some((cam_a, cam_b)) = props.default_stereo_pair {
             config.stereo_pair = (cam_a, cam_b);
         } else {
-            // Better to not configure depth if there's no default stereo pair - let the user do it if they really want to...
+            // Better to not configure stereo if there's no default stereo pair - let the user do it if they really want to...
             return None;
         }
         config.align =
@@ -323,7 +323,7 @@ pub struct DeviceConfig {
     #[serde(default = "bool_true")]
     pub depth_enabled: bool, // Much easier to have an explicit bool for checkbox
     #[serde(default = "StereoDepthConfig::default_as_option")]
-    pub depth: Option<StereoDepthConfig>,
+    pub stereo: Option<StereoDepthConfig>,
     pub ai_model: Option<AiModel>,
     #[serde(skip)]
     pub dot_brightness: u32,
@@ -337,7 +337,7 @@ impl Default for DeviceConfig {
             auto: false,
             cameras: Vec::new(),
             depth_enabled: true,
-            depth: Some(StereoDepthConfig::default()),
+            stereo: Some(StereoDepthConfig::default()),
             ai_model: None,
             dot_brightness: 0,
             flood_brightness: 0,
@@ -345,6 +345,130 @@ impl Default for DeviceConfig {
     }
 }
 
+#[derive(serde::Deserialize, serde::Serialize, Clone, Copy, PartialEq, Debug)]
+pub struct ToFConfig {
+    median: MedianFilter,
+    phase_unwrapping_level: i32,
+    phase_unwrap_error_threshold: u16,
+    enable_fppn_correction: Option<bool>,
+    enable_optical_correction: Option<bool>,
+    enable_temperature_correction: Option<bool>,
+    enable_wiggle_correction: Option<bool>,
+    enable_phase_unwrapping: Option<bool>,
+    #[serde(skip)]
+    modified: bool,
+}
+
+impl Default for ToFConfig {
+    fn default() -> Self {
+        Self {
+            median: MedianFilter::MEDIAN_OFF,
+            phase_unwrapping_level: 4,
+            phase_unwrap_error_threshold: 100,
+            enable_fppn_correction: None,
+            enable_optical_correction: None,
+            enable_temperature_correction: None,
+            enable_wiggle_correction: None,
+            enable_phase_unwrapping: None,
+            modified: false,
+        }
+    }
+}
+
+impl ToFConfig {
+    pub fn get_median_filter(&self) -> MedianFilter {
+        self.median
+    }
+
+    pub fn get_phase_unwrapping_level(&self) -> i32 {
+        self.phase_unwrapping_level
+    }
+
+    pub fn get_phase_unwrap_error_threshold(&self) -> u16 {
+        self.phase_unwrap_error_threshold
+    }
+
+    pub fn get_enable_fppn_correction(&self) -> Option<bool> {
+        self.enable_fppn_correction
+    }
+
+    pub fn get_enable_optical_correction(&self) -> Option<bool> {
+        self.enable_optical_correction
+    }
+
+    pub fn get_enable_temperature_correction(&self) -> Option<bool> {
+        self.enable_temperature_correction
+    }
+
+    pub fn get_enable_wiggle_correction(&self) -> Option<bool> {
+        self.enable_wiggle_correction
+    }
+
+    pub fn get_enable_phase_unwrapping(&self) -> Option<bool> {
+        self.enable_phase_unwrapping
+    }
+
+    pub fn set_median_filter(&mut self, median: MedianFilter) {
+        if self.median != median {
+            self.modified = true;
+        }
+        self.median = median;
+    }
+
+    pub fn set_phase_unwrapping_level(&mut self, level: i32) {
+        if self.phase_unwrapping_level != level {
+            self.modified = true;
+        }
+        self.phase_unwrapping_level = level;
+    }
+
+    pub fn set_phase_unwrap_error_threshold(&mut self, threshold: u16) {
+        if self.phase_unwrap_error_threshold != threshold {
+            self.modified = true;
+        }
+        self.phase_unwrap_error_threshold = threshold;
+    }
+
+    pub fn set_enable_fppn_correction(&mut self, enable: Option<bool>) {
+        if self.enable_fppn_correction != enable {
+            self.modified = true;
+        }
+        self.enable_fppn_correction = enable;
+    }
+
+    pub fn set_enable_optical_correction(&mut self, enable: Option<bool>) {
+        if self.enable_optical_correction != enable {
+            self.modified = true;
+        }
+        self.enable_optical_correction = enable;
+    }
+
+    pub fn set_enable_temperature_correction(&mut self, enable: Option<bool>) {
+        if self.enable_temperature_correction != enable {
+            self.modified = true;
+        }
+        self.enable_temperature_correction = enable;
+    }
+
+    pub fn set_enable_wiggle_correction(&mut self, enable: Option<bool>) {
+        if self.enable_wiggle_correction != enable {
+            self.modified = true;
+        }
+        self.enable_wiggle_correction = enable;
+    }
+
+    pub fn set_enable_phase_unwrapping(&mut self, enable: Option<bool>) {
+        if self.enable_phase_unwrapping != enable {
+            self.modified = true;
+        }
+        self.enable_phase_unwrapping = enable;
+    }
+
+    pub fn is_modified(&self) -> bool {
+        self.modified
+    }
+}
+
 impl From<&DeviceProperties> for DeviceConfig {
     fn from(props: &DeviceProperties) -> Self {
         let mut config = Self::default();
@@ -371,7 +495,7 @@ impl From<&DeviceProperties> for DeviceConfig {
                 kind: *cam.supported_types.first().unwrap(),
             })
             .collect();
-        config.depth = Option::<StereoDepthConfig>::from(props);
+        config.stereo = Option::<StereoDepthConfig>::from(props);
         config.ai_model = Option::<AiModel>::from(props);
         config
     }
@@ -410,7 +534,7 @@ pub enum CameraImageOrientation {
 
 impl PartialEq for DeviceConfig {
     fn eq(&self, other: &Self) -> bool {
-        let depth_eq = match (&self.depth, &other.depth) {
+        let depth_eq = match (&self.stereo, &other.stereo) {
             (Some(a), Some(b)) => a == b,
             _ => true, // If one is None, it's only different if depth_enabled is different
         };
@@ -438,8 +562,8 @@ impl fmt::Debug for DeviceConfig {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(
             f,
-            "Device config: cams: {:?}, depth: {:?}, ai_model: {:?}, depth_enabled: {:?}",
-            self.cameras, self.depth, self.ai_model, self.depth_enabled
+            "Device config: cams: {:?}, stereo: {:?}, ai_model: {:?}, depth_enabled: {:?}",
+            self.cameras, self.stereo, self.ai_model, self.depth_enabled
         )
     }
 }
@@ -502,7 +626,7 @@ impl Default for AiModel {
     fn default() -> Self {
         match default_neural_networks()[2].clone() {
             Some(model) => model,
-            None => panic!("Default neural network not found!")
+            None => panic!("Default neural network not found!"),
         }
     }
 }
@@ -611,8 +735,8 @@ fn default_neural_networks() -> Vec<Option<AiModel>> {
             camera: CameraBoardSocket::CAM_A,
         }),
         Some(AiModel {
-            path: String::from("mobilenet-ssd"),
-            display_name: String::from("MobileNet SSD"),
+            path: String::from("yolov6nr3_coco_640x352d"),
+            display_name: String::from("Yolo V6"),
             camera: CameraBoardSocket::CAM_A,
         }),
         Some(AiModel {
@@ -628,7 +752,7 @@ fn default_neural_networks() -> Vec<Option<AiModel>> {
         Some(AiModel {
             path: String::from("yolov6n_thermal_people_256x192"),
             display_name: String::from("Thermal Person Detection"),
-            camera: CameraBoardSocket::CAM_E
+            camera: CameraBoardSocket::CAM_E,
         }),
     ]
 }
@@ -669,7 +793,7 @@ impl State {
         old_config: &DeviceConfig,
         new_config: &DeviceConfig,
     ) -> bool {
-        let any_runtime_conf_changed = match (&old_config.depth, &new_config.depth) {
+        let any_runtime_conf_changed = match (&old_config.stereo, &new_config.stereo) {
             (Some(old_depth), Some(new_depth)) => old_depth.only_runtime_configs_differ(new_depth),
             _ => false,
         };
@@ -705,6 +829,10 @@ impl State {
         &self.selected_device.cameras
     }
 
+    pub fn get_connected_cameras_mut(&mut self) -> &mut Vec<CameraFeatures> {
+        &mut self.selected_device.cameras
+    }
+
     pub fn shutdown(&mut self) {
         self.backend_comms.shutdown();
     }
@@ -723,7 +851,9 @@ impl State {
                 self.set_update_in_progress(false);
             }
         }
-
+        // TODO(filip): this architecture is suboptimal..
+        // no concise way to get a reply for a specific message.
+        // Each SET should be ack or nack(message) by backend... this is very hacky I don't like it.
         if let Some(ws_message) = self.backend_comms.receive() {
             re_log::debug!("Received message: {:?}", ws_message);
             match ws_message.data {
@@ -758,7 +888,7 @@ impl State {
                 }
                 WsMessageData::Pipeline((config, _)) => {
                     let mut subs = self.subscriptions.clone();
-                    if config.depth.is_some() {
+                    if config.stereo.is_some() {
                         subs.push(ChannelId::DepthImage);
                     }
                     if let Some(color_camera) =
@@ -787,9 +917,9 @@ impl State {
                         self.applied_device_config.update_in_progress = false;
                         return;
                     };
-                    applied_device_config.depth_enabled = config.depth.is_some();
+                    applied_device_config.depth_enabled = config.stereo.is_some();
                     self.modified_device_config.depth_enabled =
-                        self.modified_device_config.depth.is_some();
+                        self.modified_device_config.stereo.is_some();
                     self.modified_device_config.auto = false; // Always reset auto
                     self.set_subscriptions(&subs);
                     self.set_update_in_progress(false);
@@ -831,6 +961,32 @@ impl State {
                 WsMessageData::SetFloodBrightness(_brightness) => {
                     re_log::debug!("Set flood brightness received from backend.")
                 }
+                WsMessageData::SetToFConfig((_board_socket, _config)) => {
+                    re_log::debug!("SetToFConfig received from backend.")
+                }
+            }
+        }
+
+        if let Some(active_config) = &self.applied_device_config.config {
+            for tof in active_config
+                .cameras
+                .iter()
+                .filter(|cam| cam.kind == CameraSensorKind::TOF)
+            {
+                if let Some(cam) = self
+                    .selected_device
+                    .cameras
+                    .iter_mut()
+                    .find(|c| c.board_socket == tof.board_socket)
+                {
+                    if let Some(tof_config) = &mut cam.tof_config {
+                        if tof_config.is_modified() {
+                            tof_config.modified = false;
+                            self.backend_comms
+                                .set_tof_config(cam.board_socket, *tof_config);
+                        }
+                    }
+                }
             }
         }
 
@@ -876,11 +1032,11 @@ impl State {
             return;
         }
         if !config.depth_enabled {
-            config.depth = None;
+            config.stereo = None;
         }
 
         if !self.selected_device.has_stereo_pairs() {
-            config.depth = None;
+            config.stereo = None;
         }
 
         if self.selected_device.id.is_empty() {
diff --git a/crates/re_viewer/src/depthai/ws.rs b/crates/re_viewer/src/depthai/ws.rs
index 4042e20c5e81..3011f23d370d 100644
--- a/crates/re_viewer/src/depthai/ws.rs
+++ b/crates/re_viewer/src/depthai/ws.rs
@@ -89,6 +89,7 @@ pub enum WsMessageData {
     Error(depthai::Error),
     Info(depthai::Info),
     Warning(depthai::Warning),
+    SetToFConfig((depthai::CameraBoardSocket, depthai::ToFConfig)),
 }
 
 #[derive(Deserialize, Serialize, fmt::Debug)]
@@ -102,6 +103,7 @@ pub enum WsMessageType {
     Error,
     Info,
     Warning,
+    SetToFConfig,
 }
 
 impl Default for WsMessageType {
@@ -160,6 +162,9 @@ impl<'de> Deserialize<'de> for BackWsMessage {
             WsMessageType::SetFloodBrightness => {
                 WsMessageData::SetFloodBrightness(serde_json::from_value(message.data).unwrap())
             }
+            WsMessageType::SetToFConfig => {
+                WsMessageData::SetToFConfig(serde_json::from_value(message.data).unwrap())
+            }
         };
 
         Ok(Self {
@@ -173,7 +178,7 @@ impl<'de> Deserialize<'de> for BackWsMessage {
 impl Default for BackWsMessage {
     fn default() -> Self {
         Self {
-            kind: WsMessageType::Error.into(),
+            kind: WsMessageType::Error,
             data: WsMessageData::Error(depthai::Error::default()),
             message: None,
         }
@@ -194,15 +199,14 @@ pub struct WebSocket {
 
 impl Default for WebSocket {
     fn default() -> Self {
-        Self {
-            inner: None
-        }
+        Self { inner: None }
     }
 }
 
 impl WebSocket {
-
-    pub fn is_initialized(&self) -> bool {self.inner.is_some()}
+    pub fn is_initialized(&self) -> bool {
+        self.inner.is_some()
+    }
 
     pub fn connect(&mut self, port: u32) {
         re_log::debug!("Creating websocket client");
@@ -236,30 +240,28 @@ impl WebSocket {
                 ));
         }
 
-        self.inner = Some(
-            WsInner {
-                receiver: recv_rx,
-                sender: send_tx,
-                shutdown,
-                task,
-                connected
-            }
-        );
+        self.inner = Some(WsInner {
+            receiver: recv_rx,
+            sender: send_tx,
+            shutdown,
+            task,
+            connected,
+        });
     }
 
     pub fn is_connected(&self) -> bool {
         match &self.inner {
-            Some(ws_state) => {
-                ws_state.connected.load(std::sync::atomic::Ordering::SeqCst)
-            },
-            None => false
+            Some(ws_state) => ws_state.connected.load(std::sync::atomic::Ordering::SeqCst),
+            None => false,
         }
     }
 
     pub fn shutdown(&mut self) {
         match &mut self.inner {
-            Some(ws_state) => ws_state.shutdown.store(true, std::sync::atomic::Ordering::SeqCst),
-            None => ()
+            Some(ws_state) => ws_state
+                .shutdown
+                .store(true, std::sync::atomic::Ordering::SeqCst),
+            None => (),
         }
     }
 
@@ -287,8 +289,8 @@ impl WebSocket {
                 } else {
                     None
                 }
-            },
-            None => None
+            }
+            None => None,
         }
     }
 
@@ -300,9 +302,8 @@ impl WebSocket {
                 // This makes the websocket actually send the previous msg
                 // It has to be something related to tokio::spawn, because it works fine when just running in the current thread
                 ws_state.sender.send(WsMessage::Text("".to_string()));
-            },
-            None => ()
+            }
+            None => (),
         }
-
     }
 }
diff --git a/crates/re_viewer/src/ui/device_settings_panel.rs b/crates/re_viewer/src/ui/device_settings_panel.rs
index ac4f61e546c5..ccb573d65ddf 100644
--- a/crates/re_viewer/src/ui/device_settings_panel.rs
+++ b/crates/re_viewer/src/ui/device_settings_panel.rs
@@ -162,54 +162,210 @@ impl DeviceSettingsPanel {
     fn camera_config_ui(
         ctx: &mut ViewerContext<'_>,
         ui: &mut egui::Ui,
-        camera_features: &depthai::CameraFeatures,
-        camera_config: &mut depthai::CameraConfig,
+        device_config: &mut depthai::DeviceConfig,
     ) {
-        // let text_color = ctx.re_ui.design_tokens.primary_700;
-        let text_color = ui.style().visuals.strong_text_color();
-        egui::CollapsingHeader::new(
-            egui::RichText::new(camera_features.board_socket.display_name(ctx)).color(text_color),
-        )
-        .default_open(true)
-        .show(ui, |ui| {
-            ui.vertical(|ui| {
-                ui.set_width(CONFIG_UI_WIDTH);
-                ctx.re_ui.labeled_combo_box(
-                    ui,
-                    "Resolution",
-                    format!("{}", camera_config.resolution),
-                    false,
-                    true,
-                    |ui| {
-                        for res in camera_features.resolutions.clone() {
-                            let disabled = false;
-                            ui.add_enabled_ui(!disabled, |ui| {
-                                ui.selectable_value(
-                                    &mut camera_config.resolution,
-                                    res,
-                                    format!("{res}"),
-                                )
-                                .on_disabled_hover_ui(|ui| {
-                                    ui.label(format!(
-                                        "{res} will be available in a future release!"
-                                    ));
+        let mut connected_cameras_clone = ctx.depthai_state.get_connected_cameras().clone();
+        for mut camera_features in ctx.depthai_state.get_connected_cameras_mut() {
+            let Some(camera_config) = device_config
+                .cameras
+                .iter_mut()
+                .find(|conf| conf.board_socket == camera_features.board_socket)
+            else {
+                continue;
+            };
+            // let text_color = ctx.re_ui.design_tokens.primary_700;
+            let text_color = ui.style().visuals.strong_text_color();
+            egui::CollapsingHeader::new(
+                egui::RichText::new(
+                    camera_features
+                        .board_socket
+                        .display_name(&connected_cameras_clone),
+                )
+                .color(text_color),
+            )
+            .default_open(true)
+            .show(ui, |ui| {
+                ui.vertical(|ui| {
+                    ui.set_width(CONFIG_UI_WIDTH);
+                    ctx.re_ui.labeled_combo_box(
+                        ui,
+                        "Resolution",
+                        format!("{}", camera_config.resolution),
+                        false,
+                        true,
+                        |ui| {
+                            for res in camera_features.resolutions.clone() {
+                                let disabled = false;
+                                ui.add_enabled_ui(!disabled, |ui| {
+                                    ui.selectable_value(
+                                        &mut camera_config.resolution,
+                                        res,
+                                        format!("{res}"),
+                                    )
+                                    .on_disabled_hover_ui(
+                                        |ui| {
+                                            ui.label(format!(
+                                                "{res} will be available in a future release!"
+                                            ));
+                                        },
+                                    );
                                 });
-                            });
-                        }
-                    },
-                );
-                ctx.re_ui.labeled_dragvalue(
-                    ui,
-                    egui::Id::from("fps"), // TODO(filip): using "fps" as id causes all fps sliders to be linked - This is a bug, but also kind of a feature
-                    None,
-                    "FPS",
-                    &mut camera_config.fps,
-                    0..=camera_features.max_fps,
-                );
-                ctx.re_ui
-                    .labeled_toggle_switch(ui, "Stream", &mut camera_config.stream_enabled);
+                            }
+                        },
+                    );
+                    ctx.re_ui.labeled_dragvalue(
+                        ui,
+                        egui::Id::from("fps"), // TODO(filip): using "fps" as id causes all fps sliders to be linked - This is a bug, but also kind of a feature
+                        None,
+                        "FPS",
+                        &mut camera_config.fps,
+                        0..=camera_features.max_fps,
+                    );
+                    if let Some(tof_config) = &mut camera_features.tof_config {
+                        // Add a UI that is hidden by default Drop
+                        ui.collapsing("ToF config", |mut ui| {
+                            ui.vertical(|ui| {
+                                ctx.re_ui.labeled_combo_box(
+                                    ui,
+                                    "Median Filter",
+                                    format!("{:?}", tof_config.get_median_filter()),
+                                    false,
+                                    true,
+                                    |ui| {
+                                        let mut median_filter = tof_config.get_median_filter();
+                                        for filter in depthai::MedianFilter::iter() {
+                                            if ui
+                                                .selectable_value(
+                                                    &mut median_filter,
+                                                    filter,
+                                                    format!("{filter:?}"),
+                                                )
+                                                .changed()
+                                            {
+                                                tof_config.set_median_filter(median_filter);
+                                            }
+                                        }
+                                    },
+                                );
+                                let mut phase_unwrapping_level =
+                                    tof_config.get_phase_unwrapping_level();
+                                if ctx
+                                    .re_ui
+                                    .labeled_dragvalue(
+                                        ui,
+                                        egui::Id::new("tof-phase-unwrap-level"),
+                                        None,
+                                        "Phase unwrap level",
+                                        &mut phase_unwrapping_level,
+                                        0..=100,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config.set_phase_unwrapping_level(phase_unwrapping_level);
+                                }
+                                let mut phase_unwrap_error_threshold =
+                                    tof_config.get_phase_unwrap_error_threshold();
+                                if ctx
+                                    .re_ui
+                                    .labeled_dragvalue(
+                                        ui,
+                                        egui::Id::new("tof-phase-unwrap-error-threshold"),
+                                        None,
+                                        "Phase unwrap error threshold",
+                                        &mut phase_unwrap_error_threshold,
+                                        0..=u16::MAX,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config.set_phase_unwrap_error_threshold(
+                                        phase_unwrap_error_threshold,
+                                    );
+                                }
+                                let mut enable_phase_unwrapping =
+                                    tof_config.get_enable_phase_unwrapping().unwrap_or(false);
+                                if ctx
+                                    .re_ui
+                                    .labeled_toggle_switch(
+                                        ui,
+                                        "Enable phase unwrapping",
+                                        &mut enable_phase_unwrapping,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config
+                                        .set_enable_phase_unwrapping(Some(enable_phase_unwrapping));
+                                }
+                                let mut enable_fppn_correction =
+                                    tof_config.get_enable_fppn_correction().unwrap_or(false);
+                                if ctx
+                                    .re_ui
+                                    .labeled_toggle_switch(
+                                        ui,
+                                        "Enable FPPN correction",
+                                        &mut enable_fppn_correction,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config
+                                        .set_enable_fppn_correction(Some(enable_fppn_correction));
+                                }
+                                let mut enable_optical_correction =
+                                    tof_config.get_enable_optical_correction().unwrap_or(false);
+                                if ctx
+                                    .re_ui
+                                    .labeled_toggle_switch(
+                                        ui,
+                                        "Enable optical correction",
+                                        &mut enable_optical_correction,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config.set_enable_optical_correction(Some(
+                                        enable_optical_correction,
+                                    ));
+                                }
+                                let mut enable_temperature_correction = tof_config
+                                    .get_enable_temperature_correction()
+                                    .unwrap_or(false);
+                                if ctx
+                                    .re_ui
+                                    .labeled_toggle_switch(
+                                        ui,
+                                        "Enable temperature correction",
+                                        &mut enable_temperature_correction,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config.set_enable_temperature_correction(Some(
+                                        enable_temperature_correction,
+                                    ));
+                                }
+                                let mut enable_wiggle_correction =
+                                    tof_config.get_enable_wiggle_correction().unwrap_or(false);
+                                if ctx
+                                    .re_ui
+                                    .labeled_toggle_switch(
+                                        ui,
+                                        "Enable wiggle correction",
+                                        &mut enable_wiggle_correction,
+                                    )
+                                    .changed()
+                                {
+                                    tof_config.set_enable_wiggle_correction(Some(
+                                        enable_wiggle_correction,
+                                    ));
+                                }
+                            })
+                        });
+                    }
+                    ctx.re_ui.labeled_toggle_switch(
+                        ui,
+                        "Stream",
+                        &mut camera_config.stream_enabled,
+                    );
+                });
             });
-        });
+        }
     }
 
     fn device_configuration_ui(ctx: &mut ViewerContext<'_>, ui: &mut egui::Ui) {
@@ -217,7 +373,6 @@ impl DeviceSettingsPanel {
 
         let text_color = ui.style().visuals.strong_text_color();
         // let text_color = ctx.re_ui.design_tokens.primary_700;
-        let connected_cameras = ctx.depthai_state.get_connected_cameras().clone();
 
         ctx.re_ui.styled_scrollbar(
             ui,
@@ -231,19 +386,10 @@ impl DeviceSettingsPanel {
                     ..Default::default()
                 })
                 .show(ui, |ui| {
+
                     ui.horizontal(|ui| {
                         ui.vertical(|ui| {
-                            for cam in connected_cameras.clone() {
-                                let Some(config) = device_config
-                                    .cameras
-                                    .iter_mut()
-                                    .find(|conf| conf.board_socket == cam.board_socket)
-                                else {
-                                    continue;
-                                };
-                                Self::camera_config_ui(ctx, ui, &cam, config);
-                            }
-
+                            Self::camera_config_ui(ctx, ui, &mut device_config);
                             ui.collapsing(
                                 egui::RichText::new("AI settings").color(text_color),
                                 |ui| {
@@ -276,11 +422,11 @@ impl DeviceSettingsPanel {
                                                 ctx.re_ui.labeled_combo_box(
                                                     ui,
                                                     "Run on",
-                                                    model.camera.display_name(ctx),
+                                                    model.camera.display_name(ctx.depthai_state.get_connected_cameras()),
                                                     false,
                                                     true,
                                                     |ui| {
-                                                        let filtered_cameras: Vec<_> = connected_cameras
+                                                        let filtered_cameras: Vec<_> =  ctx.depthai_state.get_connected_cameras()
                                                             .iter() // iterates over references
                                                             .filter(|cam| {
                                                                 !(cam.supported_types.contains(
@@ -294,7 +440,7 @@ impl DeviceSettingsPanel {
                                                             ui.selectable_value(
                                                                 &mut model.camera,
                                                                 cam.board_socket,
-                                                                cam.board_socket.display_name(ctx),
+                                                                cam.board_socket.display_name(ctx.depthai_state.get_connected_cameras()),
                                                             );
                                                         }
                                                     },
@@ -306,7 +452,7 @@ impl DeviceSettingsPanel {
                                     });
                             });
 
-                            let mut depth = device_config.depth.unwrap_or_default();
+                            let mut stereo: depthai::StereoDepthConfig = device_config.stereo.unwrap_or_default();
                             ui.add_enabled_ui(
                                 ctx.depthai_state.selected_device.has_stereo_pairs(),
                                 |ui| {
@@ -323,14 +469,14 @@ impl DeviceSettingsPanel {
                                     .show(ui, |ui| {
                                         ui.vertical(|ui| {
                                             ui.set_width(CONFIG_UI_WIDTH);
-                                            let (cam1, cam2) = depth.stereo_pair;
+                                            let (cam1, cam2) = stereo.stereo_pair;
                                             ctx.re_ui.labeled_combo_box(
                                                 ui,
                                                 "Camera Pair",
                                                 format!(
                                                     "{}, {}",
-                                                    cam1.display_name(ctx),
-                                                    cam2.display_name(ctx)
+                                                    cam1.display_name(ctx.depthai_state.get_connected_cameras()),
+                                                    cam2.display_name(ctx.depthai_state.get_connected_cameras())
                                                 ),
                                                 false,
                                                 true,
@@ -341,12 +487,12 @@ impl DeviceSettingsPanel {
                                                         .stereo_pairs
                                                     {
                                                         ui.selectable_value(
-                                                            &mut depth.stereo_pair,
+                                                            &mut stereo.stereo_pair,
                                                             *pair,
                                                             format!(
                                                                 "{} {}",
-                                                                pair.0.display_name(ctx),
-                                                                pair.1.display_name(ctx)
+                                                                pair.0.display_name(ctx.depthai_state.get_connected_cameras()),
+                                                                pair.1.display_name(ctx.depthai_state.get_connected_cameras())
                                                             ),
                                                         );
                                                     }
@@ -382,20 +528,20 @@ impl DeviceSettingsPanel {
                                             ctx.re_ui.labeled_toggle_switch(
                                                 ui,
                                                 "LR Check",
-                                                &mut depth.lr_check,
+                                                &mut stereo.lr_check,
                                             );
                                             ctx.re_ui.labeled_combo_box(
                                                 ui,
                                                 "Align to",
-                                                depth.align.display_name(ctx),
+                                                stereo.align.display_name(ctx.depthai_state.get_connected_cameras()),
                                                 false,
                                                 true,
                                                 |ui| {
-                                                    for align in &connected_cameras {
+                                                    for align in ctx.depthai_state.get_connected_cameras() {
                                                         ui.selectable_value(
-                                                            &mut depth.align,
+                                                            &mut stereo.align,
                                                             align.board_socket,
-                                                            align.board_socket.display_name(ctx),
+                                                            align.board_socket.display_name(ctx.depthai_state.get_connected_cameras()),
                                                         );
                                                     }
                                                 },
@@ -403,14 +549,14 @@ impl DeviceSettingsPanel {
                                             ctx.re_ui.labeled_combo_box(
                                                 ui,
                                                 "Median Filter",
-                                                format!("{:?}", depth.median),
+                                                format!("{:?}", stereo.median),
                                                 false,
                                                 true,
                                                 |ui| {
-                                                    for filter in depthai::DepthMedianFilter::iter()
+                                                    for filter in depthai::MedianFilter::iter()
                                                     {
                                                         ui.selectable_value(
-                                                            &mut depth.median,
+                                                            &mut stereo.median,
                                                             filter,
                                                             format!("{filter:?}"),
                                                         );
@@ -422,25 +568,25 @@ impl DeviceSettingsPanel {
                                                 egui::Id::from("LR Threshold"),
                                                 Some(100.0),
                                                 "LR Threshold",
-                                                &mut depth.lrc_threshold,
+                                                &mut stereo.lrc_threshold,
                                                 0..=10,
                                             );
                                             ctx.re_ui.labeled_toggle_switch(
                                                 ui,
                                                 "Extended Disparity",
-                                                &mut depth.extended_disparity,
+                                                &mut stereo.extended_disparity,
                                             );
                                             ctx.re_ui.labeled_toggle_switch(
                                                 ui,
                                                 "Subpixel Disparity",
-                                                &mut depth.subpixel_disparity,
+                                                &mut stereo.subpixel_disparity,
                                             );
                                             ctx.re_ui.labeled_dragvalue(
                                                 ui,
                                                 egui::Id::from("Sigma"),
                                                 Some(100.0),
                                                 "Sigma",
-                                                &mut depth.sigma,
+                                                &mut stereo.sigma,
                                                 0..=65535,
                                             );
                                             ctx.re_ui.labeled_dragvalue(
@@ -448,7 +594,7 @@ impl DeviceSettingsPanel {
                                                 egui::Id::from("Confidence"),
                                                 Some(100.0),
                                                 "Confidence",
-                                                &mut depth.confidence,
+                                                &mut stereo.confidence,
                                                 0..=255,
                                             );
                                             ctx.re_ui.labeled_toggle_switch(
@@ -469,8 +615,9 @@ impl DeviceSettingsPanel {
                                 },
                             );
 
-                            device_config.depth = Some(depth);
+                            device_config.stereo = Some(stereo);
                             ctx.depthai_state.modified_device_config = device_config.clone();
+
                             ui.vertical(|ui| {
                                 ui.horizontal(|ui| {
                                     let apply_enabled = {
diff --git a/crates/re_viewer/src/ui/space_view.rs b/crates/re_viewer/src/ui/space_view.rs
index c788fe0909e8..8fc4c4e75c69 100644
--- a/crates/re_viewer/src/ui/space_view.rs
+++ b/crates/re_viewer/src/ui/space_view.rs
@@ -113,10 +113,18 @@ impl SpaceView {
                 {
                     if is_3d {
                         is_depthai_spaceview = true;
-                        format!("{} ({})", camera.board_socket.display_name(ctx), "3D")
+                        format!(
+                            "{} ({})",
+                            camera.board_socket.display_name(camera_features),
+                            "3D"
+                        )
                     } else if is_2d {
                         is_depthai_spaceview = true;
-                        format!("{} ({})", camera.board_socket.display_name(ctx), "2D")
+                        format!(
+                            "{} ({})",
+                            camera.board_socket.display_name(camera_features),
+                            "2D"
+                        )
                     } else {
                         space_path.iter().last().unwrap().to_string()
                     }
@@ -146,9 +154,18 @@ impl SpaceView {
         }
     }
 
-
     pub fn duplicate(&self, ctx: &ViewerContext<'_>) -> Self {
-        Self::new(ctx, self.category, &self.space_path, self.data_blueprint.entity_paths().iter().cloned().collect_vec().as_slice())
+        Self::new(
+            ctx,
+            self.category,
+            &self.space_path,
+            self.data_blueprint
+                .entity_paths()
+                .iter()
+                .cloned()
+                .collect_vec()
+                .as_slice(),
+        )
     }
 
     pub fn on_frame_start(
diff --git a/rerun_py/depthai_viewer/_backend/config_api.py b/rerun_py/depthai_viewer/_backend/config_api.py
index 075b09519882..5731394a256e 100644
--- a/rerun_py/depthai_viewer/_backend/config_api.py
+++ b/rerun_py/depthai_viewer/_backend/config_api.py
@@ -11,7 +11,7 @@
 import websockets
 from websockets.server import WebSocketServerProtocol
 
-from depthai_viewer._backend.device_configuration import PipelineConfiguration
+from depthai_viewer._backend.device_configuration import PipelineConfiguration, ToFConfig
 from depthai_viewer._backend.messages import (
     DevicesMessage,
     ErrorMessage,
@@ -45,6 +45,7 @@ class Action(Enum):
     SET_DOT_BRIGHTNESS = auto()
     RESET = auto()  # When anything bad happens, a reset occurs (like closing ws connection)
     GET_AVAILABLE_DEVICES = auto()
+    SET_TOF_CONFIG = auto()
 
 
 def dispatch_action(action: Action, **kwargs) -> Message:  # type: ignore[no-untyped-def]
@@ -141,6 +142,23 @@ async def ws_api(websocket: WebSocketServerProtocol) -> None:
                     print("Missing dot", message_type)
                     continue
                 await send_message(websocket, dispatch_action(Action.SET_DOT_BRIGHTNESS, dot_brightness=dot_brightness))
+            elif message_type == MessageType.SET_TOF_CONFIG:
+                data = message.get("data", {})
+                tof_config = data.get(message_type, None)
+                if len(tof_config) == 2:  # Disregard the camera board socket for now. Only support one.
+                    tof_config = tof_config[1]
+                else:
+                    print("Invalid tof config: ", tof_config)
+                    continue
+                if tof_config is None:
+                    print("Missing tof config")
+                    continue
+                try:
+                    tof_config = ToFConfig(**tof_config)
+                except Exception as e:
+                    print(f"Failed to deserialize tof_config: {tof_config}: {e}")
+                    continue
+                await send_message(websocket, dispatch_action(Action.SET_TOF_CONFIG, tof_config=tof_config))
             else:
                 print("Unknown message type: ", message_type)
                 continue
diff --git a/rerun_py/depthai_viewer/_backend/device.py b/rerun_py/depthai_viewer/_backend/device.py
index 677393690023..47dc8880130e 100644
--- a/rerun_py/depthai_viewer/_backend/device.py
+++ b/rerun_py/depthai_viewer/_backend/device.py
@@ -10,10 +10,8 @@
 from depthai_sdk import OakCamera
 from depthai_sdk.classes.packet_handlers import ComponentOutput
 from depthai_sdk.components import CameraComponent, NNComponent, StereoComponent
-from depthai_sdk.components.camera_helper import (
-    getClosestIspScale,
-)
-from depthai_sdk.components.tof_component import Component
+from depthai_sdk.components.camera_helper import getClosestIspScale
+from depthai_sdk.components.tof_component import Component, ToFComponent
 from numpy.typing import NDArray
 
 import depthai_viewer as viewer
@@ -27,6 +25,7 @@
     ImuKind,
     PipelineConfiguration,
     StereoDepthConfiguration,
+    ToFConfig,
     XLinkConnection,
     calculate_isp_scale,
     compare_dai_camera_configs,
@@ -40,7 +39,11 @@
     Message,
     WarningMessage,
 )
-from depthai_viewer._backend.packet_handler import DetectionContext, PacketHandler, PacketHandlerContext
+from depthai_viewer._backend.packet_handler import (
+    DetectionContext,
+    PacketHandler,
+    PacketHandlerContext,
+)
 from depthai_viewer._backend.store import Store
 from depthai_viewer.install_requirements import model_dir
 
@@ -85,6 +88,7 @@ class Device:
     _pipeline_start_t: Optional[float] = None
     _queues: List[Tuple[Component, ComponentOutput]] = []
     _dai_queues: List[Tuple[dai.Node, dai.DataOutputQueue, Optional[PacketHandlerContext]]] = []
+    _tof_component: Optional[ToFComponent] = None
 
     # _profiler = cProfile.Profile()
 
@@ -111,9 +115,14 @@ def get_intrinsic_matrix(self, board_socket: dai.CameraBoardSocket, width: int,
             return self.intrinsic_matrix.get((board_socket, width, height))  # type: ignore[return-value]
         if self.calibration_data is None:
             raise Exception("Missing calibration data!")
-        M_right = self.calibration_data.getCameraIntrinsics(  # type: ignore[union-attr]
-            board_socket, dai.Size2f(width, height)
-        )
+        try:
+            M_right = self.calibration_data.getCameraIntrinsics(  # type: ignore[union-attr]
+                board_socket, dai.Size2f(width, height)
+            )
+        except RuntimeError:
+            print("No intrinsics found for camera: ", board_socket, " assuming default.")
+            f_len = (height * width) ** 0.5
+            M_right = [[f_len, 0, width / 2], [0, f_len, height / 2], [0, 0, 1]]
         self.intrinsic_matrix[(board_socket, width, height)] = np.array(M_right).reshape(3, 3)
         return self.intrinsic_matrix[(board_socket, width, height)]
 
@@ -228,6 +237,7 @@ def get_device_properties(self) -> DeviceProperties:
                     supported_types=cam.supportedTypes,
                     stereo_pairs=self._get_possible_stereo_pairs_for_cam(cam, connected_cam_features),
                     name=cam.name.capitalize(),
+                    tof_config=ToFConfig() if dai.CameraSensorType.TOF in cam.supportedTypes else None,
                 )
             )
         device_properties.stereo_pairs = list(
@@ -330,14 +340,14 @@ def _create_auto_pipeline_config(self, config: PipelineConfiguration) -> Message
                 left_cam = calibration.getStereoLeftCameraId()
                 right_cam = calibration.getStereoRightCameraId()
                 if left_cam.value != 255 and right_cam.value != 255:
-                    config.depth = StereoDepthConfiguration(
+                    config.stereo = StereoDepthConfiguration(
                         stereo_pair=(left_cam, right_cam),
                         align=rgb_cam_socket if rgb_cam_socket is not None else left_cam,
                     )
             except RuntimeError:
                 calibration = None
         else:
-            config.depth = None
+            config.stereo = None
         # 3. Create YOLO
         nnet_cam_sock = rgb_cam_socket
         if nnet_cam_sock is None:
@@ -352,7 +362,7 @@ def _create_auto_pipeline_config(self, config: PipelineConfiguration) -> Message
             if nnet_cam_sock is not None:
                 nnet_cam_sock = nnet_cam_sock.board_socket
         if nnet_cam_sock is not None:
-            config.ai_model = ALL_NEURAL_NETWORKS[1]  # Mobilenet SSd
+            config.ai_model = ALL_NEURAL_NETWORKS[1]  # Yolo V6
             config.ai_model.camera = nnet_cam_sock
         else:
             config.ai_model = ALL_NEURAL_NETWORKS[1]
@@ -368,8 +378,8 @@ def update_pipeline(self, runtime_only: bool) -> Message:
 
         if self._oak.device.isPipelineRunning():
             if runtime_only:
-                if config.depth is not None:
-                    self._stereo.control.send_controls(config.depth.to_runtime_controls())
+                if config.stereo is not None:
+                    self._stereo.control.send_controls(config.stereo.to_runtime_controls())
                     return InfoMessage("")
                 return ErrorMessage("Depth is disabled, can't send runtime controls!")
             print("Cam running, closing...")
@@ -439,8 +449,8 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                 sensor_resolution = size_to_resolution.get(
                     (smallest_supported_resolution.width, smallest_supported_resolution.height), None
                 )
-            is_used_by_depth = config.depth is not None and (
-                cam.board_socket == config.depth.align or cam.board_socket in config.depth.stereo_pair
+            is_used_by_depth = config.stereo is not None and (
+                cam.board_socket == config.stereo.align or cam.board_socket in config.stereo.stereo_pair
             )
             is_used_by_ai = config.ai_model is not None and cam.board_socket == config.ai_model.camera
             cam.stream_enabled |= is_used_by_depth or is_used_by_ai
@@ -449,6 +459,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
             if cam.stream_enabled:
                 if dai.CameraSensorType.TOF in camera_features.supportedTypes:
                     sdk_cam = self._oak.create_tof(cam.board_socket)
+                    self._tof_component = sdk_cam
                     self._queues.append((sdk_cam, self._oak.queue(sdk_cam.out.main)))
                 elif dai.CameraSensorType.THERMAL in camera_features.supportedTypes:
                     thermal_cam = self._oak.pipeline.create(dai.node.Camera)
@@ -478,9 +489,9 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                     print("Skipped creating camera:", cam.board_socket, "because no valid sensor resolution was found.")
                     continue
 
-        if config.depth:
+        if config.stereo:
             print("Creating depth")
-            stereo_pair = config.depth.stereo_pair
+            stereo_pair = config.stereo.stereo_pair
             left_cam = self._get_component_by_socket(stereo_pair[0])
             right_cam = self._get_component_by_socket(stereo_pair[1])
             if not left_cam or not right_cam:
@@ -494,21 +505,21 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                 right_cam.config_color_camera(isp_scale=calculate_isp_scale(right_cam.node.getResolutionWidth()))
             self._stereo = self._oak.create_stereo(left=left_cam, right=right_cam, name="depth")
 
-            align_component = self._get_component_by_socket(config.depth.align)
+            align_component = self._get_component_by_socket(config.stereo.align)
             if not align_component:
-                return ErrorMessage(f"{config.depth.align} is not configured. Couldn't create stereo pair.")
+                return ErrorMessage(f"{config.stereo.align} is not configured. Couldn't create stereo pair.")
             self._stereo.config_stereo(
-                lr_check=config.depth.lr_check,
-                subpixel=config.depth.subpixel_disparity,
-                confidence=config.depth.confidence,
+                lr_check=config.stereo.lr_check,
+                subpixel=config.stereo.subpixel_disparity,
+                confidence=config.stereo.confidence,
                 align=align_component,
-                lr_check_threshold=config.depth.lrc_threshold,
-                median=config.depth.median,
+                lr_check_threshold=config.stereo.lrc_threshold,
+                median=config.stereo.median,
             )
 
-            aligned_camera = self._get_camera_config_by_socket(config, config.depth.align)
+            aligned_camera = self._get_camera_config_by_socket(config, config.stereo.align)
             if not aligned_camera:
-                return ErrorMessage(f"{config.depth.align} is not configured. Couldn't create stereo pair.")
+                return ErrorMessage(f"{config.stereo.align} is not configured. Couldn't create stereo pair.")
             self._queues.append((self._stereo, self._oak.queue(self._stereo.out.main)))
 
         if self._oak.device.getConnectedIMU() != "NONE" and self._oak.device.getConnectedIMU() != "":
@@ -572,7 +583,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                     WarningMessage(f"{config.ai_model.camera} is not configured, won't create NNET.")
                 )
             elif config.ai_model.path == "age-gender-recognition-retail-0013":
-                face_detection = self._oak.create_nn(model_path, cam_component)
+                face_detection = self._oak.create_nn("face-detection-retail-0004", cam_component)
                 self._nnet = self._oak.create_nn(model_path, input=face_detection)
             else:
                 self._nnet = self._oak.create_nn(model_path, cam_component)
@@ -643,6 +654,9 @@ def update(self) -> None:
         #     self._profiler.enable()
         #     self.start = time.time()
 
+    def get_tof_component(self) -> Optional[ToFComponent]:
+        return self._tof_component
+
 
 def print_system_information(info: dai.SystemInformation) -> None:
     print(
diff --git a/rerun_py/depthai_viewer/_backend/device_configuration.py b/rerun_py/depthai_viewer/_backend/device_configuration.py
index 1b2e93a691c5..1ae0d63b0eb7 100644
--- a/rerun_py/depthai_viewer/_backend/device_configuration.py
+++ b/rerun_py/depthai_viewer/_backend/device_configuration.py
@@ -89,8 +89,8 @@ def out_queue_name(self) -> str:
 
 
 class AiModelConfiguration(BaseModel):  # type: ignore[misc]
-    display_name: str = "MobileNet SSD"
-    path: str = "mobilenet-ssd"
+    display_name: str = "Yolo V6"
+    path: str = "yolov6nr3_coco_640x352"
     camera: dai.CameraBoardSocket
 
     class Config:
@@ -116,8 +116,8 @@ def dict(self, *args, **kwargs):  # type: ignore[no-untyped-def]
         camera=dai.CameraBoardSocket.CAM_A,
     ),
     AiModelConfiguration(
-        path="mobilenet-ssd",
-        display_name="MobileNet SSD",
+        path="yolov6nr3_coco_640x352",
+        display_name="Yolo V6",
         camera=dai.CameraBoardSocket.CAM_A,
     ),
     AiModelConfiguration(
@@ -230,6 +230,50 @@ def create_color(cls, **kwargs) -> "CameraConfiguration":
         return cls(board_socket="RGB", **kwargs)
 
 
+class ToFConfig(BaseModel):  # type: ignore[misc]
+    median: Optional[dai.MedianFilter] = dai.MedianFilter.MEDIAN_OFF
+    phase_unwrapping_level: int = 4
+    phase_unwrap_error_threshold: int = 100
+    enable_phase_unwrapping: Optional[bool] = True
+    enable_fppn_correction: Optional[bool] = None
+    enable_optical_correction: Optional[bool] = None
+    enable_temperature_correction: Optional[bool] = None
+    enable_wiggle_correction: Optional[bool] = None
+
+    class Config:
+        arbitrary_types_allowed = True
+
+    def __init__(self, **v) -> None:  # type: ignore[no-untyped-def]
+        if v.get("median", None):
+            if isinstance(v["median"], str):
+                v["median"] = getattr(dai.MedianFilter, v["median"])
+        return super().__init__(**v)  # type: ignore[no-any-return]
+
+    def dict(self, *args, **kwargs) -> Dict[str, Any]:  # type: ignore[no-untyped-def]
+        return {
+            "median": self.median.name if self.median else None,
+            "phase_unwrapping_level": self.phase_unwrapping_level,
+            "phase_unwrap_error_threshold": self.phase_unwrap_error_threshold,
+            "enable_fppn_correction": self.enable_fppn_correction,
+            "enable_optical_correction": self.enable_optical_correction,
+            "enable_temperature_correction": self.enable_temperature_correction,
+            "enable_wiggle_correction": self.enable_wiggle_correction,
+            "enable_phase_unwrapping": self.enable_phase_unwrapping,
+        }
+
+    def to_dai(self) -> dai.RawToFConfig:
+        cfg = dai.RawToFConfig()
+        cfg.median = self.median  # type: ignore[attr-defined]
+        cfg.phaseUnwrappingLevel = self.phase_unwrapping_level  # type: ignore[attr-defined]
+        cfg.phaseUnwrapErrorThreshold = self.phase_unwrap_error_threshold  # type: ignore[attr-defined]
+        cfg.enableFPPNCorrection = self.enable_fppn_correction  # type: ignore[attr-defined]
+        cfg.enableOpticalCorrection = self.enable_optical_correction  # type: ignore[attr-defined]
+        cfg.enableTemperatureCorrection = self.enable_temperature_correction  # type: ignore[attr-defined]
+        cfg.enableWiggleCorrection = self.enable_wiggle_correction  # type: ignore[attr-defined]
+        cfg.enablePhaseUnwrapping = self.enable_phase_unwrapping  # type: ignore[attr-defined]
+        return cfg
+
+
 class CameraFeatures(BaseModel):  # type: ignore[misc]
     resolutions: List[CameraSensorResolution] = []
     max_fps: int = 60
@@ -238,6 +282,7 @@ class CameraFeatures(BaseModel):  # type: ignore[misc]
     stereo_pairs: List[dai.CameraBoardSocket] = []
     """Which cameras can be paired with this one"""
     name: str
+    tof_config: Optional[ToFConfig] = None
 
     class Config:
         arbitrary_types_allowed = True
@@ -251,13 +296,14 @@ def dict(self, *args, **kwargs) -> Dict[str, Any]:  # type: ignore[no-untyped-de
             "supported_types": [sensor_type.name for sensor_type in self.supported_types],
             "stereo_pairs": [socket.name for socket in self.stereo_pairs],
             "name": self.name,
+            "tof_config": self.tof_config.dict() if self.tof_config else None,
         }
 
 
 class PipelineConfiguration(BaseModel):  # type: ignore[misc]
     auto: bool = False  # Should the backend automatically create a pipeline?
     cameras: List[CameraConfiguration] = []
-    depth: Optional[StereoDepthConfiguration]
+    stereo: Optional[StereoDepthConfiguration]
     ai_model: Optional[AiModelConfiguration]
     imu: ImuConfiguration = ImuConfiguration()
 
diff --git a/rerun_py/depthai_viewer/_backend/main.py b/rerun_py/depthai_viewer/_backend/main.py
index eaa3432e0d66..31052ec52821 100644
--- a/rerun_py/depthai_viewer/_backend/main.py
+++ b/rerun_py/depthai_viewer/_backend/main.py
@@ -147,6 +147,15 @@ def handle_action(self, action: Action, **kwargs) -> Message:  # type: ignore[no
                 self._device._oak.device.setIrLaserDotProjectorBrightness(self.store.dot_brightness)
                 return InfoMessage("Dot projector set successfully")
             return ErrorMessage("No device selected")
+        elif action == Action.SET_TOF_CONFIG:
+            if self._device and self._device._oak:
+                if tof_component := self._device.get_tof_component():
+                    if tof_config := kwargs.get("tof_config", None):
+                        tof_component.control.send_controls(tof_config.to_dai())
+                        return InfoMessage("ToF config updated successfully")
+                    return ErrorMessage("ToF config not provided")
+                return ErrorMessage("Failed to update ToF config. ToF node wasn't found.")
+            return ErrorMessage("No device selected")
         return ErrorMessage(f"Action: {action} not implemented")
 
     def run(self) -> None:
diff --git a/rerun_py/depthai_viewer/_backend/messages.py b/rerun_py/depthai_viewer/_backend/messages.py
index c7d30d6d1bab..318c06a5efdf 100644
--- a/rerun_py/depthai_viewer/_backend/messages.py
+++ b/rerun_py/depthai_viewer/_backend/messages.py
@@ -14,6 +14,7 @@ class MessageType:
     DEVICE = "DeviceProperties"  # Get or set device
     SET_FLOOD_BRIGHTNESS = "SetFloodBrightness"  # Set floodlight
     SET_DOT_BRIGHTNESS = "SetDotBrightness"  # Set floodlight
+    SET_TOF_CONFIG = "SetToFConfig"  # Set ToF config
     ERROR = "Error"  # Error message
     INFO = "Info"  # Info message
     WARNING = "Warning"  # Warning message
diff --git a/rerun_py/depthai_viewer/_backend/packet_handler.py b/rerun_py/depthai_viewer/_backend/packet_handler.py
index 88331d44dfa0..c3145536a263 100644
--- a/rerun_py/depthai_viewer/_backend/packet_handler.py
+++ b/rerun_py/depthai_viewer/_backend/packet_handler.py
@@ -6,14 +6,21 @@
 from ahrs.filters import Mahony
 from depthai_sdk.classes.packets import (  # PointcloudPacket,
     BasePacket,
+    BoundingBox,
     DepthPacket,
+    Detection,
     DetectionPacket,
     DisparityDepthPacket,
     FramePacket,
     IMUPacket,
     TwoStagePacket,
 )
-from depthai_sdk.components import CameraComponent, Component, NNComponent, StereoComponent
+from depthai_sdk.components import (
+    CameraComponent,
+    Component,
+    NNComponent,
+    StereoComponent,
+)
 from depthai_sdk.components.tof_component import ToFComponent
 from numpy.typing import NDArray
 from pydantic import BaseModel
@@ -198,7 +205,7 @@ def _on_stereo_frame(self, packet: Union[DepthPacket, DisparityDepthPacket], com
         depth_frame = packet.frame
         cam = "color_cam" if component._align_component.is_color() else "mono_cam"
         path = f"{component._align_component._socket.name}/transform/{cam}" + "/Depth"
-        if not self.store.pipeline_config or not self.store.pipeline_config.depth:
+        if not self.store.pipeline_config or not self.store.pipeline_config.stereo:
             # Essentially impossible to get here
             return
         viewer.log_depth_image(path, depth_frame, meter=1e3)
@@ -234,6 +241,18 @@ def _on_detections(self, packet: DetectionPacket, component: NNComponent) -> Non
             labels=labels,
         )
 
+    def _rect_from_sdk_detection(
+        self, packet_bbox: BoundingBox, detection: Detection, max_height: int, max_width: int
+    ) -> List[int]:
+        bbox = packet_bbox.get_relative_bbox(detection.bbox)
+        (x1, y1), (x2, y2) = bbox.denormalize((max_height, max_width))
+        return [
+            max(x1, 0),
+            max(y1, 0),
+            min(x2, max_width),
+            min(y2, max_height),
+        ]
+
     def _detections_to_rects_colors_labels(
         self, packet: DetectionPacket, omz_labels: Optional[List[str]] = None
     ) -> Tuple[List[List[int]], List[List[int]], List[str]]:
@@ -242,7 +261,7 @@ def _detections_to_rects_colors_labels(
         labels = []
         for detection in packet.detections:
             rects.append(
-                self._rect_from_detection(detection.img_detection, packet.frame.shape[0], packet.frame.shape[1])
+                self._rect_from_sdk_detection(packet.bbox, detection, packet.frame.shape[0], packet.frame.shape[1])
             )
             colors.append([0, 255, 0])
             label: str = detection.label_str
@@ -265,7 +284,7 @@ def _on_age_gender_packet(self, packet: TwoStagePacket, component: NNComponent)
             cam = "color_cam" if component._get_camera_comp().is_color() else "mono_cam"
             viewer.log_rect(
                 f"{component._get_camera_comp()._socket.name}/transform/{cam}/Detection",
-                self._rect_from_detection(det.img_detection, packet.frame.shape[0], packet.frame.shape[1]),
+                self._rect_from_sdk_detection(packet.bbox, det, packet.frame.shape[0], packet.frame.shape[1]),
                 rect_format=RectFormat.XYXY,
                 color=color,
                 label=label,
diff --git a/rerun_py/depthai_viewer/install_requirements.py b/rerun_py/depthai_viewer/install_requirements.py
index c2e0bdbd66e2..7acc644a1f7a 100644
--- a/rerun_py/depthai_viewer/install_requirements.py
+++ b/rerun_py/depthai_viewer/install_requirements.py
@@ -50,7 +50,7 @@ def download_blobs() -> None:
         os.makedirs(model_dir)
     models = {
         "yolov8n_coco_640x352": "depthai",
-        "mobilenet-ssd": "intel",
+        "yolov6nr3_coco_640x352": "depthai",
         "face-detection-retail-0004": "intel",
         "age-gender-recognition-retail-0013": "intel",
         "yolov6n_thermal_people_256x192": "depthai",
@@ -91,10 +91,10 @@ def create_venv_and_install_dependencies() -> None:
                     "-m",
                     "pip",
                     "install",
-                    "depthai-sdk==1.13.1.dev0+b0340e0c4ad869711d7d5fff48e41c46fe41f475",
+                    "depthai-sdk==1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712",
                     "--extra-index-url",
                     "https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/",
-                    # "git+https://github.com/luxonis/depthai@develop#subdirectory=depthai_sdk",
+                    # "git+https://github.com/luxonis/depthai@tof_decoding#subdirectory=depthai_sdk",
                 ],
                 check=True,
             )
diff --git a/rerun_py/depthai_viewer/requirements.txt b/rerun_py/depthai_viewer/requirements.txt
index b7ed15103bc7..431a5f5235b2 100644
--- a/rerun_py/depthai_viewer/requirements.txt
+++ b/rerun_py/depthai_viewer/requirements.txt
@@ -4,7 +4,7 @@ setuptools
 ahrs
 # depthai_sdk conflicts with depthai, so it's installed seperatelly in __main__.py
 --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local
-depthai==2.24.0.0.dev0+c014e27e224f7ef3f6407be6b3f05be6c2fffd13
+depthai==2.25.0.0.dev0+dca8245b0b1c52349b73e5a0bf23589b7c4ac3e8
 websockets
 pydantic==1.9
 deprecated