Release 0.14.0

.clang-tidy

@@ -0,0 +1,59 @@
+Checks: '*,
+         -llvmlibc-*, -altera-*, -fuchsia-*,
+         -modernize-use-trailing-return-type,
+         -cppcoreguidelines-avoid-magic-numbers,
+         -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+         -readability-magic-numbers,
+         -misc-const-correctness,
+         -llvm-header-guard,
+         -hicpp-uppercase-literal-suffix,
+         -readability-uppercase-literal-suffix,
+         -readability-else-after-return,
+         -llvm-else-after-return,
+         -bugprone-easily-swappable-parameters,
+         -google-readability-todo,
+         -abseil-*,
+         -android-cloexec-open'
+CheckOptions:
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: lower_case
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case
+  - key: readability-identifier-length.IgnoredVariableNames
+    value: 'i|j|k|w|h|x|y|z|it'
+  - key: readability-identifier-length.IgnoredLoopCounterNames
+    value: 'i|j|k|w|h|x|y|z|it'
+  - key: readability-identifier-length.IgnoredParameterNames
+    value: 'w|h|x|y|z'
+  - key: performance-unnecessary-value-param.AllowedTypes
+    value: 'Eigen::Ref|sync_ptr'
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.MemberCase
+    value: lower_case
+  - key: readability-identifier-naming.ProtectedMemberSuffix
+    value: _
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _
+  - key: readability-identifier-naming.ClassMethodCase
+    value: lower_case
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.ParameterCase
+    value: lower_case
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.TemplateParameterCase
+    value: CamelCase
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.MacroDefinitionCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.FunctionCase
+    value: lower_case

.github/workflows/build_test.yaml

@@ -8,7 +8,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install deps
-      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev libgtest-dev clang-format
+      run: sudo apt install build-essential cmake libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libpng-dev libglfw3-dev libflatbuffers-dev libgtest-dev clang-format
     - name: cpp-lint
       run: ./clang-linting.sh
     - name: install python
@@ -24,7 +24,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install deps
-      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev libgtest-dev clang-format
+      run: sudo apt install build-essential cmake libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libpng-dev libglfw3-dev libflatbuffers-dev libgtest-dev clang-format
     - name: cmake configure
       run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
     - name: cmake build
@@ -38,7 +38,7 @@ jobs:
     - name: install python
       run: sudo apt install python3 python3-pip
     - name: install deps
-      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev
+      run: sudo apt install build-essential cmake libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libpng-dev libglfw3-dev libflatbuffers-dev
     - name: install python-deps
       run: pip3 install pytest pytest-xdist
     - name: build python
@@ -53,9 +53,9 @@ jobs:
       uses: johnwason/vcpkg-action@v6
       id: vcpkg
       with:
-        pkgs: jsoncpp eigen3 curl libtins glfw3 glew spdlog libpng flatbuffers gtest
+        pkgs: eigen3 curl libtins glfw3 libpng flatbuffers gtest
         triplet: x64-windows
-        revision: 2024.04.26
+        revision: 2024.11.16
         token: ${{ github.token }}
         github-binarycache: true
     - name: cmake configure
@@ -74,9 +74,9 @@ jobs:
       uses: johnwason/vcpkg-action@v6
       id: vcpkg
       with:
-        pkgs: jsoncpp eigen3 curl libtins glfw3 glew spdlog libpng flatbuffers gtest
+        pkgs: eigen3 curl libtins glfw3 libpng flatbuffers gtest
         triplet: x64-windows
-        revision: 2024.04.26
+        revision: 2024.11.16
         token: ${{ github.token }}
         github-binarycache: true
     - name: install python-deps
@@ -92,7 +92,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install deps
-      run: brew install cmake pkg-config jsoncpp eigen curl libtins glfw glew spdlog flatbuffers googletest
+      run: brew install cmake pkg-config eigen curl libtins glfw flatbuffers googletest
     - name: cmake configure
       run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
     - name: cmake build
@@ -104,7 +104,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install deps
-      run: brew install cmake pkg-config jsoncpp eigen curl libtins glfw glew spdlog flatbuffers
+      run: brew install cmake pkg-config eigen curl libtins glfw flatbuffers
     - name: install python-deps
       run: python3.12 -m pip install pytest pytest-xdist --break-system-packages
     - name: build python

.gitignore

@@ -27,4 +27,5 @@ CTestTestfile.cmake
 generated
 rules.ninja
 *.a
-**/_build
+**/_build
+clang-tidy-output.{txt,json}

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "sdk-extensions"]
 	path = sdk-extensions
 	url = ../sdk-extensions.git
-	branch = master
+	branch = master

CHANGELOG.rst

@@ -2,7 +2,77 @@
 Changelog
 =========
 
-**Important: as of 0.13.0, the SDK is no longer compatible with firmware versions older than 2.1.0.**
+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 2024.11.16
+
+[20250117] [0.14.0]
+======================
+
+ouster_client/C++ SDK
+---------------------
+
+* Jsoncpp fully removed for jsoncons
+* [BREAKING] All the HTTP endpoint methods in the ``SensorHttpImp`` class now return a ``std::string`` instead of a ``Json::Value`` object. The result can be parsed with any json parser.
+* Add CMake logic for packaging c++ sdk in binary format when ``-DBUILD_SHARED_LIBRARY=ON`` is enabled. 
+
+ouster_client/Python SDK
+------------------------
+* Add a new command ``localize`` to perform localization and tracking within a SLAM-generated map of a given site.
+* Add ``LidarScan.sensor_info`` to store the relevant ``SensorInfo`` for each scan
+* [BREAKING] Deprecated ``ScanBatcher::operator()(const uint8_t*, uint64_t, LidarScan&)`` for ``ScanBatcher::operator()(const LidarPacket&, LidarScan&)``
+* [BREAKING] Disabled ``OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32`` by default to help avoid ABI mismatches
+* [BREAKING] Changed ``SensorClient`` ``get_packet`` API to return packet in the ``ClientEvent`` rather than through reference parameters
+* Updated to Kiss ICP 1.1.0 version
+* [BUGFIX] Fixed OSF failing to load scans saved in 4096 * 5 mode
+* [BUGFIX] Fixed Python ``client.transform`` and ``client.dewarp`` methods returning incorrect results due to ignoring column layout of input data
+* Refactored logging to remove spdlog API exposure
+* Vendored spdlog in third party dependencies
+* [BREAKING] Change ``sensor_info.sn`` type from string to uint64_t
+* Support additional array types and formats for Cloud.set_xyz
+* Added new ``mask``, ``reduce`` and ``clip`` ScanSource operations to the SDK CLI and API
+* The ``clip`` command can now specify which fields to be applied to and accepts unit
+* Add relevant methods from ``packet_format`` to ``LidarPacket`` and ``ImuPacket`` classes
+* Add ``format`` to each ``Packet`` object with the relevant packet format
+* Tolerate off-by-1-byte for bag files recorded using an older version of the ouster-ros driver
+* Fix yaw axis to zero in the get_rot_matrix_to_align_to_gravity function
+* [BUGFIX] Fix the ``-c`` option in ouster-cli ``config`` command to set config from file
+
+ouster_cli
+----------
+* Add ``ouster-cli source SENSOR set_static_ip`` command to set sensor static IPs.
+* Add ``ouster-cli source SENSOR diagnostics`` command to download sensor diagnostic dumps.
+* [BREAKING] Merge the handling of ``--extrinsics-file`` ouster-cli option into ``--extrinsics`` option.
+* [BREAKING] ouster-cli ``--extrinsics`` option requires adding double quotes for space separated values.
+* ouster-cli ``--extrinsics`` option now accepts ``identity`` as a keyword for overrideng sensor extriniscs with identity.
+* ouster-cli ``--extrinsics`` option now accepts the following additional formats besides the ``16`` numbers array format:
+  * ``--extrinsics X,Y,Z,R,PY`` for position + euler angles.
+  * ``--extrinsics X,Y,Z,QX,QY,QZ,QW`` for position + quaternion.
+* Add cursor-driven AOI selection feature to 2d images in ouster-cli ``viz`` command.
+
+ouster_osf
+----------
+* Introduce ``ouster::osf::AsyncWriter`` to offload saving ``LidarScan`` as OSF to a background thread, improving CLI performance when saving OSF files.
+* Add the ``ouster::osf::Encoder`` type, which allows parameterizing the OSF compression level.
+* Change the default OSF PNG encoder compression level to 1 from 4.
+* [BREAKING] ``ouster.sdk.osf`` no longer exports lower-level OSF API classes (such as ``osf.Reader``.)
+* ``ouster::osf::Writer::save`` now throws if the resolution of a ``LidarScan`` being saved doesn't match what is specified in sensor info/metadata.
+* [BUGFIX] Fix incorrect ``OsfScanSource`` data when reading from an OSF file containing empty or missing streams.
+
+ouster_viz
+----------
+* ``SimpleViz`` now drops frames when necessary to keep up with a live data source (i.e. sensor.)
+* Add a map origin axis and label.
+* Invoke frame buffer resize handlers added to ``PointViz`` when GLFW's window resize event fires.
+* [BREAKING] Change ``PointViz::window_coordinates_to_image_pixel`` so that it always returns a pixel location (even outside the image), which can be useful in some situations.
+* [BUGFIX] On screen display frame number starts at zero instead of one.
+* [BUGFIX] ``LidarScanViz`` now only creates view modes for PIXEL fields.
+* [BUGFIX] Use the last valid column pose as a ``LidarScan``'s origin, instead of the first.
+* [BUGFIX] Limit number of keyboard shortcuts to toggle sensors from CTRL+1 to CTRL+9.
+* [BUGFIX] Fix a key shortcut help rendering issue and improve consistency of key shortcut help.
+
 
 [20241017] [0.13.1]
 ======================
@@ -101,7 +171,7 @@ ouster_viz
 * [BREAKING] removed ``bool update_on_input()`` and ``update_on_input(bool)`` methods from ``PointViz``.
 * [BUGFIX] SimpleViz throws a 'generator already executing' exception.
 
-ouster_cli
+ouster-cli
 ----------
 
 * Add support for reading and writing ROS1 and ROS2 bag files.
@@ -449,9 +519,7 @@ ouster_client
 -------------
 
 * Add ``LidarScan.pose`` with poses per column
-* Add ``_client.IndexedPcapReader`` and ``_client.PcapIndex`` to enable random
-  pcap file access by frame number
-
+* Add ``_client.IndexedPcapReader`` and ``_client.PcapIndex`` to enable random pcap file access by frame number
 * [BREAKING] remove ``ouster::Imu`` object
 * [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``
@@ -1073,3 +1141,4 @@ Fixed
   - fixed clipping issues with parallel projection
   - fixed point coloring issues in z-color mode
   - improved visualizer performance
+

CMakeLists.txt

@@ -13,26 +13,28 @@ include(DefaultBuildType)
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster-sdk VERSION 0.13.1)
+project(ouster-sdk VERSION 0.14.0)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.13.1)
+set(OusterSDK_VERSION_STRING 0.14.0)
 include(VersionGen)
 
 # ==== Options ====
 option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
-option(BUILD_SHARED_LIBS "Build shared libraries." OFF)
 option(BUILD_PCAP "Build pcap utils." ON)
 option(BUILD_OSF "Build Ouster OSF library." ON)
 option(BUILD_VIZ "Build Ouster visualizer." ON)
+option(BUILD_PYTHON_MODULE "Build python module (should not use this except in special instances)." OFF)
 option(BUILD_TESTING "Build tests" OFF)
 option(BUILD_EXAMPLES "Build C++ examples" OFF)
-option(OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32 "Eigen max aligned bytes." ON)
+option(OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32 "Eigen max aligned bytes." OFF)
+option(BUILD_SHARED_LIBRARY "Build shared Library." OFF)
+option(BUILD_DEBIAN_FOR_GITHUB "Build debian for github ci" OFF)
 
 # when building as a top-level project
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
   set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
+  set(OUSTER_TOP_LEVEL ON)
   if(NOT DEFINED CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 14)
     set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -43,13 +45,15 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
   endif()
 
   if(MSVC)
-    add_compile_options(/W2)
+    add_compile_options(/W2 /bigobj /Zf)
     add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
   else()
     add_compile_options(-Wall -Wextra)
   endif()
 
   include(CTest)
+else()
+  set(OUSTER_TOP_LEVEL OFF)
 endif()
 
 # === Subdirectories ===
@@ -69,16 +73,26 @@ endif()
 
 if(BUILD_VIZ)
   add_subdirectory(ouster_viz)
+  add_subdirectory(thirdparty/glad)
 endif()
 
 if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
+if(BUILD_SHARED_LIBRARY)
+  add_subdirectory(ouster_library)
+endif()
+
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
   add_subdirectory(tests)
 endif()
 
+if(BUILD_PYTHON_MODULE)
+  set(OUSTER_SDK_PATH "${CMAKE_CURRENT_LIST_DIR}" CACHE STRING "SDK source directory")
+  add_subdirectory(python)
+endif()
+
 # ==== Packaging ====
 set(CPACK_PACKAGE_CONTACT "[email protected]")
 set(CPACK_PACKAGE_VENDOR "Ouster")
@@ -88,18 +102,30 @@ set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
 set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.rst")
 set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/ouster")
 set(CPACK_SYSTEM_NAME ${CMAKE_SYSTEM_PROCESSOR})
-set(CPACK_PACKAGE_NAME ouster_sdk)
-set(CPACK_GENERATOR "DEB;TGZ")
+
+if(BUILD_DEBIAN_FOR_GITHUB)
+  set(CPACK_DEBIAN_PACKAGE_NAME ouster-sdk)
+  set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+  set(CPACK_DEBIAN_PACKAGE_DEPENDS
+    "libeigen3-dev, libtins-dev, libglfw3-dev, libpng-dev, libflatbuffers-dev")
+endif()
+
+if(OUSTER_LIBRARY_NAME)
+  set(CPACK_PACKAGE_NAME "${OUSTER_LIBRARY_NAME}")
+else()
+  set(CPACK_PACKAGE_NAME "ouster-sdk")
+endif()
+set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CMAKE_BUILD_TYPE}-${CPACK_PACKAGE_VERSION}-${CMAKE_HOST_SYSTEM_NAME}-${CMAKE_SYSTEM_VERSION}-${CMAKE_SYSTEM_PROCESSOR}")
+
+set(CPACK_GENERATOR "TGZ;ZIP")
+if(BUILD_DEBIAN_FOR_GITHUB)
+  set(CPACK_GENERATOR "DEB;${CPACK_GENERATOR}")
+endif()
 
 # source packages
 set(CPACK_SOURCE_GENERATOR "TGZ;ZIP")
 set(CPACK_SOURCE_IGNORE_FILES /.git /dist)
 
-# deb options
-set(CPACK_DEBIAN_PACKAGE_NAME ouster-sdk)
-set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
-set(CPACK_DEBIAN_PACKAGE_DEPENDS
-  "libjsoncpp-dev, libeigen3-dev, libtins-dev, libglfw3-dev, libglew-dev, libspdlog-dev, libpng-dev, libflatbuffers-dev")
 include(CPack)
 
 # ==== Install ====
@@ -117,14 +143,22 @@ install(EXPORT ouster-sdk-targets
 configure_file(cmake/OusterSDKConfig.cmake.in OusterSDKConfig.cmake @ONLY)
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfig.cmake"
   "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfigVersion.cmake"
+  "cmake/Coverage.cmake"
+  "cmake/VcpkgEnv.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 "cmake/FindEigen3.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+install(FILES "cmake/Findlibtins.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+install(FILES "cmake/FindCURL.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+install(FILES "cmake/Findglfw3.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+install(FILES "cmake/FindPcap.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+install(FILES "cmake/FindFlatbuffers.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+
 
 install(FILES LICENSE LICENSE-bin
   DESTINATION share)