20230403

20230403 / Python SDK v0.8.1

Update to SDK client. This update to the client introduces numerous improvements to the visualizer library and the main Python visualizer. It also changes the default metadata output format. Summary of changes:

• Default metadata output across all functionality switched to non-legacy format. Utility for conversion provided with Python SDK
• New method mtp_init_client to init client with multicast support (experimental). Thank you to @ShepelIlya
• SensorHttp class made public under the ouster::sensor::util namespace
• Port guessing logic has been moved from Python to C++
• Addition of a param to skip the init_id/sn check for lidar packets with metadata in Python
• Improve logic for finding metadata files for simple-viz utility
• introduce ImageMode and CloudeMode for viz
• add palettes for viz
• update viz camera with other objects in draw to avoid bugs

bugfix:

• remove spurious sqrt application to autoleveled images

breaking changes:

• As previously discussed, get_metadata now defaults to outputting the non-legacy metadata. Please refer to the migration guide for guidance on how to mitigate its effects. You should still be able to read and produce legacy metadata formats.
• Many deprecations on LidarScan have been removed. Please refer to the migration guide for how to update your code.

Please be advised that FW 2.5 is compatible with both this release and previous ones. However, the FW 2.5 default lidar profile has switched from LEGACY to RNG19_RFL8_SIG16_NIR16. If you haven't updated your code to specify profile when creating ScanBatcher in C++ or Scans in Python, this may be a convenient time to do so.

Contributors:
@bexcite, Pavlo Bashmakov
@Samahu, Ussama Naal
@twslankard, Tom Slankard
@chrisbayruns, Chris Bayruns
@kairenw, Kairen Wong
@ShepelIlya
@mtswisher, Michael Swisher
@airalcorn2

Thank you to our contributors!

This photo is taken by Philippe Lavoie and has been released into the public domain