Nuitrack v0.35.10

3DiVi · Oct 11, 2021 · 0352706 · 0352706
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diff --git a/.gitattributes b/.gitattributes
@@ -3,8 +3,8 @@ Platforms/Nuitrack.apk filter=lfs diff=lfs merge=lfs -text
 Platforms/Nuitrack_arm64.apk filter=lfs diff=lfs merge=lfs -text
 Platforms/TVico.apk filter=lfs diff=lfs merge=lfs -text
 Platforms/nuitrack-linux-armhf.deb filter=lfs diff=lfs merge=lfs -text
-Platforms/nuitrack-linux-arm64.deb filter=lfs diff=lfs merge=lfs -text
 Platforms/nuitrack-ubuntu-amd64.deb filter=lfs diff=lfs merge=lfs -text
 Platforms/nuitrack-windows-x64.exe filter=lfs diff=lfs merge=lfs -text
 Platforms/nuitrack-windows-x86.exe filter=lfs diff=lfs merge=lfs -text
 Examples/Room_Unity3D_Demo.zip filter=lfs diff=lfs merge=lfs -text
+Platforms/nuitrack-linux-arm64.deb filter=lfs diff=lfs merge=lfs -text
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,20 @@
+# Release v0.35.10
+
+**Release Date**: 8 Oct 2021  
+**Nuitrack Runtime version**: 0.35.10  
+**Nuitrack SDK version**: 1.11.9
+
+## Bug Fixes and Improvements
+
+* Fixed incorrect return value for the `GetInstancesJson` function
+* Fixed updating the `pressure` field from the `Hand` structure
+* Fixed need to manually install missing dependencies for **Linux**
+
+## Known Issues
+
+* USB cameras permission issue on **Android 9 (Pie) or higher** except for the **Intel RealSense** sensors
+* Gesture recognition may fail for a sitting pose
+
 # Release v0.35.9
 
 **Release Date**: 1 Sep 2021  

diff --git a/Examples/nuitrack_android_studio_gl_sample/app/libs/nuitrackhelper.jar b/Examples/nuitrack_android_studio_gl_sample/app/libs/nuitrackhelper.jar
diff --git a/Examples/nuitrack_csharp_device_api_sample/nuitrack.net.dll b/Examples/nuitrack_csharp_device_api_sample/nuitrack.net.dll
diff --git a/Examples/nuitrack_csharp_sample/nuitrack.net.dll b/Examples/nuitrack_csharp_sample/nuitrack.net.dll
diff --git a/Examples/nuitrack_gl_sample/android/libs/nuitrackhelper.jar b/Examples/nuitrack_gl_sample/android/libs/nuitrackhelper.jar
diff --git a/Examples/nuitrack_ni_gl_sample/android/libs/nuitrackhelper.jar b/Examples/nuitrack_ni_gl_sample/android/libs/nuitrackhelper.jar
diff --git a/Nuitrack/include/nuitrack/Nuitrack.h b/Nuitrack/include/nuitrack/Nuitrack.h
@@ -183,13 +183,10 @@ class NUITRACK_LOCAL Nuitrack
 	{
 		int size = 0;
 		nuitrack_error* e = nullptr;
-		nuitrack_GetInstancesJsonSize(&size, &e);
-		ExceptionTranslator::handle(e);
-
-		std::string result;
-		result.resize(size);
-		nuitrack_GetInstancesJsonData((char *)result.c_str(), &e);
+		char* resultPtr = nuitrack_GetInstancesJsonDataAlloc(&e);
+		std::string result(resultPtr);
 		ExceptionTranslator::handle(e);
+		nuitrack_GetInstancesJsonDataClear(resultPtr);
 
 		return result;
 	}

diff --git a/Nuitrack/include/nuitrack/capi/Nuitrack_CAPI.h b/Nuitrack/include/nuitrack/capi/Nuitrack_CAPI.h
@@ -38,8 +38,12 @@ NUITRACK_API uint64_t nuitrack_GetNuitrackModuleTimestamp(NuitrackModule*);
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetLicense(char* value, int bufferSize);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetInstancesJson(char* value, int bufferSize);
-NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);
-NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);// deprecated
+NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error); // deprecated
+NUITRACK_API char* nuitrack_GetInstancesJsonDataAlloc(nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonDataClear(char* resultPtr);
+
+NUITRACK_API void nuitrack_SetParam(const char* value);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetVersion(int* version);
 

diff --git a/Nuitrack/lib/android-arm64/libOpenNI.so b/Nuitrack/lib/android-arm64/libOpenNI.so
diff --git a/Nuitrack/lib/android-arm64/libmiddleware.so b/Nuitrack/lib/android-arm64/libmiddleware.so
diff --git a/Nuitrack/lib/android-arm64/libnuitrack.so b/Nuitrack/lib/android-arm64/libnuitrack.so
diff --git a/Nuitrack/lib/android-arm64/nuitrackhelper.jar b/Nuitrack/lib/android-arm64/nuitrackhelper.jar
diff --git a/Nuitrack/lib/android/libOpenNI.so b/Nuitrack/lib/android/libOpenNI.so
diff --git a/Nuitrack/lib/android/libmiddleware.so b/Nuitrack/lib/android/libmiddleware.so
diff --git a/Nuitrack/lib/android/libnuitrack.so b/Nuitrack/lib/android/libnuitrack.so
diff --git a/Nuitrack/lib/android/nuitrackhelper.jar b/Nuitrack/lib/android/nuitrackhelper.jar
diff --git a/Nuitrack/lib/csharp/nuitrack.net.dll b/Nuitrack/lib/csharp/nuitrack.net.dll
diff --git a/Nuitrack/lib/linux64/libmiddleware.so b/Nuitrack/lib/linux64/libmiddleware.so
diff --git a/Nuitrack/lib/linux64/libnuitrack.so b/Nuitrack/lib/linux64/libnuitrack.so
diff --git a/Nuitrack/lib/linux_arm/libmiddleware.so b/Nuitrack/lib/linux_arm/libmiddleware.so
diff --git a/Nuitrack/lib/linux_arm/libnuitrack.so b/Nuitrack/lib/linux_arm/libnuitrack.so
diff --git a/Nuitrack/lib/linux_arm64/libmiddleware.so b/Nuitrack/lib/linux_arm64/libmiddleware.so
diff --git a/Nuitrack/lib/linux_arm64/libnuitrack.so b/Nuitrack/lib/linux_arm64/libnuitrack.so
diff --git a/Nuitrack/lib/win32/middleware.lib b/Nuitrack/lib/win32/middleware.lib
diff --git a/Nuitrack/lib/win32/nuitrack.lib b/Nuitrack/lib/win32/nuitrack.lib
diff --git a/Nuitrack/lib/win64/middleware.lib b/Nuitrack/lib/win64/middleware.lib
diff --git a/Nuitrack/lib/win64/nuitrack.lib b/Nuitrack/lib/win64/nuitrack.lib
diff --git a/Platforms/Nuitrack.apk b/Platforms/Nuitrack.apk
diff --git a/Platforms/Nuitrack_arm64.apk b/Platforms/Nuitrack_arm64.apk
diff --git a/Platforms/nuitrack-linux-arm64.deb b/Platforms/nuitrack-linux-arm64.deb
diff --git a/Platforms/nuitrack-linux-armhf.deb b/Platforms/nuitrack-linux-armhf.deb
diff --git a/Platforms/nuitrack-ubuntu-amd64.deb b/Platforms/nuitrack-ubuntu-amd64.deb
diff --git a/Platforms/nuitrack-windows-x64.exe b/Platforms/nuitrack-windows-x64.exe
diff --git a/Platforms/nuitrack-windows-x86.exe b/Platforms/nuitrack-windows-x86.exe
diff --git a/Unity3D/NuitrackSDK.unitypackage b/Unity3D/NuitrackSDK.unitypackage
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/include/nuitrack/Nuitrack.h b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/include/nuitrack/Nuitrack.h
@@ -183,13 +183,10 @@ class NUITRACK_LOCAL Nuitrack
 	{
 		int size = 0;
 		nuitrack_error* e = nullptr;
-		nuitrack_GetInstancesJsonSize(&size, &e);
-		ExceptionTranslator::handle(e);
-
-		std::string result;
-		result.resize(size);
-		nuitrack_GetInstancesJsonData((char *)result.c_str(), &e);
+		char* resultPtr = nuitrack_GetInstancesJsonDataAlloc(&e);
+		std::string result(resultPtr);
 		ExceptionTranslator::handle(e);
+		nuitrack_GetInstancesJsonDataClear(resultPtr);
 
 		return result;
 	}

diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/include/nuitrack/capi/Nuitrack_CAPI.h b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/include/nuitrack/capi/Nuitrack_CAPI.h
@@ -38,8 +38,12 @@ NUITRACK_API uint64_t nuitrack_GetNuitrackModuleTimestamp(NuitrackModule*);
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetLicense(char* value, int bufferSize);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetInstancesJson(char* value, int bufferSize);
-NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);
-NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);// deprecated
+NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error); // deprecated
+NUITRACK_API char* nuitrack_GetInstancesJsonDataAlloc(nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonDataClear(char* resultPtr);
+
+NUITRACK_API void nuitrack_SetParam(const char* value);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetVersion(int* version);
 

diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libOpenNI.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libOpenNI.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libmiddleware.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libmiddleware.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libnuitrack.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/libnuitrack.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/nuitrackhelper.jar b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android-arm64/nuitrackhelper.jar
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libOpenNI.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libOpenNI.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libmiddleware.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libmiddleware.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libnuitrack.so b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/libnuitrack.so
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/nuitrackhelper.jar b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/android/nuitrackhelper.jar
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win32/middleware.lib b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win32/middleware.lib
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win32/nuitrack.lib b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win32/nuitrack.lib
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win64/middleware.lib b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win64/middleware.lib
diff --git a/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win64/nuitrack.lib b/UnrealEngine/NuitrackPlugin/Source/NuitrackModule/lib/win64/nuitrack.lib
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-1.11.8
+1.11.9
diff --git a/doc/Install.md b/doc/Install.md
@@ -27,11 +27,6 @@ Download and install Nuitrack for your platform:
 ### Software Requirements 
 
 * Ubuntu 14.04 or above
-* [For Ubuntu 18.04 or above] Installed the [libpng12-0](http://launchpadlibrarian.net/233197129/libpng12-0_1.2.54-1ubuntu1_amd64.deb) package
-* [For Arm] Installed the _bluetooth_ and _freeglut_ packages: 
-   ```
-   sudo apt-get install bluetooth freeglut-dev
-   ```
 
 ### Nuitrack Installation 
 

diff --git a/doc/Unity_Point_Cloud.md b/doc/Unity_Point_Cloud.md
@@ -47,15 +47,14 @@ You can find the finished project in **Nuitrack SDK**: **Unity 3D → NuitrackSD
 <b>Characteristics of the Point Cloud object</b><br>
 </p>
 
-2. In the `PointCloud` class, create the fields for displaying depth and color. Then, create the variables that will store the depth and color values:
+2. In the `PointCloud` class, create the fields for displaying depth and color. Then, create the variable that will store the last frame id:
 
 ```cs
 public class PointCloud : MonoBehaviour
 {
 	[SerializeField] Material depthMat, colorMat;
 
-	nuitrack.DepthFrame depthFrame = null;
-	nuitrack.ColorFrame colorFrame = null;
+	ulong lastFrameID = ulong.MaxValue;
 }
 ```
 
@@ -162,16 +161,18 @@ void Update()
 {
 	bool haveNewFrame = false;
 
-	if ((NuitrackManager.DepthFrame != null))
-	{
-		if (depthFrame != null)
-		{
-			haveNewFrame = (depthFrame != NuitrackManager.DepthFrame);
-		}
-		depthFrame = NuitrackManager.DepthFrame;
-		colorFrame = NuitrackManager.ColorFrame;
-		if (haveNewFrame) ProcessFrame(depthFrame, colorFrame);
-	}
+    if (NuitrackManager.DepthFrame != null)
+    {
+        nuitrack.DepthFrame depthFrame = NuitrackManager.DepthFrame;
+        nuitrack.ColorFrame colorFrame = NuitrackManager.ColorFrame;
+
+        bool haveNewFrame = (lastFrameID != depthFrame.ID);
+        if (haveNewFrame)
+        {
+            ProcessFrame(depthFrame, colorFrame);
+            lastFrameID = depthFrame.ID;
+        }
+    }
 }
 ```
 
@@ -195,7 +196,7 @@ void ProcessFrame(nuitrack.DepthFrame depthFrame, nuitrack.ColorFrame colorFrame
 			// If the camera colors are not received, the default color is applied
 			Color rgbCol = defaultColor;
 			if (colorFrame != null)
-			rgbCol = new Color32(colorFrame[i, j].Red, colorFrame[i, j].Green, colorFrame[i, j].Blue, 255);
+				rgbCol = new Color32(colorFrame[i, j].Red, colorFrame[i, j].Green, colorFrame[i, j].Blue, 255);
 			rgbColors[pointIndex] = rgbCol;
 
 			++pointIndex;
@@ -280,17 +281,17 @@ for (int i = 0; i < rgbTexture.height; i++)
 ```
 10. In the `ProcessFrame` method, change the position of the **Point** (cube) along the Z (depth) axis. In some cases, the sensor can't identify the depth of the point. As a result, the Z coordinate has the value of 0. Let's hide the points with Z=0 for correct display of the image. After that, we change the position and size of the **Point** (cube).
 
-```cs
-points[pointIndex].GetComponent<Renderer>().material.color = rgbCol;
-
-// Change the position of the Point (cube) along the Z axis
-Vector3 newPos = NuitrackManager.DepthSensor.ConvertProjToRealCoords(j, i, depthFrame[i, j]).ToVector3();
-
+```cs 
 // Hide the Prefabs with the depth = 0
 if (depthFrame[i, j] == 0)
-points[pointIndex].SetActive(false);
+	points[pointIndex].SetActive(false);
 else
 {
+	points[pointIndex].GetComponent<Renderer>().material.color = rgbCol;
+
+	// Change the position of the Point (cube) along the Z axis
+	Vector3 newPos = NuitrackManager.DepthSensor.ConvertProjToRealCoords(j, i, depthFrame[i, j]).ToVector3();
+
 	points[pointIndex].SetActive(true);
 	points[pointIndex].transform.position = newPos; // Change the Point position          	         
 }

diff --git a/doc/Unreal_Engine_Android_Tutorial.md b/doc/Unreal_Engine_Android_Tutorial.md
@@ -363,4 +363,4 @@ void ANuiSampleGameModeBase::OnSkeletonUpdate(SkeletonData::Ptr userSkeletons)
   auto skeletons = userSkeletons->getSkeletons();
   ...
 }
-```
+```
diff --git a/doc/Unreal_Engine_Windows_Tutorial.md b/doc/Unreal_Engine_Windows_Tutorial.md
@@ -280,7 +280,7 @@ FVector ANuiSampleGameModeBase::RealToPosition(Vector3 real)
 
 11. Build a Visual Studio project. 
 
-12. Before running the sample, update the `tbb.dll` library (see more info in [Troubleshooting > Nuitrack Plugins](/doc/Install.md#nuitrack-plugins)). 
+12. Before running the sample, update the `tbb.dll` library (see more info in [Troubleshooting > Nuitrack Plugins](/doc/Troubleshooting.md#unreal-engine)). 
 
 ## Integrating Nuitrack with an Existing Unreal Engine Project
 
@@ -332,4 +332,4 @@ void ANuiSampleGameModeBase::OnSkeletonUpdate(SkeletonData::Ptr userSkeletons)
   auto skeletons = userSkeletons->getSkeletons();
   ...
 }
-```
+```
diff --git a/iOS-beta/nuitrack_sample/nuitrack.framework/Headers/Nuitrack.h b/iOS-beta/nuitrack_sample/nuitrack.framework/Headers/Nuitrack.h
@@ -183,13 +183,10 @@ class NUITRACK_LOCAL Nuitrack
 	{
 		int size = 0;
 		nuitrack_error* e = nullptr;
-		nuitrack_GetInstancesJsonSize(&size, &e);
-		ExceptionTranslator::handle(e);
-
-		std::string result;
-		result.resize(size);
-		nuitrack_GetInstancesJsonData((char *)result.c_str(), &e);
+		char* resultPtr = nuitrack_GetInstancesJsonDataAlloc(&e);
+		std::string result(resultPtr);
 		ExceptionTranslator::handle(e);
+		nuitrack_GetInstancesJsonDataClear(resultPtr);
 
 		return result;
 	}

diff --git a/iOS-beta/nuitrack_sample/nuitrack.framework/Headers/capi/Nuitrack_CAPI.h b/iOS-beta/nuitrack_sample/nuitrack.framework/Headers/capi/Nuitrack_CAPI.h
@@ -38,8 +38,12 @@ NUITRACK_API uint64_t nuitrack_GetNuitrackModuleTimestamp(NuitrackModule*);
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetLicense(char* value, int bufferSize);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetInstancesJson(char* value, int bufferSize);
-NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);
-NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonSize(int* size, nuitrack_error** error);// deprecated
+NUITRACK_API void nuitrack_GetInstancesJsonData(char* data, nuitrack_error** error); // deprecated
+NUITRACK_API char* nuitrack_GetInstancesJsonDataAlloc(nuitrack_error** error);
+NUITRACK_API void nuitrack_GetInstancesJsonDataClear(char* resultPtr);
+
+NUITRACK_API void nuitrack_SetParam(const char* value);
 
 NUITRACK_API tdv::nuitrack::ExceptionType nuitrack_GetVersion(int* version);
 

diff --git a/iOS-beta/nuitrack_sample/nuitrack.framework/Info.plist b/iOS-beta/nuitrack_sample/nuitrack.framework/Info.plist
@@ -15,7 +15,7 @@
 	<key>CFBundlePackageType</key>
 	<string>FMWK</string>
 	<key>CFBundleShortVersionString</key>
-	<string>0.35.9</string>
+	<string>0.35.10</string>
 	<key>CFBundleSignature</key>
 	<string>????</string>
 	<key>CFBundleVersion</key>

diff --git a/iOS-beta/nuitrack_sample/nuitrack.framework/nuitrack b/iOS-beta/nuitrack_sample/nuitrack.framework/nuitrack
-Original file line number
+Diff line change
@@ Expand Up @@
       auto skeletons = userSkeletons->getSkeletons();
       ...
     }
-    ```
+    ```