Update for FW 2.4. See changelog for details

.clangd

@@ -0,0 +1,2 @@
+CompileFlags:
+  Add: -ferror-limit=0

.gitignore

@@ -5,3 +5,8 @@ python/.tox/
 python/**/*.egg-info/
 python/**/*.so
 python/**/*.dll
+python/**/*.pyd
+
+# visual studio
+.vs/
+out/

CHANGELOG.rst

@@ -2,6 +2,48 @@
 Changelog
 =========
 
+[20220826]
+==========
+
+* drop support for buliding C++ libraries and Python bindings on Ubuntu 16.04
+* drop support for buliding C++ libraries and Python bindings on Mac 10.13, Mac 10.14
+* Python 3.6 wheels are no longer built and published
+* drop support for sensors running FW < 2.0
+* require C++ 14 to build
+
+ouster_client
+--------------
+* add ```CUSTOM0-9`` ChanFields to LidarScan object
+* fix parsing measurement status from packets: previously, with some UDP profiles, higher order bits
+  could be randomly set
+* add option for EIGEN_MAX_ALIGN_BYTES, ON by default
+* use of sensor http interface for comms with sensors for FW 2.1+
+* propogate C++ 17 usage requirement in cmake for C++ libraries built as C++17
+* allow vcpkg configuration via environment variables
+
+ouster_pcap
+-----------
+* fix incorrect encapsulation protocol being reported in ``packet_info``
+
+ouster_viz
+----------
+* clean up GL context logic to avoid errors on window/intel UHD graphics
+
+python
+------
+* windows extension modules are now statically linked to avoid potential issues with vendored dlls
+
+ouster_ros
+----------
+* drop ROS kinetic support
+* switch from nodes to nodelets
+* update topic names, group under single ros namespace
+* separate launch files for play, replay, and recording
+* drop FW 1.13 compatibility for sensors and recorded bags
+* remove setting of EIGEN_MAX_ALIGN_BYTES
+* add two new ros services /ouster/get_config and /ouster/set_config (experimental)
+
+
 [20220608]
 ==========
 
@@ -13,6 +55,7 @@ python
 ------
 * single return parsing for FW 2.3.1 reflects change from ouster_client
 
+
 [20220504]
 ==========
 
@@ -55,7 +98,7 @@ ouster_ros
   fields are filled with zeroes
 
 [20220107]
-============
+==========
 
 * add support for arm64 macos and linux. Releases are now built and tested on these platforms
 * add support for Python 3.10

CMakeLists.txt

@@ -1,45 +1,58 @@
-cmake_minimum_required(VERSION 3.1.0)
+cmake_minimum_required(VERSION 3.10...3.22)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include(DefaultBuildType)
 
+# configure vcpkg from environment variables, if present
+include(VcpkgEnv)
+
 # ==== Project Name ====
-project(ouster_example VERSION 20220608)
+project(ouster_example VERSION 20220826)
+
+# generate version header
+set(OusterSDK_VERSION_STRING 0.5.0)
+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." OFF)
-option(BUILD_TESTING "Build tests" OFF)
+option(BUILD_PCAP "Build pcap utils." ON)
 option(BUILD_VIZ "Build Ouster visualizer." ON)
+option(BUILD_TESTING "Build tests" OFF)
 option(BUILD_EXAMPLES "Build C++ examples" OFF)
-option(USE_EIGEN_MAX_ALIGN_BYTES_32 "Eigen max aligned bytes." ON)
+option(OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32 "Eigen max aligned bytes." ON)
 
-# when building as a top-level project and not as conan library
+# when building as a top-level project
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
-  if(NOT "${CMAKE_CXX_STANDARD}")
-    set(CMAKE_CXX_STANDARD 11)
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+  if(NOT DEFINED CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
   endif()
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-  if(NOT "${CMAKE_CXX_EXTENSIONS}")
+  if(NOT DEFINED CMAKE_CXX_EXTENSIONS)
     set(CMAKE_CXX_EXTENSIONS OFF)
   endif()
 
   if(MSVC)
-    add_compile_options(/W3)
+    add_compile_options(/W2)
     add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
   else()
-    add_compile_options(-Wall -Wextra -Werror -Wno-error=deprecated-declarations)
+    add_compile_options(-Wall -Wextra)
   endif()
 
   include(CTest)
 endif()
 
 # === Subdirectories ===
 add_subdirectory(ouster_client)
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32)
+  message(STATUS "Ouster SDK client: Using EIGEN_MAX_ALIGN_BYTES = 32")
+  target_compile_definitions(ouster_client PUBLIC EIGEN_MAX_ALIGN_BYTES=32)
+endif()
 
-if(BUILD_PCAP OR BUILD_EXAMPLES)
+if(BUILD_PCAP)
   add_subdirectory(ouster_pcap)
 endif()
 
@@ -51,36 +64,12 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
-if(USE_EIGEN_MAX_ALIGN_BYTES_32)
-    message(STATUS "Ouster SDK client: Using EIGEN_MAX_ALIGN_BYTES = 32")
-    target_compile_definitions(ouster_client PUBLIC EIGEN_MAX_ALIGN_BYTES=32)
-  if(BUILD_TESTING)
-    add_subdirectory(tests)
-  endif()
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
+  add_subdirectory(tests)
 endif()
 
-# ==== Install ====
-include(CMakePackageConfigHelpers)
-write_basic_package_version_file(
-  OusterSDKConfigVersion.cmake
-  VERSION ${PACKAGE_VERSION}
-  COMPATIBILITY AnyNewerVersion)
-
-install(EXPORT ouster-sdk-targets
-  FILE OusterSDKTargets.cmake
-  NAMESPACE OusterSDK::
-  DESTINATION lib/cmake/OusterSDK)
-
-configure_file(cmake/OusterSDKConfig.cmake.in OusterSDKConfig.cmake @ONLY)
-install(FILES "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfig.cmake"
-  "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfigVersion.cmake"
-  DESTINATION lib/cmake/OusterSDK)
-
-install(FILES LICENSE LICENSE-bin
-  DESTINATION share)
-
 # ==== Packaging ====
-set(CPACK_PACKAGE_CONTACT "support@ouster.io")
+set(CPACK_PACKAGE_CONTACT "oss@ouster.io")
 set(CPACK_PACKAGE_VENDOR "Ouster")
 set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Ouster sensor SDK")
 set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
@@ -98,7 +87,28 @@ 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 "cmake, libjsoncpp-dev, libtclap-dev, libeigen3-dev,
-  libglfw3-dev, libglew-dev")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS
+  "libjsoncpp-dev, libeigen3-dev, libtins-dev, libglfw3-dev, libglew-dev")
 
 include(CPack)
+
+# ==== Install ====
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+  OusterSDKConfigVersion.cmake
+  VERSION ${PACKAGE_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
+install(EXPORT ouster-sdk-targets
+  FILE OusterSDKTargets.cmake
+  NAMESPACE OusterSDK::
+  DESTINATION lib/cmake/OusterSDK)
+
+configure_file(cmake/OusterSDKConfig.cmake.in OusterSDKConfig.cmake @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfig.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/OusterSDKConfigVersion.cmake"
+  DESTINATION lib/cmake/OusterSDK)
+
+install(FILES LICENSE
+  DESTINATION share/doc/${CPACK_DEBIAN_PACKAGE_NAME}
+  RENAME copyright)

CMakeSettings.json

@@ -1,40 +1,40 @@
 {
-    "configurations": [
+  "configurations": [
+    {
+      "name": "x64-Release",
+      "generator": "Ninja",
+      "configurationType": "Release",
+      "buildRoot": "${projectDir}\\out\\build\\${name}",
+      "installRoot": "${projectDir}\\out\\install\\${name}",
+      "cmakeCommandArgs": "",
+      "buildCommandArgs": "",
+      "ctestCommandArgs": "",
+      "inheritEnvironments": [ "msvc_x64_x64" ],
+      "variables": [
         {
-            "name": "x64-Release",
-            "generator": "Ninja",
-            "configurationType": "Release",
-            "buildRoot": "${projectDir}\\out\\build\\${name}",
-            "installRoot": "${projectDir}\\out\\install\\${name}",
-            "cmakeCommandArgs": "",
-            "buildCommandArgs": "",
-            "ctestCommandArgs": "",
-            "inheritEnvironments": [ "msvc_x64_x64" ],
-            "variables": []
-        },
-        {
-            "name": "x64-Debug",
-            "generator": "Ninja",
-            "configurationType": "Debug",
-            "inheritEnvironments": [ "msvc_x64_x64" ],
-            "buildRoot": "${projectDir}\\out\\build\\${name}",
-            "installRoot": "${projectDir}\\out\\install\\${name}",
-            "cmakeCommandArgs": "",
-            "buildCommandArgs": "",
-            "ctestCommandArgs": "",
-            "variables": []
-        },
+          "name": "BUILD_EXAMPLES",
+          "value": "True",
+          "type": "BOOL"
+        }
+      ]
+    },
+    {
+      "name": "x64-Debug",
+      "generator": "Ninja",
+      "configurationType": "Debug",
+      "inheritEnvironments": [ "msvc_x64_x64" ],
+      "buildRoot": "${projectDir}\\out\\build\\${name}",
+      "installRoot": "${projectDir}\\out\\install\\${name}",
+      "cmakeCommandArgs": "",
+      "buildCommandArgs": "",
+      "ctestCommandArgs": "",
+      "variables": [
         {
-            "name": "x64-RelWithDebInfo",
-            "generator": "Ninja",
-            "configurationType": "RelWithDebInfo",
-            "buildRoot": "${projectDir}\\out\\build\\${name}",
-            "installRoot": "${projectDir}\\out\\install\\${name}",
-            "cmakeCommandArgs": "",
-            "buildCommandArgs": "",
-            "ctestCommandArgs": "",
-            "inheritEnvironments": [ "msvc_x64_x64" ],
-            "variables": []
+          "name": "BUILD_EXAMPLES",
+          "value": "True",
+          "type": "BOOL"
         }
-    ]
-}
+      ]
+    }
+  ]
+}

LICENSE

@@ -1,29 +1,63 @@
-BSD 3-Clause License
-
-Copyright (c) 2018, Ouster, Inc.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: OusterSDK
+Upstream-Contact: Ouster Sensor SDK Developers <oss@ouster.io>
+Source: https://github.com/ouster-lidar/ouster_example
+
+Files: *
+Copyright: 2018-2022 Ouster, Inc
+License: BSD-3-Clause
+
+Files: include/optional-lite/*
+Copyright: 2014-2021 Martin Moene
+License: BSL-1.0
+
+License: BSD-3-Clause
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+License: BSL-1.0
+ Boost Software License - Version 1.0 - August 17th, 2003
+
+ Permission is hereby granted, free of charge, to any person or organization
+ obtaining a copy of the software and accompanying documentation covered by
+ this license (the "Software") to use, reproduce, display, distribute,
+ execute, and transmit the Software, and to prepare derivative works of the
+ Software, and to permit third-parties to whom the Software is furnished to
+ do so, all subject to the following:
+
+ The copyright notices in the Software and this entire statement, including
+ the above license grant, this restriction and the following disclaimer,
+ must be included in all copies of the Software, in whole or in part, and
+ all derivative works of the Software, unless such copies or derivative
+ works are solely in the form of machine-executable object code generated by
+ a source language processor.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+ SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+ FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ DEALINGS IN THE SOFTWARE.