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@kyle-the-voyant kyle-the-voyant released this 28 May 18:14
v0.10.1
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v0.10.1 Release Notes

To support new API features for multiple firmware versions, there are two parallel API releases.

  • v0.10.1 is compatible with v4.1.X Carbon bringup scripts and v1.2.2 FPGA firmware images
  • v0.11.0 is compatible with v5.0.X Carbon bringup scripts and v1.3.3 FPGA firmware images

Both releases are pinned to carbon-interface v1.2.9; known compatible up to v1.3.3 (no functional interface contract change since v1.2.0).

ℹ️ All changes in this release are common changes from v0.10.0 -> v0.10.1 and v0.10.0 -> v0.11.0 .

New Features

Bringup script file browser
The connection modal now includes a file browser for selecting the bringup script, replacing the previous text-entry workflow.

Bounding box ROI filtering (Visualizer)
A new filter panel lets you define rectangular bounding-box regions of interest and clip the point cloud to only points inside (or outside) those boxes.

Point inspector in live stream and playback
The point picker / inspector is now available during both live streaming and playback, not just on a paused frame. Click any point to see its values, and use A/B selection to compare two points.

Playback transport improvements

  • Single-frame step forward/back buttons
  • Type a frame number directly into the transport bar to seek
  • Fixed: could not seek to the first frame
  • Restart no longer auto-plays if playback was paused

Other Changes

azimuth_idx is now scan-direction-consistent
azimuth_idx = 0 is now defined as the left edge of the FOV in both CW and CCW scan directions (previously, CCW frames had idx 0 on the right edge). Combined with elevation_idx = 0 at the top of the FOV, (azimuth_idx=0, elevation_idx=0) is the top-left corner of the frame in both directions. Code that indexes a raster grid by azimuth_idx will need to be re-checked if it was previously compensating for the scan direction manually.

Peak combine and spatial filter config args restructured
Tuning improvements to the peak-combine pipeline reduce spurious points in some scenes. The set of CLI / JSON tuning knobs has been reorganized:

Removed:

  • --pfa
  • --range-threshold, --doppler-threshold, --min-neighbors (old spatial outlier filter)
  • --peak-combine-range-thresh-m, --peak-combine-doppler-thresh-mps

Added:

  • --rd-outlier-range-thresh-min-m, --rd-outlier-range-thresh-max-m, --rd-outlier-doppler-thresh-min-mps, --rd-outlier-doppler-thresh-max-mps, --rd-outlier-ref-range-m — range/Doppler tolerances now scale linearly with range and are shared between the peak combiner and the spatial outlier filter
  • --spatial-filter-enabled, --spatial-min-valid-neighbors, --point-cluster-size, --support-threshold — new spatial outlier filter controls
  • --peak-combine-snr-pre-threshold-enabled, --peak-combine-snr-pre-threshold-max-db, --peak-combine-snr-pre-threshold-min-db, --peak-combine-snr-pre-threshold-slope-db-per-hz — beat-frequency-dependent SNR pre-threshold (on by default)

The JSON config layout in CarbonConfig is correspondingly reorganized; equivalent fields exist under rd_outlier, spatial_filter, and dsp.peak_combine.

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