OusterSDK + Ouster CLI Release 0.15.0

• The performance of the destagger method has been improved by two folds.
• [BUGFIX] Fixed crash in SLAM automatic voxel size detection if the first scans have no valid range reading.
• Add pose optimize option to the ouster-cli command to refine the SLAM output.
• [BREAKING] Deprecate PointViz::push_frame_buffer_handler() and PointViz::pop_frame_buffer_handler().
  in C++ and Pyton in favor the new screenshot facilities get_screenshot(), save_screenshot(), and toggle_screen_recording().
• Switch to using cartesianT as the default cartesian method implementation for improved performance.
• Add roll camera movement to PointViz using 'Q' and 'E' keys.
• Add finer camera movement to PointViz when using SHIFT modifier for keys 'W', 'A','S','D','Q','E' '-' and '='.
• Repurpose the E key in the viz for roll camera motion. The images size can now be adjusted using 'I/SHIFT + I'.
• [BREAKING] Rename window_coordinates_to_image_pixel to viewport_coordinates_to_image_pixel in C++ and Python.

ouster_client/Python SDK

• Support opening CDR encoded MCAP files with BagPacketSource and BagScanSource and the CLI.
• [BUGFIX] Fix incorrect range check for LidarScan::complete when start > end.
• Add data_format::packets_per_frame() and data_format::valid_columns_per_frame().
• [BUGFIX] Fix error when decoding OSFs with columns_per_packet != 16.
• Add a new save_trajectory command to dump the slam output to csv file (TUM format).
• Add a new method rotation_matrix_to_quaternion to convert a rotation matrix to a quaternion.
• [BREAKING] Rename ouster.sdk.client to ouster.sdk.core.
• [BREAKING] Move get_config, set_config, Sensor, SensorHttp, SensorPacketSource, SensorClient, ClientError,
  ClientOverflow, ClientTimeout from ouster.sdk.client to ouster.sdk.sensor.
• Propogate initial_pose to SlamEngine and Localization so the reported poses starts from the initial pose.
• Add a new filter operation to the SDK API and CLI, which filters points based on their projected coordinates.
• Ported ScanSource and open_source to C++.
• [BREAKING] Remove MultiScanSource migrating functionality to ScanSource which yields List[Optional[LidarScan]].
• [BREAKING] Remove PacketMultiSource migrating functionality to PacketSource which yields Tuple[int, Packet].
• [BREAKING] Remove SensorScanSource.get_sensor_info() in favor of SensorScanSource.sensor_info.
• [BREAKING] Deprecate ScanSource.metadata and PacketSource.metadata in favor of *.sensor_info.
• [BREAKING] open_source or Scan/Packet source constructors throw if unsupported parameters are provided.
• [BREAKING] Remove deprecated pcap.Pcap sensor.Sensor and osf.Osf classes.
• [BREAKING] Deprecated ScanSource.sensors_count. Use length of ScanSource.sensor_info instead.
• [BREAKING] Remove ScanSource.fields ScanSource.field_types ScanSource.is_seekable
• [BREAKING] Remove complete and cycle options from open_source. Please check for completeness with LidarScan.complete() or cycle manually instead.
• [BREAKING] Separate collation/single sensor streams in open_source into separate sensor_idx=int and collate=bool. By default sensor_idx=-1 (all sensors) and collate=True (collate).
• Added open_packet_source function to open packet sources similar to open_source.
• [BREAKING] Deprecate ouster.sdk.util.resolve_extrinsics for explicitly passing extrinsic file names to sources.
• [BREAKING] Deprecate ouster.sdk.sensor.util.build_sensor_config for the same functionality already included in SensorScanSource/SensorPacketSource.
• Pin kiss-icp to 1.2.2.
• Remove point-cloud-utils as a dependency.
• Add ability to set abitrary parameters via extra_options in the SensorConfig.
• Add support for arbitrary number of addresses per sensor in SensorClient.
• Add generic destagger to C++ API.
• [BREAKING] Remove ouster.sdk.core.FieldDType used in type annotations and replaced with type.
• [BREAKING] Remove ouster.sdk.core.FieldTypes used in type annotations and replaced with List[ouster.sdk.coreFieldTypes].
• Add a new method ls_show to view a set of LidarScans to the viz API.
• Add python 3.13 support
• [BREAKING] Deprecate auto_start_flag in favor of operating_mode.
• [BREAKING] Deprecate parse_config in favor of parse_and_validate_config.
• [BREAKING] Deprecate ScanBatcher(size_t w, const sensor::packet_format& pf) in favor of ScanBatcher::ScanBatcher(const sensor_info&).
• [BETA] Add ouster.sdk.core.read_pointcloud() method to load X Y and Z from PLY and PCD files.
• [BETA] Add ouster.sdk.core.voxel_downsample() method to downsample pointclouds using a voxel grid.
• Remove dependency on Point Cloud Utils.
• Support opening older ROS 2 bag files that use ouster_msgs/PacketMsg.
• [BUGFIX] Ensure the initial pose matrices are orthonormal before using them in the slam.
• [BREAKING] open_source field_names argument now will cause the scan source to load no fields if provided an empty array instead of loading all fields. Provide None to load all fields.
• Add the error_handler option to open_source and ScanSourceOptions, which allows the user to provide a callback to handle error messages for some scan sources.

ouster_cli

• Add additional information on incomplete scans to ouster-cli source ... stats.
• Fix looping behavior of the viz in the CLI when a clip is present.
• The plumb command is now chainable and works with multiple sensors simultaneously.
• Add --maximize flag to the viz command to maximize the visualizer when launched.
• Modify code to resolve metadata from bag path if --meta is not provided for rosbag files.
• Add --sensor-idx argument to source command to allow selecting a single sensor stream.
• Add the ability save LidarScan frames as a series of png images when .png is specified as the output file for save command.
• Add the --allow-major-version-mismatch option to the source command to allow best-effort loading of OSF files that are not supported by the current SDK version.

ouster_osf

• Improve osf threading model.
• Add version to info command output and Reader for OSF files.
• Add an optional error handler callback as an argument the Reader class constructor.
• Support an optional error handler callback as an option for OsfScanSource.
• OsfScanSource and Reader now emit an error or warning if the major or minor version is not supported by the current SDK version.
• [BREAKING] return an ouster::util::version from OsfFile::version() instead of an integer.

ouster_viz

• [BUGFIX] Fix AOI label position on macOS.
• Update AOI to allow right click and release without mouse dragging to select a single point.
• [BREAKING] Modify WindowCtx::normalized_coordinates to operate in viewport coordinates rather than window coordinates.
• [BREAKING] Modify WindowCtx::window_coordinates to operate in viewport coordinates rather than window coordinates and rename to WindowCtx::viewport_coordinates.
• [BREAKING] Modify Image::image_pixel_to_window_coordinates to operate in viewport coordinates rather than window coordinates and rename to Image::image_pixel_to_viewport_coordinates.
• Add RING coloring mode to LidarScanViz.
• Add rainbow color palette to LidarScanViz.
• Support (K, 3) and (K, 4) forms for RGB/RGBA key data for Clouds.
• Add screenshot and image recording features to PointViz that allow screenshot size independent of the window size.
• Add a new camera mode LidarScanViz.CameraMode.FOLLOW_ROTATION_LOCKED.
• Discard points with 0 range rather than show them at sensor origin.
• Allow flipping 2D images in LidarScanViz with CTRL+I.
• Add LidarScanViz.select_img_mode and LidarScanViz.select_cloud_mode to select specific fields to display.

Important announcements

• As of 0.13.0, the SDK is no longer compatible with firmware versions older than 2.1.0.
• Official SDK support for firmware versions 2.2 and 2.3 will end at the end of June, 2025.
• Update vcpkg ref of build to 2025.02.14.

Contributors

@akatumalla-ouster, Alekhya Katumalla
@chrisbayruns, Chris Bayruns
@diego-guridi , Diego Guridi
@yhao10, Hao Yuan
@kairenw, Kai Wong
@kkaly, Karthik Kalyanaraman
@matt-attack, Matthew Bries
@mtswisher, Michael Swisher
@bexcite, Pavlo Bashmakov
@celentes, Tim Talashok
@twslankard, Tom Slankard
@Samahu, Ussama Naal

New Contributors

• @boscosiu made their first contribution in #641
• @uilianries made their first contribution in #656

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.

By Marshallhenrie - Own work, CC BY-SA 4.0, https://commons.wikimedia.org/w/index.php?curid=62515315