Release Note

January 20th, 2023 | Version : SENSR-I 3.0.5

warning

Breaking Changes of SENSR-I 3.0.5 are:

1. The license server is updated, and the old license file is incompatible. New license issuance is required. Ask license@seoulrobotics.org.

2. SENSR-I supports Ubuntu 20.04 LTS as recommended OS since Ubuntu 18.04 LTS is soon to reach the end of support. Check Hardware Requirements.

You can check a quick guide to upgrade to SENSR-I 3.0.5 here.

info

Structure changes

• SENSR-I is fully dockerized and running using Kubernetes.
• SR Launcher is now a hub for SENSR-I. It can install SENSR-I, create the cluster of machines, and run and stop SENSR-I, Web FE server, and License server.
• CLI version of SR Launcher is also provided with the same functionality as the GUI version.

SENSR-I

Features

• NEW | Ground Profiling feature is newly provided. It enables using SENSR with uneven ground environments, such as hills, slopes, or areas with curbs. → Check how to use Ground Profiling
• NEW | QuickTune, calibiration assistant feature, is added. QuickTune has two sub-feature, Landmark Tuning and Auto Fine-tuning(beta)
• NEW | Tilt Detection feature, which alarms when external forces move LiDAR, is added.
• NEW | Tamper Detection feature which alarms when LiDAR is obstructed, and SENSR cannot secure the vision of sight.
• NEW | Lock screen feature is added to prevent unauthorized people from touching SENSR-I configurations and modes.
• NEW | Lock Web FE access is added to prevent not allowed people from accessing through Web FE.
• NEW | Flip button is added to flip the LiDAR sensor upside down if you get the up-side-down result after Ground Alignment.
• NEW | Advanced and Anomaly recording feature is added to record the data with richer information for Seoul Robotics' Support team to investigate.
• CHANGED | Point-publishing level is separately applied for each Runtime mode and Zone setup mode with default values as "Object Points" and "Object Points & Background Points", respectively, to reduce the bandwidth.
• CHANGED | Recording feature is changed to save only rosbag file. → Check how to use Recording
• DEPRECATED | Replay feature is deprecated. But still, the rosbag file can be played with the Algo node setup.
• DEPRECATED | Auto config setting for time-sync is deprecated. Time-sync manual calibration is still available.

Algorithm & Settings

• NEW | StaticTracker is added to improve the detection quality of big objects.
• NEW | Asynchronous algorithm pipeline is adopted to improve the optimization of processing.
• CHANGED | Algorithm for pedestrian detection is improved to prevent pedestrians near each other from being merged.
• CHANGED | Algorithm for merging the perception results from different Algo nodes is improved to stabilize the output of the multi-Algo node.
• CHANGED | Publishing losing event is now off by default.
• CHANGED | History output is now off by default.

LiDAR Connection

• CHANGED | Hesai driver is updated to support for current version.
• CHANGED | Ouster driver is updated to support for REV7 devices.

Minor UI & UX

• NEW | Shortcuts are added to the header bar.
• NEW | Timestamp visualizer is added to visualize the timestamp of the point cloud data received from LiDARs.
• CHANGED | Algo node detection range is visualized as Cube, and size can be adjusted using the drag-and-drop functionality after pressing the "y" shortcut.
• CHANGED | Naming policy is applied to file-related names such as project files, preset, and recordings. The name starts with the alphabet and can contain alphabet, number, underscore, and hyphen.
• CHANGED | Zone vertex can be dragged and dropped to reshape the zone.
• CHANGED | Z-clipping window can be shown optionally.

Bugfixes

• FIXED | Log will be saved in any case of unexpected or unusual termination of SENSR-I.
• FIXED | False zone exit event of Misc object is not published.

Web FE

• NEW | New/Open project page is shown if SENSR native hasn't opened any project yet.
• NEW | Hiding all elements, including the menu bar at Runtime mode, is now available.
• NEW | Visulization of annotation is now available.
• NEW | Intensity visualization is now enabled.
• NEW | Zone height, Z-clipping can be set using input text or slide-bar.
• CHANGED | Zone shape can be edited using vertex control.
• DEPRECATED | Recording feature is deprecated.

API

• CHANGED | Putting the patch version in the API call is now available. The version can be either major.minor.patch, or major.minor.
• CHANGED | "/settings/algorithm/list" and "/settings/sensor-ext/list" endpoint doesn't append the common sections to return.
• FIXED | Fix "/commands/project/new" API call to save the current un-saved change in the previously open file automatically before creating a new project.
• FIXED | Fix potential crash issue of putting wrong config_id related to "/settings/algorithm" endpoints.

SR Launcher

• NEW | SR Launcher can install SENSR-I both on the local machine and remote machines, which will be used as remote Algo node machines.
• NEW | SR Launcher can install the license server and show the license file descriptions.

License Server

• NEW | License information can be checked in SR Launcher's License tab or by accessing "http://localhost:9011" in the web browser.
• CHANGED | License file format has been changed to support the new version of the license server.