diff --git a/.gitignore b/.gitignore
index 0256a9906006..bb2729b8e3d9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -20,3 +20,4 @@ perf.data*
 
 # Screenshots from samples etc.
 screenshot*.png
+venv*
diff --git a/crates/re_viewer/src/depthai/depthai.rs b/crates/re_viewer/src/depthai/depthai.rs
index 2791265d61b8..a681fb35f4a2 100644
--- a/crates/re_viewer/src/depthai/depthai.rs
+++ b/crates/re_viewer/src/depthai/depthai.rs
@@ -324,7 +324,7 @@ pub struct DeviceConfig {
 impl Default for DeviceConfig {
     fn default() -> Self {
         Self {
-            auto: true,
+            auto: false,
             cameras: Vec::new(),
             depth_enabled: true,
             depth: Some(DepthConfig::default()),
@@ -771,6 +771,7 @@ impl State {
                     applied_device_config.depth_enabled = config.depth.is_some();
                     self.modified_device_config.depth_enabled =
                         self.modified_device_config.depth.is_some();
+                    self.modified_device_config.auto = false; // Always reset auto
                     self.set_subscriptions(&subs);
                     self.set_update_in_progress(false);
                 }
@@ -778,6 +779,7 @@ impl State {
                     re_log::debug!("Setting device: {device:?}");
                     self.set_device(device);
                     if !self.selected_device.id.is_empty() {
+                        self.modified_device_config.auto = true;
                         // Apply default pipeline
                         self.set_pipeline(&mut self.modified_device_config.clone(), false);
                     }
diff --git a/crates/re_viewer/src/ui/auto_layout.rs b/crates/re_viewer/src/ui/auto_layout.rs
index e94a085fe9a1..819900902158 100644
--- a/crates/re_viewer/src/ui/auto_layout.rs
+++ b/crates/re_viewer/src/ui/auto_layout.rs
@@ -340,7 +340,7 @@ fn create_inner_viewport_layout(
         .iter()
         .filter(|space| {
             if let Some(last) = space.path.as_ref().and_then(|path| path.as_slice().last()) {
-                last == &EntityPathPart::from("color_cam")
+                last == &EntityPathPart::from("color_cam") || last == &EntityPathPart::from("tof") // Treat TOF as color for now
             } else {
                 false
             }
@@ -551,8 +551,8 @@ pub(crate) fn default_tree_from_space_views(
         let tree_clone = tree.clone();
         let color_tabs = tree_clone.tabs().filter(|tab| {
             if let Some(space_path) = tab.space_path.clone() {
-                if let Some(first_part) = space_path.as_slice().first() {
-                    first_part == &EntityPathPart::from("CAM_A")
+                if let Some(first_part) = space_path.as_slice().get(space_path.len() - 2) {
+                    first_part == &EntityPathPart::from("color_cam")
                 } else {
                     false
                 }
diff --git a/crates/re_viewer/src/ui/selection_panel.rs b/crates/re_viewer/src/ui/selection_panel.rs
index f10cf76ca97e..fabc68b9c611 100644
--- a/crates/re_viewer/src/ui/selection_panel.rs
+++ b/crates/re_viewer/src/ui/selection_panel.rs
@@ -364,6 +364,13 @@ fn colormap_props_ui(
 ) {
     // Color mapping picker
     {
+        if entity_props.color_mapper.get() == &ColorMapper::AlbedoTexture {
+            if entity_props.albedo_texture.is_none() {
+                entity_props.color_mapper = EditableAutoValue::Auto(ColorMapper::Colormap(
+                    Colormap::Turbo, // Same default as in images.rs (scene part)
+                ));
+            }
+        }
         let current = *entity_props.color_mapper.get();
         ui.label("Color map");
         egui::ComboBox::from_id_source("depth_color_mapper")
diff --git a/crates/re_viewer/src/ui/space_view.rs b/crates/re_viewer/src/ui/space_view.rs
index 79e32423fbf1..c788fe0909e8 100644
--- a/crates/re_viewer/src/ui/space_view.rs
+++ b/crates/re_viewer/src/ui/space_view.rs
@@ -98,8 +98,9 @@ impl SpaceView {
             let mut is_2d = false;
             if !is_3d {
                 let last_part = space_path.iter().last().unwrap();
-                is_2d = (last_part == &EntityPathPart::from("mono_cam")
+                is_2d = ((last_part == &EntityPathPart::from("mono_cam")
                     || last_part == &EntityPathPart::from("color_cam"))
+                    || last_part == &EntityPathPart::from("tof"))
                     && last_part != &EntityPathPart::from("transform");
             }
             if let Some(board_socket) =
diff --git a/crates/re_viewer/src/ui/space_view_heuristics.rs b/crates/re_viewer/src/ui/space_view_heuristics.rs
index 612134c46639..d08e7b4d3c7f 100644
--- a/crates/re_viewer/src/ui/space_view_heuristics.rs
+++ b/crates/re_viewer/src/ui/space_view_heuristics.rs
@@ -207,7 +207,7 @@ fn default_depthai_space_views(
         .collect::<Vec<_>>();
 
     // If a depth tensor is found, we want to find the 2D space view that has the Image + Depth tensor.
-    // We then wan't to create two separate 2D space views, one for the image and one for the depth.
+    // We then want to create two separate 2D space views, one for the image and one for the depth.
     // But we only want to hide the depth (or image), not remove it from the space view.
     if let Some(depth_2d) = space_views
         .iter_mut()
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
index d7f6d9731d0e..2e00c22fbb24 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
@@ -2,7 +2,7 @@ use egui::NumExt;
 use glam::Vec3;
 use itertools::Itertools;
 
-use re_data_store::{ query_latest_single, EntityPath, EntityProperties };
+use re_data_store::{ query_latest_single, EntityPath, EntityProperties, EditableAutoValue };
 use re_log_types::{
     component_types::{ ColorRGBA, InstanceKey, Tensor, TensorData, TensorDataMeaning },
     Component,
@@ -344,7 +344,9 @@ impl ImagesPart {
                     "Albedo texture couldn't be fetched ({:?})",
                     properties.albedo_texture
                 );
-                colormap = Colormap::Grayscale;
+                colormap = Colormap::Turbo;
+                // Would need some way to update the space view blueprint properties here - to reflect the change in colormap.
+                // For now set the matching default in selection_panel.rs 
             }
         }
 
diff --git a/rerun_py/depthai_viewer/_backend/device.py b/rerun_py/depthai_viewer/_backend/device.py
index 2d3d8cad8861..45010c0bab71 100644
--- a/rerun_py/depthai_viewer/_backend/device.py
+++ b/rerun_py/depthai_viewer/_backend/device.py
@@ -7,11 +7,11 @@
 import numpy as np
 from depthai_sdk import OakCamera
 from depthai_sdk.components import CameraComponent, NNComponent, StereoComponent
-from depthai_sdk.components.tof_component import ToFComponent, Component
+from depthai_sdk.components.tof_component import Component
 from depthai_sdk.components.camera_helper import (
     getClosestIspScale,
 )
-from depthai_sdk.classes.packet_handlers import QueuePacketHandler, ComponentOutput
+from depthai_sdk.classes.packet_handlers import ComponentOutput
 from numpy.typing import NDArray
 
 import depthai_viewer as viewer
@@ -29,6 +29,8 @@
     compare_dai_camera_configs,
     get_size_from_resolution,
     size_to_resolution,
+    DepthConfiguration,
+    ALL_NEURAL_NETWORKS,
 )
 from depthai_viewer._backend.messages import (
     ErrorMessage,
@@ -36,12 +38,7 @@
     Message,
     WarningMessage,
 )
-from depthai_viewer._backend.packet_handler import (
-    AiModelCallbackArgs,
-    DepthCallbackArgs,
-    PacketHandler,
-    SyncedCallbackArgs,
-)
+from depthai_viewer._backend.packet_handler import PacketHandler
 from depthai_viewer._backend.store import Store
 
 
@@ -84,9 +81,7 @@ class Device:
     _xlink_statistics: Optional[XlinkStatistics] = None
     _sys_info_q: Optional[Queue] = None  # type: ignore[type-arg]
     _pipeline_start_t: Optional[float] = None
-    _queues: Dict[
-        Component, QueuePacketHandler
-    ] = {}
+    _queues: List[Tuple[Component, ComponentOutput]] = []
 
     # _profiler = cProfile.Profile()
 
@@ -285,13 +280,54 @@ def _create_auto_pipeline_config(self, config: PipelineConfiguration) -> Message
         connected_cam_features = self._oak.device.getConnectedCameraFeatures()
         if not connected_cam_features:
             return ErrorMessage("No camera features found, can't create auto pipeline config!")
-        n_cams = len(connected_cam_features)
+
+        print("Connected camera features: ", connected_cam_features)
+        # Step 1: Create all the cameras. Try to find RGB cam, to align depth to it later
+        # Step 2: Create stereo depth if calibration is present. Align to RGB if present, otherwise to left cam
+        # Step 3: Create YOLO
+        rgb_cam_socket = None
+        # 1. Create all the cameras
+        config.cameras = []
+        has_tof = False
         for cam in connected_cam_features:
+            if cam.name == "rgb":  # By convention
+                rgb_cam_socket = cam.socket
+            resolution = CameraSensorResolution.THE_1080_P if cam.width >= 1920 else CameraSensorResolution.THE_720_P
+            resolution = CameraSensorResolution.THE_1200_P if cam.height == 1200 else resolution
+            preferred_type = cam.supportedTypes[0]
+            if preferred_type == dai.CameraSensorType.TOF:
+                has_tof = True
             config.cameras.append(
-                CameraConfiguration(
-                )
+                CameraConfiguration(resolution=resolution, kind=preferred_type, board_socket=cam.socket, name=cam.name)
             )
-
+        # 2. Create stereo depth
+        if not has_tof:
+            try:
+                calibration = self._oak.device.readCalibration2()
+                left_cam = calibration.getStereoLeftCameraId()
+                right_cam = calibration.getStereoRightCameraId()
+                if left_cam.value != 255 and right_cam.value != 255:
+                    config.depth = DepthConfiguration(
+                        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
+        # 3. Create YOLO
+        nnet_cam_sock = rgb_cam_socket
+        if nnet_cam_sock is None:
+            # Try to find a color camera config
+            nnet_cam_sock = next(filter(lambda cam: cam.kind == dai.CameraSensorType.COLOR, config.cameras), None)  # type: ignore[assignment]
+            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[0]
+            config.ai_model.camera = nnet_cam_sock
+        else:
+            config.ai_model = None
+        return InfoMessage("Created auto pipeline config")
 
     def update_pipeline(self, runtime_only: bool) -> Message:
         if self._oak is None:
@@ -313,8 +349,8 @@ def update_pipeline(self, runtime_only: bool) -> Message:
             if isinstance(message, ErrorMessage):
                 return message
 
-        # if config.auto:
-        #     self._create_auto_pipeline_config(config, self._oak.device)
+        if config.auto:
+            self._create_auto_pipeline_config(config)
 
         self._cameras = []
         self._stereo = None
@@ -322,11 +358,6 @@ def update_pipeline(self, runtime_only: bool) -> Message:
         self._sys_info_q = None
         self._pipeline_start_t = None
 
-        synced_outputs: Dict[
-            Component, ComponentOutput
-        ] = {}
-        synced_callback_args = SyncedCallbackArgs()
-
         is_poe = self._oak.device.getDeviceInfo().protocol == dai.XLinkProtocol.X_LINK_TCP_IP
         print("Usb speed: ", self._oak.device.getUsbSpeed())
         is_usb2 = self._oak.device.getUsbSpeed() == dai.UsbSpeed.HIGH
@@ -378,9 +409,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
             # Only create a camera node if it is used by stereo or AI.
             if cam.stream_enabled:
                 if dai.CameraSensorType.TOF in camera_features.supportedTypes:
-                    sdk_cam = self._oak.create_tof(
-                        cam.board_socket
-                    )
+                    sdk_cam = self._oak.create_tof(cam.board_socket)
                 else:
                     sdk_cam = self._oak.create_camera(
                         cam.board_socket,
@@ -395,7 +424,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                             )
                         )
                     self._cameras.append(sdk_cam)
-                synced_outputs[sdk_cam] = sdk_cam.out.main
+                self._queues.append((sdk_cam, self._oak.queue(sdk_cam.out.main)))
 
         if config.depth:
             print("Creating depth")
@@ -428,10 +457,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
             aligned_camera = self._get_camera_config_by_socket(config, config.depth.align)
             if not aligned_camera:
                 return ErrorMessage(f"{config.depth.align} is not configured. Couldn't create stereo pair.")
-            synced_callback_args.depth_args = DepthCallbackArgs(
-                alignment_camera=aligned_camera, stereo_pair=config.depth.stereo_pair
-            )
-            synced_outputs[self._stereo] = self._stereo.out.main
+            self._queues.append((self._stereo, self._oak.queue(self._stereo.out.main)))
 
         if self._oak.device.getConnectedIMU() != "NONE":
             print("Creating IMU")
@@ -465,16 +491,7 @@ def update_pipeline(self, runtime_only: bool) -> Message:
             if not camera:
                 return ErrorMessage(f"{config.ai_model.camera} is not configured. Couldn't create NN.")
 
-            synced_callback_args.ai_args = AiModelCallbackArgs(
-                model_name=config.ai_model.path, camera=camera, labels=labels
-            )
-            synced_outputs[self._nnet] = self._nnet.out.main
-
-        # Create the sdk queues and finalize the packet handler
-        if synced_outputs:
-            for component, synced_out in synced_outputs.items():
-                self._queues[component] = self._oak.queue(synced_out)
-        self._packet_handler.set_synced_callback_args(synced_callback_args)
+            self._queues.append((self._nnet, self._oak.queue(self._nnet.out.main)))
 
         sys_logger_xlink = self._oak.pipeline.createXLinkOut()
         logger = self._oak.pipeline.createSystemLogger()
@@ -508,7 +525,7 @@ def update(self) -> None:
             return
         self._oak.poll()
 
-        for component, queue in self._queues.items():
+        for component, queue in self._queues:
             try:
                 packet = queue.get_queue().get_nowait()
                 self._packet_handler.log_packet(component, packet)
diff --git a/rerun_py/depthai_viewer/_backend/device_configuration.py b/rerun_py/depthai_viewer/_backend/device_configuration.py
index 529204d45ea7..19f1316736fd 100644
--- a/rerun_py/depthai_viewer/_backend/device_configuration.py
+++ b/rerun_py/depthai_viewer/_backend/device_configuration.py
@@ -26,9 +26,9 @@ class Config:
         arbitrary_types_allowed = True
 
     def __init__(self, **v) -> None:  # type: ignore[no-untyped-def]
-        if v.get("median", None):
+        if v.get("median", None) and isinstance(v["median"], str):
             v["median"] = getattr(dai.MedianFilter, v["median"])
-        if v.get("align", None):
+        if v.get("align", None) and isinstance(v["align"], str):
             v["align"] = getattr(dai.CameraBoardSocket, v["align"])
         if v.get("stereo_pair", None) and all(isinstance(pair, str) for pair in v["stereo_pair"]):
             v["stereo_pair"] = (
@@ -105,6 +105,30 @@ def dict(self, *args, **kwargs):  # type: ignore[no-untyped-def]
         }
 
 
+ALL_NEURAL_NETWORKS = [
+    AiModelConfiguration(
+        path="yolov8n_coco_640x352",
+        display_name="Yolo V8",
+        camera=dai.CameraBoardSocket.CAM_A,
+    ),
+    AiModelConfiguration(
+        path="mobilenet-ssd",
+        display_name="MobileNet SSD",
+        camera=dai.CameraBoardSocket.CAM_A,
+    ),
+    AiModelConfiguration(
+        path="face-detection-retail-0004",
+        display_name="Face Detection",
+        camera=dai.CameraBoardSocket.CAM_A,
+    ),
+    AiModelConfiguration(
+        path="age-gender-recognition-retail-0013",
+        display_name="Age gender recognition",
+        camera=dai.CameraBoardSocket.CAM_A,
+    ),
+]
+
+
 class ImuConfiguration(BaseModel):  # type: ignore[misc]
     report_rate: int = 100
     batch_report_threshold: int = 5
@@ -217,7 +241,7 @@ def dict(self, *args, **kwargs) -> Dict[str, Any]:  # type: ignore[no-untyped-de
 
 
 class PipelineConfiguration(BaseModel):  # type: ignore[misc]
-    auto: bool = True  # Should the backend automatically create a pipeline based on the device.
+    auto: bool = False  # Should the backend automatically create a pipeline?
     cameras: List[CameraConfiguration] = []
     depth: Optional[DepthConfiguration]
     ai_model: Optional[AiModelConfiguration]
@@ -278,6 +302,7 @@ def dict(self, *args, **kwargs) -> Dict[str, Any]:  # type: ignore[no-untyped-de
     (640, 400): CameraSensorResolution.THE_400_P,
     (640, 480): CameraSensorResolution.THE_480_P,  # OV7251
     (1280, 720): CameraSensorResolution.THE_720_P,
+    # (1280, 962): CameraSensorResolution.THE_1280P, # TOF
     (1280, 800): CameraSensorResolution.THE_800_P,  # OV9782
     (2592, 1944): CameraSensorResolution.THE_5_MP,  # OV5645
     (1440, 1080): CameraSensorResolution.THE_1440X1080,
diff --git a/rerun_py/depthai_viewer/_backend/packet_handler.py b/rerun_py/depthai_viewer/_backend/packet_handler.py
index 0a4880932005..eba4fbdaa14c 100644
--- a/rerun_py/depthai_viewer/_backend/packet_handler.py
+++ b/rerun_py/depthai_viewer/_backend/packet_handler.py
@@ -14,7 +14,7 @@
     BasePacket,
     DisparityDepthPacket,
 )
-from depthai_sdk.components import Component, CameraComponent, StereoComponent
+from depthai_sdk.components import Component, CameraComponent, StereoComponent, NNComponent
 from depthai_sdk.components.tof_component import ToFComponent
 from numpy.typing import NDArray
 from pydantic import BaseModel
@@ -26,38 +26,10 @@
 from depthai_viewer.components.rect2d import RectFormat
 
 
-class CallbackArgs(BaseModel):  # type: ignore[misc]
-    pass
-
-
-class DepthCallbackArgs(CallbackArgs):  # type: ignore[misc]
-    alignment_camera: CameraConfiguration
-    stereo_pair: Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]
-
-    class Config:
-        arbitrary_types_allowed = True
-
-
-class AiModelCallbackArgs(CallbackArgs):  # type: ignore[misc]
-    model_name: str
-    camera: CameraConfiguration
-    labels: Optional[List[str]] = None
-
-    class Config:
-        arbitrary_types_allowed = True
-        protected_namespaces = ()
-
-
-class SyncedCallbackArgs(BaseModel):  # type: ignore[misc]
-    depth_args: Optional[DepthCallbackArgs] = None
-    ai_args: Optional[AiModelCallbackArgs] = None
-
-
 class PacketHandler:
     store: Store
     _ahrs: Mahony
     _get_camera_intrinsics: Callable[[dai.CameraBoardSocket, int, int], NDArray[np.float32]]
-    args: SyncedCallbackArgs
 
     def __init__(
         self, store: Store, intrinsics_getter: Callable[[dai.CameraBoardSocket, int, int], NDArray[np.float32]]
@@ -73,42 +45,38 @@ def reset(self) -> None:
         self._ahrs = Mahony(frequency=100)
         self._ahrs.Q = np.array([1, 0, 0, 0], dtype=np.float64)
 
-    def set_synced_callback_args(self, args: SyncedCallbackArgs) -> None:
-        self.args = args
 
     def set_camera_intrinsics_getter(
         self, camera_intrinsics_getter: Callable[[dai.CameraBoardSocket, int, int], NDArray[np.float32]]
     ) -> None:
         self._get_camera_intrinsics = camera_intrinsics_getter  # type: ignore[assignment, misc]
 
-    def build_sync_callback(self, args: SyncedCallbackArgs) -> Callable[[Any], None]:
-        return lambda packets: self._on_synced_packets(args, packets)
-
 
     def log_packet(
         self,
         component: Component,
         packet: BasePacket,
     ) -> None:
-        if self.args is None:
-            raise RuntimeError("Synced callback args not set.")
         if type(packet) is FramePacket:
             if isinstance(component, CameraComponent):
-                self._on_camera_frame(packet, component.board_socket)
+                self._on_camera_frame(packet, component._socket)
             else:
                 print("Unknown component type:", type(component), "for packet:", type(packet))
             # Create dai.CameraBoardSocket from descriptor
         elif type(packet) is DepthPacket:
             if isinstance(component, StereoComponent):
-                self._on_stereo_frame(packet, self.args.depth_args)
+                self._on_stereo_frame(packet, component)
         elif type(packet) is DisparityDepthPacket:
-            self._on_tof_packet(packet, self.args.depth_args)
+            if isinstance(component, ToFComponent):
+                self._on_tof_packet(packet, component)
+            elif isinstance(component, StereoComponent):
+                self._on_stereo_frame(packet, component)
+            else:
+                print("Unknown component type:", type(component), "for packet:", type(packet))
         elif type(packet) is DetectionPacket:
-            if self.args.ai_args is None:
-                self._on_detections(packet, self.args.ai_args)
+            self._on_detections(packet, component)
         elif type(packet) is TwoStagePacket:
-            if self.args.ai_args is None:
-                self._on_age_gender_packet(packet, self.args.ai_args)
+            self._on_age_gender_packet(packet, component)
         else:
             print("Unknown packet type:", type(packet))
 
@@ -152,14 +120,13 @@ def _on_camera_frame(self, packet: FramePacket, board_socket: dai.CameraBoardSoc
             viewer.log_image(entity_path, img_frame)
 
     def on_imu(self, packet: IMUPacket) -> None:
-        for data in packet.data:
-            gyro: dai.IMUReportGyroscope = data.gyroscope
-            accel: dai.IMUReportAccelerometer = data.acceleroMeter
-            mag: dai.IMUReportMagneticField = data.magneticField
-            # TODO(filip): Move coordinate mapping to sdk
-            self._ahrs.Q = self._ahrs.updateIMU(
-                self._ahrs.Q, np.array([gyro.z, gyro.x, gyro.y]), np.array([accel.z, accel.x, accel.y])
-            )
+        gyro: dai.IMUReportGyroscope = packet.gyroscope
+        accel: dai.IMUReportAccelerometer = packet.acceleroMeter
+        mag: dai.IMUReportMagneticField = packet.magneticField
+        # TODO(filip): Move coordinate mapping to sdk
+        self._ahrs.Q = self._ahrs.updateIMU(
+            self._ahrs.Q, np.array([gyro.z, gyro.x, gyro.y]), np.array([accel.z, accel.x, accel.y])
+        )
         if Topic.ImuData not in self.store.subscriptions:
             return
         viewer.log_imu([accel.z, accel.x, accel.y], [gyro.z, gyro.x, gyro.y], self._ahrs.Q, [mag.x, mag.y, mag.z])
@@ -179,14 +146,25 @@ def _on_tof_packet(
         component: ToFComponent,
     ) -> None:
         depth_frame = packet.frame
-        path = f"{component.camera_socket.name}/transform/tof" + "/Depth"
+        viewer.log_rigid3(
+            f"{component.camera_socket.name}/transform", child_from_parent=([0, 0, 0], [1, 0, 0, 0]), xyz="RDF"
+        )
+        intrinsics = np.array([[471.451, 0.0, 317.897], [0.0, 471.539, 245.027], [0.0, 0.0, 1.0]])
+        viewer.log_pinhole(
+            f"{component.camera_socket.name}/transform/tof",
+            child_from_parent=intrinsics,
+            width=component.camera_node.getVideoWidth(),
+            height=component.camera_node.getVideoHeight(),
+        )
+
+        path = f"{component.camera_socket.name}/transform/tof/Depth"
         viewer.log_depth_image(path, depth_frame, meter=1e3)
 
-    def _on_detections(self, packet: DetectionPacket, args: AiModelCallbackArgs) -> None:
-        rects, colors, labels = self._detections_to_rects_colors_labels(packet, args.labels)
-        cam = cam_kind_from_sensor_kind(args.camera.kind)
+    def _on_detections(self, packet: DetectionPacket, component: NNComponent) -> None:
+        rects, colors, labels = self._detections_to_rects_colors_labels(packet, component.get_labels())
+        cam = "color_cam" if component._get_camera_comp().is_color() else "mono_cam"
         viewer.log_rects(
-            f"{args.camera.board_socket.name}/transform/{cam}/Detections",
+            f"{component._get_camera_comp()._socket.name}/transform/{cam}/Detections",
             rects,
             rect_format=RectFormat.XYXY,
             colors=colors,
@@ -202,7 +180,7 @@ def _detections_to_rects_colors_labels(
         for detection in packet.detections:
             rects.append(self._rect_from_detection(detection, packet.frame.shape[0], packet.frame.shape[1]))
             colors.append([0, 255, 0])
-            label: str = detection.label
+            label: str = detection.label_str
             # Open model zoo models output label index
             if omz_labels is not None and isinstance(label, int):
                 label += omz_labels[label]
@@ -210,7 +188,7 @@ def _detections_to_rects_colors_labels(
             labels.append(label)
         return rects, colors, labels
 
-    def _on_age_gender_packet(self, packet: TwoStagePacket, args: AiModelCallbackArgs) -> None:
+    def _on_age_gender_packet(self, packet: TwoStagePacket, component: NNComponent) -> None:
         for det, rec in zip(packet.detections, packet.nnData):
             age = int(float(np.squeeze(np.array(rec.getLayerFp16("age_conv3")))) * 100)
             gender = np.squeeze(np.array(rec.getLayerFp16("prob")))
@@ -219,9 +197,9 @@ def _on_age_gender_packet(self, packet: TwoStagePacket, args: AiModelCallbackArg
             color = [255, 0, 0] if gender[0] > gender[1] else [0, 0, 255]
             # TODO(filip): maybe use viewer.log_annotation_context to log class colors for detections
 
-            cam = cam_kind_from_sensor_kind(args.camera.kind)
+            cam = "color_cam" if component._get_camera_comp().is_color() else "mono_cam"
             viewer.log_rect(
-                f"{args.camera.board_socket.name}/transform/{cam}/Detection",
+                f"{component._get_camera_comp()._socket.name}/transform/{cam}/Detection",
                 self._rect_from_detection(det, packet.frame.shape[0], packet.frame.shape[1]),
                 rect_format=RectFormat.XYXY,
                 color=color,
diff --git a/rerun_py/depthai_viewer/requirements.txt b/rerun_py/depthai_viewer/requirements.txt
index 600f12662da8..433c05a4c9f2 100644
--- a/rerun_py/depthai_viewer/requirements.txt
+++ b/rerun_py/depthai_viewer/requirements.txt
@@ -3,7 +3,7 @@ pyarrow==10.0.1
 setuptools
 ahrs
 # depthai_sdk conflicts with depthai, so it's installed seperatelly in __main__.py
-depthai==2.22.0.0
+depthai==2.23.0.0
 websockets
 pydantic==1.9
 deprecated