CHANGELOG.rst

Changelog

[20220504]

• update supported vcpkg tag to 2022.02.23
• update to manylinux2014 for x64 linux ouster-sdk wheels
• Ouster SDK documentation overhaul with C++/Python APIs in one place
• sample data updated to firmware 2.3

ouster_client

• fix the behavior of BeamUniformityCorrector on azimuth-windowed data by ignoring zeroed out columns
• add overloads in image_processing.h to work with single-precision floats
• add support for new RNG19_RFL8_SIG16_NIR16 single-return and RNG15_RFL8_NIR8 low-bandwidth lidar UDP profiles introduced in firmware 2.3

ouster_viz

• switch to glad for OpenGL loading. GLEW is still supported for developer builds
• breaking change: significant API update of the PointViz library. See documentation for details
• the simple_viz example app and LidarScanViz utility have been removed. Equivalent functionality is now provided via Python
• add basic support for drawing 2d and 3d text labels
• update to OpenGL 3.3

python

• fix a bug where incorrectly sized packets read from the network could cause the client thread to silently exit, resulting in a timeout
• fix client.Scans not raising a timeout when using the complete flag and receiving only incomplete scans. This could cause readings scans to hang in rare situations
• added bindings for the new PointViz API and a new module for higher-level visualizer utilities in ouster.sdk.viz. See API documentation for details
• the ouster-sdk package now includes an example visualizer, simple-viz, which will be installed on that path for the Python environment

ouster_ros

• support new fw 2.3 profiles by checking for inclusion of fields when creating point cloud. Missing fields are filled with zeroes

[20220107]

• add support for arm64 macos and linux. Releases are now built and tested on these platforms
• add support for Python 3.10
• update supported vcpkg tag to 2021.05.12
• add preliminary cpack and install support. It should be possible to use a pre-built SDK package instead of including the SDK in the build tree of your project

ouster_client

• update cmake package version to 0.3.0
• avoid unnecessary DNS lookup when using numeric addresses with init_client()
• disable collecting metadata when sensor is in STANDBY mode
• breaking change: set_config() will now produce more informative errors by throwing std::invalid_argument with an error message when config parameters fail validation
• use SO_REUSEPORT for UDP sockets on non-windows platforms
• the set of fields available on LidarScan is now configurable. See the new LidarScan constructors for details
• added RANGE2, SIGNAL2 and REFLECTIVITY2 channel fields to support handling data from the second return
• ScanBatcher will now parse and populate only the channel fields configured on the LidarScan passed to operator()()
• add support for new configuration parameters: udp_profile_lidar, udp_profile_imu and columns_per_packet
• add udp ports, the new initialization id field, and udp profiles to the metadata stored in the sensor_info struct
• sensor_info::name is now deprecated and will stop being populated in the future
• add methods to query and iterate over available LidarScan fields and field types
• breaking change: removed LidarScan::block and LidarScan::data members. These can't be supported for different packet profiles
• the LidarScan::Field defniition has been moved to sensor::ChanField and enumerators have been renamed to match the sensor user manual. The old names are still available, but deprecated
• deprecate accessing encoder values and frame ids from measurement blocks using packet_format as these will not be reported by the sensor in some future configurations
• add packet_frame_id member function to packet_format
• add col_field member function to packet_format for parsing channel field values for an entire measurement block
• add new accessors for measurement headers to LidarScan, deprecating the existing header member function
• represent empty sensor config with an empty object instead of null in json representation of the sensor_config datatype
• update cmake package version to 0.2.1
• add a conservative socket read timeout so init_client() will fail with an error message when another client fails to close a TCP connection (addresses #258)
• when passed an empty string for the udp_dest_host parameter, init_client() will now configure the sensor using set_udp_dest_auto. Previously, this would turn off UDP output on the sensor, so any attempt to read data would time out (PR #255)
• fall back to binding ipv4 UDP sockets when ipv6 is not available (addresses #261)

ouster_pcap

• report additional information in the packet_info struct and remove separate stream_info API
• switch the default pcap encapsulation to ethernet for Ouster Studio compatibility (addresses #265)

ouster_ros

• update ROS package version to 0.3.0
• allow setting the packet profile in ouster.launch with the udp_profile_lidar parameter
• publish additional cloud and image topics for the second return when running in dual returns mode
• fix os_node crash on shutdown due to Eigen alignment flag not being propogated by catkin
• update ROS package version to 0.2.1
• the udp_dest parameter to ouster.launch is now optional when connecting to a sensor

ouster_viz

• the second CLI argument of simple_viz specifying the UDP data destination is now optional
• fixed bug in AutoExposure causing more points to be mapped to near-zero values
• add functionality to display text over cuboids

python

• update ouster-sdk version to 0.3.0
• improve heuristics for identifying sensor data in pcaps, including new packet formats
• release builds for wheels on Windows now use the VS 2017 toolchain and runtime (previously 2019)
• fix potential use-after-free in LidarScan.fields
• update ouster-sdk version to 0.3.0b1
• return an error when attempting to initialize client.Sensor in STANDBY mode
• check for errors while reading from a Sensor packet source and waiting for a timeout. This should make stopping a process with SIGINT more reliable
• add PoC bindings for the ouster_viz library with a simple example driver. See the ouster.sdk.examples.viz module
• add bindings for new configuration and metadata supported by the client library
• breaking change: the ChanField enum is now implemented as a native binding for easier interop with C++. Unlike Python enums, the bound class itself is no longer sized or iterable. Use ChanField.values to iterate over all ChanField values or LidarScan.fields for fields available on a particular scan instance
• breaking change: arrays returned by LidarPacket.field and LidarPacket.header are now immutable. Modifying the underlying packet buffer through these views was never fully supported
• deprecate ColHeader, LidarPacket.header, and LidarScan.header in favor of new properties: timestamp, measurement_id, status, and frame_id
• replace LidarScan with native bindings implementing the same API
• xyzlut can now accept a range image as an ndarray, not just a LidarScan
• update ouster-sdk version to 0.2.2
• fix open3d example crash on exit when replaying pcaps on macos (addresses #267)
• change open3d normalization to use bound AutoExposure

[20210608]

ouster_client

• update cmake package version to 0.2.0
• add support for new signal multiplier config parameter
• add early version of a C++ API covering the full sensor configuration interface
• increase default initialization timeout to 60 seconds to account for the worst case: waking up from STANDBY mode

ouster_pcap

• record_packet() now requires passing in a capture timestamp instead of using current time
• work around libtins issue where capture timestamps for pcaps recorded on Windows are always zero
• add preliminary C++ API for working with pcap files containing a single sensor packet capture

ouster_ros

• update ROS package version to 0.2.0
• add Dockerfile to easily set up a build environment or run nodes
• img_node now outputs 16-bit images, which should be more useful. Range image output is now in units of 4mm instead of arbitrary scaling (addresses #249)
• img_node now outputs reflectivity images as well on the reflec_image topic
• change img_node topics to match terminology in sensor documentation: ambient_image is now nearir_image and intensity_image is now signal_image
• update rviz config to use flat squares by default to work around a bug on intel systems
• remove viz_node and all graphics stack dependencies from the package. The viz flag on the launch file now runs rviz (addresses #236)
• clean up package.xml and ensure that dependencies are installable with rosdep (PR #219)
• the metadata argument to ouster_ros launch file is now required. No longer defaults to a name based on the hostname of the sensor

ouster_viz

• update reflectivity visualization for changes in the upcoming 2.1 firmware. Add new colormap and handle 8-bit reflectivity values
• move most of the visualizer code out of public headers and hide some implementation details
• fix visualizer bug causing a small viewport when resizing the window on macos with a retina display

python

• update ouster-sdk version to 0.2.1
• fix bug in determining if a scan is complete with single-column azimuth windows
• closed PacketSource iterators will now raise an exception on read
• add examples for visualization using open3d (see: ouster.sdk.examples.open3d)
• add support for the new signal multiplier config parameter
• preserve capture timestamps on packets read from pcaps
• first release: version 0.2.0 of ouster-sdk. See the README under the python directory for details and links to documentation

[20201209]

Changed

• switched to date-based version scheme. No longer tracking firmware versions
• added a top-level CMakeLists.txt. Client and visualizer should no longer be built separately. See the README for updated build instructions
• cmake cleanup, including using custom "find modules" to provide better compatibility between different versions of cmake
• respect standard cmake BUILD_SHARED_LIBS and CMAKE_POSITION_INDEPENDENT_CODE flags
• make ouster_ros easier to use as a dependency by bundling the client and viz libraries together into a single library that can be used through catkin
• updated client example code. Now uses more of the client APIs to capture data and write to a CSV. See ouster_client/src/example.cpp
• replace callback-based batch_to_scan function with ScanBatcher. See lidar_scan.h for API docs and the new client example code
• update LidarScan API. Now includes accessors for measurement blocks as well as channel data fields. See lidar_scan.h for API docs
• add client version field to metadata json, logs, and help text
• client API renaming to better reflect the Sensor Software Manual

[1.14.0-beta.14] - 2020-08-27

Added

• support for ROS noetic in ouster_ros. Note: this may break building on very old platforms without a C++14-capable compiler
• an extra extrinsics field in sensor_info for conveniently passing around an extra user-supplied transform
• a utility function to convert lidar_scan data between the "staggered" representation where each column has the same timestamp and "de-staggered" representation where each column has the same azimuth angle
• mask support in the visualizer library in ouster_viz

Changed

• ouster_ros now requires C++14 to support building against noetic libraries
• replaced batch_to_iter with batch_to_scan, a simplified function that writes directly to a lidar_scan instead of arbitrary iterator

Fixed

• ipv6 support using dual-stack sockets on all supported platforms. This was broken since the beta.10 release
• projection to Cartesian coordinates now takes into account the vertical offset the sensor and lidar frames
• the reference frame of point cloud topics in ouster_ros is now correctly reported as the "sensor frame" defined in the user guide

[1.14.0-beta.12] - 2020-07-10

no changes

[1.14.0-beta.11] - 2020-06-17

no changes

[1.14.0-beta.10] - 2020-05-21

Added

• preliminary support for Windows and macOS for ouster_viz and ouster_client

Changed

• replaced VTK visualizer library with one based on GLFW
• renamed all instances of "OS1" including namespaces, headers, node and topic names, to reflect support for other product lines
• updated all xyz point cloud calculations to take into account new lidar_origin_to_beam_origin parameter reported by sensors
• client and os_node and simple_viz now avoid setting the lidar and timestamp modes when connecting to a client unless values are explicitly specicified

Fixed

• increase the UDP receive buffer size in the client to reduce chances of dropping packets on platforms with low defaults
• os_cloud_node output now uses the updated point cloud calculation, taking into account the lidar origin offset
• minor regression with destaggering in img_node output in previous beta

[1.14.0-beta.4] - 2020-03-17

Added

• support for gen2 hardware in client, visualizer, and ROS sample code
• support for updated "packed" lidar UDP data format for 16 and 32-beam devices with firmware 1.14
• range markers in simple_viz and viz_node. Toggle display using g key. Distances can be configured from os1.launch.
• post-processing to improve ambient image uniformity in visualizer

Changed

• use random ports for lidar and imu data by default when unspecified

[1.13.0] - 2020-03-16

Added

• post-processing to improve ambient image uniformity in visualizer
• make timestamp mode configurable via the client (PR #97)

Changed

• turn on position-independent code by default to make using code in libraries easier (PR #65)
• use random ports for lidar and imu data by default when unspecified

Fixed

• prevent legacy tf prefix from making invalid frame names (PR #56)
• use iterator_traits to make batch_to_iter work with more types (PR #70)
• use correct name for json dependency in package.xml (PR #116)
• handle udp socket creation error gracefully in client

[1.12.0] - 2019-05-02

Added

• install directives for ouster_ros build (addresses #50)

Changed

• flip the sign on IMU acceleration output to follow usual conventions
• increase the update rate in the visualizer to ~60hz

Fixed

• visualizer issue where the point cloud would occasionally occasionally not be displayed using newer versions of Eigen

[1.11.0] - 2019-03-26

Added

• allow renaming tf ids using the tf_prefix parameter

Changed

• use frame id to batch packets so client code deals with reordered lidar packets without splitting frames
• use a uint32_t for PointOS1 timestamps to avoid unnecessary loss of precision

Fixed

• bug causing ring and reflectivity to be corrupted in os1_cloud_node output
• misplaced sine in azimuth angle calculation (addresses #42)
• populate timestamps on image node output (addresses #39)

[1.10.0] - 2019-01-27

Added

• os1_node now queries and uses calibrated beam angles from the sensor
• os1_node now queries and uses imu / lidar frames from the sensor
• os1_node reads and writes metadata to ${ROS_HOME} to support replaying data with calibration
• ROS example code now publishes tf2 transforms for imu / lidar frames (addresses #12)
• added metadata parameter to os1.launch to override location of metadata
• added viz parameter to os1.launch to run the example visualizer with ROS
• added image parameter to os1.launch to publish image topics to rviz (addresses #21)
• added range field to PointOS1

Changed

• split point-cloud publishing out of os1_node into os1_cloud_node
• example visualizer controls:
  • press m to cycle through color modes instead of i, z, Z, r
  • r now resets the camera position
  • range/signal images automatically resized to fit window height
• updated OS-1 client to use newer TCP configuration commands
• updated OS-1 client to set the requested lidar mode, reinitialize on connection
• changed point cloud batching to be based on angle rather than scan duration
• ouster_client now depends on the jsoncpp library
• switched order of fields in PointOS1 to be compatible with PointXYZI (addresses #16)
• moved example visualizer VTK rendering into the main thread (merged #23)
• the timestamp field of PointOS1 now represents time since the start of the scan (the timestamp of the PointCloud2 message) in nanoseconds

Removed

• removed keyboard camera controls in example visualizer
• removed panning and rotating of the image panel in example visualizer

Fixed

• no longer dropping UDP packets in 2048 mode on tested hardware
• example visualizer:
  • point cloud display focus no longer snaps back on rotation
  • fixed clipping issues with parallel projection
  • fixed point coloring issues in z-color mode
  • improved visualizer performance