Sensors Changelog

[0.4.0] - 2023-10-30

Add support for the skinned mesh renderer component and fix bugs on the RayTraced LiDAR. Updated UX for sensor instantiation and editable fields of sensors.

Added

  • The raytraced lidar includes the static meshes of the skinned mesh renderer components. The meshes are static and skinning of vertices will not be considered.

Changed

  • The sensor instantiation context menu and Sensors menu now automatically create parents with ArticulationBody and TfBroadcaster components for instantiated sensors, if they didn't already have them.
  • Some sensor fields are no longer editable during play mode, such as the publisher topic fields for all sensors or the width and height of the image for camera sensors and variants.

Fixed

  • The Laser Scan Output Mode on the RayTraced LiDAR is fixed.

[0.3.5] - 2023-10-18

Added a Time of Flight Sensor, Material Spectroscopy, a Simulation Sensor window, various usability fixes

Added

  • Added Time of Flight Sensor
  • Added the option to select the Divergence Algorithm for Beam Divergence in RayTraced LiDAR, one of which supports setting the number of Samples per Beam.
  • Default templates for Grid, Frustum, and Single Laser configurations.
  • Added GameObject/Simulation/Sensors menu for instantiating sensors in the Hierarchy.
  • Material Spectroscopy, including Sensor Material component, Custom Material Properties and samples containing a library of materials
  • Added Window/Simulation/Sensors editor window for opening the docs, instantiating sensors, and using sensors tools.
  • Fisheye sensor can now simulate auto exposure.

Changed

  • RayTracedLidar now interpolates the origin pose for each unique RayTraceRequest when multiple sweeps occur per-frame
  • The RayTracedLidar prefab now sets intensity to 1 by default
  • Improved the logical ordering of properties in the LiDAR sensor user interfaces.
  • Added a default topic to all sensors.
  • Updated the intensity UI for all three LiDAR sensors.

Fixed

  • Fixed a bug where a lidar firing sequence loaded from a .laserconfig file was not calculated correctly
  • Fixed a bug where the Vulkan Command Buffer would throw exceptions when the number of meshes in the scene was modified at runtime
  • Improved performance of HDRP camera-based sensors.

[0.3.4] - 2023-09-08

Added the option to correct Raytraced LiDAR output when in motion, laser config file support and MEMS-based movment with scan pattern options.

Added

  • Added 'CorrectPointCloudMotion' component for correcting the Raytraced LiDAR output if it is moving during sample acquisition
  • RayTracedLidar now supports using a *.laserconfig file to configure the beam angles.
  • RayTracedLidar now supports MEMS-based movement, and two default scan patterns have been added: CircularPattern and CatPattern.

[0.3.3] - 2023-07-27

Added support for viewing camera output on Distributed Rendering clients, removed obsolete output connectors, and added bug fixes.

Added

  • Added ActivateVisualization script for viewing the image output of sensors on Distributed Rendering clients.

Changed

  • Renamed "Greyscale Filter" to "Grayscale Filter"

Removed

  • Removed unused obsolete output connectors including FileOutputConnector, MultiOutputConnector and RosConnector classes.

Fixed

  • Fixed the issue with Raster LiDAR and Camera Sensor's depth output not working in a standalone build.
  • All sensors can now be disabled and re-enabled in runtime.

[0.3.2] - 2023-07-12

Added grayscale filtering, point cloud export to file, start time offset, and bug fixes.

Added

  • Added grayscale filtering based on red, green, blue channels or luminance.
  • Added point cloud export to .pcd or .las file formats.
  • Added option to randomly offset the start time of synchronized sensors to help distribute the work they do across multiple frames.

Fixed

  • The Stereo Camera projector's angle can now be synced to the camera's horizontal FOV via a toggle.

[0.3.1] - 2023-03-14

Added support for Universal Render Pipeline.

Upgrade Notes

  • All samples need to be reimported as they are now using Shader Graph based materials and a prefab that includes camera and light.

Added

  • Added support for Universal Render Pipeline (URP).

Changed

  • Removed the camera component from all camera based sensor prefabs (RGB Camera, Fisheye Camera, stereo depth and raster lidar). They are created in runtime or can be added in the instances.

Removed

  • Removed HDRP package dependency and made it optional.

[0.3.0] - 2023-03-13

Added a new raytraced lidar and support for compressed image output from camera sensors.

Upgrade Notes

  • If you imported the Advanced samples into your project, you will get compilation errors after the upgrade. Reimport the Advanced samples to fix the issue.

Added

  • Added a new RayTracedLiDAR sensor which uses the Vulkan ray tracing API on Linux and Windows.
  • Added support for PNG and JPG output from RGB and fisheye camera.
  • Added an Image Message Saver component that saves image messages on the specified topic as PNG files.
  • Added a fisheye camera sample scene.

Removed

  • Removed ImageSaver static class. Use SavePNG extension method on ImageMsg instead.

[0.2.0] - 2023-01-30

Added a fisheye camera sensor, and the Brown-Conrady distortion to the existing camera sensor.

Added

  • Added a fisheye camera sensor.
  • Added a new sample scene to generate calibration grid image files for camera calibration.
  • Added Brown-Conrady distortion parameters to the camera sensor.

Changed

  • The Horizontal FOV of the camera sensor and stereo depth sensor is now displayed as degrees in the inspector. It is still parsed as radians from the XML description file.

Fixed

  • Image output from RGB Camera is no longer darkened when noise or distortion filters are applied.

[0.1.2] - 2022-11-16

Bug fixes.

Fixed

  • The raster-based LIDAR now localizes its data against the Transform it had when the data was captured, rather than its current transform.
  • Camera sensor can now publish camera info message correctly.

Changed

  • Changed simulation.foundation dependency to 0.1.2.

[0.1.1] - 2022-11-10

Bug fixes and package samples.

Added

  • Added package samples for Imu, RasterLidar, PhysicsLidar, RGBD Camera, Stereo Camera.

Changed

  • Changed simulation.foundation dependency to 0.1.1.

Fixed

  • Fixed the issue with raster lidar when horizontal range was not 360 degrees.
  • Fixed the crash with raster lidar when running multiple high frequency raster lidars.
  • Fixed the implicit truncation warning from depth output of RGBD camera.

[0.1.0] - 2022-10-10

Simulation Sensors: Ported all existing sensors to the new architecture.

Added

  • Added StereoDepth Sensor
  • Added support for distributed rendering (DR) as an optional dependency

Changed

  • Removed dependency to the SystemGraph package.
  • Changed dependency from Ros-TCP-Connector to the Simulation-Foundation and Simulation-ROS-Integrations.
  • Changed namespace "RosMessageTypes" to "Unity.Simulation.Foundation.CATEGORYMessage".
  • Removed dependency to the Addressable package
  • Moved sensor assets to Resources/Sensors
  • Updated package and test project to Unity 2021.3 (LTS)