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MRDVS Camera SDK V2.4.60 (Windows & Linux)

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@Lanxin-MRDVS Lanxin-MRDVS released this 13 Feb 06:17
SDK-V2.4.60
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Release Note V2.4.60.260126

1. High-Risk Compatibility Adjustments (Must Focus On)

  1. The GetDeviceList symbol may not be found on certain C++ platforms. Adjust the header files and recompile (Important!!!).
  2. Add function return warning type: LX_E_NOT_SUPPORT is adjusted to LX_W_NOT_SUPPORT, which may cause compatibility issues with judgment logic.
  3. When the algorithm library is required for calculation but Dataprocess fails to load, the original logic (restricting this part of functions) is changed to directly reporting an error.
  4. The installation path is adjusted to MRDVS. Pay attention to path settings if copying files manually; the path will be configured automatically during normal installation.

2. Bug Fixes

  1. Fix occasional point cloud exceptions caused by repeated algorithm calls.
  2. Fix memory leak issue when turning the camera on and off frequently.

3. Core Function Additions

  1. Add new intrinsic parameter interfaces: LX_PTR_2D_INTRINSIC_PARAMETERS and LX_PTR_3D_INTRINSIC_PARAMETERS (support fisheye model). The original enumeration interface is retained but not recommended.
  2. Add IMU interfaces: IMU enable, IMU range setting (0 as the default minimum range), IMU structure, and data callback interface. Start/stop is controlled by StartStream and StopStream.
  3. Add radar interface LX_PTR_XYZIRT_DATA, corresponding to structures LxPointCloudData and LxPointXYZIRT. Note that the timestamp of each point is inaccurate when anti-distortion and rgbd alignment are enabled.
  4. Add sparse alignment and optimize the rgbd alignment algorithm. When aligning to RGB, RGB anti-distortion is enforced; enabling TOF anti-distortion at this time will eliminate holes but sacrifice accuracy.
  5. Add lx_camera_api_version.h. The version information of the so file can be viewed via the strings command.
  6. Add point cloud unit and coordinate system settings: LX_INT_XYZ_UNIT and LX_INT_XYZ_COORDINATE. Only affect point cloud data; use with caution if additional external parameter conversion is involved.
  7. Add JPEG compression ratio setting LX_INT_2D_ENCODE_RATIO and 2D data output format LX_INT_2D_IMAGE_OUTPUT_FORMAT (for individual customized requirements, function to be improved; use with caution). Add rkmpp hardware decoding.
  8. Add GetNewFrame3D and GetNewFrame2D to obtain only required data and reduce resource usage. Note that exceptions may occur in rgbd alignment scenarios.
  9. Add interface to allow packet loss filling. If the number of lost packets in a frame is less than the threshold, invalid values will be filled to retain the current frame; otherwise, the current frame will be discarded.
  10. Add lidar and IMU examples.
  11. Other additions: thread name, operation timeout interface LX_INT_GVCP_TIME_OUT, etc.

4. Performance & Experience Optimization (with minor bug fixes)

  1. Optimize PTP time synchronization: the synchronization accuracy is ±1ms under normal conditions; the error increases under network congestion but does not exceed 10ms. The SDK automatically starts the PTP host, so running multiple SDKs in the network may cause time synchronization exceptions. Support disabling the PTP service.
  2. Optimize memory and resource usage. GPU function optimization (supports most algorithm functions; may not be fully supported on NVIDIA platforms).
  3. Optimize anti-distortion coefficients: adjusting the distortion coefficient when anti-distortion is enabled can retain different degrees of field of view.
  4. Optimize logs: log files are stored in a rolling manner (10 as the default maximum number); support setting the number and size of log files.
  5. Update ROS and ROS2: reduce point cloud copying, add lx_lidar_ros.launch, and adjust launch settings.
  6. Optimize LxCameraViewer display and add some functions. Automatically disable point cloud display when vtk driver exceptions occur.
  7. Fix and adjust other known issues.
  8. Update the image algorithm library to version 1.3.6.260113.

Assets Description:

  • LxCameraViewer-ubuntu20-viewer.tar.gz 3D/2D Viewer (only Ubuntu20 or higher supported)
  • MRDVS-2.4.60.260126-ubuntu-sdk.tar.gz Linux SDK, including documents, samples (C & CPP & ROS & Python), CPP headers & libs. Spporting platform: arm(x64, x32), x86
  • MRDVS-2.4.60.260126-windows-installer.exe windows installer, with SDK
  • S10-hi3516cv610-update-V1.1.000000_260224.bin firmware for S10-series RGBD camera
  • M-kernel-update-V1.1.030300_250720.bin firmware for M-Series cameras (M4, M4-Mega, M4 Pro)

中文版

1. 高风险兼容性调整（重点关注）

  1. 某些C++平台可能找不到GetDeviceList符号。调整头文件，需要重新编译。注意！！！
  2. 增加函数返回警告类型，LX_E_NOT_SUPPORT调整为LX_W_NOT_SUPPORT，可能导致判断逻辑兼容问题。
  3. 需要算法库运算但Dataprocess加载失败时，原本逻辑为限制此部分功能，改为直接报错。
  4. 安装路径调整为MRDVS，如果手动拷贝文件需要注意路径设置，正常执行安装会自动配置路径。

2. 问题修复

  1. 修复算法可能重复调用导致点云偶发异常。
  2. 修复频繁开关相机时内存泄漏问题。

3. 核心功能新增

  1. 增加新内参接口LX_PTR_2D_INTRINSIC_PARAMETERS、LX_PTR_3D_INTRINSIC_PARAMETERS，支持鱼眼模型，原来枚举接口保留但不建议使用。
  2. 增加IMU接口：IMU使能，IMU量程设置（默认0最小量程），IMU结构体，数据回调接口。启停通过StartStream和StopStream控制。
  3. 增加雷达接口LX_PTR_XYZIRT_DATA，对应结构体LxPointCloudData和LxPointXYZIRT。注意开启反畸变和rgbd对齐后每个点的时间戳不准。
  4. 增加稀疏对齐，优化rgbd对齐算法。对齐到rgb时强制rgb反畸变，此时开启tof反畸变则无空洞，但牺牲精度。
  5. 增加lx_camera_api_version.h。通过strings命令可查看so的version信息。
  6. 增加点云单位和坐标系设置LX_INT_XYZ_UNIT、LX_INT_XYZ_COORDINATE。仅影响点云数据，如有额外外参转换需谨慎使用。
  7. 增加jpeg压缩比设置LX_INT_2D_ENCODE_RATIO，增加2d数据输出格式LX_INT_2D_IMAGE_OUTPUT_FORMAT（针对个别定制需求，功能待完善，需谨慎使用）；增加rkmpp硬件解码。
  8. 增加GetNewFrame3D 和GetNewFrame2D，可以仅获取需要的数据减少资源占用。注意，rgbd对齐情况下可能异常。
  9. 增加允许丢包填充数据的接口。一帧数据丢包数少于阈值，会用无效值填充并保留当前帧，否则丢弃当前帧。
  10. 增加lidar、imu示例。
  11. 其他增加线程名称、操作超时接口LX_INT_GVCP_TIME_OUT等。

4. 性能与体验优化（含少量问题修复）

  1. 优化ptp时间同步，正常情况下同步精度±1ms，网络拥堵情况下误差增大，但不超过10ms。SDK自动启动ptp主机，因此网络内多个SDK运行时可能导致时间同步异常。支持关闭ptp服务。
  2. 优化内存和资源占用。GPU功能优化，支持大部分算法功能，nvidia平台可能不完全支持。
  3. 优化反畸变系数，开启反畸变时调节畸变系数可保留不同程度的视场角。
  4. 优化日志，日志文件滚动存储，默认最大数量为10个，支持设置文件数量和文件大小。
  5. 更新ros和ros2，减少点云拷贝，增加lx_lidar_ros.launch，调整launch设置。
  6. 优化LxCameraViewer显示，增加部分功能。vtk驱动异常时自动禁用点云显示功能。
  7. 其他已知问题修复和调整。
  8. 更新图像算法库1.3.6.260113。

附件说明

  • LxCameraViewer-ubuntu20-viewer.tar.gz：3D/2D Viewer，仅支持Ubuntu 20及以上版本。
  • MRDVS-2.4.60.260126-ubuntu-sdk.tar.gz：Linux SDK，包含文档、示例程序（C、C++、ROS、Python）、C++头文件及库文件。支持平台：ARM（64位、32位）、x86。
  • MRDVS-2.4.60.260126-windows-installer.exe：Windows安装包，内含SDK。
  • S10-hi3516cv610-update-V1.1.000000_260224.bin：S10系列RGBD相机固件。
  • M-kernel-update-V1.1.030300_250720.bin：M系列相机固件，适用于M4、M4-Mega、M4 Pro。
Assets 7
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