Release 20231031 0.10.0

.clang-format

@@ -1,8 +1,171 @@
+# generated with: clang-format -style=Google -dump-config > .clang-format
 ---
-BasedOnStyle: Google
-IndentWidth: 4
----
-Language: Cpp
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
 DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Left
 Cpp11BracedListStyle: true
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...

.gitignore

@@ -7,6 +7,9 @@ python/**/*.so
 python/**/*.dll
 python/**/*.pyd
 
+/build
+python/artifacts/
+
 # visual studio
 .vs/
 out/

CHANGELOG.rst

@@ -2,11 +2,82 @@
 Changelog
 =========
 
+[20231031] [0.10.0]
+============
+
+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
+
 20230710
 ========
 
 * Update vcpkg ref of build to 2023-02-24
-* 
 
 ouster_osf
 ----------
@@ -19,10 +90,14 @@ ouster_client
 * Add ``LidarScan.pose`` with poses per column
 * Add ``_client.IndexedPcapReader`` and ``_client.PcapIndex`` to enable random
   pcap file access by frame number
+
 * [BREAKING] remove ``ouster::Imu`` object
-* Add get_field_types function for LidarScan, from sensor_info
-* bugfix: return metadata regardless of sensor_info status field
+* [BREAKING] change the return type of ``ouster::packet_format::frame_id`` from ``uint16_t`` to ``uint32_t``
+* [BREAKING] remove methods ``px_range``, ``px_reflectivity``, ``px_signal``, and ``px_ambient`` from ``ouster::packet_format``
+* Add ``get_field_types`` function for ``LidarScan``, from ``sensor_info``
+* bugfix: return metadata regardless of ``sensor_info`` status field
 * Make timeout on curl more configurable
+* [BREAKING] remove encoder_ticks_per_rev (deprecated)
 
 ouster_viz
 ----------

CMakeLists.txt

@@ -1,4 +1,12 @@
-cmake_minimum_required(VERSION 3.10...3.22)
+if(DEFINED CMAKE_CXX_COMPILER_LAUNCHER )
+  cmake_minimum_required(VERSION 3.17...3.22)
+  message("Using CXX Launcher: ${CMAKE_CXX_COMPILER_LAUNCHER}")
+  if( DEFINED ENV{CCACHE_DIR} )
+    message("Using CCACHE_DIR: $ENV{CCACHE_DIR}")
+  endif()
+else()
+  cmake_minimum_required(VERSION 3.10...3.22)
+endif()
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include(DefaultBuildType)
@@ -7,10 +15,10 @@ include(DefaultBuildType)
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster_example VERSION 20230710)
+project(ouster_example VERSION 20231031)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.9.0)
+set(OusterSDK_VERSION_STRING 0.10.0)
 include(VersionGen)
 
 # ==== Options ====
@@ -112,6 +120,13 @@ configure_file(cmake/OusterSDKConfig.cmake.in OusterSDKConfig.cmake @ONLY)
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfig.cmake"
   "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfigVersion.cmake"
   DESTINATION lib/cmake/OusterSDK)
+if(BUILD_PCAP)
+  # Install the findpcap cmake file for install targets.
+  # For some reason it only works if you rename it to PcapConfig.cmake
+  install(FILES "cmake/FindPcap.cmake"
+    DESTINATION lib/cmake/OusterSDK
+    RENAME PcapConfig.cmake)
+endif()
 
 install(FILES LICENSE LICENSE-bin
   DESTINATION share)