OusterSDK + Ouster CLI 2024 Q2 Release

Latest 20240703 / Python Ouster SDK v0.12.0

Important: ouster-sdk installed from pypi now requires glibc >= 2.28.

ouster_client/Python SDK

• Add support for adding custom fields to LidarScan s with add_field and del_field

• Added per-request timeout arguments to SensorHttp

• Added sensor user_data to sensor_info/SensorInfo and metadata files

• Removed updated_metadata_string() and original_string() from sensor_info

• Added to_json_string() to sensor_info to convert a sensor_info to a non-legacy
  metadata JSON string

• Unified Python and C++ Packet and PacketFormat classes

• Added validate function to LidarPacket and ImuPacket to check for ID and size mismatches

• [BREAKING] LidarScan's width and height have been switched to size_t from ptrdiff_t in C++

• Refactor metadata parsing

• Add get_version to sensor_info/SensorInfo to retrieve parsed version information

• Add get_product_info to sensor_info/SensorInfo to retrieve parsed lidar model information

• Raise an exception rather than throw an unrelated error when multiple viable metadata files are found for a given PCAP

• Add ability to slice a scan source, returning a new sliced ScanSource

• [BREAKING] Removed hostname in Python SensorInfo and name from C++ sensor_info

• [BREAKING] Removed udp_port_lidar, udp_port_imu and mode from C++ sensor_info

• [BREAKING] Deprecated udp_port_lidar, udp_port_imu and mode in Python SensorInfo.
  These fields now point to the equivalent fields inside of SensorInfo::config.

• [BREAKING] Removed cols and frequency from LidarMode in Python

• [BREAKING] Deprecated data and capture_timestamp from Python Packet

• [BREAKING] Removed methods from Python ImuPacket and LidarPacket classes that simply wrapped PacketFormat

• [BREAKING] Removed begin() and end() iterators of LidarScan in C++

• [BREAKING] Remove deprecated package stubs added in previous 0.11 release.

• [BREAKING] Replaced integer backed ChanField enumerations with strings.

• [BREAKING] Removed CUSTOM0 through CUSTOM9 ChanField enumerations.

• [BREAKING] Extra fields in sensor metadata are now ignored and discarded if saved from the resulting sensor_info/SensorInfo

• [BUGFIX] Prevent last scan from being emitted twice for PCAP

• [BUGFIX] Fix corrupted packets due to poor handling of fragmented packet drop in PCAPs

• [BUGFIX] Fix possible crash when working with custom UDPProfileLidars

ouster_viz

• Support viewing custom LidarScan fields in viz

• Support viewing custom LidarScan 3 channel fields in viz as RGB

• [BUGFIX] Prevent OpenBLAS from using high amounts of CPU spin waiting

ouster_osf

• Support saving custom LidarScan fields to OSF files

• [BREAKING] OsfWriter now takes in an optional list of fields to save rather than a list of fields and ChanFieldTypes to cast to

ouster-cli

• Added support for slicing using time to ouster-cli source ... slice

• Add sensor ouster-cli source ... userdata command to set and retrieve userdata on a sensor

• Add chainable ouster-cli source ... stats command

• Add chainable ouster-cli source ... clip command to discard points outside a provided range

• Add --rate max option to ``ouster-cli source ... viz```

• Improve argument naming and descriptions for ouster-cli source ... viz map and accum options

• [BUGFIX] Prevent dropped frames from live sensors by consuming scans as fast as they come in rather than sleeping

mapping

• Move mapping into the sdk as ouster.sdk.mapping
• Better handle looping while mapping
• Improve automatic downsample voxel size calculation

other

• Updated VCPKG libraries to 2024.04.26

Known issues

• ouster-cli discover may not provide info for sensors using IPv6 link-local
  networks on Python 3.8 or with older versions of zeroconf.
• ouster-cli when combining slice command with viz the program will
  exit once iterate over the selected range of scans even when
  the --on-eof option is set to loop.
  • workaround: to have viz loop over the selected range, first perform a
    slice with save, then playback the generated file.

Contributors

@akatumalla-ouster, Alekhya Katumalla
@chrisbayruns, Chris Bayruns
@yhao10, Hao Yuan
@kairenw, Kai Wong
@kkaly, Karthik Kalyanaraman
@matt-attack, Matthew Bries
@mtswisher, Michael Swisher
@bexcite, Pavlo Bashmakov
@celentes, Tim Talashok
@twslankard, Tom Slankard
@Samahu, Ussama Naal

Acknowledgements

The Ouster SDK team is a small team, and we couldn't do what we do without dozens of tools and libraries produced by the open source community! We'd like to thank the folks contributing to libtins, kiss-icp, zeroconf, numpy, scipy, jsoncpp, eigen3, zlib, libpng, libcurl, Pillow, and the Pallets Project. Ouster SDK is also proudly developed on the Linux kernel with GNU tools. If your open source contribution is not mentioned here and you believe you should be acknowledged, please contact @twslankard, who will try to keep this list up to date.

Public domain photo by Alan Kyker