CHANGELOG.rst

Changelog

[20231031] [0.10.0]

Important notes

• This will be the last release that supports Python 3.7.
• This will be the last release that supports macOS 10.15.

ouster_viz

• Added point cloud accumulation support
• Added an PointViz::fps() method to return the operating frame rate as a double

ouster_client

• [BREAKING] Updates to sensor_info include:

  • new fields added: build_date, image_rev, prod_pn, status, cal (representing the value stored in the calibration_status metadata JSON key), config (representing the value of the sensor_config metadata JSON key)
  • the original JSON string is accessible via the original_string() method
  • The updated_metadata_string() now returns a JSON string reflecting any modifications to sensor_info
  • to_string is now marked as deprecated

• [BREAKING] The RANGE field defined in parsing.cpp, for the low data rate profile, is now 32 bits wide (originally 16 bits.)

  • Please note this fixes a SDK bug. The underlying UDP format is unchanged.

• [BREAKING] The NEAR_IR field defined in parsing.cpp, for the low data rate profile, is now 16 bits wide (originally 8 bits.)

  • Plase note this fixes a SDK bug. The underlying UDP format is unchanged.

• [BREAKING] changed frame_id return size to 32 bits from 16 bits
• An array of per-packet timestamps (called packet_timestamp) is added to LidarScan
• The client now retries failed requests to an Ouster sensor's HTTP API
• Increased the default timeout for HTTP requests to 40s
• Added FuSA UDP profile to support Ouster FW 3.1+
• Improved ScanBatcher performance by roughly 3x (depending on hardware)
• Receive buffer size increased from 256KB to 1MB
• [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the viz.Cloud Python class
• [bugfix] Fixed an issue that resulted in some packet_format methods returning an uninitialized value
• [bugfix] Fixed a libpcap-related linking issue
• [bugfix] Fixed an eigen 3.3-related linking issue
• [bugfix] Fixed a zero beam angle calculation issue
• [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10

ouster-cli

• Added source <FILE> slam and source <FILE> slam viz commands
• All metadata CLI options are changed to -m/--metadata
• Added discovery for FW 3.1+ sensors
• Set signal multiplier by default in sensor/SOURCE sensor config
• use PYBIND11_MODULE instead of deprecated module constructor
• remove deprecated == in pybind for .is()
• [bugfix] Fix report of fragmentation for ouster-cli pcap/SOURCE pcap info
• [bugfix] Fixed issue regarding windows mDNS in discovery
• [bugfix] Fixed cli pcap recording timestamp issue
• [BREAKING] CSV output ordering switched

ouster.sdk

• ouster-mapping is now a required dependency
• [BREAKING] change the ouster.sdk.viz location to the ouster.viz package, please update the references if you used ouster.sdk.viz module
• [bugfix] Fixed Windows pcap support for files larger than 2GB
• [bugfix] Fixed the order of LidarScan's w and h keyword arguments
• [bugfix] Fixed an issue with LidarPacket when using data recorded with older versions of Ouster Studio

Known issues

• The dependency specifier for scipy is invalid per PEP-440
• get_config always returns true
• Repeated CTRL-C can cause a segmentation fault while visualizing a point cloud

20230710

• Update vcpkg ref of build to 2023-02-24

ouster_osf

• Add Ouster OSF C++/Python library to save stream of LidarScans with metadata

ouster_client

• Add LidarScan.pose with poses per column
• Add _client.IndexedPcapReader and _client.PcapIndex to enable random pcap file access by frame number
• [BREAKING] remove ouster::Imu object
• [BREAKING] change the return type of ouster::packet_format::frame_id from uint16_t to uint32_t
• [BREAKING] remove methods px_range, px_reflectivity, px_signal, and px_ambient from ouster::packet_format
• Add get_field_types function for LidarScan, from sensor_info
• bugfix: return metadata regardless of sensor_info status field
• Make timeout on curl more configurable
• [BREAKING] remove encoder_ticks_per_rev (deprecated)

ouster_viz

• [BREAKING] Changed Python binding for Cloud.set_column_poses() to accept [Wx4x4] array of poses, column-storage order
• bugfix: fix label re-use
• Add LidarScan.pose handling to viz.LidarScanViz, and new T keyboard binding to toggle column poses usage

ouster_pcap

• bugfix: Use unordered map to store stream_keys to avoid comparison operators on map

Python SDK

• Add Python 3.11 wheels
• Retire simple-viz for ouster-cli utility
• Add default ? key binding to LidarScanViz and consolidate bindings into stored definition
• Remove pcap-to-csv for ouster-cli utility
• Add validator class for LidarPacket

ouster-cli

This release also marks the introduction of the ouster-cli utility which includes, among many features: * Visualization from a connected sensor with automatic configuration * Recording from a connected sensor * Simultaneous record and viz from a connected sensor * Obtaining metadata from a connected sensor * Visualization from a specified PCAP * Slice, info, and conversion for a specificed PCAP * Utilities for benchmarking system, printing system-info * Discovery which indicates all connected sensors on network * Automatic logging to .ouster-cli * Mapping utilities

[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