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CHANGELOG.md

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Changelog

All releases of the nvblox library will be documented in this file.

The format is based on Keep a Changelog.

[Unreleased]

[v.0.0.6] - Date: 2024-05-08

Added

  • Add end-to-end benchmark script. (#441)
    • Generate KPIs directly from single invocation of script
  • Add block pool allocation during startup. (#468)
  • Add data structure to store 3d ESDF grid. (#500)
  • Add GPU serialization of voxel layers. (#512)
    • Mesh serializer is generalized in order to support serialization of voxel-block layers.
  • Add and integrate image cache. (#526)
    • Allow image cache to have cached images of different sizes at the same time.
  • Add delay measurement feature. (#541)

Changed

  • Change decay to have view-based voxel exclusion. (#466)
  • Change weighting function to linear with max weighting from squared dropoff. (#476)
  • Move parameters to separate class. (#533)
  • Update to jetpack 6. (#539)

Fixed

  • Fix unified ptr async cloner. (#456)
    • 10 percent speedup for replica integration
  • Disable multithreading in image reader. (#487)
  • Disable checks for mapping type in human mapper. (#521)
    • Support for multi-cam as we run humans only in one camera.
  • Support external CMAKE_CUDA_ARCHITECTURES. (#549)
  • Fix image buffers allocation for dynamics. (#550)

[v.0.0.5] - Date: 2023-10-18

Added

  • Finished baseline for dynamic detection. (#367):
    • Integrate full depth to static mapper
    • Ignoring esdf sites in freespace
  • Added a class for effective serialization of a mesh layer. (#372)
  • Added surrounding radius clearing for the occupancy layer. (#378)
    • Move radius clearing to common function upstream
    • Add unit test to check the working
  • Add optional preprocessing to the input depth image to dilate the invalid regions. (#381)
    • This addresses depth bleeding issues we saw when using the realsense 455 on carter.
  • Add TSDF decay integrator (#383)
    • Generalized the existing occupancy decayer to also support TSDF decay.
  • Add a method for getting the names of all rate tickers. (#387)
    • Used in the GXF wrapper to get all timer names to send to sight.
  • Add function to decay all occupancy voxels, without any excluded voxels. (#390)
  • Benchmark GPU<->CPU transfer of mono image. (#396)
  • checkNppErrors macro. (#398)
    • Similar to checkCudaErrors, we use a separate macro for unified handling of npp errors.
  • Add dynamics to fuser. (#399)
    • Move more functionality into multi mapper (to have a cleaner interface to GXF/ROS/fuser)
    • Add parameter structs and parameter default values.
  • Remove small components from mask image. (#397)
    • Introduce function for removing small components from mask image.
    • Computation times on Jetson, 640x480 Real mask image: 2ms Worst-case image: 4ms.
  • Add useful multi mapper functions. (#404)
  • Add optional preprocessing to the input depth image to dilate the invalid regions. This addresses depth bleeding issues we saw when using the realsense 455 on carter. (#381)
  • Removed separable compilation of device code in order to support a wider range of toolchains. (#379)
  • Added test that prevents us from introducing more work on the default CUDA stream. (#347)
  • Support for executing on a user provided CUDA stream to avoid triggering device-wide synchronizations that comes with using the default stream. Async versions of copy and memset operations have been added to container classes in order to support this.
  • Dynamic detection from freespace:
    • DynamicsDetection object which can be used to detect and visualize dynamic objects. (#336)
    • FreespaceIntegrator object to update a freespace layer. (#355)
    • Updating the DynamicsDetection to rely on the freespace layer for detection. (#361)
  • CHANGELOG.md (#338)
  • MeshStreamer object which can be used to limit the bandwidth of the transmitted mesh. (#324)

Changed

  • Changed mapper saving functions to not update/alter the map before saving. (#388)
    • Add function to mapper to save the TSDF. Used in GXF to service request from sight.
  • Change dynamic integration distance to limit computation time. (#406)
  • Moved and refactored esdf slicing functions to a EsdfSlicer object. (#363)
  • Removed unnecessary copy functions of Meshblock. (#362)
  • Refactored ProjectiveIntegrator to simplify the dataflow. (#354)
  • Turn on shadowing warnings. (#358)

Fixed

  • Make changes to get the image masker working if the mask and depth images have different resolutions. (#376)
    • Make changes in image masker to point to correct column values during image access
    • Parameterize image masker test to include different test versions
  • On Jetson/Orin,the CPU and GPU cannot simultaneously access managed memory which causes a segfault in the placement-new operator. (#386)
  • Warnings stemming from external are suppressed by including the using -isystem. (#389)
    • Fixed remaining warnings. Two categories of NVCC warnings are still suppressed.
  • Fix missing CUDAToolkit dependency for CUDA::nppc. (#408)
  • Improved bad-path error-handling in the dataset loaders. (#353)
  • Variable shadowing in the ProjectiveColorIntegrator. (#358)