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Version: 3.4.0

Release Note

June 30th, 2022 | Version : SENSR-I 2.4.6

warning

Breaking Changes of SENSR-I 2.4.6 are:

1. New License Server is needed to license validation

2. REST API's deprecation

You can check a quick guide to upgrade to SENSR-I 2.4.6 here.

SENSR-I​

General UI & UX​

  • NEW | Exporting config changes as a txt-file in a human-readable format is supported. So that users can easily see and share which configuration settings they have changed and what the default value is. → More detail
  • NEW | Changing 'Grid Interval' is available in 'View > Preferences > Miscellaneous'.
  • CHANGED | 'Draw Intensity Visualization' is changed to 'Intensity Visual Mode' in 'View > Preferences'.
  • CHANGED | Menu bar structure is rearranged by grouping menu items into related functions. → Check menu bar change details
  • CHANGED | Naming for 'Sensor Setup' and 'Sensor Setup Mode' changed as 'Project Setup' and 'Project Setup Mode'.
  • CHANGED | Save popup window is shown when preset was changed in algo node setup popup window.
  • CHANGED | Added an loading popup for operations that require time such as validating with license server, launch algo nodes, loading map model files, and etc. The process can be cancelled by clicking 'x' button.
  • DEPRECATED | 'Window' tab is deleted from 'View > Preferences'.

Licensing​

  • NEW | License authentication part is separated from SENSR-I and managed in a new tool called 'License Server'. The license file is compatible with all SENSR-I 2.X versions, but Installation and Activation of the License Server is required to use SENSR-I 2.4. → Check how to install and activate license server

LiDAR connection​

  • NEW | Blickfeld's Cube 1 and Cube 1 Range is now integrated with SENSR-I.
  • NEW | Innovusion's Falcon is now integrated with SENSR-I.
  • CHANGED | Hesai's configurable Azimuth FOV option is added. start_angle parameter can be specified in SENSR-I.
  • CHANGED | Quanergy's driver is updated to the version 4.0.1.
  • FIXED | Unstable connection with Aeye’s driver is fixed
  • FIXED | Bug that Cepton LiDAR cannot be added when at least one sensor is added beforehand is fixed.

Features​

Project Setup​

  • NEW | Drag&drop functionality to move lidars between algo nodes is added.
  • NEW | Importing 3D map as a background is supported in addition to importing 2D map in 'Menu > View > Background Map'
  • CHANGED | Port field in algo node setup is added so that user can run multiple alo nodes in a single machine as long as the ports are not identical.
  • CHANGED | Map Setting now has the same user interface as moving algo/sensor. Map object can be moved in x,y,z direction and rotated in yaw, roll, pitch direction. If both algo/sensor control and map setting popup are opened, control user interface will be enabled for whichever popup they clicked most recently.
  • CHANGED | master ip address in algo node setup widget can be either typed manually and selected from combobox.
  • FIXED | Infinite loading issue of starting Algo Node is resolved.
  • DEPRECATED | 'common_sensor.bin' from the project folder is removed.

Zone Setup​

  • NEW | New zone type 'Reflection Zone' is introduced to remove noises coming from mirrors(or glasses) by drawing zone where mirrors're located. → Check how to set up Reflection Zone
  • NEW | New zone type 'Static Zone' is introduced to prevent static object being regarded as background even though the object doesn't move for long time. → Check how to set up Static Zone
  • CHANGED | Put more freedom to edit zones so that user can add/modify/delete individual vertices while drawing zone polygons and also rotate zone polygon.
  • DEPRECATED | Crash when the zone names are duplicated is fixed

Calibration​

  • CHANGED | Rendering logic is upgraded so that 200+ LiDARs can be calibrated using SENSR-I in a single device
  • FIXED | In Ground Alignment Mode, hidden point clouds will stay hidden and selected points will be highlighted until they are applied.

Retro-reflective Tracking​

Virtualization​

  • NEW | Dockerized SENSR-I for x86 environment is deployed.

Algorithm & Settings​

General Parameters | Common > Output​

  • CHANGED | Naming changed from 'Point-cloud Update Interval' to 'Background Points Update Interval'.
  • CHANGED | Naming changed from 'Sensor Update Interval' to 'Sensor Status Update Interval'.
  • DEPRECATED | 'Publish Point-Cloud Intensity' is disabled.

General Parameters | Common > Input​

  • CHANGED | 'Pipeline Cycle' naming is changed to 'Input'.
  • CHANGED | 'Processing Delay Time', 'Frame Frequency' is replaced by 'Number of Frames Operating Delayed', 'Frame Interval(s)', respectively

General Parameters | Common > Retro-Reflection Tracking​

  • NEW | 'Enable Retro-Reflection Tracking', 'Min Point Count' and 'History Threshold' are newly introduced.

General Parameters | Common > Reflection Filter​

  • NEW | 'Use Simple Filter [2D]', 'Use detection limit' and 'Detection Limit' are newly introduced.

General Parameters | Common > Zone Setting​

  • NEW | 'Zone Filter Resolution' is added.
  • CHANGED | 'Trigger Zone Events with MISC Objects' is moved from 'General > Common > Output'.

Master Node Parameters | Output-Merger > Multi Algo-Node Merger​

  • DEPRECATED | 'Dominant Algo-Result Criterion', 'Overlap-Region Map Resolution', 'Max-Box-Distance to Split', 'Grow-Size x-Tolerance', 'Grow-Size y-Tolerance', 'Grow-Size Rate-Tolerance' and 'Grow-Size Addition-Tolerance' are deprecated.

Algo Node Parameters | Parameter > Object​

  • NEW | 'Min. Points for Object Tracking' and 'Min. Radius for Object Tracking' are newly introduced.
  • DEPRECATED | 'Box Orientation Resolution' is deprecated.

Algo Node Parameters | Parameters > Tracking​

  • NEW | 'Drifting Period for Miscellaneous Objects' is newly introduced.
  • DEPRECATED | 'Min. Points for Tracking' is deprecated.

Algo Node Parameters | Algorithm Component > Ground Detector​

  • NEW | 'Limit Detection Range' and 'Max Detection Range' are newly introduced in 'Elevation Ground Detector'.

Algo Node Parameters | Pipeline > Background Detector​

  • DEPRECATED | 'Accumulation Frame Count', 'Background Reset Rate', 'Multi-lidar Background Fusion Time Threshold', 'Range Margin' and 'Angular Margin' are deprecated.

Algo Node Parameters | Algorithm Component > Clusterer​

  • NEW | 'Point Size Scaling Factor per Meter', 'Max x-resolution' and 'Max y-resolution' are newly introduced in 'Grid-Clusterer > Point Size Growing'.
  • DEPRECATED | 'Cluster Point Threshold' is deprecated in 'Grid-Clusterer'

Algo Node Parameters | Algorithm Component > Cluster Merger​

  • DEPRECATED | 'Nearest Cluster Merger' is deprecated with parameter 'Box Merging Type', 'Similar Size Offset Threshold', 'Not Covered Box Radius Tresh. To Suppress DL BOX deprecated and 'Suppress DL Box Which Can't Cover Intersected Clusters' disabled.

Algo Node Parameters | Algorithm Component > Tracker​

  • NEW | 'Max Dimension (W,L)' is newly introduced in 'Hybrid-Tracker'. 'Tracking Association Distance For Non-Tracking Status Objects' is newly introduced in 'GPU Pipeline Supported Tracker'.
  • DEPRECATED | 'Min. Object Radius', 'Max. Hole-Size', 'Max. Hole Size Thres', 'to Enlarge Object', 'Object-Size Shrinking-rate', 'Splitting Distance Threshold', 'Splitting Min. Trajectory Distance' and 'Splitting Min. Object Lifetime' are deprecated in 'Hybrid-Tracker'
  • DEPRECATED | 'Min. Object Radius' is deprecated in 'Human-Tracker'
  • DEPRECATED | 'Track Miscellaneous Object', 'Use Filter-based Prediction' and 'Use Splitting' are disabled in 'GPU Pipeline Supported Tracker'.
  • DEPRECATED | 'Min Object Lifetime to Apply Filter-based Prediction', 'Merge Object Level', 'Merge/Split Min Time Threshold', 'Merge/Split Size Mul. Threshold', 'Merge/Split Size Add. Threshold', 'Max Size To Apply Merging', 'Min Radius For Tracking', 'Box Shrinking Rate', 'Misc. Fused Object Reduce Score', 'Yaw Update Rate', 'Radius Offset Thresh. To Associate', 'Min Speed to Aligned Box Yaw', 'Max Radius To Aligned Box Yaw', 'Time Range to Estimate Velocity', 'Moving Distance To Estimate Velocity', 'Moving Distance To Estimate Velocity', 'Min Size For Splitting' and 'DL Box Margin' are deprecated in 'GPU Pipeline Supported Tracker'.

Algo Node Parameters | Algorithm Component > Classifier​

  • NEW | 'Stability Level' and 'Min. Number of Frames for Stable Class Label' are newly introduced in 'Object Class Stability'.
  • NEW | 'Range option' is added for L, W, H in 'First Order Classifier' > 'Size Classifier for Big Objects'
  • DEPRECATED | 'Min. Dominant Score' and 'Accum. Dominant Thresh' are deprecated in 'First Order Classifier'.
  • DEPRECATED | 'Min. Big Object Offset' is deprecated in 'First Order Classifier' > 'Size Classifier' > 'Big Objects'
  • DEPRECATED | 'Min Time to Update Vel. Estimator', 'Min Distance to Update Vel. Estimator', 'Min Time to Estimate Velocity' and 'Min Distance to Estimate Velocity' are deprecated in 'First Order Classifier' > 'Size Classifier for Small Objects' > 'Velocity Classifier'.

Algo Node Parameters | Algorithm Component > Object Detector​

  • NEW | 'Max Detection Range' is newly introduced.

Etc​

  • NEW | OUTPUT_BUFFER_OVERFLOW error type is added.
  • NEW | Timesynchronization feature using PTP is partially integrated for the LiDARs which support PTP protocols.
  • CHANGED | Algo node’s algorithm configuration setting is disabled if its preset was changed until the project is saved.
  • FIXED | Compatibility with custom presets created in the previous versions (e.g. in case of deprecated algorithms) is improved.

REST API​

  • NEW | Version parameter is added to REST API and it is required to specify the version when using REST API.
    ex. curl -X POST 'http://localhost:9080/2.4/settings/algorithm?node-type=master&node-uri=common&config-id=output_merger.result_timeouts.algo_node_point_result_timeout' --data '0.5'
  • CHANGED | 'Get' and 'Update' algo node pose is added.
  • CHANGED | Added 'Get' and 'Update' algo node detection range is added.
  • CHANGED | GET /results/health to retrieve the current status of SENSR-I is added.
  • CHANGED | Default detection range info can be provided per preset via REST, e.g. curl -X GET 'http://localhost:9080/[SENSR version]/settings/preset?name=indoor
  • DEPRECATED | Adding algo nodes, sensors and zones via REST PUT request without a request body is fully deprecated. It is now required to pass the request body with the PUT request.
  • DEPRECATED | POST method for directly accessing sensor configuration such as POST /settings/sensor are all deprecated.

WEB FE​

  • NEW | Enable resetting detection range of an algo node to the default detection range of the currently selected preset.
  • NEW | Port reflection zone feature from SENSR
  • NEW | Port sensor horizontal angle setting from SENSR
  • NEW | Port sensor retro-reflective intensity setting from SENSR
  • NEW | Port retro-reflective objects from SENSR
  • NEW | Enable setting view range in visualizer preference settings
  • FIXED | Invalidation when sensor IP/ports are duplicated is fixed
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