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CHANGELOG.md

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Changelog

[1.11.0] - 2019-03-26

Added

  • allow renaming tf ids using the tf_prefix parameter

Changed

  • 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

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/intensity 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

Fixed

  • no longer dropping UDP packets in 2048 mode on tested hardware
  • example visualizer:
    • 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 performance