OusterSDK + Ouster CLI 2023 Q3 Release

20231031 / Python Ouster SDK v0.10.0

Important notes

• This release does not support Python 3.7 on macOS.
• This will be the last release that supports Python 3.7 for Linux and Windows.
• This will be the last release that supports macOS 10.15.

ouster_viz

• Added point cloud accumulation support
• Added an PointViz::fps() method to return the operating frame rate as a double

ouster_client

• [BREAKING] Updates to sensor_info include:
  • new fields added: build_date, image_rev, prod_pn, status, cal (representing the value stored in the calibration_status metadata JSON key), config (representing the value of the sensor_config metadata JSON key)
  • the original JSON string is accessible via the original_string() method
  • The updated_metadata_string() now returns a JSON string reflecting any modifications to sensor_info
  • to_string is now marked as deprecated
• [BREAKING] The RANGE field defined in parsing.cpp, for the low data rate profile, is now 32 bits wide (originally 16 bits.)
  • Please note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] The NEAR_IR field defined in parsing.cpp, for the low data rate profile, is now 16 bits wide (originally 8 bits.)
  • Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] changed frame_id return size to 32 bits from 16 bits
• An array of per-packet timestamps (called packet_timestamp) is added to LidarScan
• The client now retries failed requests to an Ouster sensor's HTTP API
• Increased the default timeout for HTTP requests to 40s
• Added FuSA UDP profile to support Ouster FW 3.1+
• Improved ScanBatcher performance by roughly 3x (depending on hardware)
• Receive buffer size increased from 256KB to 1MB
• [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the viz.Cloud Python class
• [bugfix] Fixed an issue that resulted in some packet_format methods returning an uninitialized value
• [bugfix] Fixed a libpcap-related linking issue
• [bugfix] Fixed an eigen 3.3-related linking issue
• [bugfix] Fixed a zero beam angle calculation issue
• [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10

ouster-cli

• Added source <FILE> slam and source <FILE> slam viz commands
• All metadata CLI options are changed to -m/--metadata
• Added discovery for FW 3.1+ sensors
• Set signal multiplier by default in sensor/SOURCE sensor config
• use PYBIND11_MODULE instead of deprecated module constructor
• remove deprecated == in pybind for .is()
• [bugfix] Fix report of fragmentation for ouster-cli pcap/SOURCE pcap info
• [bugfix] Fixed issue regarding windows mDNS in discovery
• [bugfix] Fixed cli pcap recording timestamp issue
• [BREAKING] CSV output ordering switched

ouster.sdk

• ouster-mapping is now a required dependency
• [BREAKING] change the ouster.sdk.viz location to the ouster.viz
  package, please update the references if you used ouster.sdk.viz module
• [bugfix] Fixed Windows pcap support for files larger than 2GB
• [bugfix] Fixed the order of LidarScan's w and h keyword arguments
• [bugfix] Fixed an issue with LidarPacket when using data recorded with older versions of Ouster Studio

Known issues

• The dependency specifier for scipy is invalid per PEP-440
• get_config always returns true
• Repeated CTRL-C can cause a segmentation fault while visualizing a point cloud

Contributors

@bexcite, Pavlo Bashmakov
@Samahu, Ussama Naal
@chrisbayruns, Chris Bayruns
@kairenw, Kairen Wong
@mtswisher, Michael Swisher
@celentes, Tim Talashok
@akatumalla-ouster, Alekhya Katumalla
@yhao10, Hao Yuan
@twslankard, Tom Slankard

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