ouster.sdk.examples.core module

Copyright (c) 2021, Ouster, Inc. All rights reserved.

Executable examples for using the core sensor APIs.

This module has a rudimentary command line interface. For usage, run:

$ python -m ouster.sdk.examples.core -h
configure_dual_returns(hostname)[source]

Configure sensor to use dual returns profile given hostname

Parameters:

hostname (str) – hostname of the sensor

Return type:

None

configure_sensor_params(sensor_hostname)[source]

Configure sensor params given hostname

Parameters:

  • hostname – hostname of the sensor

  • sensor_hostname (str)

Return type:

None

fetch_sensor_info(sensor_hostname)[source]

Fetch sensor info from a sensor and write it to disk.

Accurately reconstructing point clouds from a sensor data stream requires access to sensor calibration and per-run configuration like the operating mode and azimuth window.

The client API makes it easy to read sensor info and write it to disk for use with recorded data streams.

Parameters:

  • hostname – hostname of the sensor

  • sensor_hostname (str)

Return type:

None

filter_3d_by_range_and_azimuth(hostname, lidar_port=7502, range_min=2)[source]

Easily filter 3D Point Cloud by Range and Azimuth Using the 2D Representation

Parameters:

  • hostname (str) – hostname of sensor

  • lidar_port (int) – UDP port to listen on for lidar data

  • range_min (int) – range minimum in meters

Return type:

None

live_plot_reflectivity(hostname, lidar_port=7502)[source]

Display reflectivity from live sensor

Parameters:

  • hostname (str) – hostname of the sensor

  • lidar_port (int) – UDP port to listen on for lidar data

Return type:

None

plot_xyz_points(hostname, lidar_port=7502)[source]

Display range from a single frame as 3D points

Parameters:

  • hostname (str) – hostname of the sensor

  • lidar_port (int) – UDP port to listen on for lidar data

Return type:

None

get_fname_base(info)[source]
Return type:

str

Parameters:

info (SensorInfo)

record_pcap(hostname, lidar_port=7502, imu_port=7503, n_seconds=10)[source]

Record data from live sensor to pcap file.

Note that pcap files recorded this way only preserve the UDP data stream and not networking information, unlike capturing packets directly from a network interface with tools like tcpdump or wireshark.

See the API docs of pcap.record() for additional options for writing pcap files.

Parameters:

  • hostname (str) – hostname of the sensor

  • lidar_port (int) – UDP port to listen on for lidar data

  • imu_port (int) – UDP port to listen on for imu data

  • n_seconds (int) – max seconds of time to record. (Ctrl-Z correctly closes streams)

Return type:

None

main()[source]
Return type:

None