Intel® Linux RealSense™ SDK Release Candidate

New features in this release

• Librealsense 1.11.0 integration.
• Added support for pipeline.
• Added pipeline sample.
• sdk logger is now enabled in compilation with cmake –DBUILD_LOGGER=ON option.
• Updated video_module_interface
  • Supported config
    • Remove: min_size, min_frame_rate from the supported config.
    • Remove: preset flag
    • Replaces general flags member with 'bool async_processing'
  • Actual config
    • Remove: preset flag
    • Add extrinsics_motion
    • Rename frame_rate->sample_rate for motion sensor
    • Projection - becomes obsolete
  • Process sample set
    • Unify process_sample_set_sync and process_sample_set_async to a single process_sample_set function.
    • Renamed processing_event_handler::process_sample_complete(...) to processing_event_handler::module_output_ready(...)
  • Remove video_module_control_interface
  • Add functions to video_module_interface:
    • Reset_config
    • Flush resources
  • Motion API
    • motion_types – removed irrelevant event types that are not motions.
    • added extrinsics_motion to the actual_image_stream_config to simplify the usage of motion extrinsics.
  • Reference Counting
    • The sample set may include one or more image samples. Each image lifetime is managed by the module, according to its internal logic:
      If the module requires image access after process_sample_set returns, the module should call AddRef to own (shared ownership) the image memory before the function returns, and call Release to disown the image when it doesn't require further access to the image, or upon resources flush.
    • The sample_set will be delivered as const (update to const ref)
      • Since the correlated_sample_set is not a valid struct after calling the module process_sample_set we updated the process_sample_set signature to get the struct by const ref instead of pointer, this is to reflect that the struct shouldn’t change and its lifetime is valid only during the process_sample_set function. The module can copy it if it wishes to keep it.
      • Since the correlated_sample_set is not really reference counted we removed the misleading release inline function from the struct, and the take_unique function that became irrelevant for a const struct, instead, the struct contains a get_unique function the add_refing the image and wraps it directly with unique ptr which contain a custom delete that calls release. This is also to follow the updated reference counting approach.

Known limitations

• Playback file that was recorded with async callbacks won’t be playable using wait_for_frames.

Known issues

• low performance projection methods in FHD scenarios using depth format Disparity16