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CHANGELOG.md

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Change Log

v1.4.1

  • Added NEON for ARM64
  • Failed conversion of MJPEG to BGRA is now a warning - not an error.

v1.4.0

  • Added ARM64 Suport.
  • On Windows Opencv-4.1.1 is now being used and tested.
  • CPP; Adding record.hpp, updated playback.hpp
  • Fixed small error in transformation functions
  • Updated K4aRecorder allow:
    • Setting manual exposure based on exposure time.
    • Record BGRA32 format.
  • Added transformation API's to CSharp

v1.3.0

  • On Windows VS dependencies are now dynamically linked and require redistributables for VS2015 or newer.
  • Error and Warning messages have been cleaned up to be less verbose.
  • Multi camera sync and capture green screen example added.
  • Added new k4a_calibration_color_2d_to_depth_2d API to transform pixel from color image to depth image with searching on epipolar line
  • Added a capture::handle() method to the C++ wrapper, allowing access to the underlying k4a_capture_t when using the C++ wrapper.

v1.2.0

  • CSharp support added.
  • Depth Engine breaking changes to 2.0, SDK now relies on this new version.
  • Firmware updates for better USB compatibility.
  • Added new API's k4a_image_get_device_timestamp_usec(), k4a_image_get_system_timestamp_usec(), k4a_image_set_device_timestamp_usec(), k4a_image_set_system_timestamp_usec(), and k4a_image_set_exposure_usec(). (#350)
  • Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().
  • Added new transformation API k4a_transformation_depth_image_to_color_camera_custom(). (#566)
  • Fixed color exposure get & set API's. (#515)
  • The C++ API for playback was made public. (#493)
  • Added custom track recording and playback API. (#246)
  • All playback API functions now return timestamps in device time instead of relative to start of recording. (#592)
  • Deprecated k4a_playback_get_last_timestamp_usec() and replaced with k4a_playback_get_recording_length_usec().

v1.1.0

  • Clean up repo documentation for going public.
  • New API k4a_device_get_color_control_capabilities() to read color control capabilities was added. (#319)
  • C++ wrapper added.
  • Linux, Color camera support added.
  • K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY deprecated. (#277)
  • New K4A_*_TRACK tags added to recordings for track identification. (#259)
  • Playback External Sync example added. (#274)
  • Playback API format conversion support added (MJPG -> BGRA32, etc...). (#237)
  • Playback IMU API added. (#213)
  • Various playback performance improvements, including read-ahead and cluster caching. (#203, #189, #142)
  • k4a_playback_seek_timestamp() functionality changed to fix edge cases. (#141)

v1.0.0

  • Breaking Change to pre-production devices, update container ID & serial number
  • Added support for multiple devices on a single PC.

v0.8.0

  • Output intrinsic calibrated IMU data
  • Changed units of IMU accelerometer reading from G to meters per second squared.
  • Changed units of IMU Gyroscope reading from degrees per second to radians per second.
  • Breaking change to k4a_calibration_get_from_raw API, size of source calibration string is now required along with the source calibration.
  • Added FW version minimum bar check
  • Integrated GPU transform engine into SDK to accelerate transformation between depth image and color image.
  • Depth Engine plugin versioning through binding with SDK during loading and more logging added.

v0.7.1

  • Added file based record and playback headers to SDK
  • Swapped tangential distortion parameters p1 and p2 in intrinsic calibration to align with OpenCV.

v0.7.0

  • Removed deprecated API's and structures
  • Drop depth captures if they arrive successfully over USB but are too small.
  • Drop IMU captures when the timestamp is reported is not valid.
  • On k4a_device_open, stop depth and IMU sensors from streaming in the event the previous session didn't clean up.
  • Renamed k4a_camera_calibration_t to k4a_calibration_camera_t for naming consistency in k4atypes.h.
  • Renamed k4a_intrinsic_parameters_t to k4a_calibration_intrinsic_parameters_t for naming consistency in k4atypes.h.
  • OpenCV compatibility
    • Added support for Brown-Conrady lens model.
    • Modified parameters of intrinsic calibration to be pixelized and 0-centered instead of unitized and 0-cornered.

v0.6.0

  • Added support for k4a_image_t and family of API's to support access.
  • Removed direction image access via k4a_capture_ API's
  • Deprecated most k4a_capture_get_* API's

v0.5.2

  • Switched firmware file to manufacturing version to address bugs

v0.5.1

  • Add firmware binary blob to SDK

v0.5.0

  • destub_depth_engine_process_frame error was converted to a warning and message softened.
  • Added synchronized_images_only to k4a_device_configuration_t
  • USB depth transfer request size more closely matches expected image size.
  • k4aviewer now can save default settings
  • Bug fixes

v0.3.0

  • Additional color camera controls
  • Bug fixes
  • Support native RGB
  • Support for external sync connections
  • Point cloud viewer
  • Updated K4AViewer to support High DPI displays
  • Removed k4a image format K4A_IMAGE_FORMAT_UNKNOWN
  • Removed k4a FPS value K4A_FRAMES_PER_SECOND_OFF
  • Added tool to run firmware update
  • IMU recording and device selection was added to k4arecorder
  • Removed x86 builds from the SDK
  • Removed DepthEngine.pdb from the SDK
  • Minor breaking change to k4a_device_configuration_t; color_fps & depth_fps consolidated to camera_fps

v0.2.0

Sensor SDK v0.2.0 includes major refactoring to API

  • API refactoring (breaking change)
  • Depth-RGB correlation API
  • Note! When using both Depth-RGB cameras same time they will be synchronized and can only run with the same framerate. Option to have separate frame rates have been disabled.
  • Additional frame-meta data support (e.g. resolution, laser temperature)
  • Coordinate space helpers (Project 3D to 2D, Unproject 2D to 3D, Extrinsic transformation (3D to 3D)
  • Sensor recording API refactoring and improvements
  • Sensor recorder and Kinect for Azure viewer updated to new API

v0.1.0

This is the very first internal sensor SDK release

  • Depth camera access
  • RGB camera access
  • RGB camera exposure control
  • IMU access
  • Device calibration blob access
  • Frame meta-data for Depth and RGB device timestamp
  • Kinect for Azure Viewer, samples (streaming, enumeration,..)
  • Recording tool (Depth and RGB streams)