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Important notes
---------------
* This will be the last release that supports Python 3.7.
* 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- Loading branch information
Tom Slankard
committed
Oct 30, 2023
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