RealSense SDK version 2.21.0 now available

[MartyG]

Hi everyone,

Version 2.21.0 of the RealSense SDK is now available for download from the link below.

https://github.com/IntelRealSense/librealsense/releases/

API CHANGES

New IR format introduced to D415 - W10:

• Rectified, 10 bit per-pixels (packed) IR stream
• FullHD configuration only 30 fps
• Can be configured for use in conjunction with Depth stream (which is limited to 720p)

Available as:

• parsed 10 bit per pixel RS2_FORMAT_Y10BPACK
• Raw packed data (4pixel/5bytes) according to V4L2-PIX-FMT-Y10BPACK specification

NEW FEATURES & IMPROVEMENTS

• T265 Firmware update to 0.0.18.5502 - re-localization and tracking stability enhancements
• T265 Wheel Odometer documentation updated.
• Android OS - add Visual Presets support.
• Python wrapper performance enhancement - release GIL during invocation of polling routines
• T265: Disable low power default mode.
• Streamline Linux installation instructions. (contributed by @pedrombmachado)
• CMake enhancements : Simplified T265 FW handling, disabling redundant downloads

BUG FIXES

• Fix typo in Raspbian documentation (contributed by @jonherke)
• Enable rs-measure with USB2 configurations
• Matlab installation build fix with T265 firmware.
• D435i: Fix D435i IMU timestamp precision
• Fix misalignment when generating 3D Pointcloud from Depth-Aligned-To-Color
• Fix "Elseif" statement in Matlab wrapper
• D435i: Fix HID Timestamp trimming
• D435i: Fix Windows Metadata script for IMU-enabled SKUs.

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Full release notes with all linkages and a list of unresolved Known Issues can be viewed at the link below:

https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-2210