.. _changelog_v4_1_2:

v4.1.2
======

v4.1.2 adds advanced pixel formats with full debayering, YUV image
processing, a new :mod:`imu` module (LSM6DSOX), DFSDM digital-microphone audio,
and FrogEye2020 event-sensor support. ``erode()``/``dilate()`` behavior and
the desktop RPC library changed — read the breaking changes below.

.. contents:: On this page
   :local:
   :depth: 1

Highlights
----------

- **Advanced pixel formats** with **full debayering** support.
- **YUV image processing.**
- New :mod:`imu` module — LSM6DSOX support (configurable orientation, MLC).
- **DFSDM audio** — digital-microphone input.
- **FrogEye2020** event-sensor support.
- **Breaking:** ``erode()``/``dilate()`` now operate on non-white pixels and
  a desktop RPC class was renamed — see the breaking changes.

New features
------------

- **Advanced pixel formats** — new pixel-format handling with **full
  debayering** support (Bayer → RGB/grayscale across formats).
- **YUV image processing** — added YUV image-processing support.
- :mod:`imu` module — a new IMU module with the LSM6DSOX driver, configurable
  IMU orientation, and machine-learning-core (MLC) support.
- **Audio** — added DFSDM digital-microphone support to the :mod:`audio` module.
- **FrogEye2020** — new FrogEye2020 event-sensor driver, with event-camera
  example scripts.

Other changes and improvements
------------------------------

- Software JPEG encoding is ~10 % faster (improved bit handling).
- :class:`machine.I2C` now uses the hardware I2C peripheral on STM32 H7.
- ``find_apriltags()``, ``find_line_segments()``, and the TensorFlow input
  path were moved onto the unified ``draw_image`` backend.

Bug fixes
---------

- Fixed software-JPEG-encoding overflow situations, :mod:`image` ``compress``,
  and the ``IS_JPEG`` format detection.

Hardware and board support
--------------------------

- **FrogEye2020** event sensor.
- **Arduino Nicla Vision (BORMIO)** — updated pinout and USB VID/PID.
- **Arduino Portenta H7** — default sensor clock set to 12 MHz.

Breaking API changes
--------------------

User-visible API breaks between v4.1.1 and v4.1.2. Scope: Python C-modules in
``modules/`` and Python libraries in ``scripts/libraries/``.

Each change is tagged with its impact:

- *minor* — narrow API; host-side tooling only.
- *behavior* — same API, different results; re-check tuned scripts.

Changes are grouped by impact in that order. Each commit hash links to its
diff on GitHub.

.. _v4_1_2_rpc:

Desktop RPC library class renamed *(minor)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In the host-side desktop RPC library (``tools/rpc/rpc.py``), the
``rpc_wifi_or_ethernet_master`` class was renamed to ``rpc_network_master``,
and the RTSP/RPC host scripts were switched to use the standard network
libraries. This affects host-PC programs only; on-camera scripts are
unaffected.

*Commits:* `a2f016ba0 <https://github.com/openmv/openmv/commit/a2f016ba0>`__,
`a4858015c <https://github.com/openmv/openmv/commit/a4858015c>`__

.. _v4_1_2_morph:

``erode()`` / ``dilate()`` operate on non-white pixels *(behavior)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

``Image.erode()`` and ``Image.dilate()`` were fixed to operate on non-white
pixels instead of only white pixels. Results differ from previous releases
for non-binary / non-white-only images — re-check tuned morphology pipelines.

*Commit:* `899f80759 <https://github.com/openmv/openmv/commit/899f80759>`__

Migration checklist
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

For a clean port to v4.1.2: in host-PC RPC programs, rename
``rpc_wifi_or_ethernet_master`` to ``rpc_network_master``
(:ref:`the RPC rename <v4_1_2_rpc>`), and re-check any ``erode()`` /
``dilate()`` results on non-binary images
(:ref:`the morphology change <v4_1_2_morph>`). On-camera scripts otherwise run
unchanged.