RealSense SDK version 2.19.0 now available (T265 support, Android unrooted support, C# & Unity additions and much more)

[MartyG]

Hi everyone,

Version 2.19.0 of RealSense SDK 2.0 is now available from the link below.

https://github.com/IntelRealSense/librealsense/releases/

API CHANGES

There are extensive additions to the API, too many to list here. They cover the areas of:

Processing blocks / filters

Options API

Device management

T265-specific APIs

Notice is also given that the rs2_option_to_string will be deprecated in future and rs2_get_option_name should be used instead.

Please visit this link to view the full details of the API changes.

https://github.com/IntelRealSense/librealsense/wiki/API-Changes#from-version-2181-to-2190

NEW FEATURES & IMPROVEMENTS

T265 Tracking Camera

• T265 tracking camera support
• Advanced T265 APIs - adding new sensors extensions allowing relocalization map load / store, static node set / get (coordinates transform between different maps) and wheel odometry input
• Ability to unload tracking camera module - for better ROS and NCS compatibility
• rs-pose - new example showing the basics of working with T265 tracking camera

NOTES:

• The T265 tracking camera is not yet supported on Android and Mac-OS via librealsense. Support is planned to be added in a future release.
• Wheel-odometry is required to meet performance of <1% loop closure error on wheeled robots.
• T265 map internal format will change in future releases
• Additional examples, white-papers and tutorials on advanced topics including wheel-odometry and relocalization map loading will be published in the future

Android

• Android Play-Store support
• Using peripheral RealSense cameras on Android no longer require the device to be rooted. This feature includes basic Java bindings, code samples and tools.

NOTES:

• The T265 tracking camera and the D435i depth camera are not yet supported on Android via librealsense. Support is planned to be added in a future release.

Other

• Automated Standards Enforcement - enforce basic project standards during CI
• C# & Unity updates - multiple changes to the .NET wrapper, including support for motion and pose frames
• Refactoring of options and filters API - allows different devices to advertise different post-processing capabilities.
• API for adding software device into existing context - for development of better converters and 3rd-party depth sources

BUG FIXES

• Added fstream dependency - contributed by @RanoVeder
• Update python-rs400-advanced-mode-example.py - contributed by @skylouis
• Replace vec2mat with reshape 2 - contributed by @changh95
• DSO-11755 - Viewer crash when fail to set advanced mode setting
• Cannot change AE mean intensity point in the Viewer
• Cannot load JSON with RGB8 format in the Viewer
• rs-convert does not terminate execution
• rs-convert does not convert to PLY
• Conditionally define STRINGIFY macro
• Missing include in example.hpp
• rs2_depth_frame_get_distance doesn't work for software_device sensor
• YUY in the Viewer produces white image

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The full release notes, with all linkages and a list of unresolved Known Issues, can be found here:

https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-2190