EdgeFirst Fusion v1.6.0

EdgeFirst Fusion v1.6.0

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/v1.6.0/edgefirst-fusion-linux-aarch64
chmod +x edgefirst-fusion-linux-aarch64
sudo mv edgefirst-fusion-linux-aarch64 /usr/local/bin/edgefirst-fusion

What's Changed

Added

• instance_id field (UINT32) in all fusion output PointCloud2 messages for instance-level object identification
• boxes2d detection fusion: subscribe to rt/model/boxes2d topic and use 2D bounding boxes for point classification with per-instance tracking
• --boxes2d-topic CLI parameter to configure the boxes2d subscription topic
• --max-mask-age CLI parameter to control staleness threshold for mask and boxes2d data
• fusion.default systemd EnvironmentFile documenting all configuration options
• Behind-camera projection guard: points behind the camera are explicitly set out-of-bounds instead of producing invalid projections
• Monotonic clock staleness warnings for mask and boxes2d data
• Args::normalize() for handling empty-string environment variable overrides
• insert_standard_fields() helper in pcd.rs to eliminate triplicated field layout code
• .github/copilot-instructions.md with project coding conventions
• check and sbom targets in Makefile
• Unit tests for parse_box_label, box_fusion_clustered overlapping boxes, and box_fusion_no_cluster

Fixed

• Replaced .unwrap() calls with defensive match/if let in grid_nearest_cluster and late_fusion_clustered
• parse_box_label now logs a warning on invalid input instead of silently returning 0
• Clippy warnings: extracted LoadedFrame/FusionResult type aliases for complex return types

Changed

• Upgraded zenoh dependency from 1.5.1 to 1.7.2
• Updated NOTICE file with current dependency versions
• Updated documentation (README.md, ARCHITECTURE.md, TESTING.md) with boxes2d topic, instance_id field, and max_mask_age parameter
• Release workflow now includes fusion.default as a release artifact

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