v0.17.0

[msz-rai]

[0.17.0] 11 June 2024

Added

• Added radar sensor simulation
  • Added API call to process point cloud to create radar-like output
    • rgl_node_points_radar_postprocess
  • Added API call to remove ground using RANSAC method to fit the plane model to the point cloud
    • rgl_node_points_remove_ground
  • Added API call to filter ground based on the incident angle of the ray hitting the mesh triangle
    • rgl_node_points_filter_ground
  • Added API call to publish RadarScan message into ROS2 topic
    • rgl_node_publish_ros2_radarscan
  • Added new fields (point attributes) calculation:
    • Velocity of the hit point on the entity. Depends on entity's linear and angular velocity, and mesh deformations (inferred from calls rgl_entity_set_pose, rgl_scene_set_time and rgl_mesh_update_vertices).
      • RGL_FIELD_ABSOLUTE_VELOCITY_VEC3_F32
      • RGL_FIELD_RELATIVE_VELOCITY_VEC3_F32
      • RGL_FIELD_RADIAL_SPEED_F32
    • Normal vector of the mesh triangle where the hit-point is located
      • RGL_FIELD_NORMAL_VEC3_F32
    • Incident angle of the ray hitting the mesh triangle
      • RGL_FIELD_INCIDENT_ANGLE_F32
    • Azimuth and elevation angle of the hit point
      • RGL_FIELD_AZIMUTH_F32
      • RGL_FIELD_ELEVATION_F32
• Added API call to compact point cloud by given field (RGL_FIELD_IS_HIT_I32 or RGL_FIELD_IS_GROUND_I32)
  • rgl_node_points_compact_by_field
  • At the same time, rgl_node_points_compact became deprecated
• Added set of calls to check if API objects are still valid
  • rgl_mesh_is_alive
  • rgl_entity_is_alive
  • rgl_texture_is_alive
  • rgl_node_is_alive
• Added raytrace node configurations
  • Added API call to configure values for non-hit points
    • rgl_node_raytrace_configure_non_hits
  • Added API call to configure sensor velocity (necessary for velocity distortion or calculating fields RGL_FIELD_RELATIVE_VELOCITY_VEC3_F32 and RGL_FIELD_RADIAL_SPEED_F32)
    • rgl_node_raytrace_configure_velocity
  • Added API call to configure (turn on/off) velocity distortion
    • rgl_node_raytrace_configure_distortion
• Added support for LiDAR reflective value (similar to intensity but set as a single floating-point value for the entire entity)
  • Added API call to set laser retro value to the entity
    • rgl_entity_set_laser_retro
  • Note: could be replaced with 1x1 float-type texture in the future
• Added CI to the project using GitHub actions
• Added static build option
  • Added variable to the CMakeLists (default OFF):
    • RGL_BUILD_STATIC

Changed

• Optimized tape files format to be lighter and be loaded faster
  • Note: old tape files are not compatible
• Improved docker-based build pipeline
  • Introduced multistage dockerfile for the build process
  • Decoupled dependency installation from compilation scripts (better caching)

Removed

• Removed API call for modifying RaytraceNode to apply velocity distortion
  • rgl_node_raytrace_with_distortion
  • Replaced by rgl_node_raytrace_configure_distortion

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This discussion was created from the release v0.17.0.