Upgrade SensorSDK

This section describes the steps to take during upgrades to the SensorSDK and SystemGraph packages.

Upgrade from SensorSDK 2.0 or later

When upgrading a project from SensorSDK 2.0 or later, you can use the Package Manager directly.

Upgrade SensorSDK using the Package Manager

To upgrade SensorSDK, use the normal Package Manager procedure:

  1. Open your existing project that uses SensorSDK.
  2. In the Editor toolbar, select Window > Package Manager.
  3. In the Package Manager window menu, select Package: In Project.
  4. Select SensorSDK in the list, then select Update to.

The SystemGraph package will be updated automatically to match the version required by SensorSDK.

Delete temporary files

It's sometimes necessary to force importing the assets again and recompiling shaders after updating SensorSDK.

  1. Close your project.
  2. In your project directory, delete the following directories, if present: Library, Logs, obj, Temp. They will be recreated automatically.

Reimport samples

If you are using the provided samples in your project, you should reimport them, as they might need modifications after updating the package.

Open your project and follow the Installation procedure.

Note

When opening your project at this point, you might see multiple errors if you are using the old samples. Ignore the errors and reimport the samples.

Upgrade SensorSDK from 2.0.5 to 2.1.0

In release 2.1.0 of SensorSDK, multiple nodes related to the Photosensor and processing its output have been simplified, giving rise to a new set of nodes, denoted with the suffix v2, for example, Photosensor v2. The photosensor now outputs a structured buffer directly, instead of a circular buffer, which simplifies subsequent nodes as they don't have to handle a read index into the circular buffer.

If you are using system graphs and Prefabs that are provided as SensorSDK samples, you have nothing to do apart from reimporting the samples.

Here is the list of affected nodes, which now have a v2 version:

  • Photosensor
  • PhotosensorToInstanceSegmentation
  • PhotosensorToIntensity
  • PhotosensorToIntensityBuffer
  • PhotosensorToPointCloud
  • PhotosensorToRange
  • PhotosensorToSemanticSegmentation
  • VelodynePhotosensorToPointCloud

If you created your own graphs using those nodes, your graphs will still work, using the original version of the nodes.

If you created your own nodes that use a PhotosensorOutputBuffer, those nodes will still work as long as they interact with the original version of the photosensor-related nodes.

If you want to update your nodes to work with the newer v2 versions of the photosensor-related nodes, compare the differences between PhotosensorToPointCloud and PhotosensorToPointCloud v2 node implementations. To summarize, the newer implementation always receive a full sensor frame as a structured buffer, instead of a circular buffer. The node is called exactly once per sensor frame, without the need to accumulate samples until a full frame is ready.

If you want to create new graphs involving a photosensor, you must now include a Frame Bundler node between the Photosensor v2 output and the photosensor transcoder inputs. The Frame Bundler accumulates samples from the Photosensor v2 and outputs full sensor frames.

In SensorSDK 2.0.5, a lidar graph would look like this: Lidar with original nodes

In SensorSDK 2.1.0, the same lidar now looks like this: Lidar with v2 nodes

Upgrade SensorSDK from 1.0.5 to 2.0.1

To upgrade a project using SensorSDK 1.0, do the following:

  1. If it's open, close your project.
  2. In the Assets directory of your project, delete the Library, Logs, obj, and Temp directories, if present.
  3. In the Assets/Samples directory, delete the SensorSDK directory and SensorSDK.meta file.
  4. In the Packages/manifest.json file, remove the following lines:
    • "com.unity.render-pipelines.core": [...]
    • "com.unity.render-pipelines.high-definition": [...]
    • "com.unity.render-pipelines.high-definition-config": [...]
    • "com.unity.shadergraph": [...]
    • "com.unity.visualeffectgraph": [...]
  5. In the Packages/manifest.json file, change the versions of the SensorSDK and SystemGraph packages:
    • "com.unity.sensorsdk": "2.0.1",
    • "com.unity.systemgraph": "2.0.0",
  6. Launch your project with Unity Editor 2022.1. When prompted to change the project version, select Continue.
  7. If asked to enter safe mode, select Ignore.
  8. Import the SensorSDK samples.
Note

If your project uses SensorSDK nodes or types without using the provided prefabs, you might still have errors, as there are some incompatibilities between versions 1 and 2 of SensorSDK.

Avoid modifications to SensorSDK samples

To simplify project upgrades, it's recommended to avoid modifying any of the sample content provided by SensorSDK, such as materials, sensors, and scenes. If you decide to modify the original samples, the upgrade will require manually reintegrating changes done in the newer release.

Upgrade your system graphs

The system graph asset format might change when upgrading the SystemGraph package. To upgrade graphs automatically, select Mechatronics > SystemGraph > Validate and Upgrade Assets.

SystemGraph Menu