ouster.sdk.util.parsing module

R/W implementation of packet parsing.

Doesn’t rely on custom C++ extensions (just numpy). Provides writable view of packet data for testing and development.

tohex(data)[source]

Makes a hex string for debug print outs of buffers.

Selects the biggest devisor of np.uint32, np.uint16 or np.uint8 for making a hex output of the provided data. (clunky but usefull for debugging)

Return type:

str

Parameters:

data (bytes | bytearray | memoryview | ndarray)

frame_to_packets(lf, info)[source]

Converts LidarFrame to a lidar_packet buffers

Parameters:

  • lf (LidarFrame) – LidarFrame; if LidarFrame has RAW_HEADERS field, packet headers are recreated to how they were in the original packets

  • info (SensorInfo) – metadata of the lf frame

Return type:

List[Union[LidarPacket, ZonePacket, ImuPacket]]

Returns:

A set of lidar packets that will produce the same LidarFrame if passed through the FrameBatcher again (less fields data)

packets_to_frame(packets, info, *, fields=None)[source]

Batch buffers that belongs to a single frame into a LidarFrame object. :rtype: LidarFrame

Parameters:
Return type:

LidarFrame

cut_raw32_words(lf)[source]
Return type:

LidarFrame

Parameters:

lf (LidarFrame)