From b287aa501d52e5909413192dfe6ce5b7ec808c7a Mon Sep 17 00:00:00 2001 From: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com> Date: Wed, 24 Jul 2024 14:17:06 +0100 Subject: [PATCH] Bump API version (0.18.0), update CHANGELOG (#319) * Bump API version (0.18.0), update CHANGELOG * Smuggle the docs update * Update CHANGELOG.md Co-authored-by: PawelLiberadzki --------- Co-authored-by: PawelLiberadzki --- CHANGELOG.md | 40 ++++++++++++++++++++++++++++++++++++++++ extensions.repos | 4 ++-- include/rgl/api/core.h | 3 ++- 3 files changed, 44 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6c278cf4..6d162974 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,45 @@ # Change Log +## [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. + ## [0.17.0] 11 June 2024 ### Added diff --git a/extensions.repos b/extensions.repos index 3d3d86c4..f7d7a583 100644 --- a/extensions.repos +++ b/extensions.repos @@ -2,10 +2,10 @@ repositories: extensions/udp: type: git url: git@github.com:RobotecAI/RGL-extension-udp.git - version: develop + version: v0.18.0 extensions/weather: type: git url: git@github.com:RobotecAI/RGL-extension-weather.git - version: develop + version: v0.18.0 diff --git a/include/rgl/api/core.h b/include/rgl/api/core.h index a9d491b0..bd262f7b 100644 --- a/include/rgl/api/core.h +++ b/include/rgl/api/core.h @@ -50,7 +50,7 @@ #define RGL_API NO_MANGLING RGL_VISIBLE #define RGL_VERSION_MAJOR 0 -#define RGL_VERSION_MINOR 17 +#define RGL_VERSION_MINOR 18 #define RGL_VERSION_PATCH 0 // Invalid Entity ID is assign to rays that does not hit any Entity. @@ -326,6 +326,7 @@ typedef enum : int32_t /** * Strength of the returned signal captured by the LiDAR sensor. * It is simulated using intensity textures assigned to entities (see `rgl_entity_set_intensity_texture`). + * The final value also depends on the incident angle of the ray hit. */ RGL_FIELD_INTENSITY_F32, /**