OusterSDK Release 0.16.2

• Add support for RGB lidar packet profiles RNG19_RFL8_SIG16_NIR16_RGB16 and RNG19_RFL8_SIG16_NIR16_RGB16_DUAL, including new chan fields R, G, B, RGB and ChanFieldType::FLOAT16 support.
• Add HDR RGB visualization path for float16 RGB fields in viz, update default image/cloud mode selection to prefer RGB when present.
• Add color-aware PLY/PCD loading for map visualization, so ouster-cli source <pointcloud> viz now displays colored point clouds.
• Improve zone emulation workflow: add --keep-live-ids and --keep-sensor-to-body to emulate_zones, add --extrinsics zone to source extrinsics handling, and fix zone mesh transform usage for BODY-frame rendering.
• Apply autoexposure to exported float16 RGB point cloud data during mapping point cloud conversion to produce properly normalized RGB output.
• [BREAKING] Python image processing correctors now use update() instead of being called directly.

Contributors

@chrisbayruns, Chris Bayruns
@diego-guridi , Diego Guridi
@yhao10, Hao Yuan
@kairenw, Kai Wong
@kkaly, Karthik Kalyanaraman
@matt-attack, Matthew Bries
@celentes, Tim Talashok
@twslankard, Tom Slankard
@Samahu, Ussama Naal
@spartanhaden, Haden Wasserbaech
@akatumalla-ouster, Alekhya Katumalla
@mtswisher, Michael Swisher
@bexcite, Pavlo Bashmakov
@boscosiu, Bosco Siu
@uilianries, Uilian Ries
@sleitch-ouster made their first contribution in #691

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 @diego-guridi , who will try to keep this list up to date.

By Diego Delso - CC-BY-SA 4.0 - https://commons.wikimedia.org/wiki/File:Lama,_Ipiales,_Colombia,_2015-07-21,_DD_04.JPG