cwi-dis/cwipc: 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.