RealSense SDK version 2.22.0 now available (many API changes and features / improvements added)

[MartyG]

Hi everyone,

Version 2.22.0 of the RealSense SDK is now available for download.

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

API CHANGES

• Global Camera Timestamp:
• Add rs2_timestamp_domain::RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME enumeration type that will be used as default when the HW timestamp is available via the appropriate metadata attribute.
• Add rs2_sensor* rs2_get_frame_sensor function
• Add RS2_OPTION_GLOBAL_TIME_ENABLED option
• Depth units transformation - Processing block
• rs2_processing_block* rs2_create_units_transform function
• Add rs2_format::RS2_FORMAT_DISTANCE synthetic stream format
• Add units_transform class
• Add rs2_error * rs2_create_error functionality
• Add pose_stream_profile class to handle T265 pose sensor.
• Add frame::get_sensor() functionality
• Add sensor_from_frame(frame f) functionality
• GLSL Processing Blocks Module:
• New header files with new API for GLSL-supported modules are added to include/librealsense2-gl directory

NEW FEATURES & IMPROVEMENTS

• Introducing Global Camera Timestamp. The feature is a prerequisite for inter-cam synchronization and requires frame metadata attributes. The PR changes the default behavior of frame.get_timestamp() by returning the timestamp in RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME.
• New Module - GLSL Processing Blocks. This pull-request introduces auxiliary realsense2-gl module. It can be used to perform common SDK processing tasks on the GPU in a relatively generic way (vendor neutral, unlike CUDA) via GLSL shaders. In addition, it serves as a proof-of-concept for future SDK extensions beyond core API (Follow the PR link for in-depth introduction).
• Adding common cross-platform USB back-end API. Initially, it will be used for cross-platform FW update API and tools. In the future the infrastructure will allow unified implementation for UVC / HID / TM2 for all the supported operating systems.
• Promote TM2 Firmware 0.0.18.5715 - re-localization and tracking stability enhancements
• T265: Re-enabling re-localization reports.
• Android OS (Java): Add post-processing filters and demo.
• Add realsense2-gl Debian distribution packages to support PR3654.
• Adding rs2_get_frame_sensor function.
• New T265 Example: Generate Depth map from T265 Stereo sensors with OpenCV.
• Add a processing block to generate depth frame in metric format (RS5-4269)
• Add comprehensive documentation to Python wrapper via Sphinx.
• Unreal Engine 4 wrapper supports v4.22.
• Adding software_device support to C# wrapper.
• RealSense depth viewer community example
• Python Documentation - sample code enhancement
• C#: Expose T265-specific APIs (Localization map, Static node).
• OpenCv: Fix missing RS2_FORMAT_DISPARITY32 handler.

BUG FIXES

• T265: Pose record / playback to provide the required metadata attributes; Enable rs-enumerate-devices extract info from ROSBag record files.
• D435i: Rectify invalid RGB-Depth extrinsic calibration produced by FW versions 5.10.13+.
• Fix extrinsic graph multiplications order.
• Fix D435i IMU extrinsic.
• T265 FW: Fix potential issue with UNC paths and rc.exe.

*************

Full release notes with all linkages and a list of unresolved Known Issues can be found at the link below:

https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-2220