v7.6.0

[7.6.0] - 2015-01-19

Main changes are that Android is now supported, specifically for using point cloud streams in Unity on the Meta Quest.
Also, the realsense capturer and playback has seen a lot of improvements.
And Ubuntu 24.04 is partially supported.

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). Only liibraries, really only for use with cwipc_unity.
• New tool cwipc_timing helps with determining whether cameras are correctly synchronized. (#144)

Changed

• We will try to create micro-releases much more often from now on, so people do not have to use nightly builds
• Minor documentation fixes
• More resilience against incomplete installations (#108)
• Python 3.12 and NumPy 2 support (#101, #109, #114)
• 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)

nightly

[7.6.0] - 2015-01-19

v7.5.3

[7.5.3] - 2024-04-30

Changed

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

v7.5.2

[7.5.2] - 2024-04-29

Added

• Registration procedure documented (#103)

Changed

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

v7.5.1

[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.

v7.4.3

[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.

v7.4.2

[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.

v7.3.7

[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.

v7.3

[7.3] - 2022-07-13

Added

• Installers for Windows, Ubuntu and Mac (brew) are now available.
• 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.

ieee22-submission

[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.