Azure-kinect-sensor-sdk: Publish SDK 1.2.0

[Brent-A]

1.2.0 is officially released and ready to be used!
MSI Link: 1.2.0
Nuget Link: 1.2.0
Deb package link: TBD will be posted soon

Firmware update:
There is a new firmware file included in this release. Please follow the firmware update instructions to update your firmware.

Summary of changes from 1.1.x:

• C# (and other .NET language) support added. Compatible with .NET Standard 2.0.
• Depth Engine breaking changes to 2.0, SDK now relies on this new version.
• Firmware updates for better USB compatibility.
• Added new API's k4a_image_get_device_timestamp_usec(), k4a_image_get_system_timestamp_usec(),
  k4a_image_set_device_timestamp_usec(), k4a_image_set_system_timestamp_usec(), and k4a_image_set_exposure_usec().
• Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().
• Added new transformation API k4a_transformation_depth_image_to_color_camera_custom().
• Fixed color exposure get & set API's.
• The C++ API for playback was made public.
• Depth engine is now searched for in the same path as k4a.dll

See full list of issues in this milestone.

[initialneil]

@Brent-A Thanks for the update! With the new API, when using multiple cameras wire-synced, which timestamp should use to decide the same frame? k4a_image_get_device_timestamp_usec or k4a_image_get_system_timestamp_usec?

[wes-b]

With the new API, when using multiple cameras wire-synced, which timestamp should use to decide the same frame? k4a_image_get_device_timestamp_usec or k4a_image_get_system_timestamp_usec?

k4a_image_get_device_timestamp_usec is the API returning the hardware timestamp used for device synchronization.

[rfilkov]

With the new API, when using multiple cameras wire-synced, which timestamp should use to decide the same frame? k4a_image_get_device_timestamp_usec or k4a_image_get_system_timestamp_usec?

k4a_image_get_device_timestamp_usec is the API returning the hardware timestamp used for device synchronization.

@wes_b What is the idea behind the two timestamps? What is the use case, when should we use k4a_image_get_system_timestamp_usec then?

[rfilkov]

@Brent-A Is there msi of 1.2.0b0 available already?

[tesych]

@rfilkov, the msi is not available for 1.2 beta.

[jrterven]

How to install the nuget package in Ubuntu 18.04?
I already installed mono-devel and nuget on linux as described here: https://docs.microsoft.com/en-us/nuget/install-nuget-client-tools
What's next?

[venscn]

If I has many custom image, Can the parameter transformed_depth_image of this function k4a_transformation_depth_image_to_color_camera_custom be null?

[wes-b]

@rfilkov

@wes_b What is the idea behind the two timestamps? What is the use case, when should we use k4a_image_get_system_timestamp_usec then?

k4a_image_get_system_time_nsec() is a time measured by the host system using QueryPerformanceCounter / clock_gettime(CLOCK_MONOTONIC) to capture the host system time when the image arrived. k4a_image_get_device_time_usec is the device's time stamp (that can be synchronized across multiple devices) and has to mapping to host system time.

@jrterven

How to install the nuget package in Ubuntu 18.04?
I already installed mono-devel and nuget on linux as described here: https://docs.microsoft.com/en-us/nuget/install-nuget-client-tools
What's next?

The NuGet package for alpha and beta releases are the only way we currently have to deliver the much needed Linux binaries. Once you have the NuGet package on your Linux system you need to copy the binaries to the appropriate folder.

@venscn

If I has many custom image, Can the parameter transformed_depth_image of this function k4a_transformation_depth_image_to_color_camera_custom be null?

No

[venscn]

@wes-b
This will waste a lot of memory and time to handle many custom image.

[christianmakela]

@venscn
The depth output buffer is needed for checking occlusions. If client passed in a null pointer then the SDK would have to allocate a temporary buffer for storing the output depth.

The client can reuse the same depth output buffer for all calls to k4a_transformation_depth_image_to_color_camera_custom() which means no memory is wasted vs. calling k4a_transformation_depth_image_to_color_camera_custom() just once.

[jbrownkramer]

We've tried out the beta. It drops in just fine to our system. Do you know when it is likely to come out of beta?

[venscn]

@christianmakela Thank u

[wes-b]

MSI and NuGet have been published. The Debian is delayed until next week unfortunately.

http://download.microsoft.com/download/1/9/8/198048e8-63f2-45c6-8f96-1fd541d1b4bc/Azure%20Kinect%20SDK%201.2.0.msi

[fishcu]

How to install the nuget package in Ubuntu 18.04?
I already installed mono-devel and nuget on linux as described here: https://docs.microsoft.com/en-us/nuget/install-nuget-client-tools
What's next?

Run mono nuget.exe install Microsoft.Azure.Kinect.Sensor in the folder where you want to download the package(s). You will find libdepthengine.so.2.0 in the Microsoft.Azure.Kinect.Sensor.1.2.0/linux/lib/native/x64/release/ subfolder.

[simplecosmas]

I cannot install this Nuget Link: 1.2.0, on my visual studio for windows get this error "Azure kinect only supports the x86/x64 platform" and my computer is a x64 bit platform.

[wes-b]

I cannot install this Nuget Link: 1.2.0, on my visual studio for windows get this error "Azure kinect only supports the x86/x64 platform" and my computer is a x64 bit platform.

If you are still hitting this, then please open a new issue, and use the bug template share more info. Your Windows and VS versions would be super helpful.