Changelog

[2.1.1] - 2022-10-14

Added:

  • Added Photosensor v2 node that outputs samples as a StructuredBuffer instead of a CircularStructuredBuffer.
  • Added Frame Bundler node to accumulate Photosensor v2 samples into output frames.
  • Added PhotosensorToIntensity v2, PhotosensorToRange v2, PhotosensorToIntensityBuffer v2, PhotosensorToPointCloud v2, PhotosensorToInstanceSegmentation v2, PhotosensorToSemanticSegmentation v2 and VelodynePhotosensorToPointCloud v2: new photosensor transcoder nodes taking the output of the Frame Bundler.
  • Added SamplesPerFrame output to the Photosensor Controller node.

Changed:

  • Updated system graphs used in all lidar prefabs to use the new Photosensor v2, Frame Bundler and photosensor transcoder nodes.

Fixed:

  • Fixed crash when using a SensorSDK camera in a scene where there is no MainCamera tag.
  • Fixed Point cloud viewer, which is now looking for the MainCamera tag instead of the Main Camera GameObject name.
  • Fixed circular buffer overrun for lidars with rotation rate slower than 1 Hz.
  • Fixed Ouster OS0-128 Viewer graph, that is now referring to the OS0-128 graph correctly.
  • Fixed Segmentation camera output in standalone mode so the image is not black anymore.
  • Fixed Segmentation camera output so the first renderer does not use a transparent color anymore.

[2.0.5] - 2022-08-09

Added:

  • Added Repeated Frames output to PhotosensorArray.

Changed:

  • Split the camera demo scene into multiple scenes.
  • Changed lens components to render during LateUpdate.
  • Changed Camera Controller to enforce Use ClockSource Frequency.

Fixed:

  • Fixed cameras to ensure a maximum of one Render call per Unity cycle.
  • Fixed skew caused by distortion in the FishEyeLens.
  • Fixed DC Motor so that rotations of more than 360 degrees in a single update are handled correctly.

[2.0.1] - 2022-06-10

Added:

  • Added new look-up table (LUT) mapping node for better visualization.
  • Added gray LUT for intensity visualization and turbo LUT for depth or range visualization in existing graphs.
  • Added look-up table (LUT) mapping support for point cloud viewer visual effects.
  • Added automatic white balancing for RGB camera, including multiple new graph properties.
  • Improved parallel stereo camera robustness, including a new speckle filter, with new graph properties SpeckleWindow and DisparityVariation.
  • Added instance segmentation and semantic segmentation outputs for ray traced lidars using the Perception package.
  • Added custom beam configurations for lidars.
  • Added support for a firing sequence to get precise timings with 3D lidars.
  • Added LidarController node to control lidars with firing sequence support.
  • Added PhotosensorController node to control grid scan, range finder and ToF camera.
  • Added CubemapSampler for use in custom lens components.
  • Added FishEyeLens component that uses the cubemap sampler to generate fish eye projections.
  • Added Horizontal FoV property to the Generic 3D Lidar system graph to support lidars with field-of-views smaller than 360 degrees.
  • Added Generic 3D Lidar with FoV prefab.
  • Added BrownConradyCamera prefab.
  • Added FishEyeCamera prefab.
  • Added the SensorSDKVisualization layer automatically at project startup.
  • Added Trajectory components to interpolate object trajectories with a higher precision than a Unity Update.
  • Added IntensityPixelShift node to counteract the effect of azimuth offsets in the intensity view.
  • Added ComputeShaderInstance to take care of the compute shader program assembly.

Changed:

  • Upgraded minimum editor version to 2022.1, no need for custom graphics packages anymore.
  • Moved SensorSDK types under the Mechatronics.SensorSDK namespace instead of Mechatronics.SystemGraph.
  • Changed text for properties, ports and nodes to use Range for Euclidean distance and Depth for Z distance.
  • Renamed PhotosensorToDepth node to PhotosensorToRange.
  • Changed format of PhotosensorToRange texture output to RFloat.
  • Changed PhotosensorToRange to output the range in meters, instead of being normalized between 0 and 1.
  • Changed the ToF camera prefab to use path tracing with 8 samples per pixel, to improve intensity image.
  • Moved lidar rendering out of main camera.
  • Disabled the camera in the lens sampler to avoid rendering every frame.
  • Capped texture size to 16384 to align with the values in Texture2D.
  • Renamed Spp property of PathtracedSensingComponent to Samples Per Beam.
  • Changed Lidar intensity texture output format to RFloat from R8.
  • Changed the content of SamplingRequest sent between the lidar controller and the photosensor nodes.
  • Changed DC Motor to use Trajectory to generate high-precision trajectories.
  • Changed the beam distribution on the lidar controller node. It is now defined from a laser config outside the graph.
  • Changed DC Motor's binding from a Transform to a GameObject.
  • Changed Ouster OS0 prefab to use beam azimuth offsets.
  • Changed Velodyne Puck prefab to use a laser config asset for firing timing.
  • Changed LidarController, PhotosensorController, DCMotor and MEMS to enforce Use ClockSource Frequency.
  • Changed PhotosensorArray to use CameraTrigger instead of SamplingRequest.
  • Renamed GenericRGBCamera node to Camera Controller.
  • Changed the API of ExchangeBuffer and PointCloud to use the new StructuredBuffer class.
  • Changed the API of PhotosensorOutputBuffer to use the new CircularStructuredBuffer class.
  • Split the lidar demo scene into multiple scenes.
  • Added a InTranscode port to PointCloudToFile and RenderTextureToFile.
  • Added input ports FrameWidth and FrameHeight to PhotosensorToPointCloud and VelodynePhotosensorToPointCloud nodes.
  • Replaced the MaxApproxErrorDeg graph property of the CameraBasedLidar by a property of the CameraSensingComponent attached to the photosensor GameObject.
  • Replaced the lidar graph properties related to laser beam specifications with properties of the PathtracedSensingComponent (Wavelength, Power, Divergence, Beam Width) attached to the photosensor GameObject.
  • Replaced the IScanPattern property of the Generic MEMS 3D Lidar with a Scan Pattern binding.
  • Replaced the ResolutionX, ResolutionY and Field of view properties of the ToF Camera with a Frustum Laser Config component.
  • Renamed the SamplingRate property to FrameRate in the RangeFinder graph.
  • Renamed the FramePerSecond property to FrameRate in the ToF Camera graph.
  • Renamed the Depth output to Range in the ToF Camera graph.

Removed:

  • Removed MechanicalLidarController node. Use LidarController instead.
  • Removed the MEMSLidarController node. Use LidarController along with the MEMS node instead.
  • Removed the OusterOS0Controller and VelodynePuckController nodes. Use LidarController instead.
  • Removed LaserScanCamera, GridScanController and RangeFinderController nodes. Use PhotosensorController instead.
  • Removed EnableMotionCorrection property from the Generic 3D Lidar graph. For a usage example of CorrectPointCloudMotion, see the lidar demo scene.
  • Removed input ports BeamCount and IsCellsSync from node CorrectPointCloudMotion. The node now assumes temporally equidistant points.
  • Removed FrustumDistribution node. Use FrustumLaserConfig instead.
  • Removed GridDistribution node. Use GridLaserConfig instead.
  • Removed PolarDistribution node. Use SphericalLaserConfig instead.
  • Removed BeamLight node. Use Laser beam of PathtracedSensingComponent instead.
  • Removed GenericBuffer class. Use ExchangeBuffer instead.
  • Removed GenericCircularBuffer class. Use CircularStructuredBuffer instead.
  • Removed RawData class. Use StructuredBuffer instead.
  • Removed nodes specific to YDLidar: YDLidarX4VizController, YDLidarX4ToPhotosensorOutputBuffer, YDLidarX4ToPointCloud.
  • Removed IScanPattern node.
  • Removed UDPStream node.
  • Removed DepthToPointCloud node.
  • Removed BilateralDenoising node.
  • Removed the following types: OrientedPoints, CurveSample, CurveSampleQuaternion, CurveSamplePose, PortTypeCurveSampleQuaternion, PortTypeCurveSamplePose.
  • Removed input ports FramePeriod and SampleRate from the following nodes: PhotosensorToIntensityBuffer, PhotosensorToIntensity, PhotosensorToRange, PhotosensorToPointCloud, VelodynePhotosensorToPointCloud, ShotNoise, IntensityBufferToTexture.
  • Removed lidar graph properties related to laser configuration (BeamStartAngle, BeamCount, BeamOffset). Use a laser configuration component instead.
  • Removed lidar graph property IsCellsSync. Use a firing sequence in the laser configuration instead.
  • Removed IR_Cotton material.

Fixed:

  • Fixed PointCloudToDepth node so it clips points behind the camera and does not use minimum and maximum depth values.
  • Fixed bug where Texture2D property was defined both in SensorSDK and SystemGraph.
  • Fixed typo of IntensityBufferToTexture category, from Transcoders to Transcoder.
  • Fixed accumulation errors in PathtracedSampler.
  • Fixed SensorSDK properties and bindings visibility. They no longer appear when using Add Component.
  • Fixed bug with duplicate custom passes being added to the camera.
  • Fixed corrupted output generated by PointCloudToFile, RenderTextureToFile and SegmentationAsBuffer on the first frame.
  • Fixed bug where camera sensors would not use the main camera environment settings and volume profile.
  • Fixed focal length of the ParallelStereo node which was hardcoded. It is now a FocalLength input port of the node, and a property of the graph.
  • Fixed issue with incorrect lidar intensity a short distance away from the sensor.

[1.0.5] - 2022-02-21

Fixed:

  • Fix issue with Lidar Demo scene

[1.0.4] - 2022-02-04

Changed:

  • Graphics dependencies updated to version 11.0.0-exp.2

Fixed:

  • Fix incorrect intensity with multiple lidars
  • Fix wavelength based reflectivity for shader graphs
  • Fix wavelength based reflectivity for lit shader

[1.0.3] - 2021-12-02

Changed:

  • Sign package

[1.0.2] - 2021-11-23

Fixed:

  • Made camera-based lidar more resilient to slowdowns
  • Fixed crash of lidar demo scene at first run
  • Fixed main camera controller script

Documentation:

  • Added link to installer in the documentation
  • Simplify and clarify installation procedure

[1.0.1] - 2021-11-04

Added:

  • Add prefabs and material for the Material show room scene
  • Add CorrectPointCloudMotion node to correct point cloud generated by moving lidars

Fixed:

  • Point cloud viewer now keeps point cloud at a fixed position for moving objects

Changed:

  • Resized textures in the material library to reduce their size

Documentation:

  • Made a complete SensorSDK documentation audit
  • Add missing API documentation
  • Updated installation procedure
  • Updated table of content
  • Updated known issues to current version
  • Updated pre-requisite section

[1.0.0] - 2021-09-24

Added:

  • Generate point clouds in lidar reference frame
  • Expose gain property on cameras
  • Use position (0, 0, 0) for invalid points
  • Add tangential distortion to the post process lens
  • Add post process radial distortion lens
  • Enable exposure and path tracing overrides
  • Add a CustomPassContext output port named OutTranscode in all sensors
  • Add possibility to define an output property CustomPassContext

Changed:

Fixed:

  • Fix lidar drift and grid scan
  • Fix out-of-bounds conditions in shaders

Documentation:

  • Add missing XML documentation
  • Documentation overhaul
  • Add documentation links to graphs and nodes

[1.0.0-exp.6] - 2021-08-09

Added:

  • Add ExposureTime to camera node and properties
  • Create sensor visualization layer if needed
  • MECH-697 Implement camera-based lidar
  • Recombine Authoring Package Back Into com.unity.systemgraph
  • Add gaussian beam lighting for lidars

Changed:

  • Minor refactor of shaders to extract (possibly) commonly used functions
  • Refactor CameraBuilder

Documentation:

  • Document point cloud encoding
  • Add documentation for lidar limitations
  • Add beam divergence documentation

[1.0.0-exp.4] - 2021-06-09

Added:

  • New VelodynePhotosensorToPointCloud and minor fixes

Changed:

  • Remove SystemTransform
  • MECH-691: fix coordinate systems and intensity offset
  • Add boiler plate to test sensors by comparing images

Documentation:

  • Update SensorSDK docs

[1.0.0-exp.3] - 2021-05-20

Added:

  • Add lensSystem support on UnityCameraDeferred node
  • Change the output of the photosensor arrays to output HDR buffer

Fixed:

  • Fix crash when volumetric fog is enabled on the main camera and we are using a Photosensor
  • Fix Generic 2D lidar Prefab.
  • Remove dangling meta files

[1.0.0-pre.2] - 2021-04-19

Added:

  • Ouster Digital Twin Emulation
  • Upgrade graphics packages and editor to 2021.1.2f1
  • Replace InterfaceNode with InterfaceBinding

Fixed:

  • Fix scanPattern bindings

Documentation:

  • Document how to create a transcoder

[1.0.0-pre.1] - 2021-03-23

Added:

  • Allow dynamic objects by changing ray tracing acceleration structure to use automatic mode
  • Segmentation Deferred Camera implementation
  • Move RGBSensor node and RGBSensorEncoder under interface node to improve extensibility

Changed:

  • Update Prefabs for new properties
  • Preliminary Ouster sensor calibration
  • Rename deprecated namespace SensorFoundation to Mechatronics
  • Refactor old sensor encoder
  • Refactor old transcoder
  • Upgrade Sensor SDK Prefabs for new Property system
  • RGBSensor Refactor 2
  • RGB Sensor Refactor

Fixed:

  • Fix different issues encountered when doing the MNSoft demo.
  • Add support for SystemTransform changing only Rotation instead of overwriting the gameobject transform position and rotation and scale.
  • Fix port type texture2d serialization

Documentation:

  • Update documentation
  • Add scan pattern docs