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@kairenw kairenw released this 17 Jan 21:31
· 26 commits to master since this release
20230114
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Learn about vigilant mode.

Update for FW 3.0 Release. Summary of changes:

  • Adds support for FW 3.0 sensors. Sensors running FW 3.0, including OS-DOME sensors, must use this release or later. Updates to cartesian projection and signal_multiplier in conjunction with this. Access to new FW thermal features such as shot limiting and thermal shutdown statuses.
  • Performance improvements to cartesian projection
  • RAW_HEADERS for packing headers and footers (alpha version, may be changed/removed without notice)
  • ouster_ros moved to its own repo
  • Improvements to visualiation library: numerous improvements supporting screenshots, viewport changes, and attaching callbacks
  • Control over logging added through init_logger
  • Flag for set_config to force reinit in conjunction with slight performance improvement (does not reinit if desired configuration matches sensor's configuration already)

Bugfixes:

  • frame drop when frame_id wraps around in C++ fixed

Breaking changes:

  • signal multiplier type changed to double
  • make_xyz_lut takes mat4d beam_to_lidar
  • dropped default parameters from shortform init_client and Python client.Sensor() constructor to lessen API confusion
  • changed default timeout on Python Scans and Sensor

There is a migration guide available discussing these breaking changes for users in the SDK docs.

Upcoming changes:
Please be advised that this is the last release where the SDK will output the legacy metadata format by default. The SDK will continue to read the legacy format, i.e., it will continue to read old recorded data), and it will also be able to produce the legacy format if the parameter legacy=true is specified to the get_metadata function.

Also, the next release will remove a number of deprecated functions and class members in the LidarScan class.

see CHANGELOG.rst for details.

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