Brekel PointCloud v3 BETA downloads

Please note this is (unfinished) beta software.
There will be bugs and there may be features that don’t fully work as expected yet.
You are here to help iron these out 🙂

 

Main installer 64 bit versions

(betas will expire at the end of each month, simply check for a new version)

v0.93 BETA 64bit (expires 1st of September 2022)
v0.92 BETA 64bit (expires 1st of September 2022)
 

Changelog

------------
 BETA v0.93
------------
- at application start we now inform Windows OS to prefer not to go to sleep (released at application stop)
- small additions and corrections in documentation
- when running an Intel RealSense sensor on USB2 we now print a warning in the message log
- override default depth units for Intel RealSense D4xx sensors to increase depth fidelity
- fixed issue with some of the lens calibration data of Intel RealSense sensors not being read correctly from drivers/SDK
- fixed issue with marker detection on some Intel RealSense sensors
- updated to latest Stereolabs ZED SDK v3.7.6

------------
 BETA v0.92
------------
- fixed link to official Microsoft site for Kinect v1/v2 drivers
- added link to Discord in the Help menu
- updated to FBX 2020.3.1
- updated to Aruco 3.1.15
- updated to FFmpeg 5.0.1
- updated to Visual Studio 2022 with all the latest compiler optimizations
- extended installer to 1st of September

------------
 BETA v0.91
------------
- fixed issue with Low/Hi resolution mode for Azure Kinect clips
- StereoLabs ZED2i sensor should now be recognized
- refined driver detection
- updated internal libraries to latest versions
- updated to latest Stereolabs ZED SDK v3.7.4
- updated to latest Azure Kinect v1.1.2 SDK

------------
 BETA v0.90
------------
- improved visual quality of network sensor data
  - especially noticable on lower quality settings
  - more aggressive edge filtering on 3D pointcloud and color video streams
  - has no effect to tracking/recording quality (since that is all done on the remote machine on uncompressed data)
- extended installer to 1st of July

------------
 BETA v0.89
------------
- fixed issue with marker detection points
- updated to latest Azure Kinect v1.1.1 SDK

------------
 BETA v0.88
------------
- added option to enable hardware acceleration for video exporter for faster video encoding
	- attempts to use NVIDIA, AMD and INTEL acceleration and automatically falls back to CPU mode when not available
- fixed a bug where MJPEG video codec did not work due to unsupported video header setting
- H264/H265 now explicitly use "main profile" making files potentially more compatible with various players
- updated to latest Stereolabs ZED SDK v3.7.0
- extended beta to 1st of May

------------
 BETA v0.87
------------
- added option to switch 3D view to fullscreen by double clicking on it
  - can be disabled by toggle from the Settings menu at the top of the app
- updated internal libraries

------------
 BETA v0.86
------------
- fixed issue with JPEG compression/decompression that could cause a crash on recording and possible at other points on some machines
- updated to latest Intel RealSense v2.50.0

------------
 BETA v0.851
------------
- fixed issue with audio files not recording
- fixed issue where color resolution would be hidden (due to overlapping code from webcam integration for Body v3)
- potential fix for issue with exporter crash on fast machines and many outputs (extremely hard to reproduce & test)
- implemented a different strategy to prevent race condition in 3D view

------------
 BETA v0.85
------------
- added keyboard shortcuts for working with timeline
	- Home:        rewind to first frame
	- Space:       play/pause
	- Left arrow:  previous frame
	- Right arrow: next frame
- Added "Save to File" button for offline alignment
- alignment files are now saved with full transform matrix for added precision when loading them
- fixed issue with Azure Kinect Hirez setting not always loading correctly from timeline file
- fixed issue where Intel RealSense sensors could invoke deep body tracker even when not requested on a frame
- fixed incorrect warning that "timestamps vary too much" when sensors took a while to initialize
- start recording will now switch lower tab to "Sensors Table"
- added some extra info to the documentation regarding USB bandwidth
- updated to latest Stereolabs ZED SDK v3.6.1
- extended beta to 1st of January

------------
 BETA v0.84
------------
- timeline clips now have their hold first/last frame toggles enabled by default
- fixed issue where pointclouds would keep disappearing after switching to live tab and then back to file tab
- fixed issue where time range for offline alignment didn't automatically change when timeline bounds changed
- updated to latest Stereolabs ZED SDK v3.5.5
- extended beta to 1st of November

------------
 BETA v0.83
------------
- fixed memory leak in BPC reader when reading high resolution Azure Kinect frames
- various small bug fixes and optimizations
- updated internal libraries to latest versions
- updated to latest Intel RealSense v2.49.0
- extended beta to 1st of October

------------
 BETA v0.82
------------
- fixed issue with mesh decimation setting not loading correctly
- improvements regarding GUI update when timeline clips change
- implemented a new internal threading model for handling sensor data
  - fixes issue of AMD processors reporting 100% utilization even when many CPU cycles were simply idling
  - better compatibility for Intel & AMD CPUs
  - slightly more efficient in some cases
  - also implemented for network data compression
- updated to latest Stereolabs ZED SDK v3.5.2

------------
 BETA v0.81
------------
- small internal change for Azure Kinect on how valid frames are checked and released to prevent chatty SDK messages to appear when computer can't keep up processing fast enough
- updated CPU body detection deep learning model and platform to latest version
- updated some libraries to latest version
- updated to latest Intel RealSense v2.48.0
- extended beta to 1st of September

------------
 BETA v0.80
------------
- fixed issue with OpenEXR output being mirrored compared to 2D/3D views in Brekel app
- fixed issue with OpenEXR Azure Kinect color data being mirrored compared to other streams
- OpenEXR data is now filtered to prevent NaN numbers (just in case)
- OpenEXR depth and position channels are now embedded in layers to adhere to Nuke's standard
  - depth.z
  - pos.posX
  - pos.posY
  - pos.posZ
- fixed issue with Kinect v2 sensor occasionally crashing on unitialize
- fixed issue with printing sensor calibration values
- network server thread now caches incoming UVs where possible

------------
 BETA v0.79
------------
- fixed issue where "Cancel Export" button was disabled in GUI during an export
- implemented new OpenEXR texture output with options for saving several channels
	- RGB       - saves the color information to the OpenEXR "RGB" channels (color conformed to depth)
	- Alpha     - saves data to the OpenEXR "Alpha" channel, white for pixels that had a valid depth reading from the sensor, black for invalid pixels
	- Raw Depth - saves the raw depth information (the distance to the sensor) to the OpenEXR "Depth" channel
	- XYZ       - saves the global XYZ positions (with sensor transforms baked in) to the OpenEXR "XYZ" channels
	- some additional sensor related data (like sensor type, transform and calibration data) is written as custom data in the OpenEXR header

------------
 BETA v0.78
------------
- consolidated post-processing and output settings (on export settings tab) into a single tool box (instead of two) for better clarity
- reworked the offline alignment GUI a little bit
- reworked the internal aligner class
  - now can do a second pass using an all new algorithm refining all sensors collectively
- implemented a new body-based calibration option that no longer needs a printed marker, just a person
  - can use single pass and two pass alignment
  - can do an extra refinement method using point data from nearest sensors for tighter fit
  - currently only available for offline methods (live/realtime version coming in a next version)
- made camera panning speed proportional to camera distance so when the camera is far away it visually moves a similar distance when panning
- added a depth multiplier for PNG depth output
- fixed issue with OpenEXR depth export (due to bugfix in underlying image handling library no longer needing workaround)
- fixed issue where OpenEXR/PNG depth would only export a single clip
- fixed issue where only selecting PNG depth textures would result in a "no output formats selected" error
- fixed issue where headless/console version would crash when checking GPU support (since OpenGL context was not valid)
- fixed issue with internally selected sensor not being reset on sensor disconnect
- fixed issue where offline marker detector could crash on rare occasions
- updated internal libraries
- extended beta to 1st of August

------------
 BETA v0.77
------------
- added chapters to the documentation with some sensor specific information
- updated to latest Intel RealSense v2.45.0
- extended beta to 1st of July

------------
 BETA v0.76
------------
- updated to latest Stereolabs ZED SDK v3.5.0
- fixed bug that produced noise on Kinect v1 color stream
- switched to different debayering method for Kinect v1 producing faster and slightly better results
- network pointcloud processing will now drop frames if there are more than one in the queue
  - which can potentially happen when a machine cannot keep up with decompressing frames
  - this will only affect visuals in the 3D viewport and does not affect pointcloud recording
- if the software detects timestamp mismatches the table will reflect this with colors
- machine and sensor info is now logged to help debugging- added additional check for invalid image buffer size in memory management
- added additional check for invalid image buffer size in memory management
- timestamps are now periodically logged to help debugging
- updated several internal libraries to latest versions
- updated to latest Stereolabs ZED SDK v3.5.0

------------
 BETA v0.75
------------
- fixed memory leak in BPC recorder for Azure Kinect sensors
- console now resets clock offset when server disconnects
- timestamp synchronization algorithm for clients will now automatically fallback to using TCP packets when UDP failed somehow
- improved internal body time interpolation algorithm
- added "Select Clip" and "Unselect Clip" option to the context menu when right clicking on a clip
- updated to latest Orbbec SDK
- extended beta to 1st of June

------------
 BETA v0.74
------------
- added toggle to sensors table to toggle visibility per sensor (they will still be recorded)
- added a warning message to the log on older CPU's that do not support AVX2 or AVX instructions
  - this may prevent some features to not be supported or work as excepted
- improved accuracy of timestamp synchronization between networked machines using a new and more sophisticated algorithm
- message log now lists selected output file formats when starting export to help with debug reports
- clip offsets are now reset at the start of offline alignment
- new version available window now correctly adjusts number of decimals if needed
- console/headless version now logs the first 10 timestamp offsets to help with debug reports
- fixed issue on export range restriction when internal values were not available
- fixed issue when trying to change the clip color
- fixed a rare issue in the network triggering class by circumventing a possible crash in the underlying string library
- fixed cosmetic issue where selected clip was no longer drawing an outline
- fixed cosmetic issue where not all GUI elements were disabled during export
- fixed cosmetic issue where sensor ID in "Selected Sensor Settings" tab was 0-based, and not 1-based like in "Sensor Table"
- fixed issue where console version may not have read some of the more exotic sensor settings at startup
- fixed potential crash in body segmentation class
- fixed a crash when an Intel T265 was connected as these sensors don't provide depth/pointcloud data
  - a mention in the message log is now added and these sensors will be skipped during initialization
- small speed optimization in normal and vertex color computation
- lots of small bugfixes, prevention measures, optimizations and potential memory leaks based on static code analysis
- driver download progress window is now 'always on top'
- driver installer now writes to file during download, instead of flushing all data at the end
- updated to latest Azure Kinect v1.1.0 Body Tracker
- updated to latest Stereolabs ZED SDK v3.4.2
- updated Orbbec driver to latest SensorDriver V4.3.0.17
- updated to latest Intel RealSense v2.43.0
- extended beta to 1st of May
(working on a big alignment module rewrite/update but not ready yet)

------------
 BETA v0.73
------------
- support for MGear's latest "Point Cloud Viewer and Tools" for Unity and it's new v3 file format bringing:
  - streaming files directly from disk, good for large files
  - .bin parsing is now ~2-3x faster (on top of the previous 2x improvement)
  - now uses less memory (no more padding or extra array copy/clear)	
- marker alignment now automatically uses the 30% best frames instead of always using all frames to help robustness and quality
- marker quality now takes into account how many consecutive frames a marker has been seen
- added a tip to the marker generator window to make sure to stick your printed marker to a rigid surface so it cannot bend
- added marker alignment statistics to the message log after it finishes to help debugging
- fixed issue when marker alignment was stopped an internal thread to check data kept running
- fixed issue in marker rotation time-interpolation code
- fixed potential memory leak with std::deque in various places
- speed optimization for texture upload to GPU for 2D views
- various small memory management speed optimizations in math library, marker tracker & network sensor initialization
- lots of small bugfixes, prevention measures, optimizations and potential memory leaks based on static code analysis
- added warning in GUI that small marker sizes are not recommended (unless the volume is small)
- Some internal changes to hopefully avoid issues with false positives on some anti-virus/malware heuristics
- updated to latest Intel RealSense v2.42.0
- extended beta to 1st of April

------------
 BETA v0.72
------------
- audio class now reports warnings/errors to message log (instead of console window only)
- setting audio device now logs what format settings were actually used
  (since if an invalid format is set in the GUI it will try to select the closest valid settings)
- removed internal behavior of limiting number of network packets to process in one go 
  as it could potentially prevent some crucial communication in rare occasions
- some minor cosmetic cleanup in headless/console mode output
- fixed cosmetic issue where markers in color view of sensor with mirrored color (like Azure Kinect) were drawn without mirroring
- fixed issue with headless/console mode not working and always starting full GUI on trial version
- fixed a potential (but rare) race condition for the GUI when passing bodies/markers to other classes
- fixed issue where network sensor didn't start sending when GUI also had a local sensor
- fixed issue when running with multiple sensors on a network client
- fixed possible multi threading race condition when running with multiple sensors from a network client
- added additional debug info to the crash uploader to help isolate where exactly it crashed
- different way of compression used in installer, slightly bigger file but potentially better compatibility with anti-virus/malware scanners
- updated to latest Stereolabs ZED SDK v3.4.0

------------
 BETA v0.71
------------
- added option to scale fused texture to smaller size
- fixed cosmetic issue where headless version would only display data of the first sensor
- fixed potential race condition crash when receiving markers from network sensor
- fixed issue with network machine with multiple sensors only sending data from the first sensor due to server not receiving all init packets due to max_packets restriction
- viewport text rendering will now be skipped on graphics cards / drivers that don't support it to avoid a crash
- console/headless version now writes to a separate log file
- cleaned up message log output of connected sensors to be more compact
- updated to latest Intel RealSense v2.41.0
- extended beta to 1st of March

------------
 BETA v0.70
------------
- added support to record audio
  - using any device supported in windows, not just depth sensors with embedded microphones
  - records to a WAV file
- added support to use WAV audio files on the timeline
  - can be files recorded along with BPC files or any other source
  - audio clips will be mixed during export and trimmed to the timeline export start/end settings
  - mixed audio can be exported to a WAV file
- added chapters to documentation on loading data into Unity, UE4 and 3D animation (or other) apps
- added options for different naming schemes for image sequences
- rewrote audio device handling and WAV writer
- rewrote internal handling of mute/solo states
- consolidated timeline / output setting reader so there is no duplicate code between GUI and batch processor
- moved "warn for overwriting" toggle to export panel to make it more easily accessible (instead of top menu)
  - this is saved/loaded with the timeline/output settings
- fixed a potential crash in the audio waveform display widget
- fixed issue where track mute/solo states weren't being respected when number of tracks changed
- fixed issue where time sampling in Alembic files could be wrong resulting in files playing too fast or containing to few frames
- export range is now automatically restricted to range containing BPC frames only
- added additional checks to catch rare crash in marker detector
- start button in batch processor is now greyed out when there are no items in the queue
- updated several internal libraries to latest versions

------------
 BETA v0.69
------------
- completely rewrote marker aligner
  - now has option to work with a static marker or moving marker
  - now comes with a brand new mathmatical solver that uses more data to optimize to the most optimal solution
  - ability to run a two pass solve (based on moving marker) for tighter alignment
  - ability to detect markers and do alignment based on clips on the timeline
    - this can be more flexible and more accurate than doing everything on live sensors
- implemented a new marker pattern/detector
  - old markers are still fully supported
  - new markers are labeled experimental
    - detection is usually a bit faster and more efficient, especially with moving markers
    - corner refinement should be a bit more robust
    - should be a bit more robust during movement
    - still labeled experimental (feedback is welcome)
- improved internals of marker detector to more intelligently use sensor calibration and detect marker type/size/mirroring
- rewrote how paper size and marker length are passed around
- added export preset for Holo CatchLight by Prometheus Vision https://assetstore.unity.com/packages/add-ons/holo-catchlight-plugin-pro-177405
  - allows you to use Holo CatchLight's Unity playback integration
  - exports OBJ and JPG/PNG texture sequence
  - automatically uses compatible filename structure and settings
  - use Holo CatchLight's ObjSeqConverter to convert the output to an MP4 file that can be used with the Unity integration
- added a LAS pointcloud exporter option
- added global offset
  - applies a position/rotation offset to all clips on the timeline
- added tooltip for SenseXR export
- added a Z-tweak multiplier option to BPC clips
- added a warning to the message log if multiple sensors are detected with one sensor not receiving any frames
  - suggesting that the computer may not have enough USB bandwidth for all the sensors
- added functionality to drag & drop thesefiles onto 3D viewport
  - alignment file, loads them onto live sensors or timeline (depending on what's currently visible)
  - timeline file
  - output settings file
- added some missing tooltips
- Batch Processor default now has "Create Timeline Subfolder" enabled
- moved timestamp further to the left in the sensor table
- when Kinect v2 could not be initialized with synchronization it is now retried without synchronization
- fixed potential crash when loading calibration data from an old BPC file
- fixed a regression issue with mute/solo of track would hide the wrong clip in the 3D viewport
- fixed a regression issue where PNG output would save as JPG in last version
- fixed issue where timeline would not always resize correctly when loading new BPC file(s)
- fixed erroneous "Timestamps of sensors seems to vary quite a lot" message when GUI was displaying video or depth view
- fixed cosmetic issue where progress bars in batch processor were scaled 1 frame too large
- fixed cosmetic issue where "Generate Marker PDF" window wasn't showing preview of the marker in release version
- fixed issue with Batch Processor not exporting SenseXR files
- updated to latest Stereolabs ZED SDK v3.3.3
- extended beta to 1st of February

------------
 BETA v0.68
------------
- added export preset for Sense of Space's SenseXR https://www.senseofspace.io
  - allows you to use SenseXR's Unity playback integration
  - exports Alembic mesh and JPG/PNG texture sequence
  - automatically uses compatible filename structure and settings
  - from SenseXR's top menu simply use File > Import > Alembic (.abc) to import the asses, it should automatically find the accompanying texture sequence
- fixed issue where triangles meshes had inverted normals
- changed how Alembic UVs are constructed to make it

------------
 BETA v0.67
------------
- added an (advanced) option to blocklist sensors
  - allows user to specify a list of names
  - when initializing sensor names are checked against this list
  - if sensor name contains an item from the list it will be skipped and not connected
- these settings are now added to output settings files
  - global cropping settings (box & cylinder)
  - body segmentation settings
  - randomize points settings
- added additional check in image exporter to prevent crash when image data is somehow invalid
- fixed some memory leaks in body segmentation class
- fixed a possible crash in timeline GUI
- fixed issue with a few save dialog boxes stating "open" and not checking for file overwrite
- fixed issue with display of clips with large offsets on different tracks not displaying correctly
- fixed issue with batch processor not respecting time offset for clips
- fixed issue with batch processor not loading bounding box cropping Z values correctly
- internal sensor code & compiler settings now align better for trial/retail version
- changed to a more robust and standard way of handling keyboard shortcuts
- small improvements in memory managment
- updated to latest Stereolabs ZED SDK v3.3.1

------------
 BETA v0.66
------------
- fixed issue with installer not copying some files needed for Orbbec sensors
- increased number of internal buffers
- small string conversion optimization in UDP network message creation
- added a Batch Processor
  - separate application that can be started from within the main app or Windows Start menu
  - reads one or more timeline files and exports to the various output file formats
  - options to overrule various things like output path/filename
  - allows you to process & export multiple files at once without the need of the base app

------------
 BETA v0.65
------------
- fixed issue with initialization of Orbbec Astra sensors
- added functionality to save/load output settings to a file, instead of only saving/loading it with all timeline settings
- added mesh decimation setting to mesh export settings to reduce mesh density
- added option to switch meshing to quads or triangles (used to be quads only)
  - quads is faster to generate
  - triangles can produce slightly cleaner edges since they can be split in two diagonal ways
- small speed increase for meshing in quads mode
- added functionality to change clip color (used by visualization on the timeline and 3D viewport)
- added a warning at the end of marker alignment if your marker is relatively small in relation to sensor resolution and distance to it
  - and a suggestion to print a larger one for better results
- fixed a crash that could occur when exporting with textures enabled and then exporting again without textures
- fixed issue with texture path in OBJ material files being incorrect
- fixed issue with initialization of Orbbec Astra sensors
- fixed issue where exposure settings in GUI could get out of sync
- added a few small memory initialization fixes
- explicitly set heap & stack reserve site in compiler to 4MB now
- updated to latest OpenCV 4.5.0
- updated to latest Intel RealSense v2.39.0
- extended beta to 1st of December

------------
 BETA v0.64
------------
- fixed issue in color to depth timestamp correlation used for recording BPC files
  - only seemed to occur when recording with video or depth window showing, not with 3D view
  - showed itself on Azure Kinect sensors but may have been prominent (to a lesser effect on other sensors too)
  - could result in frame stuttering between color & points when playing back in PointCloud v3
- fixed issue with timeline bounds becoming incorrect when removing all clips while playing and then adding new clips to the timeline

------------
 BETA v0.63
------------
- added "Settings > Save Marker For Printing" option from the top menu so you can use it without connecting to sensor(s)
- added extra check in raw body data buffer copy
- fixed issue with paper size not switching to "custom size" after setting a custom marker length
- fixed a potential out of bounds error in marker aligner
- small change in internal buffer locking cadence
- "running multiple sensors on laptop" warning now only triggers if there are multiple local sensors (instead of local + network sensors)
- marker data for network sensors is now processed in background thread with double buffering, just like pointcloud data

------------
 BETA v0.62
------------
- network classes now uses a new internal buffering method to avoid race conditions especially on slower machines
  - similar to what was already implemented for sensors and BPC reader in previous versions
- added feature to use gamepads to remote controll certain features
  - works with any gamepad that is supported by Windows (for example XBox controllers)
  - works with wired and wireless controllers
  - buttons can be configured to start/stop recording and alignment functions
- GUI now shows amount of free disk space
- console version now prints clock offset once connected to a server
- console now shows amount of free disk space (once recording has started and recording folder is known)
- more verbosity when variation of (network) sensor timestamps suspiciously large
- 2D texture views now highlight selected clip
- improved internal available buffer selection mechanism in BPC Reader
- fixed issue with BPC writer where it wouldn't dump color timestamps in the lookup table when using Azure Kinect JPG stream
- fixed issue where marker length wouldn't change as it was internally tied to the wrong GUI widget element
- fixed cosmetic issue with fps counters in sensor table weren't properly colored for network sensors
- removed superfluous warning in BPC color loader
- default setting is to toggle network sensors ON in the GUI now
- message log now automatically switches back to originally selected tab after 5 seconds, if it was brought to the front on an error/warning

------------
 BETA v0.61
------------
- implemented a more robust and deeper integrated way to synchronize clocks between network machines
  - if clocks are not synchronized this may break alignment and data fusion
  - also automatically detects when device vs machine timestamps need to be re-measured
- fixed a possible crash that occur at the end of alignment calibration on some setups
- fixed issue where disconnecting sensors while calibration was running didn't properly reset the GUI button states
- fixed small cosmetic issue with rotaton and timestamp overlapping at times in console output
- added A1 and A0 paper size presets for markers
- disabled LowDelay and enabled KeepAlive on network sockets to hopefully help with network congestion on some systems
- sensor details are now printed to the log after a few seconds to give network sensors a bit of time to send their stream details to the GUI
- internally now forces the use of desktop OpenGL drivers (which was the default on almost all machines anyway)
  - overruling a QT_OPENGL environment setting that a user or other program may have set
  - a QT_OpenGL setting of "angle" could prevent some GUI widgets from being drawn

------------
 BETA v0.60
------------
- fixed issue with Intel RealSense calibration printing out errors
- fixed a crash that could happen when initializing an Orbbec sensor
- cleaned up Settings menu in the top menu by moving items to Network and Sensors submenus
- fixed cosmetic issue with network bandwidth indicator displaying incorrect numbers
- improved Kinect v1 default calibration (unfortunately SDK for fetching data from device does not exist)
- improved Orbbec Astra default calibration (unfortunately SDK for fetching data from device is still broken and support staff is unresponsive)

------------
 BETA v0.59
------------
- fixed regression issue with timestamps on network sensors not being adjusted properly anymore when synchronized with GUI
  - this could cause issues with alignment, pointcloud recording and data fusion with network sensors
- fixed some issues with Sensor Transform export
  - scale was 100 times too small
  - rotation offset was incorrect for default FBX camera pointing along local X axis
  - camera name now matches the name of the clip it belonged to
  - export no longer hangs after first frame when just exporting sensor transforms (and nothing else)
- fixed an issue with Azure Kinect internal depth frame not being cleared properly before filling
  - causing weird trailing on the bottom half of the image when loading a BPC file into PointCloud v3
- fixed issue with Kinect v1 timestamp correlation getting out of whack in some multi-sensor cases
- fixed issue with sensors from BPC file got a double transform in 3D viewport and FBX export (pointcloud was fine)
- added additional error checking for requesting calibration data for RealSense sensors as it could crash in some cases
- message that's displayed when beta version has expired should be a bit more clear now and suggest downloading latest version
- rolled back to previous version or particle export library as latest version broke PRT export
- added option to top Settings menu to print calibration data for connected sensors
- implemented a completely new way to handle sensor calibration data
  - no longer needs lens calibration files
  - automatically switches to fetching details from drivers/SDK where possible
  - new internal development tools to validate and create default calibration data
- fixed issue with Orbbec driver detection for latest driver versions
- updated to latest Intel RealSense v2.38.1 SDK
- ongoing research & development work on (marker) alignment code and math, not ready for release yet though
  (upcoming versions may need you to print a new marker btw)

------------
 BETA v0.58
------------
- quick fix release since regression in previous version could fail to detect license in some cases

------------
 BETA v0.57
------------
- improved internal buffering of BPC reader
  - more robust against multi threaded race conditions
  - should no longer crash if resolution (or some other things) change between frames
    (for example when switching Azure Kinect clip between lowrez / hirez)
- fixed issue with color-depth transform not being correct for Azure Kinect BPC clips (for lowrez/hirez switch)
- fixed some missing data in network packets for markers
- fixed issue with marker set origin
- fixed issue where single sensor marker length and paper size weren't properly connected to internal functions
- moved single sensor marker length to advanced settings (just like multi sensor already was)
- added a mention to the license info window that it will only display v3 license info
- updated to latest ZED SDK v3.2.2
- updated particle export library to latest version
- lots of research & development work on (marker) alignment code and math, not ready for release yet though
  (upcoming versions may need you to print a new marker btw)

------------
 BETA v0.56
------------
- added a scale multiplier on the export tab to adjust the scale for mesh & particle exports
- added a toggle to enable/disable UV export for Alembic files (used to always be enabled in previous versions)
- added option to write vertex colors to Alembic files (this may not be supported by all 3D apps)
- some small memory & speed improvements in Alembic exported
- fixed issue with Licensing > Show License Info not properly working on beta before

------------
 BETA v0.55
------------
- made BPC-reader and network classes more robust against trying to decompress buffers with invalid size
- multi-core optimizations in the sensor frame processing (depending on CPU and core count up to several milliseconds per frame)
- multi-core optimizations in the network frame codec (depending on CPU and core count up to several milliseconds per frame)
- fixed issue with the new buffering causing pointcloud/floor alignment/refinement not to be able to fetch the latest buffer at times
- fixed some issues with pointcloud alignment (may still not be optimal, working on improving this for the future)
- fixed issue with floor leveling during pointcloud alignment using an old and much less robust algorithm than "Refine Floor Plane" did
- fixed issue where floor refinement didn't work properly for multiple sensors anymore
- pointcloud alignment is now more verbose in the message log
- removed "Slow" preset for pointcloud alignment/refinement as it didn't perform any better than the standard "Fast" one
- last message log file is now moved to a _old folder at startup so we always keep the current and previous log for debugging / crash reporting purposes
- updated to new compiler profiting from new optimizations
- updated a bunch of internal libraries to the latest versions
- updated to latest ZED SDK v3.2.1

------------
 BETA v0.54
------------
- added additional check in GPU load measurement to prevent crashes on AMD GPUs where measurement doesn't work
- optimized internal buffering algorithm
- fixed issue with recording lossless color for Azure Kinect causing a crash at the start of the recording
- fixed issue where internally BPC file didn't store ZED sensor model correctly
- fixed issue where app could get stuck in a loop re-writing registry settings in certain GUI configurations resulting in slowdown
- last message log file is now moved to a _old folder at startup so we always keep the current and previous log for debugging / crash reporting purposes

------------
 BETA v0.53
------------
- new memory buffering algorithm for live sensors & BPC file loader to prevent race conditions
- fixed some potential issues with Intel RealSense sensor model detection and potential initialization crash
- fixed issue where ZED settings would also show up for other sensors on selected sensor tab
- switched to slightly less aggressive compiler optimization regarding instruction set as it could cause a crash with pointcloud alignment
- updated to latest Intel RealSense v2.36.0 SDK

------------
 BETA v0.52
------------
- quick fix release since I forgot to enable the StereoLabs ZED GUI buttons, doh

------------
 BETA v0.51
------------
- optimized 3D pointcloud rendering speed
- added a new and more accurate, but also slower, body segmentation algorithm
- progress bar now also lists current frame number during export
- message is printed to the log when a new firmware is available for Azure Kinect sensor
- several small bug fixes
- fixed potential bug in network server
- fixed issue with marker detection being unreliable on previous version on Kinect v2
- fixed issue with network sensor FPS readings not updating correctly in sensor table since previous version
- fixed multi-threaded race condition in console/headless version when sending network data
- updated to latest Azure Kinect drivers/SDK v1.4.1
- updated to latest Intel OpenVINO SDK

------------
 BETA v0.50
------------
- added support for StereoLabs ZED sensors (v1, v2 and Mini should work)
- fixed an issue with 3D viewport not drawing anything on some AMD graphics cards
- fixed an issue where loading Azure Kinect clips got broken in the last version
- slightly tweaked internal marker detection parameters
- switched to using device lens intrinsics from drivers/SDKs that support it

------------
 BETA v0.49
------------
- added support for latest Intel RealSense L515 LiDAR sensor
- added option to top menu to enable/disable playing of beeps at recording/alignment start/stop
- added Remote Triggering option
	- all Brekel apps have this option to synchronize recording start/stop/filenames
- changed how internal buffers are handled in BPC loader to prevent race conditions
- when no sensor is selected Selected Sensor Settings - ID now reads "Nothing selected in Sensors Table"
- added option to Sensor Settings tab to allow for setting if current sensor is primary or not
- fixed crash in RealSense color to 3D lookup (could manifest during marker detection for example)
- extended beta license to 1st of August

------------
 BETA v0.48
------------
- changed how FPS is calculated for display in the GUI
	- used to be based on system clock timestamps in the processing loops
	- now is based on the frame timestamps, which (on the SDKs that support it) better reflect the real device fps
- added a GPU usage percentage readout (NVidia only) to the bottom right of the GUI
- the "Install Drivers" options now read "Download & Install Drivers"
- added a warning message if after 15 seconds no data has been received when downloading drivers
- the sensor table and display settings are now greyed out at startup to pursuade new users to look at the "Connect Sensors" button
- increased "Connect Sensors" button a bit to help new users find it
- when the user hasn't connected sensors in 10+ seconds after startup a friendly reminder hint is displayed in the message log
- small cosmetic tweak for empty lines in the message log
- updated to latest Orbbec SDK v2.1.1

------------
 BETA v0.47
------------
- lightened the icon colors a bit
- Hyper-V and Virtual network adapters are now considered when selecting a suitable network adapter
- added some additional compiler optimizations
- prepared licensing system for a wider release
- prepared Trial version

------------
 BETA v0.46
------------
- no longer crashes when connecting a sensor on a CPU without AVX2 instruction support
- fixed issue with Azure Kinect pointcloud being cropped in previous version
- Azure Kinect resolution change now takes effect on the next sensor connection to avoid possible crash
- you can now stop a running pointcloud alignment/refinement by clicking the button again
- made the sensor stall detector a little more conservative
- updated to latest Intel RealSense SDK v2.34.0

------------
 BETA v0.45
------------
- small improvement on color image debayering on Kinect v1 for both speed and edge quality
- some fixes to help prevent deadlocks
- additional check in BPC loader for invalid packets
- missing sensor drivers are no longer logged as warnings/errors
  - this would bring the message log to the front for users that may not be interested in some sensor types
- at startup "connect sensors" button will now slowly blink to attract attention from first time users :)
- console version now also prints CPU & GPU info at startup
- CPU info now also includes AVX/SSE support
- extended beta license to 1st of July

------------
 BETA v0.44
------------
- fixed possible crash for Azure Kinect when switching to Video tab
- added a Processing Time readout in the selected sensor tab to help find bottlenecks
- added a warning when running on a laptop not connected to power
- added a warning when running multiple sensors on a laptop
- added a Slow/Fast preset for pointcloud based alignment/refinement (previously was always fast)
- tab in bottom dock now automaticaly switches back to timeline when export finishes
- fixed an issue when muting/soloing a track scrubbing the timeline would show/hide the wrong track data

------------
 BETA v0.43
------------
- added option to toggle message log sounds for errors & warnings 
- fixed issue where video textures were horizontally flipped (and didn't map correctly on mesh UV coordinates)
- sensors are now set to manual exposure by default
- improved timestamp accuracy for Kinect v1 / Kinect v2 / Azure Kinect and RealSense sensors
- added a stall detection background thread that checks for stalled sensors/solvers/etc and logs a warning when detected
- fixed an issue with marker detection on Intel RealSense sensors
- updated some internal libraries
- updated to latest Orbbec SDK
- extended beta license to 1st of June

------------
 BETA v0.42
------------
- added hint where to find Azure Kinect sync ports when running multiple sensors without sync cables
- added first revision of documentation in PDF form
- added additional internal smoothing for floor detection
- updated to latest Azure Kinect SDK v1.4.0
- updated to Intel RealSense v2.33.1

------------
 BETA v0.41
------------
- fixed issue with 3D viewport camera rotation
- text drawing in console is now more efficient
- text drawing in console doesn't flicker anymore
- text drawing in console now uses warning colors for
  - high CPU / memory usage
  - low frame rates
- marker tracker now runs on it's own thread instead of on the sensor thread
- added additional checks in data fuser to prevent invalid numbers
- added additional check in Alembic exporter to prevent invalid UVs
- added additional protection against multi threaded race conditions in drawing classes
- minor multi threading optimization in data fuser
- extended beta license to 1st of May

------------
 BETA v0.40
------------
- fixed potential crash when connecting to a Kinect v2 sensor while it couldn't access one of the requested streams
- fixed potential crash in several exporters by adding a color out of bounds check
- fixed potential crash in texture exporter
- fixed issue where cropping bounding box / cylinder would dissapear when changing some other drawing settings
- fixed issue with video exporter mirroring
- fixed issue where color mapping to pointcloud could be broken on Kinect v1 sensors
- fixed issue where console would state Brekel Body instead of PointCloud
- fixed issue where console's close button was disabled when running in headless mode
- fixed issue where Kinect v2 sensor would freeze after initialization in headless mode
- fixed issue where video/depth windows would not draw data after the first sensor connect
- speed optimizations for several internal math functions
- speed optimizations for Kinect v1, Kinect v2 & Azure Kinect sensors for multi-core machines
- speed optimizations in BPC reader
- "Fused Data" drawing settings are now only displayed when live sensor data is displayed
- "Live Sensor - Color Exposure Settings" are now only displayed when live sensor data is displayed
- marker based aligner now:
  - uses best quality markers that got collected instead of rejecting potentially bad ones at the incoming stage
  - quality is determined by the angle to the sensor and velocity (lower is better)
  - user can tune the percentage of markers used
    - 0.00 is all markers used for alignment regardless of quality
	- 0.99 only the 1 percent best quality markers used for alignment
  - adjusted the defaults for "Detect Every Nth Frame" and "Align Every Nth Frame" to 5 (was 10)
- added green screen options in clip settings
  - allows to crop out pixels of a green screen
  - has option for spill correction to help color correct greenish pixels that reflected light from the green screen
  - has option to erode the mask a few pixels to clean up the edges

------------
 BETA v0.39
------------
- small tweak for non-additive pointcloud drawing
- added option to the GUI for to shrink body segmentation mask
- fixed issue with crash report generation/upload
- fixed issue where Kinect for XBox360 sensors depths were getting clipped
- fixed issue with settings being saved too often
- fixed issue where edge filtering in BPC loader post processing got broken and stopped working
- implemented a new architecture for brand/type specific sensor settings
  - dynamically adds controls to GUI
  - sends/receives them for network sensors
- added exposure control for Kinect v2, Azure Kinect sensors & RealSense sensors (seems not supported on Kinect v1 & Orbbec)
- added tilt motor control for Kinect v1 sensors
- added near mode control for Kinect for Windows v1 sensors (not supported on Kinect for XBox 360)
- added color offset setting for Kinect v1 & Orbbec sensors
- added color mirror setting for Orbbec sensors
- added emitter and filtering settings for Intel RealSense sensors
- added "custom size" option for marker size
  - in case you printed them and the measured size is slightly different
- improved mouse-over tooltip for alignment start/stop buttons for additional clarity

------------
 BETA v0.38
------------
- exposed body segmentation to the GUI
  - you can now enable this to isolate bodies and remove the background automatically
  - based on a sensor agnostic, deep learning detection and segmentation approach
- improved overall body segmentation quality and stability
- CPU/Memory usage indicators now turn orange/red on high usage
- fixed issue with floor detection not being applied to body segmentation internally, which could cause less accurate results for refinement
- fixed memory leak in body segmentation code
- fixed issue where transform offset rotation Y & Z were coupled in the GUI
- fixed a few issues where some of the newer settings didn't save/load with the timeline settings correctly
- added option to crop using a cylinder shape (beside already existing bounding box)
- added option to limit marker detection to every n-th frame to reduce CPU overhead
- selected sensor's pointcloud now always draws on top while others are dimmed
- sensor frustums now draw in the same color as the sensor/pointcloud
- markers now draw a line to the sensors that detected them in the 3D viewport
- bodies now draw a line to the sensors that detected them during alignment
- increased internal threshold for marker interpolation time
- alignment now reports to the GUI:
  - which sensors were aligned to which
  - how many markers were used for the alignment
  - also logged when the alignment is finished
- added a popup dialog when loading alignment file which allows to specify per sensor what data to load from the file
  - you can specify to not load data for a specific sensor
  - you can remap in case current sensor names differ from what is in the file
  - if matches are found a one-to-one mapping will be the default (you can hit enter to immediately load)

------------
 BETA v0.37
------------
- 2D views now include sensor ID numbers along with their names
- reduced clutter in commandline window during initialization of Azure Kinect sensors
- fixed issue with sensor drivers not being recognized
- fixed issue with sensor driver install options not showing up under settings in top menu
- added cropping to post processing settings (applied to all sensors at once in global space)
  - removed per-sensor post-transform cropping from clip settings
- added randomize to post processing settings (applied to all sensors at once in global space)
  - removed per-sensor randomize from clip settings

------------
 BETA v0.36
------------
- added support for PLY in binary format (as used by Keijiro's PCX for example)

------------
 BETA v0.35
------------
- updated to Intel RealSense SDK v2.32.1
- updated to Alembic v1.7.12
- updated to FreeImage v3.18.0-8
- message are now not only displayed in 3D viewport but also 2D viewports and bottom status bar
- improved internal body segmentation
  - helps for pointcloud alignment & refinement, especially for Azure Kinect
- when selecting a sensor the tab on the left now auto switches to "sensor settings"
- when selecting a clip   the tab on the left now auto switches to "clip settings"
- fixed issue where tilt settings didn't show up in the GUI for Kinect v1
- fixed issue where RealSense specific settings didn't show up in the GUI
- sensor IDs in table now start with 1 instead of 0
- primary and selected sensors are now indicated in the 3D & 2D viewports and sensor table
- fixed a bug where sensor names would dissapear in 2D views after selecting one
- fixed an issue where infrared texture would draw as black in 3D viewport for Kinect v2
- implemented better way to get a unique id/name for Kinect v1 & v2 devices
- updated internal libraries
- started digitally signing executable to help alleviate anti-virus false positives

------------
 BETA v0.34
------------
- small efficiency improvements in network encoding/decoding
- investigated GPU (NVidia & Intel) compression/decompression
  - leaving things to CPU for the moment as the speed is comparable and it's compatible with all machines
- created a new algorithm for segmenting humans from pointcloud data without the need of joint data
- implemented a new pointcloud refinement method which is faster than the old one and now multi-threads across sensors
- implemented a new pointcloud alignment method
  - does an initial (rough) alignment based purely on pointcloud data (no bodies/markers)
  - will ask you to stand in the middle of the volume (an assymetric pose can help)
  - this is dependent on pointcloud overlap and may not be as robust as marker-based alignment for all setups
  - can automatically perform pointcloud refinement in succession for a tighter fit
  - can automatically perform floor leveling
  - not fully robust yet (see known issues) but a new version needed to be released due to expiration of the previous beta
- rewrote the floor detection and segmentation algorithm for refinement based on floor to be more robust
- rewrote internal timer so code can be reused more easily
- removed PCL dependency
- now sets OpenMP environment variable to prevent 100% CPU usage on some machines in some cases
- marker alignment now reports how many matches it found in the log
- extended beta license to 1st of April

------------
 BETA v0.33
------------
- network communication read buffer is now set to 1MB instead of automatic
- network buffers are now polled and read at set intervals isntead of automatic
- network low latency flag is now enabled
- network keep alive flag is now disabled
- low frequency mode check is now disabled in network sensor
- fixed bug where stream fps wasn't correctly used from network sensors
- fixed issue where changelog wouldn't display when new version was available
- small speed improvements in sensor & network processing calculations

------------
 BETA v0.32
------------
- fixed cosmetic issue displaying driver download link when downloading from backup URL
- fixed issue when loading calibration files sometimes data was applied to the wrong sensor
- fixed problem where internal ids of multiple Azure Kinect sensors could become incorrect when using sync cables
- updated to Azure Kinect SDK v1.3.0

------------
 BETA v0.31
------------
- fixed an issue where Alembic files had a corrupt time sampling setting when the export start frame was 0
- fix for a rare multi-threaded race condition in the BPC loader
- cleaned up some threads on program exit
- added option to select preferred network adapter (Top Menu > Settings)
  - this will be used at startup of the GUI or headless version of the app
- updated to latest Orbbec SDK
- extended beta expiration date to 1st of February 2020

------------
 BETA v0.30
------------
- changed some of the pointcloud drawing default settings to be better suited for textured pointclouds
- when downloading a driver links no longer display %20 for spaces
- 2D video widgets make a deep copy of incoming data again
- memory managment now drops frame data copy and sending it to GUI if that is still busy processing the previous frame
- updated Orbbec driver link to astra-win32-driver-4.3.0.10
- fixed cosmetic issue with sensor name/resolution text in 2D widgets when selecting a sensor
- fixed issue with network sensor saving it's resolution to the registry under it's network name instead of local sensor name
- fixed issue with the marker aligner not sending it's results to the GUI anymore in release version
- fixed issue with network client timestamps not synchronizing correctly in release version which could cause:
	- issues with potential sensor connection loss
	- issues with display flicker
	- issues with pointcloud recordings

------------
 BETA v0.29
------------
- changed how internally frames from the sensor processing threads are shared with the GUI
  - to prevent some rare crashes that occur when running the software for 20 minutes on some machines
- web links and changelog pointed to Body v3 pages, fixed now
- increased minimum network packet size for internal processor for better stability
- network sensors with disabled pointcloud streaming now continue to report fps & timestamp to GUI
- made top menu background a little darker for better contrast with rest of the app
- removed "alignment refine" tab (for now) as it relied on body tracking joints (working on some new stuff for that)
- removed the need for some internal memcopies for frames, this should increase speed and efficiency
- removed the need for some internal multithreading mutex waiting, this should increase speed and efficiency
- fixed issue with flickering in 3D & 2D widgets for network sensor data
- fixed issue where depth from network sensors didn't display in GUI anymore after a previous update
- fixed issue where sensor models were drawn reversed
- fixed issue where cropping values for live sensor had Z values reversed
- fixed issue where deselecting timeline clips didn't always redraw
- fixed issue where wrong pointcloud would be shown/hidden when clips were offset on timeline
- fixed issue with setting transform on a network sensor did not affect the right sensor if there were multiple sensors on a network client
- fixed cosmetic issue with network bandwidth display in the console
- fixed cosmetic issue with 2D viewers not always displaying sensor name
- fixed cosmetic issue with sensor frustums not drawing for network sensors
- changed sensor initialization sequence for headless/console version
  - should now resemble GUI version
  - should now respect resolution settings read from registry
- timeline controls:
  - CTRL + Left Mouse Click to select clip
  - Middle Mouse Click to deselect clip
  - SHIFT + Left Mouse Drag to slide clip and adjust in/out points

------------
 BETA v0.28
------------
- fixed a bug where marker tracking for Azure Kinect in InfraRed mode stopped working after a previous update
- fixed a bug where some sensors had a marker offset in 3D space
- fixed a bug where transform offset rotation Y & Z were acidentally coupled in the GUI
- fixed a (rare) potential crash in the 3D widget on startup
- fixed issue where sensor frustum's were inversed
- fixed issue when using network sensors only the first sensor would toggle marker tracking on/off
- fixed issue when using network sensors where tracked marker data wasn't applied to the correct sensor in the GUI app
- fixed issue with network sensor markers being rejected too quickly due to sensor transform being sent as position/rotation instead of matrix
- network communication now always sends full transform instead of position/rotation
- when typing values into spinbox widgets internal value is only updated when editing has finished
- restricted Azure Kinect messages to critical only
- added a warning when using multiple Azure Kinect devices without using sync cables
  - includes link to Microsoft documentation web page on how to install such cables
  - https://support.microsoft.com/en-us/help/4494429/sync-multiple-azure-kinect-dk-devices
- added new commandline toggles for enabling/disabling mutex usage to control multi-threading
  -use_mutex_3d       turns mutexes ON for 3D view            -no_mutex_3d       turns it off		( default = ON)
  -use_mutex_video    turns mutexes ON for video/depth views  -no_mutex_video    turns it off		( default = ON)
  -use_mutex_sensor   turns mutexes ON for sensors            -no_mutex_sensor   turns it off		( default = OFF)
  -use_mutex_network  turns mutexes ON for networking         -no_mutex_network  turns it off		( default = OFF)
- added multi-threading deadlock detector that can hopefully help identify program hangs
  - a message will be printed to the black console window
  - a message will be added to the log file to your "\Documents\Brekel\Brekel_Body_v3.log" file
  - please drop an email to beta@brekel.com with a copy of the warnings as these are very hard to reproduce as it doesn't always occur on every system/setup/workflow

------------
 BETA v0.27
------------
- fixed a bug where mute/solo was hiding/showing the wrong clips in the 3D widget and exporter
- tooltip and statustip descriptions now mention "locally connected sensors" explicitly
- when a certain sensor type was not found after trying to connect the checkbox is now automatically disabled in the GUI
  - so sensor discovery will be more efficient the next time only focussing on existing sensor types
- added option under Settings menu to force saving settings
  - as usual settings are saved to the Windows registry and automatically loaded at startup and saved when the app exits
- internal changes on how last used resolution is loaded & applied at startup
- consolidated color/IR resolution into video resolution
- app will now ask to upload latest crash report file at startup if it finds one
- improvements to marker tracking accuracy
- updated internal libraries

------------
 BETA v0.26
------------
- crash uploaded was mangling description text on some machines
  - switched to new way of adding text to the report
  - hopefully this helps as I can't reproduce it on any of my machines
- added exporter for raw depths in PNG file format (uint16 millimeter units)

------------
 BETA v0.25
------------
- fixed a crash in the crash uploader tool that could occur on some machines (isn't that ironic)
- UVs were flipped for geometry output formats, fixed now
- fixed cosmetic bug where changing export start/end frames didn't update drawing in the timeline
- fixed issue where timeline zoom wouldn't update correctly at startup until current frame was changed
- video output now automatically scales if frame size changes during the timeline (scaling to the initial size)
- lowrez/hirez toggle for Azure Kinect clips was hidden in public version
- disabled network multi threading mutexes by default as it turned out to be that a previously fixed crash was not in the networking code after all
  - can be re-enabled using this commandline flag: -usenetworkmutex

------------
 BETA v0.24
------------
- 2D views now draw clip name and resolution
- sensors in 3D view now show clip name
- 2D views now clean up when the number of tracks in the timeline change
- GUI now displays a message in the viewport while opening a BPC file
  - especially handy at startup when waiting for a few files to load from the previous session
- fixed a crash that could happen during export
- added option to skip creating a bug report when a crash is detected
- lowrez/hirez mode for Azure Kinect files now actually switches
- added option to directly upload a bug report along
  - your name/email so I can contact you (optional)
  - a small description on when the bug happened (mandatory)
  - a description explaining how to reproduce the bug to help me recreate and debug it (optional)
- added Mute/Solo buttons for timeline tracks
  - mute hides all the clips on that track
  - solo only shows the clips on that track
  - mute/solo applies to both the 3D view as well as export
- updated internal libraries to latest versions

------------
 BETA v0.23
------------
- added range slider widgets to the cropping settings
- worked on the range slider widget internals
  - now prevents invalid values
  - can now be paired with spinboxes
  - better integrated painting
  - dragging is more intelligent depending on where the user clicked
- Z cropping was inverted in the GUI, fixed now
- added some additional protection against multi-threaded race condition crashes
- app now tries to keep track of which driver/SDK version you installed
  - tracks driver/SDK installed from any Brekel v3 app
  - compares to latest supported driver/SDK version 
- updated to Azure Kinect Body Tracker Preview v0.93 for improved tracking stability
- added compression and binary/ascii options to PCD exporter
- Azure Kinect sensor warning/error messages no longer play sound
  - especially during startup when acquiring sync it could produce a cascade of warnings.
- changed the mechanism on how the app checks if sensors have stopped recording
  - should prevent a signal not getting across and the GUI not resetting back ready for a new recording, especially on fast machines
- improved quality of "Remove Points Outside Color Lens" filter  

------------
 BETA v0.22
------------
- Orbbec sensors should now be found and should work, after recreated the build project
- removed "Single-Sensor License" as it is not relevant, beta's have no restrictions
- added additional protection against invalid packets in BPC reader
- added additional protection against invalid network video packets
- fixed an issue with some sensor network packages not being initialized properly which could cause a crash on first connection
- fixed an issue that could make the GUI crash on recording end in some cases
- fixed an issue when connecting to a headless client that got disconnected before
- small memory & performance improvements for network video compression/decompression by caching some things
- console/headless version now prints the last few messages from the log to the console
- errors/warnings from Azure Kinect drivers/SDK are now passed through to the message log
- cleaned up some leftover debug messages

------------
BETA v0.21
------------
- fixed issue Azure Kinect color in BPC files due to internal memory manager not passing compressed buffer
- fixed an issue where some old BPC files from v2 would not load any points
- fixed small cosmetic issue where Kinect v2 sensor would report an infrared framerate (when it's actually using the color stream)
- fix to prevent timeline bounds to cross
- hidden a few GUI controls of unfinished features
- cleaned up the message log on sensor initialization a bit

------------
BETA v0.20
------------
- Initial public beta release

			
				
  • letterboxd