CHANGELOG.rst

Changelog

[unreleased]

• 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 0.2.1
• 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

• switch the default pcap encapsulation to ethernet for Ouster Studio compatibility (addresses #265)

ouster_ros

• 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

python

• update ouster-sdk version to 0.2.2
• fix open3d example crash on exit when replaying pcaps on macos (addresses #267)

[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