Changelog All notable changes to this project will be documented in this file. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning. [unreleased] Added Changed (kinect) cameraconfig is now independent of whether we use map_color_to_depth or not (kinect) implemented function generate_point_cloud_v2 which uses a lookup table to compute the pointcloud. (kinect) opencv is now used for filtering the depth map: Thresholds + erosion. much faster. (macos) MacOS 10.15 is now the target platform: 10.14 is no longer easily supported in brew. Build process, CMakefiles and versioning have been streamlined. Github is now the primary hosting platform and Gitlab is considered a mirror. Removed [7.1] - 2022-01-26 Backwards compatible, so only CWI_API_VERSION has been increased. Added cwipc_crop added [7.0] - 2022-01-05 This release is not backwards compatible with older releases, therefore CWIPC_API_VERSION and CWIPC_API_VERSION_OLD have been updated. Added Compatible with Python 3.9 (mainly DLL search path fixes for Windows) Added --custom_filter to most tools to allow applying a filter to each pointcloud Added skeleton data renderer to cwipc_view cwipc_enc_perftest (source only) helps debugging codec performance issues Kinect skeleton parameters can be specified in cameraconfig.xml Changed natural pointcloud orientation has changed: positive z-axis now points forward from subject point of view. This is in line with standard practice (camera looks in negative z direction). Incompatible change. tileinfo structure changed. Incompatible change. K4ABT 1.1.0 supported Got rid of abort() calls in capturers Code resutructuring in cwipc_codec Various other bug fixes Removed [6.4] - 2021-10-29 Added Added compressed pointcloud support to cwipc_grab and --playback. Added methods cwipc_colormap, cwipc_tilemap and cwipc_join. Changed Minor bug fixes. [6.3.2] - 2021-10-14 Changed Compressed pointclouds could lose their pointsize, causing them to be rendered with tiny size. Fixed. Changes for debugging cwipc itself, see readme.md for details. [6.3.1] - 2021-09-26 Changed Compatible with PCL 1.12 [6.3] - 2021-08-17 Added .pdb files included on Windows, so stack traces and debugging are better. implemented disabled config variable for most capturers. Changed cwipc_encodergroup optimised and parallelised: can now handle 16-stream tiled multi-quality encoded pointcloud streams at 15fps (given decent hardware). Removed [6.2] - 2021-08-05 Added Parallelized encodergroup if more than 1 output required. Changed fixed rebuild issue. Realsense and offline grabbers now also support disabled parameter in cameraconfig. [6.1] - 2021-07-21 Added Allow disabling kinect camers with enabled="0" in cameraconfig.json. Added outlier filter. Changed Fixed skeleton API. [6.0] - 2021-06-21 First unified release of cwipc_util, cwipc_realsense2, cwipc_codec and cwipc_kinect. Dual-homed at https://gitlab.com/VRTogether_EU/cwipc/cwipc and https://github.com/cwi-dis/cwipc. MIT license added. Added New utility cwipc_forward to forward pointcloud streams over net (direct sockets or DASH using bin2dash) cwipc_view and friend can receive pointcloud streams over the net (direct sockets or DASH using signals-unity-bridge) Changed Fixes and additions to utilities, including support for Kinect skeleton and RGBD data. Unified build procedure using cmake.