Changelog

[20230403]

• Default metadata output across all functionality has been switched to the non-legacy format

ouster_client

• Added a new method mtp_init_client to init the client with multicast support (experimental).

• the class SensorHttp which provides easy access to REST APIs of the sensor has been made public under the ouster::sensor::util namespace.

• breaking change: get_metadata defaults to outputting non-legacy metadata

• add debug five_word profile which will be removed later

• breaking change: remove deprecations on LidarScan

ouster_viz

• update viz camera with other objects in draw

ouster_pcap

• add seek method to PcapReader

• add port guessing logic

python

• introduce utility to convert nonlegacy metadata to legacy

• use resolve_metadata to find unspecified metadata for simple-viz

• remove port guessing logic in favor of using new C++ ouster_pcap port guessing functionality

• add soft-id-check to skip the init_id/sn check for lidar_packets with metadata

Numerous changes to SimpleViz and LidarScanViz including: * expose visible in viz to Python * introduce ImageMode and CloudMode * bugfix: remove spurious sqrt application to autoleveled images

[20230114]

ouster_client

• breaking change: signal multiplier type changed to double to support new FW values of signal multiplier.

• breaking change: make_xyz_lut takes mat4d beam_to_lidar_transform instead of lidar_origin_to_beam_origin_mm double to accomodate new FWs. Old reference Python implementation was kept, but new reference was also added.

• address an issue that could cause the processed frame being dropped in favor or the previous frame when the frame_id wraps-around.

• added a new flag CONFIG_FORCE_REINIT for set_config() method, to force the sensor to reinit even when config params have not changed.

• breaking change: drop defaults parameters from the shortform init_client() method.

• added a new method init_logger() to provide control over the logs emitted by ouster_client.

• add parsing for new FW 3.0 thermal features shot_limiting and thermal_shutdown statuses and countdowns

• add frame_status to LidarScan

• introduce a new method cartesianT() which speeds up the computation of point projecion from range image, the method also can process the cartesian product with single float precision. A new unit test cartesian_test which shows achieved speed up gains by the number of valid returns in lidar scan.

• add RAW_HEADERS ChanField to LidarScan for packing headers and footer (alpha version, may be changed/removed without notice in the future)

python

• breaking change: drop defaults parameters of client.Sensor constructor.

• breaking change: change Scans interface Timeout to default to 1 second instead of None

• added a new method init_logger() to provide control over the logs emitted by client.Sensor.

• add client.LidarScan methods __repr__() and __str__().

• changed default timeout from 1 seconds to 2 seconds

ouster_viz

• add SimpleViz.screenshot() function and a key handler SHIFT-Z to save a screenshot. Can be called from a client thread, and executes asyncronously (i.e. returns immediately and pushes a one off callback to frame buffer handlers)

• add PointViz.viewport_width() and PointViz.viewport_height() functions

• add PointViz.push/pop_frame_buffer_handler() to attach a callbacks on every frame draw update that calls from the main rendering loop.

• add SHIFT-X key to SimpleViz to start continuous saving of screenshots on every draw operation. (good for making videos)

• expose Camera.set_target function through pybind

ouster-sdk

• Moved ouster_ros to its own repo

• pin openssl Conan package dependency to openssl/1.1.1s due to libtins and libcurl conflicting openssl versions

[20220927]

ouster_client

• fix a bug in longform init_client() which was not setting timestamp_mode and lidar_mode correctly

[20220826]

• drop support for buliding C++ libraries and Python bindings on Ubuntu 16.04

• drop support for buliding C++ libraries and Python bindings on Mac 10.13, Mac 10.14

• Python 3.6 wheels are no longer built and published

• drop support for sensors running FW < 2.0

• require C++ 14 to build

ouster_client

• add `CUSTOM0-9 ChanFields to LidarScan object

• fix parsing measurement status from packets: previously, with some UDP profiles, higher order bits could be randomly set

• add option for EIGEN_MAX_ALIGN_BYTES, ON by default

• use of sensor http interface for comms with sensors for FW 2.1+

• propogate C++ 17 usage requirement in cmake for C++ libraries built as C++17

• allow vcpkg configuration via environment variables

• fix a bug in sensor_config struct equality comparison operator

ouster_viz

• clean up GL context logic to avoid errors on window/intel UHD graphics

python

• windows extension modules are now statically linked to avoid potential issues with vendored dlls

ouster_ros

• drop ROS kinetic support

• switch from nodes to nodelets

• update topic names, group under single ros namespace

• separate launch files for play, replay, and recording

• drop FW 1.13 compatibility for sensors and recorded bags

• remove setting of EIGEN_MAX_ALIGN_BYTES

• add two new ros services /ouster/get_config and /ouster/set_config (experimental)

• add new timestamp_mode TIME_FROM_ROS_TIME

• declare PCL_NO_PRECOMPILE ahead of all PCL library includes

[20220608]

ouster_client

• change single return parsing for FW 2.3.1

python

• single return parsing for FW 2.3.1 reflects change from ouster_client

[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