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v0.14.0

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@msz-rai msz-rai released this 22 Jun 15:39
· 120 commits to main since this release

[0.14.0] 22 June 2023

Added

  • Added feature to query in runtime if specific extensions were compiled in the binary
    • Added API call:
      • rgl_get_extension_info
    • Created a tool that prints all the extensions in the given RGL binary:
      • inspectLibRGL
  • Added instance/semantic segmentation feature
    • Added API call to set the ID of the entity:
      • rgl_entity_set_id
    • Added a new field that can be returned:
      • RGL_FIELD_ENTITY_ID_I32
  • Added material information reading and converting to intensity based on intensity texture assigned to the entity:
    • Added API calls:
      • rgl_mesh_set_texture_coords
      • rgl_entity_set_intensity_texture
      • rgl_texture_create
      • rgl_texture_destroy
  • Added publishing raw lidar packets via UDP
    • In the closed-source version only
  • Added unity tests to field RGL_FIELD_DISTANCE_F32

Changed

  • Changed value of non-hits points from CUDART_INF_F to FLT_MAX
  • Updated docker README information

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.