Changelog

All notable changes to this project will be documented in this file. The format is based on Keep a Changelog.

Unreleased

Added

Add method get_debug_image to TriCameraObjectTrackerDriver and a script that uses it to create debug images from the cameras (this makes diagnosing issues with the object detection easier).
Support trifinger_cameras::Settings for changing camera configuration (see documentation of trifinger_cameras).
Provide information about frame rate and camera parameters via get_sensor_info() like in trifinger_cameras. For this, overloaded constructors are added to the driver classes which accept camera info files instead of device IDs.
Add a "backend-only" mode to demo_cameras. Use this if the front end is running in a separate process.

Removed

The ProgramOptions class has been moved to its own package (cli_utils). Thus it is removed from this package and the one from cli_utils is used instead.
Option --multi-process from demo_cameras. Use --frontend-only instead.

Fixed

pybind11 build error on Ubuntu 22.04

1.1.0 - 2022-07-29

Added

Parameter to CubeVisualizer::draw_cube to set opacity of the visualisation.
CubeVisualizer::draw_circle to draw a circle at the objects position (e.g. for cases where the orientation does not matter).

1.0.0 - 2022-06-28

Added

Executable benchmark_with_logfile to benchmark the time needed for the object detection using a given camera log file.

Changed

Build models for all supported object types and select the type at run-time (instead of using a build-flag). For this the API of several classes had to be changed as the object model now needs to be passed as argument.
Update the colour segmentation model for cube v2. The new model is trained on a larger dataset that contains some images of a dirty cube. This should make the model more robust against dirt/dust on the cube.

Fixed

Set filtered_object_pose in observations when using the PyBullet camera driver.

0.2.0 - 2021.08.04

There is no changelog for this or earlier versions.