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CHANGELOG.md

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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

  • Realsense capturer can now record during live capture, using system.record_to_directory config setting. (#119)
  • Debian packages for Ubuntu 24.04 (#143), for the time being without Kinect and Realsense support.
  • Android-arm64 build added (#91), untested for now.
  • New tool cwipc_timing helps with determining whether cameras are correctly synchronized. (#144)

Changed

  • Minor documentation fixes
  • More resilience against incomplete installations (#108)
  • Don't use numpy 2.0 until issues with open3d are fixed (#109)
  • Fixed colors for cwipc_view --rgb with RealSense camera (#115)
  • Fixed cwipc_register for multiple RealSense cameras (#106)
  • Fixed cwipc_synthetic reader to not wait on available(False) (#117)
  • Realsense cameraconfig.json file rationalized. Major code cleanup. (#137, #125, #118)
  • Calibration of Realsense D455 cameras fixed. (#127)
  • Use cmake presets for building (#120)
  • Use pyproject.toml for Python package generation (#79)
  • Implemented recording while capturing for both Realsense and Kinect (#139)
  • Glfw is now used via normal dependencies, no longer slurped (#123)
  • cwipc_forward can now serve streams to multiple connections at the same time (#151)
  • Major improvements to realsense_playback (#158)

[7.5.3] - 2024-04-30

Changed

  • Fixed Mac brew builds (#105)
  • Updated vcpkg dependencies

[7.5.2] - 2024-04-29

Added

  • Registration procedure documented (#103)

Changed

  • Do not attempt fine calibration with a single camera (#104)

[7.5.1] - 2024-03-27

Added

  • New Python methods (on cwipc objects) as_numpy_array(), as_numpy_matrix(), as_o3d_pointcloud() and corresponding constructors from_numpy_array(), from_numpy_matrix() and from_o3d_pointcloud() to allow easier analysis with numpy or open3d.
  • New Python methods on cwipc_auxiliary_data objects get_image() and get_all_images() allow you to get the RGB and Depth images as numpy arrays.
  • New API call cwipc_tiledsource_auxiliary_operation to have a capturer do a special operation, such as mapping 2D points to 3D points.
  • There is a new utility cwipc_register to do registration of multiple cameras (replacing the old cwipc_calibrate).
  • There is a new capturer realsense_playback which reads .bag recordings captured earlier. It behaves much more like a camera than the older realsense_offline.
  • Cameraconfig files are now JSON by default (but XML is still supported for backward compatibility).
  • The default camera type is now determined from cameraconfig.json, so you normally don't have to specify --kinect or similar to cwipc_view and other utilities
  • There is a new API call cwipc_capturer that will return the correct capturer for what is specified in cameraconfig.json. You can also give it a configFilename parameter of "auto" and it will determine what type of camera is attached to your system.
  • cwipc has been ported to Android, specifically for use on the Oculus Quest.
  • Python modules now have type annotations, which should make it much easier to use cwipc in your programs (auto-complete, documentation, etc). The cwipc package is usable from Jupyter.
  • Python example programs have been added.
  • cwipc_check program helps with checking that everything is installed (especially on Windows). Windows Start Menu has entries to do this check, and also to try and fix issues.

Changed

  • Build process on Windows now uses vcpkg for most dependencies, streamlining both CI/CD builds and local builds.
  • Build process and CMakefiles have been streamlined, specifically the way the Python support is installed.
  • command line arguments to cwipc_view and other utilities have changed a lot. Use --help to see the differences.
  • Windows installer should now be more robust.

Removed

  • cwipc_calibrate is deprecated, replaced by cwipc_register.
  • cwipc_unity is no longer a submodule of cwipc but its own toplevel repository.

[7.4.2] - 2023-05-07

Added

  • cwipc_unity submodule added. Can be added to Unity projects either via inclusion by path from a checkout or by adding the cwipc_unity repo URL.
  • Optional parallel encoding of subsequent point clouds. Does not decrease latency but can increase throughput.

Changed

  • Ubuntu 22.04 is now the Linux release for which we provide packages.
  • Python 3.10 is now preferred, 3.9 still supported.
  • Dependencies updated to current versions.
  • Various issues with Windows installer fixed.
  • Tweaks to allow easier building with brew on macos.

Removed

Gitlab CI/CD no longer supported.

[7.3.7] - 2022-07-14

Added

  • Installers for Windows (NSIS exe) and Ubuntu (debian package) are available in the release assets.
  • Installer for Mac is available through Homebrew, see the readme file.
  • The encoder can be run in parallel on mutliple threads, by setting cwipc_encoder_params.n_parallel to a value greater than 1.

Changed

  • CWIPC_ENCODER_PARAM_VERSION has been increased, but the old version number is still accepted.

[7.2] - 2022-05-03

Added

  • All tools accept a --version argument to only print the version. cwipc_get_version() added to API, CWIPC_API_VERSION updated.
  • Github is now the primary hosting platform and Gitlab is considered a mirror. Binary and full-source releases are available on github via https://github.com/cwi-dis/cwipc/releases.
  • Instructions for installing from binary or source releases updated.

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.

[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.