Release 0.13.1

ouster-lidar · Oct 23, 2024 · f48e82e · f48e82e
1 parent 116aa44
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,6 +4,30 @@ Changelog
 
 **Important: as of 0.13.0, the SDK is no longer compatible with firmware versions older than 2.1.0.**
 
+[20241017] [0.13.1]
+======================
+
+* Add support for directly using IPv6 addresses for sensors in the CLI and in sensor clients.
+* Typing '?' now displays the visualizer keyboard shortcuts in the visualizer window.
+* Removed the ``async_client_example.cpp`` example.
+* Un-deprecated ``ScanBatcher::ScanBatcher(size_t, const packet_format&)`` to remove a warning. (But please use ``ScanBatcher::ScanBatcher(const sensor_info&)`` instead.)
+
+* [BREAKING] Removed the ``input_row_major`` parameter from the ``dewarp`` function. (``dewarp`` now infers the array type.)
+* [BREAKING] Renamed ``DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS`` to ``LONG_HTTP_REQUEST_TIMEOUT_SECONDS``.
+* [BREAKING] Changed the default value of ``LidarScanVizAccumulatorsConfig.accum_min_dist_num`` from ``1`` to ``0``.
+* [BUGFIX] Fixed a visualizer glitch causing drawables not to render if added after a call to ``PointViz::update()`` but before ``PointViz::run()`` or ``PointViz::run_once()``.
+* [BUGFIX] Fixed a visualizer crash when using ``HIGHLIGHT_SECOND`` mode with single-return datasets.
+* [BUGFIX] Fixed an issue with the 2d images not updating when cycled during pause.
+* [BUGFIX] Fixed a bug that the first scan pose it not identity when using slice slam command on a slam output osf file
+* [BUGFIX] Re-introduce the RAW field option
+
+Known Issues
+------------
+
+* Using an unbounded slice (e.g. with ``slice 100:`` during visualization can cause the source to loop back to the beginning (outside of the slice) when the source is a pcap file or an OSF saved with an earlier version of the SDK.
+* A race condition in ``PointViz`` event handers occasionally causes a crash or unexpected results.
+
+
 [20240702] [0.13.0]
 ======================
 
@@ -50,7 +74,7 @@ ouster_client/Python SDK
 
 
 * [BREAKING] Remove ``ouster::make_xyz_lut(const ouster::sensor::sensor_info&)``. (Use ``make_xyz_lut(const sensor::sensor_info& sensor, bool use_extrinsics)`` instead.)
-* [BREAKING] changed REFLECTIVITY channel field size to 8 bits. (Important - this makes the SDK incompatible with FW 2.0 and 2.1.)
+* [BREAKING] changed REFLECTIVITY channel field size to 8 bits. (Important - this makes the SDK incompatible with FW 2.0.)
 * [BREAKING] Removed ``UDPPacketSource`` and ``BufferedUDPSource``.
 * [BREAKING] Removed ``ouster.sdk.util.firmware_version(hostname)`` please use ``ouster.sdk.client.SensorHttp.create(hostname).firmware_version()`` instead
 * [BREAKING] ``open_source`` no longer automatically finds and applies extrinsics from ``sensor_extrinsics.json`` files. Use the ``extrinsics`` argument instead to specify the path to the relevant extrinsics file instead.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,10 +13,10 @@ include(DefaultBuildType)
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster-sdk VERSION 0.13.0)
+project(ouster-sdk VERSION 0.13.1)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.13.0)
+set(OusterSDK_VERSION_STRING 0.13.1)
 include(VersionGen)
 
 # ==== Options ====

diff --git a/docs/overview.rst b/docs/overview.rst
@@ -51,6 +51,7 @@ The following table indicates the compatibility of each released SDK version and
 ===================================== ======= ======= ======= ======= ======= ======= ======= =======
 SDK Tag (Release) / Python SDK        FW 2.0  FW 2.1  FW 2.2  FW 2.3  FW 2.4  FW 2.5  FW 3.0  FW 3.1
 ===================================== ======= ======= ======= ======= ======= ======= ======= =======
+C++ SDK 20240703 /  Python SDK 0.13.1 no      **yes** **yes** **yes** **yes** **yes** **yes** **yes**
 C++ SDK 20240703 /  Python SDK 0.13.0 no      **yes** **yes** **yes** **yes** **yes** **yes** **yes**
 C++ SDK 20240703 /  Python SDK 0.12.0 **yes** **yes** **yes** **yes** **yes** **yes** **yes** **yes**
 C++ SDK 20240423 /  Python SDK 0.11.1 **yes** **yes** **yes** **yes** **yes** **yes** **yes** **yes**

diff --git a/docs/versions.json b/docs/versions.json
@@ -1,4 +1,11 @@
 [
+  {
+    "version": "0.13.0",
+    "tags": {
+      "sdkx": "release-0.13.0",
+      "sdk": "release-0.13.0"
+    }
+  },
   {
     "version": "0.12.0",
     "tags": {

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -4,9 +4,6 @@ target_link_libraries(client_example PRIVATE OusterSDK::ouster_client)
 add_executable(client_packet_example client_packet_example.cpp)
 target_link_libraries(client_packet_example PRIVATE OusterSDK::ouster_client)
 
-add_executable(async_client_example async_client_example.cpp)
-target_link_libraries(async_client_example PRIVATE OusterSDK::ouster_client)
-
 add_executable(config_example config_example.cpp)
 target_link_libraries(config_example PRIVATE OusterSDK::ouster_client)
 

diff --git a/examples/async_client_example.cpp b/examples/async_client_example.cpp
diff --git a/examples/client_packet_example.cpp b/examples/client_packet_example.cpp
@@ -30,8 +30,6 @@ int main(int argc, char* argv[]) {
                   << ouster::BUILD_SYSTEM << ")"
                   << "\n\nUsage: client_example <sensor_hostname> "
                      "[<sensor_hostname>]..."
-                     "\n\n<udp_destination> is optional: leave blank for "
-                     "automatic destination detection"
                   << std::endl;
 
         return argc == 1 ? EXIT_SUCCESS : EXIT_FAILURE;

diff --git a/ouster_client/include/ouster/client.h b/ouster_client/include/ouster/client.h
@@ -98,7 +98,7 @@ std::shared_ptr<client> init_client(
     const std::string& hostname, const std::string& udp_dest_host,
     lidar_mode ld_mode = MODE_UNSPEC, timestamp_mode ts_mode = TIME_FROM_UNSPEC,
     int lidar_port = 0, int imu_port = 0,
-    int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS,
+    int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS,
     bool persist_config = false);
 
 /**
@@ -123,7 +123,7 @@ std::shared_ptr<client> init_client(
 std::shared_ptr<client> mtp_init_client(
     const std::string& hostname, const sensor_config& config,
     const std::string& mtp_dest_host, bool main,
-    int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS,
+    int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS,
     bool persist_config = false);
 
 /** @}*/
@@ -232,8 +232,8 @@ bool read_imu_packet(const client& cli, ImuPacket& packet);
  *
  * @return a text blob of metadata parseable into a sensor_info struct.
  */
-std::string get_metadata(
-    client& cli, int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
+std::string get_metadata(client& cli,
+                         int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 /**
  * Get sensor config from the sensor.
@@ -250,7 +250,7 @@ std::string get_metadata(
  */
 bool get_config(const std::string& hostname, sensor_config& config,
                 bool active = true,
-                int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
+                int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 // clang-format off
 /**
@@ -280,7 +280,7 @@ enum config_flags : uint8_t {
  */
 bool set_config(const std::string& hostname, const sensor_config& config,
                 uint8_t config_flags = 0,
-                int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
+                int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 /**
  * Return the port used to listen for lidar UDP data.

diff --git a/ouster_client/include/ouster/defaults.h b/ouster_client/include/ouster/defaults.h
@@ -1,4 +1,5 @@
 #pragma once
 
-constexpr int DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS = 40;
+constexpr int SHORT_HTTP_REQUEST_TIMEOUT_SECONDS = 4;
+constexpr int LONG_HTTP_REQUEST_TIMEOUT_SECONDS = 40;
 constexpr int DEFAULT_COLUMNS_PER_PACKET = 16;