v0.18.0

[msz-rai]

[0.18.0] 24 July 2024

Added

• Added radar object tracking feature
  • Added API call to produce point cloud with radar objects
    • rgl_node_points_radar_track_objects
• Added mechanism to simulate fault injection
  • Added API call to mask groups of rays
    • rgl_node_raytrace_configure_mask
• Added multi-return simulation
  • Currently, this feature is limited to outputting a single return point cloud, but the user can select which return mode is simulated (first or last)
  • Added API call to configure beam divergence
    • rgl_node_raytrace_configure_beam_divergence
  • Added API call to switch between return modes:
    • rgl_node_multi_return_switch
• Added new fields: RGL_FIELD_INTENSITY_U8 and RGL_FIELD_TIME_STAMP_U32
  • These fields are duplicates of existing fields but are stored in other data types
• Added default intensity configuration
  • Added API call to configure default intensity
    • rgl_node_raytrace_configure_default_intensity
  • Default intensity is considered when hitting entities with no intensity texture set

Changed

• Renamed ROS2 field name for RGL_FIELD_RING_ID
  • ring -> channel
• Changed the content of time stamp fields (RGL_FIELD_TIME_STAMP_F64 and RGL_FIELD_TIME_STAMP_U32)
  • Previously, it was time on the scene when the raytrace is triggered
  • Now, it holds the time have passed since the time of the raytrace trigger when given point was measured
    • If velocity distortion is disabled, the time stamp for all points will be zero
• Intensity value of the point is based on intensity texture of the entity and the incident angle
  • The influence of the incident angle was added

Removed

• Removed deprecated API call
  • rgl_node_points_compact
  • Please use rgl_node_points_compact_by_field instead.

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This discussion was created from the release v0.18.0.