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CHANGELOG.rst

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Changelog

[20201209]

Changed

  • switched to date-based version scheme. No longer tracking firmware versions
  • added a top-level CMakeLists.txt. Client and visualizer should no longer be built separately. See the README for updated build instructions
  • cmake cleanup, including using custom "find modules" to provide better compatibility between different versions of cmake
  • respect standard cmake BUILD_SHARED_LIBS and CMAKE_POSITION_INDEPENDENT_CODE flags
  • make ouster_ros easier to use as a dependency by bundling the client and viz libraries together into a single library that can be used through catkin
  • updated client example code. Now uses more of the client APIs to capture data and write to a CSV. See ouster_client/src/example.cpp
  • replace callback-based batch_to_scan function with ScanBatcher. See lidar_scan.h for API docs and the new client example code
  • update LidarScan API. Now includes accessors for measurement blocks as well as channel data fields. See lidar_scan.h for API docs
  • add client version field to metadata json, logs, and help text
  • client API renaming to better reflect the Sensor Software Manual

[1.14.0-beta.14] - 2020-08-27

Added

  • support for ROS noetic in ouster_ros. Note: this may break building on very old platforms without a C++14-capable compiler
  • an extra extrinsics field in sensor_info for conveniently passing around an extra user-supplied transform
  • a utility function to convert lidar_scan data between the "staggered" representation where each column has the same timestamp and "de-staggered" representation where each column has the same azimuth angle
  • mask support in the visualizer library in ouster_viz

Changed

  • ouster_ros now requires C++14 to support building against noetic libraries
  • replaced batch_to_iter with batch_to_scan, a simplified function that writes directly to a lidar_scan instead of arbitrary iterator

Fixed

  • ipv6 support using dual-stack sockets on all supported platforms. This was broken since the beta.10 release
  • projection to Cartesian coordinates now takes into account the vertical offset the sensor and lidar frames
  • the reference frame of point cloud topics in ouster_ros is now correctly reported as the "sensor frame" defined in the user guide

[1.14.0-beta.12] - 2020-07-10

no changes

[1.14.0-beta.11] - 2020-06-17

no changes

[1.14.0-beta.10] - 2020-05-21

Added

  • preliminary support for Windows and macOS for ouster_viz and ouster_client

Changed

  • replaced VTK visualizer library with one based on GLFW
  • renamed all instances of "OS1" including namespaces, headers, node and topic names, to reflect support for other product lines
  • updated all xyz point cloud calculations to take into account new lidar_origin_to_beam_origin parameter reported by sensors
  • client and os_node and simple_viz now avoid setting the lidar and timestamp modes when connecting to a client unless values are explicitly specicified

Fixed

  • increase the UDP receive buffer size in the client to reduce chances of dropping packets on platforms with low defaults
  • os_cloud_node output now uses the updated point cloud calculation, taking into account the lidar origin offset
  • minor regression with destaggering in img_node output in previous beta

[1.14.0-beta.4] - 2020-03-17

Added

  • support for gen2 hardware in client, visualizer, and ROS sample code
  • support for updated "packed" lidar UDP data format for 16 and 32-beam devices with firmware 1.14
  • range markers in simple_viz and viz_node. Toggle display using g key. Distances can be configured from os1.launch.
  • post-processing to improve ambient image uniformity in visualizer

Changed

  • use random ports for lidar and imu data by default when unspecified

[1.13.0] - 2020-03-16

Added

  • post-processing to improve ambient image uniformity in visualizer
  • make timestamp mode configurable via the client (PR #97)

Changed

  • turn on position-independent code by default to make using code in libraries easier (PR #65)
  • use random ports for lidar and imu data by default when unspecified

Fixed

  • prevent legacy tf prefix from making invalid frame names (PR #56)
  • use iterator_traits to make batch_to_iter work with more types (PR #70)
  • use correct name for json dependency in package.xml (PR #116)
  • handle udp socket creation error gracefully in client

[1.12.0] - 2019-05-02

Added

  • install directives for ouster_ros build (addresses #50)

Changed

  • flip the sign on IMU acceleration output to follow usual conventions
  • increase the update rate in the visualizer to ~60hz

Fixed

  • visualizer issue where the point cloud would occasionally occasionally not be displayed using newer versions of Eigen

[1.11.0] - 2019-03-26

Added

  • allow renaming tf ids using the tf_prefix parameter

Changed

  • use frame id to batch packets so client code deals with reordered lidar packets without splitting frames
  • use a uint32_t for PointOS1 timestamps to avoid unnecessary loss of precision

Fixed

  • bug causing ring and reflectivity to be corrupted in os1_cloud_node output
  • misplaced sine in azimuth angle calculation (addresses #42)
  • populate timestamps on image node output (addresses #39)

[1.10.0] - 2019-01-27

Added

  • os1_node now queries and uses calibrated beam angles from the sensor
  • os1_node now queries and uses imu / lidar frames from the sensor
  • os1_node reads and writes metadata to ${ROS_HOME} to support replaying data with calibration
  • ROS example code now publishes tf2 transforms for imu / lidar frames (addresses #12)
  • added metadata parameter to os1.launch to override location of metadata
  • added viz parameter to os1.launch to run the example visualizer with ROS
  • added image parameter to os1.launch to publish image topics to rviz (addresses #21)
  • added range field to PointOS1

Changed

  • split point-cloud publishing out of os1_node into os1_cloud_node
  • example visualizer controls:
    • press m to cycle through color modes instead of i, z, Z, r
    • r now resets the camera position
    • range/signal images automatically resized to fit window height
  • updated OS-1 client to use newer TCP configuration commands
  • updated OS-1 client to set the requested lidar mode, reinitialize on connection
  • changed point cloud batching to be based on angle rather than scan duration
  • ouster_client now depends on the jsoncpp library
  • switched order of fields in PointOS1 to be compatible with PointXYZI (addresses #16)
  • moved example visualizer VTK rendering into the main thread (merged #23)
  • the timestamp field of PointOS1 now represents time since the start of the scan (the timestamp of the PointCloud2 message) in nanoseconds

Removed

  • removed keyboard camera controls in example visualizer
  • removed panning and rotating of the image panel in example visualizer

Fixed

  • no longer dropping UDP packets in 2048 mode on tested hardware
  • example visualizer:
    • point cloud display focus no longer snaps back on rotation
    • fixed clipping issues with parallel projection
    • fixed point coloring issues in z-color mode
    • improved visualizer performance