OusterSDK + Ouster CLI Release 0.14.0

ouster_client/C++ SDK

• Jsoncpp fully removed for jsoncons
• [BREAKING] All the HTTP endpoint methods in the SensorHttpImp class now return a std::string instead of a Json::Value object. The result can be parsed with any json parser.
• Add CMake logic for packaging c++ sdk in binary format when -DBUILD_SHARED_LIBRARY=ON is enabled.

ouster_client/Python SDK

• Add a new command localize to perform localization and tracking within a SLAM-generated map of a given site.
• Add LidarScan.sensor_info to store the relevant SensorInfo for each scan
• [BREAKING] Deprecated ScanBatcher::operator()(const uint8_t*, uint64_t, LidarScan&) for ScanBatcher::operator()(const LidarPacket&, LidarScan&)
• [BREAKING] Disabled OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32 by default to help avoid ABI mismatches
• [BREAKING] Changed SensorClient get_packet API to return packet in the ClientEvent rather than through reference parameters
• Updated to Kiss ICP 1.1.0 version
• [BUGFIX] Fixed OSF failing to load scans saved in 4096 * 5 mode
• [BUGFIX] Fixed Python client.transform and client.dewarp methods returning incorrect results due to ignoring column layout of input data
• Refactored logging to remove spdlog API exposure
• Vendored spdlog in third party dependencies
• [BREAKING] Change sensor_info.sn type from string to uint64_t
• Support additional array types and formats for Cloud.set_xyz
• Added new mask, reduce and clip ScanSource operations to the SDK CLI and API
• The clip command can now specify which fields to be applied to and accepts unit
• Add relevant methods from packet_format to LidarPacket and ImuPacket classes
• Add format to each Packet object with the relevant packet format
• Tolerate off-by-1-byte for bag files recorded using an older version of the ouster-ros driver
• Fix yaw axis to zero in the get_rot_matrix_to_align_to_gravity function
• [BUGFIX] Fix the -c option in ouster-cli config command to set config from file

ouster_cli

• Add ouster-cli source SENSOR set_static_ip command to set sensor static IPs.
• Add ouster-cli source SENSOR diagnostics command to download sensor diagnostic dumps.
• [BREAKING] Merge the handling of --extrinsics-file ouster-cli option into --extrinsics option.
• [BREAKING] ouster-cli --extrinsics option requires adding double qoutes for space separated values.
• ouster-cli --extrinsics option now accepts identity as a keyword for overrideng sensor extriniscs with identity.
• ouster-cli --extrinsics option now accepts the following additional formats besides the 16 numbers array format:
  • --extrinsics X,Y,Z,R,PY for position + euler angles.
  • --extrinsics X,Y,Z,QX,QY,QZ,QW for position + quaternion.
• Add cursor-driven AOI selection feature to 2d images in ouster-cli viz command.

ouster_osf

• Introduce ouster::osf::AsyncWriter to offload saving LidarScan as OSF to a background thread, improving CLI performance when saving OSF files.
• Add the ouster::osf::Encoder type, which allows parameterizing the OSF compression level.
• Change the default OSF PNG encoder compression level to 1 from 4.
• [BREAKING] ouster.sdk.osf no longer exports lower-level OSF API classes (such as osf.Reader.)
• ouster::osf::Writer::save now throws if the resolution of a LidarScan being saved doesn't match what is specified in sensor info/metadata.
• [BUGFIX] Fix incorrect OsfScanSource data when reading from an OSF file containing empty or missing streams.

ouster_viz

• SimpleViz now drops frames when necessary to keep up with a live data source (i.e. sensor.)
• Add a map origin axis and label.
• Invoke frame buffer resize handlers added to PointViz when GLFW's window resize event fires.
• [BREAKING] Change PointViz::window_coordinates_to_image_pixel so that it always returns a pixel location (even outside the image), which can be useful in some situations.
• [BUGFIX] On screen display frame number starts at zero instead of one.
• [BUGFIX] LidarScanViz now only creates view modes for PIXEL fields.
• [BUGFIX] Use the last valid column pose as a LidarScan's origin, instead of the first.
• [BUGFIX] Limit number of keyboard shortcuts to toggle sensors from CTRL+1 to CTRL+9.
• [BUGFIX] Fix a key shortcut help rendering issue and improve consistency of key shortcut help.

Contributors

@akatumalla-ouster, Alekhya Katumalla
@chrisbayruns, Chris Bayruns
@diego-guridi , Diego Guridi
@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.