152 lines
6.3 KiB
Markdown
152 lines
6.3 KiB
Markdown
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## Change Log
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### v1.4.1
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* Added NEON for ARM64
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* Failed conversion of MJPEG to BGRA is now a warning - not an error.
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### v1.4.0
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* Added ARM64 Suport.
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* On Windows Opencv-4.1.1 is now being used and tested.
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* CPP; Adding record.hpp, updated playback.hpp
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* Fixed small error in transformation functions
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* Updated K4aRecorder allow:
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* Setting manual exposure based on exposure time.
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* Record BGRA32 format.
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* Added transformation API's to CSharp
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### v1.3.0
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* On Windows VS dependencies are now dynamically linked and require redistributables for
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[VS2015](https://www.microsoft.com/en-us/download/details.aspx?id=48145) or newer.
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* Error and Warning messages have been cleaned up to be less verbose.
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* Multi camera sync and capture green screen example added.
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* Added new k4a_calibration_color_2d_to_depth_2d API to transform pixel from color image to depth image with searching on epipolar line
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* Added a capture::handle() method to the C++ wrapper, allowing access to the underlying k4a_capture_t when using the C++ wrapper.
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### v1.2.0
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* CSharp support added.
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* Depth Engine breaking changes to 2.0, SDK now relies on this new version.
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* Firmware updates for better USB compatibility.
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* Added new API's k4a_image_get_device_timestamp_usec(), k4a_image_get_system_timestamp_usec(),
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k4a_image_set_device_timestamp_usec(), k4a_image_set_system_timestamp_usec(), and k4a_image_set_exposure_usec(). (#350)
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* Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().
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* Added new transformation API k4a_transformation_depth_image_to_color_camera_custom(). (#566)
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* Fixed color exposure get & set API's. (#515)
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* The C++ API for playback was made public. (#493)
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* Added custom track recording and playback API. (#246)
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* All playback API functions now return timestamps in device time instead of relative to start of recording. (#592)
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* Deprecated k4a_playback_get_last_timestamp_usec() and replaced with k4a_playback_get_recording_length_usec().
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### v1.1.0
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* Clean up repo documentation for going public.
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* New API k4a_device_get_color_control_capabilities() to read color control capabilities was added. (#319)
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* C++ wrapper added.
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* Linux, Color camera support added.
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* K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY deprecated. (#277)
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* New K4A_\*_TRACK tags added to recordings for track identification. (#259)
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* Playback External Sync example added. (#274)
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* Playback API format conversion support added (MJPG -> BGRA32, etc...). (#237)
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* Playback IMU API added. (#213)
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* Various playback performance improvements, including read-ahead and cluster caching. (#203, #189, #142)
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* k4a_playback_seek_timestamp() functionality changed to fix edge cases. (#141)
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### v1.0.0
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* Breaking Change to pre-production devices, update container ID & serial number
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* Added support for multiple devices on a single PC.
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### v0.8.0
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* Output intrinsic calibrated IMU data
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* Changed units of IMU accelerometer reading from G to meters per second squared.
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* Changed units of IMU Gyroscope reading from degrees per second to radians per second.
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* Breaking change to k4a_calibration_get_from_raw API, size of source calibration string is now required along with the
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source calibration.
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* Added FW version minimum bar check
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* Integrated GPU transform engine into SDK to accelerate transformation between depth image and color image.
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* Depth Engine plugin versioning through binding with SDK during loading and more logging added.
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### v0.7.1
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* Added file based record and playback headers to SDK
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* Swapped tangential distortion parameters p1 and p2 in intrinsic calibration to align with OpenCV.
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### v0.7.0
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* Removed deprecated API's and structures
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* Drop depth captures if they arrive successfully over USB but are too small.
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* Drop IMU captures when the timestamp is reported is not valid.
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* On k4a_device_open, stop depth and IMU sensors from streaming in the event the previous session didn't clean up.
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* Renamed k4a_camera_calibration_t to k4a_calibration_camera_t for naming consistency in k4atypes.h.
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* Renamed k4a_intrinsic_parameters_t to k4a_calibration_intrinsic_parameters_t for naming consistency in k4atypes.h.
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* OpenCV compatibility
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* Added support for Brown-Conrady lens model.
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* Modified parameters of intrinsic calibration to be pixelized and 0-centered instead of unitized and 0-cornered.
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### v0.6.0
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* Added support for k4a_image_t and family of API's to support access.
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* Removed direction image access via k4a_capture_ API's
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* Deprecated most k4a_capture_get_* API's
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### v0.5.2
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* Switched firmware file to manufacturing version to address bugs
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### v0.5.1
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* Add firmware binary blob to SDK
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### v0.5.0
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* destub_depth_engine_process_frame error was converted to a warning and message softened.
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* Added synchronized_images_only to k4a_device_configuration_t
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* USB depth transfer request size more closely matches expected image size.
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* k4aviewer now can save default settings
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* Bug fixes
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### v0.3.0
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* Additional color camera controls
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* Bug fixes
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* Support native RGB
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* Support for external sync connections
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* Point cloud viewer
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* Updated K4AViewer to support High DPI displays
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* Removed k4a image format K4A\_IMAGE\_FORMAT\_UNKNOWN
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* Removed k4a FPS value K4A\_FRAMES\_PER\_SECOND\_OFF
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* Added tool to run firmware update
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* IMU recording and device selection was added to k4arecorder
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* Removed x86 builds from the SDK
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* Removed DepthEngine.pdb from the SDK
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* Minor breaking change to k4a_device_configuration_t; color_fps & depth_fps consolidated to camera_fps
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### v0.2.0
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Sensor SDK v0.2.0 includes major refactoring to API
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* API refactoring (**breaking change**)
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* Depth-RGB correlation API
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* ***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.
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* Additional frame-meta data support (e.g. resolution, laser temperature)
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* Coordinate space helpers (Project 3D to 2D, Unproject 2D to 3D, Extrinsic transformation (3D to 3D)
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* Sensor recording API refactoring and improvements
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* Sensor recorder and Kinect for Azure viewer updated to new API
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### v0.1.0
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This is the very first internal sensor SDK release
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* Depth camera access
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* RGB camera access
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* RGB camera exposure control
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* IMU access
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* Device calibration blob access
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* Frame meta-data for Depth and RGB device timestamp
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* Kinect for Azure Viewer, samples (streaming, enumeration,..)
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* Recording tool (Depth and RGB streams)
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