Update README.md and clarify BGRA32 mode

README.md

@@ -1,36 +1,69 @@
+This project has adopted the [Microsoft Open Source Code of
+Conduct](https://opensource.microsoft.com/codeofconduct/).
+For more information see the [Code of Conduct
+FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or
+contact [opencode@microsoft.com](mailto:opencode@microsoft.com)
+with any additional questions or comments.
+
 # K4A SDK
 
 [![Build Status (develop)](https://microsoft.visualstudio.com/Analog/_apis/build/status/Analog/AI/depthcamera/Microsoft.Azure-Kinect-Sensor-SDK?branchName=develop)](https://microsoft.visualstudio.com/Analog/_build/latest?definitionId=35486&branchName=develop)
 
 ## Introduction
 
-K4A SDK is a cross platform (Linux and Windows) SDK to read data from your
-K4A device.
+**Azure Kinect Sensor SDK** is a cross platform (Linux and Windows) user mode SDK to read data from your Azure Kinect device.
 
-## Usage
+# Why use the Azure Kinect Sensor SDK 
 
-Please see [docs/usage.md](docs/usage.md) for info on how to use the SDK,
+The Azure Kinect Sensor SDK enables you to get the most out of your Azure Kinect camera. This SDK provides acess to:
+* Depth camera access
+* RGB camera access and control (e.g. exposure and white balance)
+* Motion sensor (gyroscope and accelerometer) access
+* Synchronized Depth-RGB camera streaming with configurable delay between cameras
+* External device synchronization control with configurable delay offset between devices
+* Camera frame meta-data access for image resolution, timestamp and temperature
+* Device calibration data access
+
+## Getting Started
+
+# Installation
+
+To use the SDK please refer to the installation instructions here.
+
+## Documentation and Official Builds
+
+Please see [usage](docs/usage.md) for info on how to use the SDK.
 
 ## Building
 
-K4A uses cmake to build. For instructions on how to build this SDK please see
-[docs/building.md](docs/building.md).
+Azure Kinect Sensor SDK uses cmake to build. For instructions on how to build this SDK please see
+[building](docs/building.md).
+
+## Versioning
+
+The Azure Kinect Sensor SDK uses semantic versioning. 
 
 ## Testing
 
-K4A has four types of tests
-
+K4A has four types of tests:
 * Unit tests
-
 * Functional tests
-
 * Stress tests
-
 * Performance tests
 
 For more instructions on running and writing tests see
-[docs/testing.md](docs/testing.md).
+[testing](docs/testing.md).
 
-## Contributing
+# Contribute
+We welcome your contributions! Please see the [contribution guidelines](CONTRIBUTING.md).
 
-All contributing info is under [docs/contributing.md](docs/contributing.md).
+## Feedback
+For any feedback or to report a bug, please file a [GitHub Issue](https://github.com/Microsoft/Azure-Kinect-Sensor-SDK/issues).
+
+## Code of Conduct
+This project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/).
+For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/)
+or contact [opencode@microsoft.com](mailto:opencode@microsoft.com) with any additional questions or comments.
+
+# License
+[MIT License](LICENSE)

include/k4a/k4atypes.h

@@ -461,7 +461,8 @@ typedef struct _k4a_hardware_version_t
  */
 typedef struct _k4a_device_configuration_t
 {
-    /** Image format to capture with the color camera */
+    /** Image format to capture with the color camera. The color camera does not natively produce BGRA32 images. 
+     * Setting BGRA32 for color_format will result in higher CPU utilization. */
     k4a_image_format_t color_format;
 
     /** Image resolution to capture with the color camera */
@@ -661,9 +662,9 @@ typedef struct _k4a_calibration_camera_t
     float metric_radius;                     /**< Max FOV of the camera */
 } k4a_calibration_camera_t;
 
-/** Calibration type representing device calibration. It contains (1) the depth and color cameras’ intrinsic
+/** Calibration type representing device calibration. It contains (1) the depth and color cameras<EFBFBD> intrinsic
  * calibrations, (2) extrinsic transformation parameters (3) depth and color modes. The extrinsic parameters allow 3d
- * coordinate conversions between depth camera, color camera, the imu’s gyro and the imu’s accelerometer. For
+ * coordinate conversions between depth camera, color camera, the imu<EFBFBD>s gyro and the imu<EFBFBD>s accelerometer. For
  * transforming from a source to a target 3d coordinate system, use the parameters stored under
  * extrinsics[source][target]. *
  * \xmlonly