Changed

• VLS-128 has been replaced by Alpha Prime as the model identifier, but is still accepted for backwards compatibility. (@flopie2009 #1)
• Removed the broken VLS-128 calibration data file. (@flopie2009 #2)

Added

• Added time_range parameter to read_bag() and read_pcap().

Fixed

• read_bag() no longer closes opened Bag objects passed to it.

Added

• read_bag() now optionally also includes frame_id-s from the ROS messages in the returned tuples when return_frame_id=True is set.

Fixed

• Fixed Config("model") constructor not working as expected due to calibration_file missing a default value.
• Fixed out-of-scope pointer dereferencing in the calibration parser.
• Fixed a build error on Windows due to yaml-cpp by pinning its version to 0.7.

Added

• Support for PCAP file decoding with the read_pcap() function in Python and StreamDecoder in C++.
• More convenient data extraction from ROS bags with read_bag().
• Standard calibration info provided by Velodyne is now used by default and config.calibration_file can be left unset in most cases.
• TIMINGS_AVAILABLE was added for details about which models support point timing info. The current list is: ['HDL-32E', 'VLP-16', 'VLP-32C', 'VLS-128'].

Changed

• The decoded scans are now returned as a contiguous float32 NumPy arrays instead of PCL-compatible structs by default. You can pass as_pcl_structs=True to the decoding functions for the old behavior.
• Model ID naming scheme has been updated to better match the typical forms used by Velodyne. Before: ['VLP16', '32C', '32E', 'VLS128']. After: ['HDL-32E', 'HDL-64E', 'HDL-64E_S2', 'HDL-64E_S3', 'VLP-16', 'VLP-32C', 'VLS-128'].
• Conversion to NumPy arrays is now done without any unnecessary data copying.

Fixed

• Fixed a Python 2 ROS message decoding error.

Initial release.