0.14.0

The OusterSDK 0.14.0 release brings a few breaking changes. Here we summarize how to migrate from 0.13.0 to 0.14.0

ouster_client c++ module changes

The SensorClient get_packet signature was changed.

Before, this method was used as follows:

ouster::sensor::SensorClient sensor_client(sensors); // sensors is a std::vector<ouster::sensor::Sensor>

auto lidar_packet = sensor::LidarPacket();
auto imu_packet = sensor::ImuPacket();

while(true) {
    auto client_event = sensor_client.get_packet(lidar_packet, imu_packet, 0.1);

    if (client_event.type == ouster::sensor::ClientEvent::LidarPacket) {
        // do something with lidar_packet here
    } else if (client_event.type == ouster::sensor::ClientEvent::ImuPacket) {
        // do something with imu_packet here
    }
}

This interface would have to be broken every time a new packet type is added. For that reason, this was changed and the same logic would be written now as follows:

ouster::sensor::SensorClient sensor_client(sensors); // sensors is a std::vector<ouster::sensor::Sensor>

while(true) {
    auto client_event = sensor_client.get_packet(0.1);

    if (client_event.type == ouster::sensor::ClientEvent::Packet) {
        if (client_event.packet().type() == ouster::sensor::PacketType::Lidar) {
            auto& lidar_packet = client_event.packet().as<ouster::sensor::LidarPacket&>();
            // do something with lidar_packet here
        } else if (client_event.packet().type() == ouster::sensor::PacketType::Imu) {
            auto& imu_packet = static_cast<ouster::sensor::ImuPacket&>(client_event.packet());
            // do something with imu_packet here
        }
    }

    if (client_event.type == ouster::sensor::ClientEvent::PollTimeout) {
        // handle timeout here
    }
}

Now, LidarPacket and ImuPacket provide convenient methods that return the parsed fields that are specific to each packet type.