Install Findjsoncpp alongside project

CHANGELOG.rst

@@ -2,6 +2,60 @@
 Changelog
 =========
 
+[unreleased]
+============
+
+ouster_client
+--------------
+* breaking change: signal multiplier type changed to double to support new FW values of signal
+  multiplier.
+* breaking change: make_xyz_lut takes mat4d beam_to_lidar_transform instead of
+  lidar_origin_to_beam_origin_mm double to accomodate new FWs. Old reference Python implementation
+  was kept, but new reference was also added.
+* address an issue that could cause the processed frame being dropped in favor or the previous
+  frame when the frame_id wraps-around.
+* added a new flag ``CONFIG_FORCE_REINIT`` for ``set_config()`` method, to force the sensor to reinit
+  even when config params have not changed.
+* breaking change: drop defaults parameters from the shortform ``init_client()`` method.
+* added a new method ``init_logger()`` to provide control over the logs emitted by ``ouster_client``.
+* add parsing for new FW 3.0 thermal features shot_limiting and thermal_shutdown statuses and countdowns
+* add frame_status to LidarScan
+
+python
+------
+* breaking change: drop defaults parameters of ``client.Sensor`` constructor.
+* breaking change: change Scans interface Timeout to default to 1 second instead of None
+* added a new method ``init_logger()`` to provide control over the logs emitted by ``client.Sensor``.
+* add ``client.LidarScan`` methods ``__repr__()`` and ``__str__()``.
+
+ouster_viz
+----------
+* add ``SimpleViz.screenshot()`` function and a key handler ``SHIFT-Z`` to
+  save a screenshot. Can be called from a client thread, and executes
+  asyncronously (i.e. returns immediately and pushes a one off callback
+  to frame buffer handlers)
+* add ``PointViz.viewport_width()`` and ``PointViz.viewport_height()`` functions
+* add ``PointViz.push/pop_frame_buffer_handler()`` to attach a callbacks on
+  every frame draw update that calls from the main rendering loop.
+* add ``SHIFT-X`` key to SimpleViz to start continuous saving of screenshots
+  on every draw operation. (good for making videos)
+* expose ``Camera.set_target`` function through pybind
+
+ouster-sdk
+----------
+* Moved ouster_ros to its own repo
+* pin ``openssl`` Conan package dependency to ``openssl/1.1.1s`` due to
+  ``libtins`` and ``libcurl`` conflicting ``openssl`` versions
+
+
+[20220927]
+==========
+
+ouster_client
+--------------
+* fix a bug in longform ``init_client()`` which was not setting timestamp_mode and lidar_mode correctly
+
+
 [20220826]
 ==========
 
@@ -43,7 +97,8 @@ ouster_ros
 * 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)
-* Add new timestamp_mode TIME_FROM_ROS_TIME
+* add new timestamp_mode TIME_FROM_ROS_TIME
+* declare PCL_NO_PRECOMPILE ahead of all PCL library includes
 
 
 [20220608]

CMakeLists.txt

@@ -1,16 +1,21 @@
 cmake_minimum_required(VERSION 3.10...3.22)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
+# for installation, install only custom find scripts which are not shipped by package
+# managers or cmake itself. This does not apply e.g. to eigen
+set(DEPENDENCY_MODULES ${CMAKE_CURRENT_LIST_DIR}/cmake/Findjsoncpp.cmake)
+
 include(DefaultBuildType)
 
 # configure vcpkg from environment variables, if present
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster_example VERSION 20220826)
+project(ouster_example VERSION 20220927)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.5.1)
+set(OusterSDK_VERSION_STRING 0.7.1.b1)
 include(VersionGen)
 
 # ==== Options ====
@@ -88,7 +93,7 @@ set(CPACK_SOURCE_IGNORE_FILES /.git /dist)
 set(CPACK_DEBIAN_PACKAGE_NAME ouster-sdk)
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
 set(CPACK_DEBIAN_PACKAGE_DEPENDS
-  "libjsoncpp-dev, libeigen3-dev, libtins-dev, libglfw3-dev, libglew-dev")
+  "libjsoncpp-dev, libeigen3-dev, libtins-dev, libglfw3-dev, libglew-dev, libspdlog-dev")
 
 include(CPack)
 
@@ -109,6 +114,18 @@ 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)
+# we install any custom dependency modules here
+install(FILES ${DEPENDENCY_MODULES}
+    DESTINATION lib/cmake/OusterSDK/Modules)
+install(FILES LICENSE LICENSE-bin
+  DESTINATION share)
+
+# make uninstall
+add_custom_target("uninstall" COMMENT "Uninstall installed files")
+add_custom_command(
+    TARGET "uninstall"
+    POST_BUILD
+    COMMENT "Uninstall files with install_manifest.txt"
+    COMMAND xargs rm -vf < install_manifest.txt || echo Nothing in
+            install_manifest.txt to be uninstalled!
+)

LICENSE-bin

@@ -253,3 +253,31 @@ License: Curl License
     Except as contained in this notice, the name of a copyright holder shall not
     be used in advertising or otherwise to promote the sale, use or other dealings
     in this Software without prior written authorization of the copyright holder.
+
+Name: spdlog
+Description: statically linked
+Availability: https://github.com/gabime/spdlog
+License: MIT
+    Copyright (c) 2016 Gabi Melman.                                       
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    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 AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+
+    -- NOTE: Third party dependency used by this software --
+    This software depends on the fmt lib (MIT License),
+    and users must comply to its license: https://github.com/fmtlib/fmt/blob/master/LICENSE.rst

README.rst

@@ -21,6 +21,20 @@ reading and visualizing data.
 * `ouster_viz <ouster_viz/>`_ contains a customizable point cloud visualizer
 * `python <python/>`_ contains the code for the ouster sensor python SDK (``ouster-sdk`` Python package)
 
+.. note::
+    Ouster ROS driver code has been moved out to a separate GitHub repository. To get started using the
+    driver follow the instructions provided on the repository's main page: https://github.com/ouster-lidar/ouster-ros
+
+
+Contact
+=======
+
+For support of the Ouster SDK, please use `Github Issues <https://github.com/ouster-lidar/ouster_example/issues>`_ in this repo.
+
+For support of Ouster products outside of the SDK, please use `Ouster customer support <https://ouster.atlassian.net/servicedesk/customer/portal/8/group/22/create/86>`_.
+
+For suspected security problems, please contact us at security@ouster.io.
+
 
 License
 =======

cmake/OusterSDKConfig.cmake.in

@@ -2,16 +2,18 @@ message(STATUS "Found OusterSDK: ${CMAKE_CURRENT_LIST_FILE}")
 
 include(CMakeFindDependencyMacro)
 
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/Modules/")
+
 # ouster_client dependencies
 find_dependency(Eigen3)
 find_dependency(jsoncpp)
 find_dependency(CURL)
+find_dependency(spdlog)
 
 # viz dependencies
 if(@BUILD_VIZ@)
   set(OpenGL_GL_PREFERENCE GLVND)
   find_dependency(OpenGL)
-  find_dependency(Threads)
   find_dependency(glfw3)
 
   if(@OUSTER_VIZ_USE_GLAD@)

conanfile.py

@@ -56,8 +56,15 @@ def config_options(self):
             del self.options.fPIC
 
     def requirements(self):
+        # not required directly here but because libtins and libcurl pulling
+        # slightly different versions of zlib and openssl we need to set it
+        # here explicitly
+        self.requires("zlib/1.2.13")
+        self.requires("openssl/1.1.1s")
+
         self.requires("eigen/3.4.0")
         self.requires("jsoncpp/1.9.5")
+        self.requires("spdlog/1.10.0")
         self.requires("libcurl/7.82.0")
 
         if self.options.build_pcap:

docs/cpp/building.rst

@@ -4,7 +4,7 @@
 Building the C++ Client from Source
 ===================================
 
-Building the example code requires a compiler supporting C++11 and CMake 3.1 or newer and the
+Building the example code requires a compiler supporting C++14 and CMake 3.1 or newer and the
 jsoncpp, Eigen3, and tins libraries with headers installed on the system. The sample visualizer also
 requires the GLFW3 and GLEW libraries.
 
@@ -19,7 +19,7 @@ To install build dependencies on Ubuntu, run:
 .. code:: console
 
    $ sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev \
-                      libtins-dev libpcap-dev libglfw3-dev libglew-dev
+                      libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev
 
 You may also install curl with a different ssl backend, for example libcurl4-gnutls-dev or
 libcurl4-nss-dev.

docs/index.rst

@@ -27,7 +27,7 @@
    :caption: ROS1 Guide
    :hidden:
 
-   Build and Use <https://github.com/ouster-lidar/ouster-ros/docs/index.rst>
+   Build and Use <https://github.com/ouster-lidar/ouster-ros/wiki/index>
 
 .. toctree::
    :caption: SDK Reference

docs/installation.rst

@@ -119,3 +119,9 @@ C++
 
 The Ouster C++ SDK currently must be built and installed from sources.
 Please refer to :doc:`/cpp/building`.
+
+
+ROS
+===
+Ouster ROS driver code has been moved out to a separate GitHub repository. To get started using the
+driver follow the instructions provided on the repository's main page: https://github.com/ouster-lidar/ouster-ros

docs/python/devel.rst

@@ -18,6 +18,7 @@ Building the Python SDK from source requires several dependencies:
 - `libpcap <https://www.tcpdump.org/>`_
 - `libglfw3 <https://www.glfw.org/>`_ >= 3.2
 - `libglew <http://glew.sourceforge.net/>`_ >= 2.1 or `glad <https://github.com/Dav1dde/glad>`_
+- `spdlog <https://github.com/gabime/spdlog>`_ >= 1.9
 - `Python <https://www.python.org/>`_ >= 3.7 (with headers and development libraries)
 - `pybind11 <https://pybind11.readthedocs.io>`_ >= 2.0
 
@@ -33,7 +34,7 @@ On supported Debian-based linux systems, you can install all build dependencies
    $ sudo apt install build-essential cmake \
                       libeigen3-dev libjsoncpp-dev libtins-dev libpcap-dev \
                       python3-dev python3-pip pybind11-dev libcurl4-openssl-dev \
-                      libglfw3-dev libglew-dev
+                      libglfw3-dev libglew-dev libspdlog-dev
 
 On macos >= 10.13, using homebrew, you should be able to run:
 

docs/python/viz/viz-run.rst

@@ -56,6 +56,8 @@ Keyboard controls:
     ``ctrl + ./,``  Step 10 frames forward/back
     ``>/<``         Increase/decrease playback rate (during replay)
     ``shift``       Camera Translation with mouse drag
+    ``shift-z``     Save a screenshot of the current view
+    ``shift-x``     Toggle a continuous saving of screenshots
     ==============  ===============================================
 
 ..

examples/client_example.cpp

@@ -9,8 +9,8 @@
 #include <iostream>
 #include <vector>
 
-#include "ouster/impl/build.h"
 #include "ouster/client.h"
+#include "ouster/impl/build.h"
 #include "ouster/lidar_scan.h"
 #include "ouster/types.h"
 
@@ -36,6 +36,11 @@ int main(int argc, char* argv[]) {
 
         return argc == 1 ? EXIT_SUCCESS : EXIT_FAILURE;
     }
+
+    // Limit ouster_client log statements to "info" and direct the output to log
+    // file rather than the console (default).
+    sensor::init_logger("info", "ouster.log");
+
     std::cerr << "Ouster client example " << ouster::SDK_VERSION << std::endl;
     /*
      * The sensor client consists of the network client and a library for
@@ -50,11 +55,11 @@ int main(int argc, char* argv[]) {
     const std::string sensor_hostname = argv[1];
     const std::string data_destination = (argc == 3) ? argv[2] : "";
 
-    std::cerr << "Connecting to \"" << sensor_hostname << "\"... ";
+    std::cerr << "Connecting to \"" << sensor_hostname << "\"...\n";
 
     auto handle = sensor::init_client(sensor_hostname, data_destination);
     if (!handle) FATAL("Failed to connect");
-    std::cerr << "ok" << std::endl;
+    std::cerr << "Connection to sensor succeeded" << std::endl;
 
     /*
      * Configuration and calibration parameters can be queried directly from the

examples/representations_example.cpp

@@ -13,8 +13,8 @@
 #include <vector>
 
 #include "helpers.h"
-#include "ouster/impl/build.h"
 #include "ouster/client.h"
+#include "ouster/impl/build.h"
 #include "ouster/lidar_scan.h"
 #include "ouster/types.h"
 
@@ -101,8 +101,8 @@ int main(int argc, char* argv[]) {
     // say a vehicle center
     //! [doc-stag-extrinsics-to-xyzlut]
     auto lut_extrinsics = make_xyz_lut(
-        w, h, sensor::range_unit, info.lidar_origin_to_beam_origin_mm,
-        transformation, info.beam_azimuth_angles, info.beam_altitude_angles);
+        w, h, sensor::range_unit, info.beam_to_lidar_transform, transformation,
+        info.beam_azimuth_angles, info.beam_altitude_angles);
 
     std::cerr << "Calculating 3d Points of with special transform provided.."
               << std::endl;

ouster_client/CMakeLists.txt

@@ -2,18 +2,20 @@
 find_package(Eigen3 REQUIRED)
 find_package(jsoncpp REQUIRED)
 find_package(CURL REQUIRED)
+find_package(spdlog REQUIRED)
 
 # ==== Libraries ====
 add_library(ouster_client src/client.cpp src/types.cpp src/netcompat.cpp src/lidar_scan.cpp
   src/image_processing.cpp src/buffered_udp_source.cpp src/parsing.cpp
-  src/sensor_http.cpp src/sensor_http_imp.cpp src/sensor_tcp_imp.cpp)
+  src/sensor_http.cpp src/sensor_http_imp.cpp src/sensor_tcp_imp.cpp src/logging.cpp)
 target_link_libraries(ouster_client
   PUBLIC
     Eigen3::Eigen
     $<BUILD_INTERFACE:ouster_build>
   PRIVATE
     CURL::libcurl
-    jsoncpp_lib)
+    jsoncpp_lib
+    spdlog::spdlog)
 target_compile_definitions(ouster_client PRIVATE EIGEN_MPL2_ONLY)
 add_library(OusterSDK::ouster_client ALIAS ouster_client)