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EdgeFirst Fusion v1.10.0

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@github-actions github-actions released this 02 Oct 04:49
· 2 commits to main since this release
v1.10.0
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EdgeFirst Fusion v1.10.0

Installation

Download Binaries

Platform Binary
Linux x86_64 edgefirst-fusion-linux-x86_64
Linux ARM64 edgefirst-fusion-linux-aarch64 
# Download and install (ARM64 example)
wget https://github.com/EdgeFirstAI/fusion/releases/download/v1.10.0/edgefirst-fusion-linux-aarch64
chmod +x edgefirst-fusion-linux-aarch64
sudo mv edgefirst-fusion-linux-aarch64 /usr/local/bin/edgefirst-fusion

What's Changed

Timestamp contract and temporal alignment: every fusion output carries its source acquisition stamp, and fusion pairs inputs by stamp instead of by arrival (EDGEAI-1940).

Added

  • Stamp-based pairing of point clouds with model/output and fusion-grid predictions, and of radar cubes with camera frames. Inputs farther apart than MAX_TEMPORAL_DELTA (MAX_GRID_DELTA for the grid) are skipped with a warning naming the topics, repeated at most once per stats interval (EDGEAI-1940)
  • SYNC_WAIT, MAX_TEMPORAL_DELTA, MAX_GRID_DELTA, MODEL_BUFFER_SIZE, CAMERA_BUFFER_SIZE, RADAR_TIME_OFFSET, LIDAR_TIME_OFFSET and STATS_INTERVAL settings. Non-finite or out-of-range values and buffer sizes below 1 are rejected at startup (EDGEAI-1940)
  • Periodic pairing statistics per pipeline: paired, too_far, missing, grid_too_far, grid_missing (point-cloud lines), stale (cube and camera line, frames skipped as too old to read), and delta, grid_delta, wait and latency summaries (EDGEAI-1940)
  • Warnings when the radar cube or camera topic stops publishing to a radar and camera model, with backoff (EDGEAI-1940)

Changed

  • The Zenoh sample timestamp equals header.stamp on every fusion topic. fusion/model_output and fusion/model_output/tracked carry the radar cube stamp (the camera frame stamp for a camera-only model) (EDGEAI-1940)
  • tf_static is stamped with the time of each 1 Hz republish (EDGEAI-1940)
  • Tracker lifetimes use the monotonic clock. Buffers clear, and the grid tracker resets, when input stamps step back (EDGEAI-1940)
  • The grid tracker runs once per grid in the fusion-model thread (EDGEAI-1940)
  • MAX_MODEL_AGE warns when the newest model output was received more than the limit ago (EDGEAI-1940)
  • With a radar and camera model, a dedicated thread converts camera frames on arrival into a ring of CAMERA_BUFFER_SIZE frames, and each radar cube is paired with the nearest frame by stamp. Frames received more than 2 s ago are never paired (EDGEAI-1940)
  • Camera frames that arrive after their capture buffer may have been overwritten are skipped instead of converted. The limit is (N - 1) frame periods less a margin, with N learned from the distinct DMA-BUF descriptors in CameraFrame and the period from the stamp interval, so it follows the camera service's CAMERA_BUFFERS and frame rate. While it is being learned the limit uses the buffers and shortest interval seen so far, so it never overstates the window (EDGEAI-1940)
  • Model-output pairing is skipped when VISION_MODEL_TOPIC is empty (EDGEAI-1940)

Fixed

  • The grid tracker re-ingested the same grid on every point cloud (EDGEAI-1940)
  • Grid and centroid tracks shared one tracker (EDGEAI-1940)
  • Model outputs were dropped while fusion was classifying (EDGEAI-1940)
  • fusion/model_output/tracked was published by both the radar and lidar threads (EDGEAI-1940)

Full Documentation: https://github.com/EdgeFirstAI/fusion#readme

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