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CHANGELOG.md

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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)