EdgeFirst Fusion v1.7.0

EdgeFirst Fusion v1.7.0

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/v1.7.0/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

• Dynamic projection using tf_static camera transform — camera extrinsics are now resolved from the TF tree instead of hardcoded
• Deterministic FNV-1a track_id hash for stable cross-process track identification
• SoA FusionFrame layout replacing ParsedPoint AoS for cache-friendly processing
• NEON SIMD optimizations for aarch64: vectorized sincos, atan2, magnitude3, and transform+project kernels
• Per-sensor output topics: rt/fusion/lidar and rt/fusion/radar replacing shared rt/fusion/classes
• Dynamic track_id(u32) in late-fusion output — detected at runtime from model output, expands PCD layout from 16 to 20 bytes/point
• Unified --vision-model-topic (rt/model/output) replacing separate --mask-topic and --boxes2d-topic
• --model-info-topic for dynamic label resolution from model service
• Conditional grid publisher — only created when fusion model is configured

Changed

• Sensor input topics (--lidar-pcd-topic, --radar-pcd-topic) now default to empty (disabled); set to rt/lidar/points, rt/lidar/clusters, etc. to enable each fusion pipeline
• Late-fusion output uses compact vision_class(u16) + instance_id(u16) layout (16 bytes/point, was 24 bytes/point with u8 + u8 + u32 + cluster_id) for natural alignment and reduced bandwidth
• --max-model-age replaces --max-mask-age for unified vision model staleness check
• Updated fusion.default with new topic names and parameters

Removed

• --mask-topic, --boxes2d-topic CLI parameters (replaced by --vision-model-topic)
• --classes-topic, --tracks-topic CLI parameters (replaced by per-sensor --lidar-output-topic, --radar-output-topic)
• serialize_tracks output (tracking data now integrated into per-sensor output)

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