v1.4.17

For Azure Kinect:

• NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.17
• Corresponding versions of native SDKs:
  • Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

For Orbbec Femto Bolt/Mega:

• NuGet package: https://www.nuget.org/packages/K4AdotNet-Femto/1.4.17
• Corresponding versions of native SDKs:
  • Orbbec SDK K4A Wrapper: 1.10.1 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

Changes:

• Switching to the version 1.10.1 of OrbbecSDK K4A Wrapper. Support for new API in this wrapper.
• Minor improvements.

v1.4.16

For Azure Kinect:

• NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.16
• Corresponding versions of native SDKs:
  • Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

For Orbbec Femto Bolt/Mega:

• NuGet package: https://www.nuget.org/packages/K4AdotNet-Femto/1.4.16
• Corresponding versions of native SDKs:
  • Orbbec SDK K4A Wrapper: 1.9.2 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

Changes:

• Switching to the version 1.9.2 of OrbbecSDK K4A Wrapper. Support for new API in this wrapper.
• New properties BodyTrackingRuntimePath and BodyTrackingRuntimeVersion in Sdk class.
• Slight reworks around custom memory management: method Sdk.SetCustomMemoryAllocator replaced by property Sdk.CustomMemoryAllocator.
• Bug and typo fix in BodyFrame.SystemTimestamp property.
• Additional notes in comments and slightly better behaviour for image creation in case of OrbbecSDK K4A Wrapper.

v1.4.15

For Azure Kinect:

• NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.15
• Corresponding versions of native SDKs:
  • Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

For Orbbec Femto Bolt/Mega:

• NuGet package: https://www.nuget.org/packages/K4AdotNet-Femto/1.4.15
• Corresponding versions of native SDKs:
  • Orbbec SDK K4A Wrapper: 1.8.3 (included in release and NuGet package).
  • Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

Changes:

• Support for Orbbec Femto Bolt/Mega devices
• New property Sdk.IsOrbbecSdkK4AWrapper
• Minor changes in arguments checks

v1.4.14

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.14

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.1.2 (must be installed/copied separately).

Changes:

• New set of target frameworks: .NET 6.0, .NET Standard 2.0, .Net Framework 4.6.1
• Switching to .NET 7 in samples and tests
• Support for x86 architecture
• Better support for Body Tracking 1.1.2 (but is still compatible with 1.1.*)
• Support for custom memory allocation (Sdk.SetCustomMemoryAllocator method)
• Better +,-,*,/ arithmetic for "time" types (Microseconds32, Microseconds64, Nanoseconds64, Timeout)
• Ability to choose device index in WPF sample applications
• Bug fix in memory management when Image is created for IMemoryOwner

v1.4.13

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.13

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.1.0 (must be installed/copied separately).

Changes:

• Support for Memory<T> and Span<T> in Image class (.Net Standard 2.1 only)

v1.4.12

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.12

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.1.0 (must be installed/copied separately).

Changes:

• More tolerant argument checks in Transformation class
• New static property Sdk.TraceLevel

v1.4.11

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.11

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.1.0 (must be installed/copied separately).

Changes:

• Switching to version 1.1.0 of Body Tracking SDK
• Support for new end points: TensorRT, DirectML
• Support for lite version of DNN model for Body Tracking
• in parameters instead of ref where appropriate
• Minor fixes and improvements

v1.4.1

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.1

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.1 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.0.0 or 1.0.1 (must be installed/copied separately).

Changes:

• Switching to version 1.4.1 of Sensor SDK
• Support for Nullable Reference Types (.NET Core 3.1, .NET Standard 2.1)
• Minor improvements in releasing of Body Tracker resources

v1.4.0

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.4.0

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.4.0 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.0.0 or 1.0.1 (must be installed/copied separately).

Changes:

• Switching to version 1.4.0 of Sensor SDK:
  • Recorder now supports BGRA color format
  • fixed small error in transformation functions
• Support for version 1.0.1 of Body Tracking SDK
• Recorder sample application

v1.3.5

NuGet package: https://www.nuget.org/packages/K4AdotNet/1.3.5

Corresponding versions of native SDKs:

• Azure Kinect Sensor SDK: 1.3.0 (included in release and NuGet package).
• Azure Kinect Body Tracking SDK: 1.0.0 (must be installed/copied separately).

Changes:

• Switching to version 1.0.0 of Body Tracking SDK:
  • multi-tracker support: creation of multiple trackers is allowed
  • multi-thread processing support for CPU mode
  • fixed typo in a joint name: JointType.SpineNaval -> JointType.SpineNavel (breaking change!)
  • add GpuDeviceId to TrackerConfiguration struct: allow users to specify GPU device that is other than the default one to run the body tracking algorithm
• Additional checks in Tracker and Recorder classes for better exception messages