Changelog

[20220114]

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

  • 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_pcap

  • fix incorrect encapsulation protocol being reported in packet_info

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