Realsense Sdk Zr300 Versions Save

New features in this release

• Integration of librealsense 1.12.1
• Projection tool improvements
  • Support FE
  • W/A  for performance bug in Joule (bug is assigned to Canonical)
• Pipeline improvements
  • Support playback over pipeline
  • Pipeline sample improvements
  • Pipeline configuration fixes
• Minimize SDK components dependencies

Device and camera firmware

Bug Fixes

• Projection tool does not work with recorded file
• rs_capture_tool is dropping frames while rendering is on
• Projection tool freezes after processing the first frame

Known issues

• Low performance projection methods in FHD scenarios using depth format Disparity16
• rs::record::context might drop frames
• process_sample_set crashes when uninitialized correlated_sample_set value
• Pipeline failed to stream IMU data when stream was enabled and fps rate was not initialized
• Issues on Joule platform:
  • Record module - color stream at resolution of 1920-1080 (FHD) cause significant frame drop
  • Projection tool – very low FPS
• Projection tool does not synchronize images according to timestamp, instead takes the latest available frames
• Documentation error for "extrinsics_motion" member of struct actual_image_stream_config under the rs::core::video_module_interface class in video_module_interface.h. The correct documentation should be: "Sensor rotation and translation from the current stream, to the IMU coordinate system origin" , and not: "from the IMU coordinate system origin, to the current stream".

New features in this release

• Integration of librealsense 1.11.2
• librealsense synthesized streams from rs::core::stream_type were removed
• Playback module – ignoring missing frame metadata on clips that were recorded with old FW version (Allows clips that were recorded with RealSense SDK > 0.4.0 while using adapter board FW < 1.28 to be played both on release and debug builds).
• Enabling fisheye strobe by default in relevant SDK samples (Set the camera to produce all streams timestamps from a single clock - the microcontroller's clock.).
• Enabling fisheye strobe by default in rs_capture_tool (Set the camera to produce all streams timestamps from a single clock - the microcontroller's clock.).
• The default value of max input latency in sync utility sample was increased (from 100[ms] to 150[ms]).

Device and camera firmware

Known limitations

• Projection tool does not work with recorded file.

Known issues

• low performance projection methods in FHD scenarios using depth format Disparity16
• Issues on Joule platform:
  • Record module - color stream at resolution of 1920-1080 (FHD) cause significant frame drop
  • Projection tool – very low FPS

New features in this release

• API changes
  • record_device API changed. record_device now can use compression for clips.
  • set_compression(...) function was added.
  • get_compression(...) function was added.
  • Playback API changed
    • resume() function was removed
    • start() now starts streaming from current frame
    • stop() now pauses stream and sets current frame to 0
    • pause() now stops streaming without affecting current frame
    • set_frame_by_index()/set_frame_by_time_stamp() function set current frame and continue the previous state (playing/pause)
  • motion_intrinsics struct was removed
  • Struct "motion_device_intrinsic" renamed to "motion_device_intrinsics" (typo fixed).
  • In struct supported_motion_sensor_config", member "frame_rate" renamed to "sample_rate".
• Documentation was aligned to doxygen format
• Loading librealsense_logger.so library will now be silent if unsuccessful. Successful loading this library will print a message.
• Logger library will only be loaded if version matches the realsense_sdk version.
• Default timeout in sync_utility increased to 150 ms.

Device and camera firmware

Known limitations

• Playback file that was recorded with async callbacks won’t be playable using wait_for_frames.

Known issues

• low performance projection methods in FHD scenarios using depth format Disparity16

New features in this release

• Librealsense 1.11.0 integration.
• Added support for pipeline.
• Added pipeline sample.
• sdk logger is now enabled in compilation with cmake –DBUILD_LOGGER=ON option.
• Updated video_module_interface
  • Supported config
    • Remove: min_size, min_frame_rate from the supported config.
    • Remove: preset flag
    • Replaces general flags member with 'bool async_processing'
  • Actual config
    • Remove: preset flag
    • Add extrinsics_motion
    • Rename frame_rate->sample_rate for motion sensor
    • Projection - becomes obsolete
  • Process sample set
    • Unify process_sample_set_sync and process_sample_set_async to a single process_sample_set function.
    • Renamed processing_event_handler::process_sample_complete(...) to processing_event_handler::module_output_ready(...)
  • Remove video_module_control_interface
  • Add functions to video_module_interface:
    • Reset_config
    • Flush resources
  • Motion API
    • motion_types – removed irrelevant event types that are not motions.
    • added extrinsics_motion to the actual_image_stream_config to simplify the usage of motion extrinsics.
  • Reference Counting
    • The sample set may include one or more image samples. Each image lifetime is managed by the module, according to its internal logic: If the module requires image access after process_sample_set returns, the module should call AddRef to own (shared ownership) the image memory before the function returns, and call Release to disown the image when it doesn't require further access to the image, or upon resources flush.
    • The sample_set will be delivered as const (update to const ref)
      • Since the correlated_sample_set is not a valid struct after calling the module process_sample_set we updated the process_sample_set signature to get the struct by const ref instead of pointer, this is to reflect that the struct shouldn’t change and its lifetime is valid only during the process_sample_set function. The module can copy it if it wishes to keep it.
      • Since the correlated_sample_set is not really reference counted we removed the misleading release inline function from the struct, and the take_unique function that became irrelevant for a const struct, instead, the struct contains a get_unique function the add_refing the image and wraps it directly with unique ptr which contain a custom delete that calls release. This is also to follow the updated reference counting approach.

Known limitations

• Playback file that was recorded with async callbacks won’t be playable using wait_for_frames.

Known issues

• low performance projection methods in FHD scenarios using depth format Disparity16

Bugs Fixes

Core dump when streaming with record device

Bugs Fixes

• Add version to shared objects

Bugs Fixes

• IMU timestamp type updated to double and milliseconds units

New features in this release

• Librealsense 1.9.6 integration.
• samples_time_sync_interface: changed to factory, added support for fisheye stream and motion data, added function to return not matched frames. Note: return not matched frames not fully tested
• supported_module_config supports a new flag "time_sync_mode" instead of having the modes in the structs “flags” bitwise member. Note: This is to explicitly express the required time syncing mode (time synced samples, time synced samples but accepting unmatched samples and no time synced samples for minimal latency)
• ABI compliancy using ref counting \ releasing pure virtual interfaces instead the current smart_ptr. Note: For ABI compliancy we now pass pure virtual interfaces between SO boundaries and we added utilities to perform deallocations in the same library that allocated the memory.
• logging: The default properties file (rslog.properties) location should be specified by environment variable “REALSENSE_SDK_LOG_PATH”. If the variable is not defined, in that case we will look for the file under ~/realsense/logs/
• record device: set compression function added. Note: Compression is not implemented yet
• support in IMU calibration data added to record and playback devices

Bugs Fixes

• Removed stl types from samples_time_sync_interface

New features in this release

• Librealsense 1.9.5 integration.
• video_module_interface : Added motion intrinsics and extrinsics to motion calibration data.
• API changes from v0.2.2:
  • video_module_interface : Removed set_projection from the video_module_interface, added projection member to the actual_module_config.
  • video_module_interface : Removed complete_sample_set_required member of supported_module_config, added bitwise flag with mode of operations (time_synced_input, accept_unmatch_samples, async_processing_supported, sync_processing_supported)
  • Removed image impl classes (with stl types) from external include directory. Added create_instance_from_raw_data and create_instance_from_librealsense_frame static instantiation functions to the image interface.
  • playback and record context constructors file name changed from 'std::string' to 'const char *'.
• Context interface - implemented by the playback, record.

Bugs Fixes

• Removed stl types from record, playback and image API

New features in this release

• Capture Tool - new command line tool that supports recording and playback of rssdk files as well as live streaming.
• Samples integration with IoT dev kit (Eclipse)
• Time sync utility - Sync frames between of different streams, currently only color and depth sync is supported
• Projection API was changed - Minor name changes to align for coding conventions. Need to replace ‘projection’ with ‘projection_interface’ and ‘custom_image’ with ‘image_interface’
• System info tool - Provides information regarding OS version, installed libraries, attached devices etc.
• Engineering test were removed from SDK CMake file, google test package is not required anymore.

Bugs Fixes

• Inversed color extrinsic data on windows files
• Start recording after stop recording
• Image time stamp value is frame number
• Added missing fisheye stream type conversion to the SDK
• Depth and color resolutions must be the same for projection
• Frames drop while playing from file in non real time mode.

Known issues

• In order for the video_module_asyncronized_sample to work, after the sample is imported to the IDE, delete the video_module_sync_sample.cpp file.
• In order for the video_module_syncronized_sample to work, after the sample is imported to the IDE, delete the video_module_async_sample.cpp file.
• projection sample and the video module samples will contain "Semantic Error" which are shown as error but it is not compilation error. This is eclipse code analysis false warning. It can be disabled via : Project properties -> C/C++ General -> Code Analysis -> Configure Workspace Settings -> disable Syntax and Semantic Errors. See affirmation here : http://stackoverflow.com/questions/8148235/eclipse-cdt-shows-semantic-errors-but-compilation-is-ok