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CHANGELOG.md

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Change Log

[0.16.2] 19 November 2023

Fixed

  • Fixed Gaussian noise nodes to always perform in rays coordinates
  • Fixed distance Gaussian noise to apply error based on distance traveled by the ray (not distance to rays coordinates origin)
  • Fixed graph validation when rays definition is modified

[0.16.1] 13 November 2023

Fixed

  • Fixed a bug introduced in v0.16.0 causing RGL to crash in Compact and Downsample Node when some field was removed from the graph.

[0.16.0] 10 November 2023

Added

  • Added API calls to set relative node's priority, which determines their execution order within a graph (but not between graphs).
    • rgl_graph_node_set_priority
    • rgl_graph_node_get_priority

Changed

  • rgl_graph_run(...) is now fully asynchronous, i.e. it will initiate computations without waiting for them to finish
    • RGL API calls attempting to obtain results from a given node will block until the node has completed execution
    • RGL API calls modifying scene will block until all graphs have completed execution
    • Running a graph will block until the previous run has been completed
  • Changed internal implementation of Entity ID feature
    • The Entity ID is now held in a 28-bit integer (OptiX limit) instead of a 32-bit integer
  • Renamed XYZ field name to be more precise and compatible with future features
    • RGL_FIELD_XYZ_F32 -> RGL_FIELD_XYZ_VEC3_F32

Known Issues

  • Modifying fields between graph's runs (consisted of Compact or Downsample nodes) may cause a segmentation fault. Fixed in v0.16.1.
  • Gaussian noise is not performed in rays coordinates. Fixed in v0.16.2.
  • Modifying rays definition between graph's runs may allow computations on invalid pipeline. Fixed in v0.16.2.

[0.15.0] 23 September 2023

Added

  • Added feature to simulate velocity distortion
    • Added API call to specify the delay between firing each ray:
      • rgl_node_rays_set_time_offsets
    • Added API call to perform raytracing with velocity distortion:
      • rgl_node_raytrace_with_distortion
    • Note: it is a simplified version of that feature
      • The distortion takes into account only sensor velocity
      • The velocity of the objects being scanned by the sensor is not considered
  • Improved ray range configuration
    • Added API call to define min and max range for rays:
      • rgl_node_rays_set_range
    • The range for each ray can be specified individually
    • Modified API call:
      • rgl_node_raytrace
      • No longer takes range as a parameter
  • Improved tape tools
    • Multi-lidar tapes are now supported by tapeVisualizer

Fixed

  • Fixed -march=native imposed compilation option
    • Library builds are compatible with all 64-bit CPUs
    • vcpkg tag has been updated
    • PCL version has been upgraded (1.13.0 -> 1.13.1)
  • Fixed missing dependencies for ROS2 standalone build
  • Fixed tape for API call rgl_entity_set_id
  • Fixed rgl_node_points_visualize
    • Fixed blocking spin loop for up to 1s on some machines
    • Fixed segmentation fault on window close
    • Fixed handling multiple windows at the same time
  • Fixed linking the tests on Windows

Known Issues

  • Destroying rgl_node_points_visualize may deadlock on some machines if multiple windows are spawn
  • Destroying rgl_node_points_visualize may not close window immediately - main thread exit needed

[0.14.1] 5 July 2023

Fixed

  • Fixed building PCL on Windows
    • vcpkg tag has been updated
    • PCL version has been upgraded (1.12.0 -> 1.13.0)
  • Fixed rclcpp (ROS2 package) initialization
    • RGL checks whether rclcpp is already initialized
    • Resolved spdlog conflict between RGL and rclcpp by downgrading its version on the RGL site (1.10.0 -> 1.9.2)

[0.14.0] 22 June 2023

Added

  • Added feature to query in runtime if specific extensions were compiled in the binary
    • Added API call:
      • rgl_get_extension_info
    • Created a tool that prints all the extensions in the given RGL binary:
      • inspectLibRGL
  • Added instance/semantic segmentation feature
    • Added API call to set the ID of the entity:
      • rgl_entity_set_id
    • Added a new field that can be returned:
      • RGL_FIELD_ENTITY_ID_I32
  • Added material information reading and converting to intensity based on intensity texture assigned to the entity:
    • Added API calls:
      • rgl_mesh_set_texture_coords
      • rgl_entity_set_intensity_texture
      • rgl_texture_create
      • rgl_texture_destroy
  • Added publishing raw lidar packets via UDP
    • In the closed-source version only
  • Added unity tests to field RGL_FIELD_DISTANCE_F32

Changed

  • Changed value of non-hits points from CUDART_INF_F to FLT_MAX
  • Updated docker README information

Known Issues

  • rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
    • Fixed in v0.14.1

[0.13.1] 19 April 2023

Fixed

  • Improved performance of temporal merge node.
    • The node doubles the array capacity if it's running out (instead of reallocating every iteration).

Changed

  • Point cloud formatting for rgl_graph_write_pcd_file is performed on the CPU now.
    • We prefer to avoid transferring huge point cloud to GPU (risk of cuda out of memory error).

Known Issues

  • rgl_graph_write_pcd_file causes SEH exception on Windows when trying to save point cloud with ~375 000 000 or more points.
    • The issue has been reported to PCL (link).
  • rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
    • Fixed in v0.14.1

[0.13.0] 29 March 2023

Added

  • Reimplemented Gaussian Noise from RGL v10
    • Added API calls:
      • rgl_node_gaussian_noise_angular_ray
      • rgl_node_gaussian_noise_angular_hitpoint
      • rgl_node_gaussian_noise_distance
  • Added nodes for spatial and temporal point clouds merge
    • Added API calls:
      • rgl_node_points_spatial_merge
      • rgl_node_points_temporal_merge
  • Added node providing a user-defined point cloud to the RGL pipeline (for testing purposes)
    • Added API call:
      • rgl_node_points_from_array
  • Added parameterized tests for:
    • rgl_node_points_from_array
    • rgl_node_points_transform
  • Updated API surface tests
  • Added support for multi-raytrace graphs

Changed

  • Separated PCL nodes and created PCL extension
  • Converted node WritePCDFilePointsNode into single API call
    • Removed API call rgl_node_points_write_pcd_file
    • Added API call rgl_graph_write_pcd_file

Fixed

  • Fixed --build-dir flag in setup.py script

Removed

  • Removed rgl_graph_node_set_active API call

Known Issues

  • rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
    • Fixed in v0.14.1
  • Distance Gaussian noise:
    • Noise is added in wrong coordinate system.
    • Error is calculated based on distance to rays coordinates origin (not distance traveled by the ray)
    • All fixed in v0.16.2

[0.12.0] 8 March 2023

Added

  • ROS2 extension providing a node to publish point cloud into ROS2 topic
    • Added API calls (rgl/api/extensions/ros2.h):
      • rgl_node_points_ros2_publish
      • rgl_node_points_ros2_publish_with_qos
    • Necessary scripting to build ROS2 integration in the standalone mode (not requiring ROS2 installation)
  • API call for setting time on the scene
  • TapeVisualizer tool (PoC)
    • Currently, it does not handle multiple graphs in the tape, to be improved

Changed

  • Rewritten build script from bash to python to enable easy building on Windows

Fixed

  • Minor fixes and refactor in the Tape code
    • Use safer .at() instead of operator[]
    • Using alias type APIObjectID instead of size_t

Known Issues

  • rclcpp (ROS2 package) is always initialized by RGL. It could cause a double initialization if the client's code also did it before RGL.
    • Fixed in v0.14.1

[0.11.3] 11 January 2023

Added

  • API call for tape recording activation status

Fixed

  • Fixed dependencies for tapePlayer tool
  • Handle invalid logger configuration properly
  • Handle empty path passed to tape

[0.11.2] 1 December 2022

Added

  • RGL Auto Tape - feature to start Tape on the first API call writing to a path given in compile-time.

Changed

  • Improved control flow around API initialization and error reporting

Fixed

  • Release build on Linux no longer use debug builds of dependencies (e.g., libPCL)
  • Fixed a hidden bug in CacheManager - unsafe removing while iterating

[0.11.1] 28 November 2022

Fixed

  • CUDA Runtime is now linked statically.

[0.11.0] - 22 November 2022

The initial release.