Azure-Kinect-Sensor-SDK/CHANGELOG.md в dbe6c58897ecbd02aa968c6e53960e2ddb175554

Change Log

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().
Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().

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)

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.

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

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.

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

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

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

This is the very first internal sensor SDK release