1、 Overview: The rFPro 2024b version has been officially released, and the rFPro virtual simulation platform has introduced multiple new features in this version, aiming to improve simulation accuracy, operational efficiency, and user experience. Whether in autonomous driving testing, intelligent headlight testing, or high-precision environmental simulation, the rFPro_2024b version brings innovation. RFPro_2024b is a universal version that supports software upgrades and trials for all customers.
The main updated features of rFPro_2024b version are:
PBR shader optimization;
You can set exposure control parameters in the Admin Console console;
TerrainServer terrain server supports connection to Siemens tire simulation software (MF Swift and MF Tyre);
TerrainServer has added a new option for vehicle chassis contact function;
SceneEditor adds a drag and drop library operation interface;
The Admin Console interface has added the function of controlling the main vehicle lighting;
Raytrace ray tracing rendering engine adds rendering effects for volume fog and cloud layers;
2、 New features added to the version
（1） Recommended graphics hardware for the new version
It is recommended to use NVIDIA graphics hardware for rFPro software.
The following graphics cards have been tested and are recommended for use with rFPro 2024b:
lNVIDIA GeForce RTX 3080；
lNVIDIA GeForce RTX 3080 Ti；
lNVIDIA GeForce RTX 3090；
lNVIDIA GeForce RTX 4080；
lNVIDIA GeForce RTX 4090；
Support equivalent cards from NVIDIA professional workstations (such as Quadro RTX 6000 and RTX A6000);
Other graphics cards may not be able to produce a constant 120Hz display rate at acceptable image quality.
（2） RFPro Image Engine
RFPro is equipped with DirectX 11 graphics engine for real-time simulation and Vulkan based ray tracing engine for high fidelity sensor model simulation (this feature requires an additional license).
2.1 Real time Image Engine
This feature supports native PBR materials and lighting. It also includes fisheye lens modeling and real-time reflection:
The graphics engine based on DirectX 11 is compatible with OpenVR (such as Oculus Rift, HTC Vive) and Varjo head mounted VR displays.
2.2 Ray Tracing Image Engine Function Plugin
This image engine focuses on high fidelity camera sensor simulation, and therefore includes the ability to simulate multiple exposure time periods for each image frame (to accurately simulate camera motion blur effects), as well as camera sensor specific line by line sampling timing (to accurately simulate rolling shutter effects);
（3） Function deletion instructions
3.1 Instructions for deleting some functions of Simulink Toolbox
The 'UserLibrary' feature in Simulink library has been deprecated, it is recommended to use the 'User Defined' or 'External Ports' options. This feature will be removed in future versions
3.2 Linux based on RHEL7
In this release, the Linux version of rFPro software will no longer be compatible with Linux distributions based on RHEL7 (such as RHEL7, CentOS 7, RedHawk 7, etc.). The software will be based on the distribution of RHEL 8. Afterwards, it will also be based on the distribution of RHEL 8 and compatible with Ubuntu 20.04+.
3、 Controller API and Admin Console Function Description
（1） Function optimization explanation
1.1 Admin Console Console
Exposure parameter control has been added to the "Display" tab of the Admin Console console. Allow users to control the brightness of the scene through sliders before opening the scene and during simulation. In addition, a new exposure control has been added to the "Video Config" tab, allowing users to individually add configurations for each IG instance;
The self driving light control function has been added to the "Light" tag. This function can display the current status of the car's lights and allow users to operate the lights on/off, as well as other related lighting control functions;
In the "Physics" tab of the console, the maximum setting for physical speed has been increased from 20kHz to 60kHz, allowing users to simulate using high-performance hardware.
1.2 Controller API
The controller API has been updated to Net Standard 2.0 component. This will enable the software to be used simultaneously Net Framework and Net Core application. To achieve this, Windows Forms related features have been removed from the implementation of the controller API.
The implementation code for the Physics Profiling and Video Performance console tabs has been moved from the controller to the rFPro management console. These features can still be used in the rFPro management console application, but are no longer provided through the controller API.
4、 RFPro Function Update Instructions
4.1 PBR Shader
All PBR shaders in rFPro have been optimized and improved, and there are significant differences from previous versions:
The mirror reflection effect of light reflecting from a surface has become more accurate. This will make the image effect of rFPro stronger, especially at low solar angles, where ground reflections will be brighter than previous versions. As in reality, the low angle sunlight reflected on the road may be too dazzling for the observer. Now you can adjust the exposure parameters in the Admin Console console.
The depth perception of surface texture under sunlight has been improved.
4.2 User Control of Image Exposure
Support users to set image exposure (with real-time adjustment) when starting the simulation - to better control the screen output lighting effects on different displays. The newly added command lines'+exposureAbs' and '+exposureRel' are used to set initial exposure parameters. If the simulation project is in use, these options can be set in the Admin Console console.
4.3 Performance Optimization
This application now supports configuring CPU resource allocation on Intel Core processors. You can configure rFPro threads to execute on performance cores (P-cores) or efficient cores (E-cores) through command-line options or Config. ini.
4.4 Optimization of Sensor and True Value Training Data Function
In rFPro A new parameter 'Display Child Bounding Boxes' has been added to the PLR file. After enabling this feature, in addition to the first level bounding box, rFPro will also display the 3D bounding boxes of sub instances, such as the wheels or other components of the vehicle;
By default, the precise 3D area range of the animation mesh will be calculated. In previous versions of rFPro, a fast approximation algorithm was used. By using rFPro Set the new parameter "Fast Mesh Animation Extensions" to "1" in the PLR file to switch back to the previous approximation algorithm;
If in rFPro When "Display Functional Ground Truth" is set to "2" in the PLR file, the functional spline will be overlaid on the regular color output. Specifically, 'Functional Ground Truth' is commonly used to display certain functional data related to simulation (such as trajectories, paths, or other critical functional information). When set to '2', a visual representation of this data will be displayed in the simulation, typically used during debugging or validation to help analyze the performance of the system;
To enhance the flexibility of training data generation, all AI controlled vehicles can activate/deactivate vehicle lights at exactly the same simulation time. The newly added parameter 'AI Force Headlight Synchronization' has been added to rFPro In the PLR file. If enabled, this setting will override the headlight settings of other AI vehicles;
Updated support for Active Stereo mode, in which the subsequent frames of the simulation will be alternately rendered as left eye and right eye views. This mode can be selected from the Admin Console or set using parameters in the SimControl.ini file;
A new parameter has been added to SimControl.ini to enable/disable viewpoint offset through interpupillary distance (IPD) when using the Warp and Blend plugin.
5、 RFPro ray tracing plugin feature update
The rFPro ray tracing plugin was first released in version 2024a. This feature is undergoing rapid and continuous development. The main functional optimizations include:
5.1 Function optimization
Volume fog and cloud cover have now been added to the ray tracing plugin;
Support the use of Functional Ground Truth and image output options in simulation to verify the accuracy of simulation or training data;
The ray tracing plugin now supports further customization of file output paths. Users can output information such as simulation start time and frame number to the corresponding folder and file name;
Currently supports the use of L5PBR_ProTerrainDecal and L5PBR_ProKerbMetal shaders;
The L5PBR_ProTerrainDecal shader is typically used for detailed mapping on terrain. For example, adding stains, brake marks, oil stains and other details on the road surface or track; The L5PBR_ProKerbMetal shader is mainly used for the curbstone part of the track, especially for rendering the metallic texture of the curbstone. The metal part is usually used to simulate curbstones or edge decorations made of metal materials.
6、 RFPro_SPI Update
6.1 Simulink Model Interface
The Simulink library is now available as a Matlab R2018b model (upgraded based on R2013b version). A new "Spline" module has been introduced, which can generate and provide an accurate and realistic set of road surface spline data, representing the actual trajectory of a specified spline in the model. For more information, please refer to "rFPro_Simuling_Toolbox";
6.2 Terrain Server C API
Improved the robustness of loading tracks to Terrain Server by using the Terrain Server C API. Improved the handling of IP address and port parameters. Now, the Terrain Server C API will individually check the TSAPI_CmmsAlloc_t structure (a type of structure used in rFPro to describe and store information about communication addresses) before using these values to override the default values. This type of structure is typically used to define communication parameters between servers or other system components, such as IP addresses, port numbers, etc Is each field in zero or null. Allow mixing default and override values during use.
6.3 Remote Physics Plugin
The UDP packets sent through the Remote Model Plugin will now be sent from the port specified by the LocalPortSend parameter. For more information, please refer to 'rFPro-Remote_madel-Plugin'.
6.4 Remote Physics API
Added functions for loading, updating, and removing additional vehicles:
• rFPPhy_AdditionalVehicle_Add；
• rFPPhy_AdditionalVehicle_Update；
• rFPPhy_AdditionalVehicle_Remove；
These functions have replaced the existing (currently deprecated) functions:
• rFPPhy_AddAdditionalVehicle；
• rFPPhy_UpdateAdditionalVehicleState；
In addition, functions for loading, unloading, and setting the position of scene objects have been added:
• rFPPhy_LoadInstance；
• rFPPhy_UnloadInstance；
• rFPPhy_SetInstanceLocation；
For more information, please refer to 'rFPro-Remote-Physics-API'.
6.5 Sensor API
The rFPro sensor plugin can now retrieve the animation state of the target object, such as the animation name and frame information. In a simulation system, multiple objects may have different animation effects (such as acceleration and turning actions of vehicles, changes in traffic signals, dynamic effects of scene elements, etc.), and each animation has a name to distinguish different animation states or actions. For more information, please refer to the rFPro SENSOR IG User Guide.
6.6 API Examples
General API
A "BoneAnimationControlSamplePlugin" plugin has been added to demonstrate how to control bone animation. This example uses a excavator model and models its mechanical structure through animated bones, with the movement of the bones controlled by plugins.
A 'InstanceAnimationSetPositionPlugin' plugin has been added to demonstrate how to configure the position of instances in a scene through animation APIs. An example project of a virtual wall has been added to the plugin example.
Sensor API Examples
A CUDA version of the Ray Sphere Sensor sample plugin has been added, demonstrating how to generate light and shadow on GPUs. For more information, please refer to the rFPro SENSOR IG User Guide.
(To be continued)