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Update for fw 2.0. See changelog for details
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| Original file line number | Diff line number | Diff line change |
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| ========= | ||
| Changelog | ||
| ========= | ||
|
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| [20201202] | ||
| ========== | ||
|
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| Changed | ||
| ------- | ||
|
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| * 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 | ||
|
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| [1.14.0-beta.14] - 2020-08-27 | ||
| ============================= | ||
|
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| Added | ||
| ----- | ||
|
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| * 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`` | ||
|
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| 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 | ||
|
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||
| [1.14.0-beta.12] - 2020-07-10 | ||
| ============================= | ||
|
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| *no changes* | ||
|
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| [1.14.0-beta.11] - 2020-06-17 | ||
| ============================= | ||
|
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| *no changes* | ||
|
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| [1.14.0-beta.10] - 2020-05-21 | ||
| ============================= | ||
|
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||
| Added | ||
| ----- | ||
|
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| * preliminary support for Windows and macOS for ``ouster_viz`` and ``ouster_client`` | ||
|
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| 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 | ||
|
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||
| 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 | ||
|
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||
| [1.14.0-beta.4] - 2020-03-17 | ||
| ============================ | ||
|
|
||
| Added | ||
| ----- | ||
|
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||
| * 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 | ||
| ------- | ||
|
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| * use random ports for lidar and imu data by default when unspecified | ||
|
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||
| [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) | ||
|
|
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| Changed | ||
| ------- | ||
|
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| * 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 | ||
|
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||
| 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 | ||
|
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||
| [1.12.0] - 2019-05-02 | ||
| ===================== | ||
|
|
||
| Added | ||
| ----- | ||
|
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| * 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 | ||
|
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| Fixed | ||
| ----- | ||
|
|
||
| * visualizer issue where the point cloud would occasionally occasionally not be displayed using | ||
| newer versions of Eigen | ||
|
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| [1.11.0] - 2019-03-26 | ||
| ===================== | ||
|
|
||
| Added | ||
| ----- | ||
|
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||
| * allow renaming tf ids using the ``tf_prefix`` parameter | ||
|
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| Changed | ||
| ------- | ||
|
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| * 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 | ||
|
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||
| 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 | ||
|
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||
| Fixed | ||
| ----- | ||
|
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||
| * no longer dropping UDP packets in 2048 mode on tested hardware | ||
| * example visualizer: | ||
|
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||
| - 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 |
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