ouster.sdk.bag¶

Module contents¶

Ouster Bag file support. Provides classes and utilities for reading, decoding, and processing Ouster lidar sensor data from ROS bag files. Includes tools for accessing raw sensor packets and assembling complete lidar frames.

Classes¶

class BagFrameSetSource(file_path, *, extrinsics_file = None, raw_headers = False, raw_fields = False, soft_id_check = False, meta = None, field_names = None, extrinsics = [], ** kwargs)
class BagPacketSource(bag_path, *, extrinsics_file = None, meta = None, soft_id_check = False, extrinsics = [])

ouster.sdk.bag.bag_frame_set_source¶

class BagFrameSetSource(file_path, *, extrinsics_file=None, raw_headers=False, raw_fields=False, soft_id_check=False, meta=None, field_names=None, extrinsics=[], **kwargs)[source]¶

Bases: FrameSetSource

Implements FrameSetSource protocol for pcap files with multiple sensors.

Parameters:

file_path (Union[str, List[str]]) – OSF filename as frames source
raw_headers (bool) – if True, include raw headers in decoded LidarFrames
raw_fields (bool) – if True, include raw fields in decoded LidarFrames
soft_id_check (bool) – if True, don’t skip packets on init_id/serial_num mismatch
meta (Optional[List[str]]) – optional list of metadata files to load, if not provided metadata is loaded from the bag instead
field_names (Optional[List[str]]) – list of fields to decode into a LidarFrame, if not provided decodes all default fields
extrinsics_file (str | None)
extrinsics (List[ndarray])

close(self) → None[source]¶

property id_error_count: int¶

property is_live: bool¶

Check if the frame set source is live.

A live frame set source indicates that it is actively receiving data from a sensor.

Returns:: True if the frame set source is live, False otherwise.
Return type:: bool

property sensor_info: List[SensorInfo]¶

Retrieve sensor information for all sensors in the frame set source.

Returns:: A list of SensorInfo objects, each containing metadata about a sensor, such as serial number, firmware version, and calibration details.

property size_error_count: int¶

ouster.sdk.bag.bag_packet_source¶

class BagPacketSource(bag_path, *, extrinsics_file=None, meta=None, soft_id_check=False, extrinsics=[])[source]¶

Bases: PacketSource

Read a sensors packet streams out of a bag file as an iterator.

Read sensor data streams from a single bag file.

Parameters:

bag_path (Union[str, List[str]]) – path to bag file or folder containing ROS2 db3 and yaml file
meta (Optional[List[str]]) – optional list of metadata files to load, if not provided metadata is loaded from the bag instead
soft_id_check (bool) – if True, don’t skip packets on init_id mismatch
extrinsics_file (str | None)
extrinsics (List[ndarray])

close()[source]¶

Release Pcap resources. Thread-safe. :rtype: None

Return type:: None

property closed: bool¶: Check if source is closed. Thread-safe.

property id_error_count: int¶

property is_indexed: bool¶

property is_live: bool¶: Check if the packet source is live.

restart()[source]¶

Restart playback, only relevant to non-live sources :rtype: None

Return type:: None

property sensor_info: List[SensorInfo]¶: Metadata associated with the packet.

property size_error_count: int¶

class ChannelMetadata[source]¶

Bases: Structure

len¶: Structure/Union member

class MessageCount[source]¶

Bases: Structure

count¶: Structure/Union member

id¶: Structure/Union member

Submodules¶

bag_scan_source

ouster.sdk.bag.bag_scan_source¶

Deprecated module. Use ouster.sdk.bag.bag_frame_set_source instead.