Archived - What's New in the 2016 R2 Intel RealSense SDK?

The Intel® RealSense™ SDK has been discontinued. No ongoing support or updates will be available.

The second release in 2016 (2016R2) of the Intel® RealSense™ SDK (for Windows) is v10.0.26.0396.  
The minimum versions of the  Intel® RealSense™ camera DCMs have been raised for R200  to and for SR300 to with F200 requiring or later.
The supported version of Unity has been raised to 5.2.3.p3 or later (previously v4.1). Note: Unity 5 requires 64 bit libraries.

Major improvements were made for the SR300 in Background Segmentation (BGS), Hand Tracking Cursor Mode  and 3D Scan. The first two of these are now at gold while 3DScan for SR300 has moved to beta level.  For R200, some subfeatures of Enhanced Photography (EP) moved to gold but others including EP Meaurement, EP realtime depth enhancement and EP tracking will remain at only preview level. Most other R200 features have not changed.

What's new:

Green Screen/BGS: Cues (fading) and optional callbacks are now available for user entrance and near/far limits. An optional HDR mode has been added plus other algorithm changes which improve finger webbing, dark hair masking, and other artifact detection. IR absorbing, transparent, very thin, and/or black objects as well as bright blond hair or hair color very similar to the background color are still problematic. Only a single person at a time is supported so the mask quality degrades when multiple people are in range.  HDR recorded clips may require the first frame be removed to prevent a hang during realtime mode playback.

Cursor Mode: Gestures have been made more robust including the click, circle (both ways), and hand open/close gestures.  Adaptive Point can now be reset to a specific location (ResetAdaptiveByID). Range is up to 115cm at up to 2 m/sec as well as fixing the detection range at 70cm. Note: There is a change of default of the power state to OFF (can be set to On to save power by reducing FPS when hands not in view, but causes up to 2 seconds latency when hands return).

3DScan maxTextureResolution can limit generated texture size, flopPreviewImage inverts a preview image horizontally on SR300 and useMarker can improve tracking on self-similar shaped items (can, ball). maxVertices can limit vertices quantity in output mesh and rounding of depth values in QueryVertices (front facing cams) has been corrected.Also SetConfiguration for SR300 head scanning changed return message from PXC_STATUS_NO_ERROR to PXC_STATUS_FEATURE_UNSUPPORTED. The Feature_Unsupported is returned on face scanning without landmarks on front facing cameras unless you load the Face Tracking module to get landmarks or use Variable scanning mode with SetArea().

PersonTracking Configuration/Data added GestureConfiguration (PersonData) and ExpressionsConfiguration (PersonExpressions) as well as head location & pose, person orientation, and head bounding box but deprecated the properties field of configuration (instead use functions to configure). You can now Re-ID during tracking, and skeleton tracking has 6 (instead of 4) point tracking.

FaceData added LANDMARK_GROUP_RIGHT(|LEFT)_EAR, extended RecogntionData to report top matches, and made changes to QueryNumberOfMatches and QueryMatches..
The default for face tracking SmoothingLevelType changed from 'LANDMARKS_SMOOTHING_LOW' to LANDMARKS_SMOOTHING_MEDIUM'. This yields a stronger temporal smoothing over frames.


PXC[M]Projectionremoved incorrect depth value rounding in QueryVertices API for user facing cams and SelectOption can now return projection mapping without clipping () .

PXC[M]VideoModule interface extended ProcessSample, SetProjection, and SetGPUExec (to determine cpu vs gpu use).

EnhancedPhoto (EP) added Paste on surface (as well as plane),  multiple sticker support, AddSticker(), UpdateSticker(), and RemoveSticker() plus an ID number to keep track of multiple stickers. You can also use PreviewEnhancedDepth() map in a video pipeline at every frame before applying.. More information on EP issues and changes is in the 2016R2 release notes under R200 known issues (especially re flickering).

ScenePerception stream configurations can now use any sensor settings (gain, exposure, etc.) on both RGB and depth including under Unity. SP also added IsGravitySensorSupportEnabled and IsInertialSensorSupportEnabled. EnableSceneReconstruction can be turned off on the first frame and is no longer enforced/enabled you can skip first frame from integrating in to the mesh, volume and mesh. DoReconstruction supports integrating stream in to the mesh, volume and voxel even before passing first frame after creating the module or after calling reset.  ExportSurfaceVoxels is now thread safe from tracking and can be run in parallel with tracking.
Note: The CHM help file for SP may not open. Please use the HTML or PDF versions.

Unity (5.2.3.p3 or higher & .NET 3.5) support now includes NativeTexturePlugin for updating Unity Texture2D using Direct3D*9 or 11 or OpenGL*2.0  Unity XML is provided in the Plugins.Managed directory.The SP Unity sample can switch to native rendering giving about 50% performance gain for HD color as well as now avoiding thread contention when obtaining tracking results. Note: if the VS project libpxcclr.unity doesn't build correctly, then Right click Project>Add Reference "[Unity Install Directory]/Editor/Data/Managed/UnityEngine.dll". 


Release_notes RS SDK 2016 R2.pdf

2016 R2 full SDK

2016 R2 Runtime

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