Release 0.16.1

CHANGELOG.rst

@@ -2,6 +2,39 @@
 Changelog
 =========
 
+[0.16.1]
+=========
+
+* [BUGFIX] Add ``--coord-frame`` (``SENSOR|BODY|WORLD``) to ``ouster-cli source ... filter`` for XYZ filtering. ``WORLD`` now applies ``dewarp(points, scan.pose)`` before thresholding, ``BODY`` remains the default for backward compatibility, and ``SENSOR`` uses XYZ without extrinsics.
+* [BUGFIX] Fix crash in ``LidarScan.__str__`` when scans contain non-pixel fields (IMU, GNSS, ZONE, or CHAR fields). The ``to_string()`` function now properly handles these field types, with special formatting for CHAR fields to display NMEA sentences.
+* [BUGFIX] Avoid divide-by-zero in IMU visualization when IMU magnitudes are zero.
+* [BUGFIX] Fix AOI picker showing normalized values for unknown fields in the viz.
+* [BREAKING] Renamed ``-F`` flag to ``-f`` in ``ouster-cli source`` command (short for ``--filter`` flag), which drops scans with missing data.
+* [BUGFIX] PLY maker minor change (e.g. support for no valid key field, ``--field NONE``).
+* [BUGFIX] Use stderr instead of stdout for logging in ouster-cli.
+* [BUGFIX] Fix ``filter``, ``clip``, and ``mask`` bugs: correct filter_xyz semantics (points inside bounds zeroed), restrict operations to PIXEL_FIELD only to avoid crashes with IMU/GNSS fields, and use RANGE2 coordinates for second-return fields.
+* [BUGFIX] Handle unsupported ChanFieldTypes when reading OSF files: skip unsupported fields with a warning instead of crashing (forward compatibility with newer OSF files).
+* Add ``--legacy`` flag for OSF export (PNG compression + drop CHAR/ZONE_STATE for SDK 0.12–0.15 compatibility), separate from ``--png`` (PNG compression only).
+* [BUGFIX] Update TUM format in trajectory saving as per official specification.
+* [BUGFIX] Fix viz GL buffer cleanup leaks: add missing ``glDeleteBuffers()`` for GLCuboid, GLRings, and GLImage to prevent GPU memory growth on repeated create/destroy.
+* [BUGFIX] Fix ValueError in viz when resizing before scans received.
+* [BUGFIX] Fix crash when saving a GIF when frame duration is negative (e.g. source has looped); fix viz deadlock when saving image recording.
+* [BUGFIX] Fix improper handling of sensors with lidar data disabled.
+* [BUGFIX] SLAM crashes when at least one sensor doesn't have imu data in a multi-sensor setup with the Synchronous IMU feature enabled.
+* [BUGFIX] SLAM uses un-corrected timestamps when using the the inertial integration deskew method with multi-sensor unsynchronized setups.
+* Pose Optimizer: constraint ID counter moved to constraint base class; constraint IDs are now logged when adding/processing constraints, and reassign constraint id when conflict instead of throwing.
+* [BUGFIX] Remove the skipping on single scans in SLAM and localize pipelines for multi-sensor datasets.
+* [BUGFIX] PNGs from the viz now embed the Display P3 profile so their colors match the viz window.
+* Add ``--http-addr`` option to ``sensor_replay`` plugin (e.g. for use with Ouster Detect).
+* Update README with community forum and support info.
+* Normalize license files for GitHub detection.
+
+Important Notes
+---------------
+
+* This will be the last release that supports macOS 11.x, 12.x and 13.x.
+
+
 [0.16.0]
 =========
 
@@ -10,7 +43,7 @@ Changelog
 * Clear AOI selection in the viz when right click is pressed and there is a preexisting selection.
 * Extend AOI selection to show 3 axis fields properly when right click in viz images.
 * Add support for low bandwidth dual returns lidar profile (PROFILE_RNG15_RFL8_NIR8_DUAL).
-* [BREAKING] renamed ``data_format::packets_per_frame()`` to ``lidar_packets_per_frame()``
+* [BREAKING] Renamed ``data_format::packets_per_frame()`` to ``lidar_packets_per_frame()``
 * Add support for saving and reading new ZPNG based OSF files which are several times faster and have better compression ratios.
 * [BREAKING] Make ZPNG the default format for saved OSF files. This format cannot be opened by older SDK versions.
 * [BREAKING] Change ``ouster-cli source <osf> dump`` JSON output to return the OSF version as a semver-style string instead of an integer.
@@ -85,7 +118,7 @@ Changelog
 * Changed all core sdk enums to enum classes and removed the prefixes from enum values. The C++ enums naming is now consistent with the Python enums naming.
   - e.g. ``OPERATING_NORMAL`` is now ``OperatingMode::UNSPECIFIED``
   - The older enum identiers are still available for use but are deprecated.
-* Utilize imu data when compensating for lidar data distortion during motion in SLAM and Localization. 
+* Utilize imu data when compensating for lidar data distortion during motion in SLAM and Localization.
 * Add Zone Monitor:
     - Add support for reading and writing Zone Monitor configurations for sensors running firmware 3.2 and above.
     - Add zone state data to LidarScans when Zone Monitor is enabled on the sensor.

CMakeLists.txt

@@ -66,7 +66,7 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
 
   if(MSVC)
     add_compile_options(/W2 /bigobj /Zf)
-    add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
+    add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN _ENABLE_EXTENDED_ALIGNED_STORAGE)
   else()
     add_compile_options(-Wall -Wextra)
   endif()

VERSION

@@ -1,2 +1,2 @@
-__version__ = '0.16.0'
-__cpp_version__ = '0.16.0'
+__version__ = '0.16.1'
+__cpp_version__ = '0.16.1'

docs/cli/filter-sessions.rst

@@ -30,6 +30,8 @@ Where:
   - ``--invalid-value``: The value to replace the pixels that match the predicate. Default is zero.
   - ``--filtered-fields``: A comma-separated list of fields to apply the filter to. If not specified, the filter will
     be applied to all fields of the scan.
+  - ``--coord-frame``: Coordinate frame for XYZ filtering only. Options are ``SENSOR`` (no extrinsics),
+    ``BODY`` (extrinsics, default), and ``WORLD`` (dewarp with poses).
 
 Example Usage
 -------------
@@ -55,7 +57,7 @@ command predicate, we can highlight points in the low cloud with higher reflecti
    :align: center
    :width: 800px
 
-  
+
 2) Filter based on cartesian coordinates:
 
 Another way to filter the point cloud is to use the cartesian coordinates of the points. For example, imagine we want to
@@ -66,6 +68,13 @@ follows:
 
         ouster-cli source <source_url> filter Z :-1m filter Z 1m: viz
 
+If you need the XYZ filter in a different coordinate frame, use ``--coord-frame``. For example, dewarp
+into WORLD coordinates before filtering:
+
+.. code:: bash
+
+        ouster-cli source <source_url> filter --coord-frame WORLD Z :-1m viz
+
 After applying this filter the resulting point cloud will look like this:
 
 .. image:: /images/filter-example-z.png
@@ -92,7 +101,7 @@ resulting point cloud will look like this:
    :align: center
    :width: 800px
 
-This can be useful to mask out certain columns (``V``) or certain beams (``U``) of the LidarScan. 
+This can be useful to mask out certain columns (``V``) or certain beams (``U``) of the LidarScan.
 
 .. note::
 

docs/cli/pose-optimizer-sessions.rst

@@ -43,8 +43,8 @@ Optional Config Parameters
 
 The constraint JSON file may also include the following optional parameters to fine-tune the optimization process:
 
-- ``traj_rotation_weight`` (float): The weight for rotational constraints during trajectory optimization (default: ``10.0``). Higher values enforce stronger rotation consistency.
-- ``traj_translation_weight`` (float): The weight for translational constraints during trajectory optimization (default: ``10.0``). Higher values enforce stronger position consistency.
+- ``traj_rotation_weight`` (float): The weight for rotational constraints during trajectory optimization (default: ``10.0``). Higher values enforce stronger rotation consistency. Must be a float ``> 0``.
+- ``traj_translation_weight`` (float): The weight for translational constraints during trajectory optimization (default: ``10.0``). Higher values enforce stronger position consistency. Must be a float ``> 0``.
 - ``max_num_iterations`` (int): The maximum number of iterations the solver will perform before terminating.
 - ``loss_function`` (str): The name of the robust loss function to use (e.g., ``HUBER_LOSS``, ``CAUCHY_LOSS``, ``SOFT_L_ONE_LOSS``, ``ARCTAN_LOSS``, ``TRIVIAL_LOSS``).
 - ``loss_scale`` (float): The scaling parameter for the chosen loss function. Higher values make the loss less sensitive to outliers.
@@ -67,6 +67,7 @@ Several constraint types (explained later) support optional weight fields that e
 **rotation weight**
 
 - ``rotation_weight`` (single float) scales the quaternion axis-alignment residual for ``ABSOLUTE_POSE`` and ``POSE_TO_POSE`` constraints. Higher values enforce the orientation more strongly; set it to ``0`` to ignore the rotational component.
+- Must be a single float value ``>= 0``.
 
 **Example (rotation_weight for ABSOLUTE_POSE):**
 
@@ -78,7 +79,7 @@ This doubles the strength of the orientation penalty for that absolute pose.
 
 **translation_weight**
 
-- Must be a list of three numbers.
+- Must be a list of three float values ``>= 0``.
 - Applies to the positional components: **x**, **y**, and **z**.
 - Higher values signal stronger confidence in the position, and lower values give the optimizer more freedom to adjust.
 - Values are treated as relative weights for each axis.
@@ -132,9 +133,10 @@ Defines an absolute pose measurement relative to the world coordinate frame.
 
   * Scales the quaternion axis-alignment residual applied to this pose.
   * Higher values increase sensitivity to rotational deviations; setting it to ``0`` disables the rotational penalty.
+  * Must be a float value ``>= 0``.
 - ``translation_weight``:
 
-  * A list of three values.
+  * A list of three float values ``>= 0``.
   * Corresponds to confidence in the **x**, **y**, and **z** position.
 
 See :ref:`weight-fields` for a detailed explanation.
@@ -178,13 +180,13 @@ Fixes a single point from a scan to known coordinates in the trajectory map fram
 - ``type``: Must be exactly ``"ABSOLUTE_POINT"``.
 - ``timestamp``: Lidar frame timestamp (first valid column timestamp).
 - ``row``: Row index of the point (>= 0 && < scan.h).
-- ``col``: Column index of the point (>= 0 && scan.w).
+- ``col``: Column index of the point (>= 0 && < scan.w).
 - ``return_idx``: Which range return to use (1 or 2).
 - ``absolute_position``: Either an object with keys ``x``, ``y``, ``z`` or a list of three numbers ``[x, y, z]``.
 
 **Optional fields:**
 
-- ``translation_weight``: List of three values describing confidence along ``x``, ``y``, and ``z``.
+- ``translation_weight``: List of three float values ``>= 0`` describing confidence along ``x``, ``y``, and ``z``.
 
 .. note::
 
@@ -230,7 +232,7 @@ This constraint uses 2D image coordinates to select points from the lidar scans:
 
 **Optional field:**
 
-- ``translation_weight``: A list of three numbers.
+- ``translation_weight``: A list of three float values ``>= 0``.
 
 See :ref:`weight-fields` for a detailed explanation.
 
@@ -297,8 +299,8 @@ The ``POSE_TO_POSE`` constraint defines a constraint between two poses in the tr
   * A dictionary (with ``rx``, ``ry``, ``rz``, ``x``, ``y``, ``z``), or
   * A 16-element list (4x4 matrix)
   * If omitted, transformation is auto-estimated using ICP matching.
-- ``rotation_weight`` (float): Scales the quaternion axis-alignment residual for the relative pose. Setting it higher enforces the measured rotation more strongly; setting it to ``0`` disables the rotational penalty.
-- ``translation_weight``: List of three values.
+- ``rotation_weight`` (float): Scales the quaternion axis-alignment residual for the relative pose. Setting it higher enforces the measured rotation more strongly; setting it to ``0`` disables the rotational penalty. Must be a float value ``>= 0``.
+- ``translation_weight``: List of three float values ``>= 0``.
 
 See :ref:`weight-fields` for a detailed explanation.
 
@@ -457,11 +459,13 @@ addition to any constraints loaded from ``--config``). Remember the ``--config``
 To record a dataset, connect your sensor to receive GPS data over a serial interface and set
 the udp_profile_imu to ACCEL32_GYRO32_NMEA. Detailed instructions for configuring the sensor to accept
 GPS input can be found in the `Sensor Time Sync`_ documentation:
+Note: ``ACCEL32_GYRO32_NMEA`` is only available in firmware 3.2 or later.
 
 - ``--auto-constraints``: Automatically generate and add GPS absolute pose constraints.
 - ``--gps-constraints-every-m``: Approximate spacing in meters between constraints,
   computed from distance traveled using lidar scan poses.
-- ``--gps-constraints-weights``: Translation weights ``WX,WY,WZ``. ``WX`` and ``WY``
+- ``--gps-constraints-weights``: Translation weights ``WX,WY,WZ`` (three
+  comma-separated numbers >= 0).
 - ``--no-initial-align``: In ``--viz`` mode, disables the initial alignment step
   using absolute constraints.
 

ouster_client/include/ouster/impl/lidar_scan_impl.h

@@ -86,9 +86,11 @@ void visit_field_2d(FieldView& field, OP&& op, Args&&... args) {
                                    std::forward<Args>(args)...);
             break;
         case ChanFieldType::ZONE_STATE:
-            // IMPORTANT: ZoneState is not an Eigen scalar type,
-            // so many of the operations provide as the template parameter OP
-            // will cause compilation errors if we try to apply them.
+        case ChanFieldType::CHAR:
+        case ChanFieldType::VOID:
+        case ChanFieldType::UNREGISTERED:
+            // These types are not Eigen scalar types or are not supported,
+            // so we silently skip them rather than crash.
             break;
         default:
             throw std::invalid_argument("Invalid field for LidarScan");
@@ -140,9 +142,11 @@ void visit_field_2d(const FieldView& field, OP&& op, Args&&... args) {
                                    std::forward<Args>(args)...);
             break;
         case ChanFieldType::ZONE_STATE:
-            // IMPORTANT: ZoneState is not an Eigen scalar type,
-            // so many of the operations provide as the template parameter OP
-            // will cause compilation errors if we try to apply them.
+        case ChanFieldType::CHAR:
+        case ChanFieldType::VOID:
+        case ChanFieldType::UNREGISTERED:
+            // These types are not Eigen scalar types or are not supported,
+            // so we silently skip them rather than crash.
             break;
         default:
             throw std::invalid_argument("Invalid field for LidarScan");

ouster_client/include/ouster/impl/logging.h

@@ -37,6 +37,8 @@ class Logger {
 
     bool configure_stdout_sink(const std::string& log_level);
 
+    bool configure_stderr_sink(const std::string& log_level);
+
     bool configure_file_sink(const std::string& log_level,
                              const std::string& log_file_path, bool rotating,
                              int max_size_in_bytes, int max_files);

ouster_client/include/ouster/lidar_scan.h

@@ -552,21 +552,37 @@ class OUSTER_API_CLASS LidarScan {
     ConstArrayView1<ZoneState> zones() const;
 
     /**
-     * Return the first valid packet timestamp
+     * Return the first valid packet timestamp from any packet type.
      *
      * @return the first valid packet timestamp, 0 if none available
      */
     OUSTER_API_FUNCTION
     uint64_t get_first_valid_packet_timestamp() const;
 
     /**
-     * Return the last valid packet timestamp
+     * Return the last valid packet timestamp from any packet type.
      *
      * @return the last valid packet timestamp, 0 if none available
      */
     OUSTER_API_FUNCTION
     uint64_t get_last_valid_packet_timestamp() const;
 
+    /**
+     * Return the first valid lidar packet timestamp
+     *
+     * @return the first valid lidar packet timestamp, 0 if none available
+     */
+    OUSTER_API_FUNCTION
+    uint64_t get_first_valid_lidar_packet_timestamp() const;
+
+    /**
+     * Return the last valid lidar packet timestamp
+     *
+     * @return the last valid lidar packet timestamp, 0 if none available
+     */
+    OUSTER_API_FUNCTION
+    uint64_t get_last_valid_lidar_packet_timestamp() const;
+
     /**
      * Return the first valid column timestamp
      *

ouster_client/include/ouster/types.h

@@ -312,6 +312,9 @@ enum class UDPProfileLidar {
     /** Single Return Zone Monitoring */
     RNG19_RFL8_SIG16_NIR16_ZONE16,
 
+    /** Single Return Low Data Rate Window Status */
+    RNG15_RFL8_WIN8,
+
     /** disabled */
     OFF = 100,
 

ouster_client/src/cloud_io.cpp

@@ -82,7 +82,7 @@ PointCloudXYZf read_pointcloud(const std::string& filename) {
         input.seekg(0, std::ios::beg);
 
         // field sizes
-        std::map<std::string, int> field_sizes{{"float", 4}};
+        std::map<std::string, int> field_sizes{{"float", 4}, {"uchar", 1}};
         bool end_header_found = false;
         bool is_binary = true;
         int current_offset = 0;