v0.13.0

[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