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Migrating from Earlier API Versions

This page highlights changes in the API that users should be aware of when migrating to newer versions.

From Version 25.02 to 25.06​

Renamed object detection stream​

In Version 25.06, the AsyncAPI's Panoptic stream for Pedestrian Detection has been renamed to ObjectDetections.

To enable the stream in Version 25.02:

{ "start": ["Panoptic"] }

To enable the stream in Version 25.06:

{ "start": ["ObjectDetections"] }

Updated object detection content​

The AsyncAPI's object detection message content has been updated in Version 25.06 with these changes:

  • Provide a single timestamp for all detected objects in a given frame.
  • Provide an empty object list and corresponding timestamp for frames with no objects detected.
  • Remove the object field.
  • Replace the world_pose field with world_location which provides the detected object's location in the world coordinate frame in 2D.
  • Replace the body_pose field with body_location which provides the detected object's location relative to the system's tracking point pose in 3D.

The object detection message content in Version 25.02:

{
  "panoptic_bounding_boxes": [
    {
      "timestamp": "2019-08-24T14:15:22Z",
      "world_pose": {
        "x": 0,
        "y": 0,
        "z": 0,
        "qx": 0,
        "qy": 0,
        "qz": 0,
        "qw": 1
      },
      "body_pose": {
        "x": 0,
        "y": 0,
        "z": 0,
        "qx": 0,
        "qy": 0,
        "qz": 0,
        "qw": 1
      },
      "label": "string",
      "object": 0
    }
  ]
}

The object detection message content in Version 25.06:

{
  "object_detections": {
    "objects": [
      {
        "world_location": {
          "x": 0,
          "y": 0
        },
        "body_location": {
          "x": 0,
          "y": 0,
          "z": 0
        },
        "label": "string"
      }
    ],
    "timestamp": "2019-08-24T14:15:22Z"
  }
}

Update device status content​

An external_drive field has been added to the AsyncAPI's DeviceStatusMessage in Version 25.06 to indicate if there is an external drive connected to the device.

The device status message content in Version 25.02:

{
  "device_status": {
    "state": "offline",
    "sessions": [
      "string"
    ],
    "health": {
      "license": "active",
      "camera": true
    },
    "slam_state": null
  }
}

The device status message content in Version 25.06:

{
  "device_status": {
    "state": "offline",
    "sessions": [
      "string"
    ],
    "health": {
      "license": "active",
      "camera": true
    },
    "slam_state": null,
    "external_drive": true
  }
}