OusterSDK + Ouster CLI 2023 Q2 Release (#534)

OusterSDK + Ouster CLI 2023 Q2 Release
================================

With this release we are adding a bunch of things that we've used
internally at Ouster for some
time and we hope it will be useful to a broader set of users well.

Major things:

# Ouster CLI (Python)
Command Line Tools `ouster-cli` that combines basic and common actions
to work with sensors:
- Discover connected sensors (`ouster-cli discover`)
- Configure sensors (`ouster-cli source <SENSOR> config`)
- Get sensors metadata (`ouster-cli source <SENSOR> metadata`)
- Record data to a pcap with metadata json stored along (`ouster-cli
source <SENSOR> record`)
- Visualize data from sensor or pcap (`ouster-cli source [<SENSOR> |
<PCAP>] viz`)
- Pcap slice and convertion operations (`ouster-cli source <PCAP>
{info,slice,convert}`)
- Run slam to get trajectories and registered point clouds (`ouster-cli
source [<SENSOR> |
  <PCAP>] slam`)

# Ouster Mapping (Python)
Mapping utilities + tools to save registered point clouds from pcap or
running sensors that
accounts for sensor motion and deskews the cloud.

# Ouster OSF (C++/Python)
C++/Python library to save stream of LidarScans with metadata. Used by
mapping module to work with
scans + poses.

For more details please see the CHANGELOG.rst file.

.gitignore

@@ -9,4 +9,18 @@ python/**/*.pyd
 
 # visual studio
 .vs/
-out/
+out/
+
+# vim
+*.swp
+
+# CMake, Ninja
+.ninja_deps
+.ninja_log
+CMakeFiles
+CTestTestfile.cmake
+
+# Built artifacts
+generated
+rules.ninja
+*.a

CHANGELOG.rst

@@ -2,6 +2,64 @@
 Changelog
 =========
 
+20230710
+========
+
+* Update vcpkg ref of build to 2023-02-24
+* 
+
+ouster_osf
+----------
+
+* Add Ouster OSF C++/Python library to save stream of LidarScans with metadata
+
+ouster_client
+-------------
+
+* Add ``LidarScan.pose`` with poses per column
+* Add ``_client.IndexedPcapReader`` and ``_client.PcapIndex`` to enable random
+  pcap file access by frame number
+* [BREAKING] remove ``ouster::Imu`` object
+* Add get_field_types function for LidarScan, from sensor_info
+* bugfix: return metadata regardless of sensor_info status field
+* Make timeout on curl more configurable
+
+ouster_viz
+----------
+
+* [BREAKING] Changed Python binding for ``Cloud.set_column_poses()`` to accept ``[Wx4x4]`` array
+  of poses, column-storage order
+* bugfix: fix label re-use
+* Add ``LidarScan.pose`` handling to ``viz.LidarScanViz``, and new ``T`` keyboard
+  binding to toggle column poses usage
+
+ouster_pcap
+-----------
+* bugfix: Use unordered map to store stream_keys to avoid comparison operators on map
+
+Python SDK
+----------
+* Add Python 3.11 wheels
+* Retire simple-viz for ouster-cli utility
+* Add default ? key binding to LidarScanViz and consolidate bindings into stored definition
+* Remove pcap-to-csv for ouster-cli utility
+* Add validator class for LidarPacket
+
+ouster-cli
+----------
+This release also marks the introduction of the ouster-cli utility which includes, among many features:
+* Visualization from a connected sensor with automatic configuration
+* Recording from a connected sensor
+* Simultaneous record and viz from a connected sensor
+* Obtaining metadata from a connected sensor
+* Visualization from a specified PCAP
+* Slice, info, and conversion for a specificed PCAP
+* Utilities for benchmarking system, printing system-info
+* Discovery which indicates all connected sensors on network
+* Automatic logging to .ouster-cli
+* Mapping utilities
+
+
 [20230403]
 ==========
 

CMakeLists.txt

@@ -7,16 +7,17 @@ include(DefaultBuildType)
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster_example VERSION 20230403)
+project(ouster_example VERSION 20230710)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.8.1)
+set(OusterSDK_VERSION_STRING 0.9.0)
 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." ON)
+option(BUILD_OSF "Build Ouster OSF library." OFF)
 option(BUILD_VIZ "Build Ouster visualizer." ON)
 option(BUILD_TESTING "Build tests" OFF)
 option(BUILD_EXAMPLES "Build C++ examples" OFF)
@@ -56,6 +57,10 @@ if(BUILD_PCAP)
   add_subdirectory(ouster_pcap)
 endif()
 
+if(BUILD_OSF)
+  add_subdirectory(ouster_osf)
+endif()
+
 if(BUILD_VIZ)
   add_subdirectory(ouster_viz)
 endif()
@@ -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, libspdlog-dev")
+  "libjsoncpp-dev, libeigen3-dev, libtins-dev, libglfw3-dev, libglew-dev, libspdlog-dev, libpng-dev, libflatbuffers-dev")
 include(CPack)
 
 # ==== Install ====

README.rst

@@ -18,6 +18,7 @@ reading and visualizing data.
 
 * `ouster_client <ouster_client/>`_ contains an example C++ client for ouster sensors
 * `ouster_pcap <ouster_pcap/>`_ contains C++ pcap functions for ouster sensors
+* `ouster_osf <ouster_osf/>`_ contains C++ OSF library to store ouster sensors 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)
 

cmake/FindPcap.cmake

@@ -14,6 +14,14 @@ find_library(PCAP_LIBRARY
   NAMES pcap pcap_static wpcap
   HINTS ${PC_PCAP_LIBRARY_DIRS})
 
+if(NOT TARGET libpcap::libpcap)
+  add_library(libpcap::libpcap UNKNOWN IMPORTED)
+  set_target_properties(libpcap::libpcap PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${PCAP_INCLUDE_DIR}"
+    IMPORTED_LINK_INTERFACE_LANGUAGES "C"
+    IMPORTED_LOCATION "${PCAP_LIBRARY}")
+endif()
+
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(Pcap
   REQUIRED_VARS PCAP_LIBRARY PCAP_INCLUDE_DIR

cmake/FindPybind11Internal.cmake

@@ -0,0 +1,54 @@
+include(FindPackageHandleStandardArgs)
+
+if(DEFINED PYTHON_EXECUTABLE)
+  execute_process(
+    COMMAND
+    "${PYTHON_EXECUTABLE}" "-c"
+    "import sys; print(f'{str(sys.version_info.major)}.{str(sys.version_info.minor)}.{str(sys.version_info.micro)}')"
+    OUTPUT_VARIABLE _version_full
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  execute_process(
+    COMMAND
+    "${PYTHON_EXECUTABLE}" "-c"
+    "import pybind11;print(pybind11.get_cmake_dir())"
+    OUTPUT_VARIABLE _pybind_dir
+    RESULT_VARIABLE _pybind_result
+    ERROR_VARIABLE _pybind_error
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  if(${_pybind_result} EQUAL 0)
+    LIST(APPEND CMAKE_PREFIX_PATH "${_pybind_dir}")
+    if("${_version_full}" VERSION_GREATER_EQUAL "3.11.0")
+      find_package(pybind11 2.10 REQUIRED)
+    else()
+      find_package(pybind11 2.0 REQUIRED)
+    endif()
+
+    set(_PYBIND11_INTERNAL_PYTHON_VERSION "")
+    if(NOT PYTHON_VERSION STREQUAL "")
+      message("Found Python Version VIA: PYTHON_VERSION")
+      set(_PYBIND11_INTERNAL_PYTHON_VERSION "${PYTHON_VERSION}")
+    elseif(NOT PYTHONLIBS_VERSION_STRING STREQUAL "")
+      message("Found Python Version VIA: PYTHONLIBS_VERSION_STRING")
+     set(_PYBIND11_INTERNAL_PYTHON_VERSION "${PYTHONLIBS_VERSION_STRING}")
+    elseif(NOT PYTHON_VERSION_STRING STREQUAL "")
+      message("Found Python Version VIA: PYTHON_VERSION_STRING")
+      set(_PYBIND11_INTERNAL_PYTHON_VERSION "${PYTHON_VERSION_STRING}")
+    endif()
+    if(VCPKG_TOOLCHAIN AND NOT "${_version_full}" VERSION_EQUAL "${_PYBIND11_INTERNAL_PYTHON_VERSION}")
+      message(FATAL_ERROR "Python Versions Do Not Match
+\tRequested Version:
+\t\t${_version_full}
+\tVersions Found:
+\t\tPYTHON_VERSION: \"${PYTHON_VERSION}\"
+\t\tPYTHONLIBS_VERSION_STRING: \"${PYTHONLIBS_VERSION_STRING}\"
+\t\tPYTHON_VERSION_STRING: \"${PYTHON_VERSION_STRING}\"
+\tInternal Cache: \"${_PYBIND11_INTERNAL_PYTHON_VERSION}\"")
+      endif()
+  else()
+    message(FATAL_ERROR "ERROR In Setting Pybind11 CMAKE Prefix Path: ${_pybind_error}")
+  endif()
+else()
+  message(FATAL_ERROR "PYTHON_EXECUTABLE NOT SET")
+endif()
+

cmake/Findlibtins.cmake

@@ -54,5 +54,6 @@ if(NOT TARGET libtins)
   add_library(libtins INTERFACE)
   set_target_properties(libtins PROPERTIES
     INTERFACE_LINK_LIBRARIES ${LIBTINS_LIBRARIES})
+  add_library(libtins::libtins ALIAS libtins)
   install(TARGETS libtins EXPORT ouster-sdk-targets)
 endif()

cmake/OusterSDKConfig.cmake.in

@@ -8,6 +8,13 @@ find_dependency(jsoncpp)
 find_dependency(CURL)
 find_dependency(spdlog)
 
+# ouster_osf dependencies
+if(@BUILD_OSF@)
+  find_package(ZLIB REQUIRED)
+  find_package(PNG REQUIRED)
+  find_package(Flatbuffers NAMES Flatbuffers FlatBuffers)
+endif()
+
 # viz dependencies
 if(@BUILD_VIZ@)
   set(OpenGL_GL_PREFERENCE GLVND)

conan/test_package/conanfile.py

@@ -11,6 +11,7 @@ def build(self):
         cmake = CMake(self)
         # Current dir is "test_package/build/<build_id>" and CMakeLists.txt is
         # in "test_package"
+        cmake.definitions["BUILD_OSF"] = True
         cmake.definitions[
             "CMAKE_PROJECT_PackageTest_INCLUDE"] = os.path.join(
                 self.build_folder, "conan_paths.cmake")
@@ -27,4 +28,7 @@ def test(self):
             os.chdir("examples")
             # on Windows VS puts execulables under `./Release` or `./Debug` folders
             exec_path = f"{os.sep}{self.settings.build_type}" if self.settings.os == "Windows" else ""
-            self.run(".%s%sclient_example" % (exec_path, os.sep))
+            self.run(f".{exec_path}{os.sep}client_example")
+
+            # Smoke test OSF lib
+            self.run(f".{exec_path}{os.sep}osf_reader_example")

conanfile.py

@@ -17,6 +17,7 @@ class OusterSDKConan(ConanFile):
     options = {
         "build_viz": [True, False],
         "build_pcap": [True, False],
+        "build_osf": [True, False],
         "shared": [True, False],
         "fPIC": [True, False],
         "ensure_cpp17": [True, False],
@@ -25,6 +26,7 @@ class OusterSDKConan(ConanFile):
     default_options = {
         "build_viz": False,
         "build_pcap": False,
+        "build_osf": False,
         "shared": False,
         "fPIC": True,
         "ensure_cpp17": False,
@@ -37,6 +39,7 @@ class OusterSDKConan(ConanFile):
         "conan/*",
         "ouster_client/*",
         "ouster_pcap/*",
+        "ouster_osf/*",
         "ouster_viz/*",
         "tests/*",
         "CMakeLists.txt",
@@ -57,20 +60,19 @@ 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("spdlog/1.11.0")
+        self.requires("fmt/9.1.0")
         self.requires("libcurl/7.84.0")
 
         if self.options.build_pcap:
             self.requires("libtins/4.3")
 
+        if self.options.build_osf:
+            self.requires("flatbuffers/23.5.26")
+            self.requires("libpng/1.6.39")
+
         if self.options.build_viz:
             self.requires("glad/0.1.34")
             if self.settings.os != "Windows":
@@ -83,6 +85,7 @@ def configure_cmake(self):
         cmake = CMake(self)
         cmake.definitions["BUILD_VIZ"] = self.options.build_viz
         cmake.definitions["BUILD_PCAP"] = self.options.build_pcap
+        cmake.definitions["BUILD_OSF"] = self.options.build_osf
         cmake.definitions["OUSTER_USE_EIGEN_MAX_ALIGN_BYTES_32"] = self.options.eigen_max_align_bytes
         # alt way, but we use CMAKE_TOOLCHAIN_FILE in other pipeline so avoid overwrite
         # cmake.definitions["CMAKE_TOOLCHAIN_FILE"] = os.path.join(self.build_folder, "conan_paths.cmake")

docs/cli/changelog.rst

@@ -0,0 +1,6 @@
+=========
+Changelog
+=========
+
+[0.9.0]
+* Initial Public Release