3.7 KiB
3.7 KiB
Change Log
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 minumum bar check
- Integrated GPU transform engine into SDK to accelerate transformation between depth image and color image.
- Depth Engine plugin versioning throught 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)