v0.13.1

[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

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

v0.12.0

[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

v0.11.3

[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

v0.11.2

[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

v0.11.1

[0.11.1] - 28 November 2022

Added

Changed

Fixed

• CUDA Runtime is now linked statically.

v0.11.0

This is the first public release of RGL binaries, provided as a convenience to skip the building process.
To learn more, you can check README.md, USAGE.md, the documented API header, or start a new discussion.