diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
index a828abc..84643d2 100644
--- a/doc/CHANGELOG.md
+++ b/doc/CHANGELOG.md
@@ -13,6 +13,15 @@ influence the resulting point cloud.
 
 ### Removed
 
+## [2.16.1] - 2021.01.26
+
+### Added
+* Python: Structured numpy interface flag is now available for file streams
+
+### Changed
+* Bugfix: Do not enforce the legacy serial number for hardware modules
+* API: Rename filter `points_with_no_returns` to `delete_points_without_returns`
+
 ## [2.16.0] - 2020.12.16
 
 ### Added
diff --git a/doc/protobuf-frame-visualisation.png b/doc/protobuf-frame-visualisation.png
index 51edda2..70f278b 100644
Binary files a/doc/protobuf-frame-visualisation.png and b/doc/protobuf-frame-visualisation.png differ
diff --git a/doc/protobuf_protocol.md b/doc/protobuf_protocol.md
index 0049fdf..f6cbb0f 100644
--- a/doc/protobuf_protocol.md
+++ b/doc/protobuf_protocol.md
@@ -1637,7 +1637,7 @@ This can be used to e.g. filter points with low intensity or to enable secondary
 | ambient_light_level | [blickfeld.protocol.OptionalValueRange](#blickfeld.protocol.OptionalValueRange) | optional | Filter all points, which ambient light level values are not within this value range. |
 | range | [blickfeld.protocol.OptionalValueRange](#blickfeld.protocol.OptionalValueRange) | optional | Filter all points, which range values are not within this value range. |
 | noise | [ScanPattern.Filter.Noise](#blickfeld.protocol.config.ScanPattern.Filter.Noise) | optional | <blockquote>Introduced in BSL v2.11 and firmware v1.11</blockquote> Refer to [Filter.Noise](#blickfeld.protocol.config.ScanPattern.Filter.Noise) |
-| points_with_no_returns | [bool](#bool) | optional | <blockquote> Introduced in BSL v2.16 and firmware v1.17</blockquote>
+| delete_points_without_returns | [bool](#bool) | optional | <blockquote> Introduced in BSL v2.16 and firmware v1.17</blockquote>
 
 All points without any returns are filtered if this setting is true. With active algorithms, such as background subtraction, this can reduce the bandwidth significantly.
 
diff --git a/examples/python/numpy_frame.py b/examples/python/numpy_frame.py
index 89cf6df..8b7172c 100644
--- a/examples/python/numpy_frame.py
+++ b/examples/python/numpy_frame.py
@@ -25,9 +25,11 @@ def fetch_numpy_frame(target):
     # Create filter to filter points and returns by point attributes during the post-processing on the device.
     point_filter = scan_pattern_pb2.ScanPattern().Filter()
     point_filter.max_number_of_returns_per_point = 2 # Set max number of returns to 2. The default value is 1.
-    point_filter.points_with_no_returns = True # Filter points with no returns. This reduces the dataset only to valid returns.
+    point_filter.delete_points_without_returns = True # Filter points with no returns. This reduces the dataset only to valid returns.
 
-    stream = device.get_point_cloud_stream(point_filter=point_filter, as_numpy=True)  # Create a point cloud stream object
+    # Create a point cloud stream object
+    # The `as_numpy` flag enables the numpy support.
+    stream = device.get_point_cloud_stream(point_filter=point_filter, as_numpy=True) 
 
     for i in range(10):
         frame, data = stream.recv_frame_as_numpy()
diff --git a/protocol/blickfeld/common.proto b/protocol/blickfeld/common.proto
index 6d1a2f3..01ede24 100644
--- a/protocol/blickfeld/common.proto
+++ b/protocol/blickfeld/common.proto
@@ -28,7 +28,7 @@ message SoftwareVersion {
 
 message HardwareModule {
 	optional string serial_number = 1 [(optional)=true, (regex) = "[A-Z2-7]{9}", (legacy_field_id)=2]; // Serial number of the hardware module
-	optional string legacy_serial_number = 2 [ deprecated=true ]; // Deprecated legacy serial number format
+	optional string legacy_serial_number = 2 [ deprecated=true, (optional)=true ]; // Deprecated legacy serial number format
 	optional string version = 3 [(optional)=true, (regex)="v[0-9]+\\.[0-9]+\\.[0-9]+"]; // Hardware version of the hardware module if available.
 }
 
diff --git a/protocol/blickfeld/config/scan_pattern.proto b/protocol/blickfeld/config/scan_pattern.proto
index 311ae1e..d3215e2 100644
--- a/protocol/blickfeld/config/scan_pattern.proto
+++ b/protocol/blickfeld/config/scan_pattern.proto
@@ -255,7 +255,7 @@ message ScanPattern {
 		 * In scenarios, where from one frame to another, all points have returns (e.g. due to environmental changes),
 		 * the peak bandwidths might increase significantly. This could result, in these scenarios, in frame losses.
 		 */
-		optional bool points_with_no_returns = 6 [ default = false ];
+		optional bool delete_points_without_returns = 6 [ default = false ];
 	}
 
 	optional Horizontal horizontal = 1; // Refer to [ScanPattern.Horizontal](#blickfeld.protocol.config.ScanPattern.Horizontal)
diff --git a/python/blickfeld_scanner/scanner.py b/python/blickfeld_scanner/scanner.py
index 6c8d767..6a15972 100644
--- a/python/blickfeld_scanner/scanner.py
+++ b/python/blickfeld_scanner/scanner.py
@@ -212,14 +212,21 @@ def record_point_cloud_stream(self, file_name, point_filter=None, reference_fram
         return stream.raw(self.create_connection(), req, file_name)
 
     @staticmethod
-    def file_point_cloud_stream(dump_filename):
+    def file_point_cloud_stream(dump_filename, as_numpy=False):
         """ Request a point_cloud_stream, which streams off a .bfpc file.
         No device (and connection to a device) is needed for this operation.
 
         :param dump_filename: path to .bfpc file
+        :param as_numpy:
+            > Introduced in BSL v2.16
+
+            This enables numpy support of the point cloud stream. Use recv_frame_as_numpy() to fetch frames as numpy structured arrays.
+            Specify the required attributes via the reference_frame attribute.
+
+            Note: The performance of this option is significantly better with files that were recorded in the packed format. Packed recordings are available in firmware versions >= v1.17.
         :return: :py:class:`blickfeld_scanner.scanner.stream.point_cloud` object
         """
-        return stream.point_cloud(from_file=dump_filename)
+        return stream.point_cloud(from_file=dump_filename, as_numpy=as_numpy)
     
     def set_scan_pattern(self, config=None, name=None, persist = False):
         """ Function to set a new scan pattern, see: :any:`protobuf_protocol`.
diff --git a/tests/src/file.cpp b/tests/src/file.cpp
index f66bde1..4703bce 100644
--- a/tests/src/file.cpp
+++ b/tests/src/file.cpp
@@ -61,6 +61,6 @@ INSTANTIATE_TEST_CASE_P(
 	simulate_record_and_read,
 	file_simulate_record_and_read,
 	::testing::Values(
-		"../tests/assets/dump.bfpc"
-		// "../tests/assets/packed_dump.bfpc"
+		"../tests/assets/dump.bfpc",
+		"../tests/assets/packed.bfpc"
 		));