ouster.sdk.viz.core module

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

Sensor data visualization tools.

Visualize lidar data using OpenGL.

class ImuVisualizationConfig(options='only_gyro')

Bases: object

imu_plot_width_pixels = 1000

imu_plot_height_pixels = 28

downsample_factor = 2

field_colors = {'IMU_ACC': (1.0, 0.0, 0.0, 1.0), 'IMU_GYRO': (1.0, 1.0, 1.0, 1.0)}

class LidarFrameViz(metas, point_viz=None, accumulators_config=None, imu_viz_config=<ouster.sdk.viz.core.ImuVisualizationConfig object>, *, _img_aspect_ratio=0, _buflen=50, _add_default_controls=True)

Bases: object

Multi LidarFrame clouds visualizer

Uses the supplied PointViz instance to easily display the contents of a LidarFrame. Sets up key bindings to toggle which channel fields and returns are displayed, and change 2D image and point size.

Parameters:

• metas (List[SensorInfo]) – sensor metadata used to interpret frames

• viz – use an existing PointViz instance instead of creating one

• point_viz (PointViz | None)

• accumulators_config (LidarFrameVizAccumulatorsConfig | None)

• imu_viz_config (ImuVisualizationConfig)

• _img_aspect_ratio (float)

class OsdState(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

NONE = (1,)

DEFAULT = (2,)

HELP = 3

class FlagsMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

NONE = 0

HIGHLIGHT_SECOND = 1

HIGHLIGHT_BLOOM = 2

HIDE_BLOOM = 3

HIGHLIGHT_ZONES = 4

HIGHLIGHT_OBJECTS = 5

class ImagesLayout(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

HORIZONTAL = 0

VERTICAL = 1

class CameraMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

FOLLOW = 0

FOLLOW_ROTATION_LOCKED = 1

FIXED = 2

FOLLOW_SMOOTH = 3

FOLLOW_SMOOTH_ROTATION_LOCK = 4

class TrackViewMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

OFF = 0

TRACK_ONLY = 1

TRACK_PLUS_PER_FRAME_TRAJECTORY = 2

class ImageViewMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

ALL = 0

ALL_FLIPPED = 1

ONE = 2

ONE_FLIPPED = 3

class FlagsPalette(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

RAINBOW = 0

DISTINCT = 1

set_interpolant(interpolant)

Return type:

None

Parameters:

interpolant (float)

clear_pose_histories()

Clear frame/camera pose histories used for interpolation. :rtype: None

Return type:

None

imu_plot(frames, imu_viz_config)

property metadata: List[SensorInfo]

Metadatas for the displayed sensors.

set_class_maps(class_maps)

Set the class maps for the visualizer. :rtype: None

Parameters:

class_maps (ClassMapSet)

Return type:

None

property osd_state: OsdState

Returns the state of the on screen display.

cycle_osd_scale()

set_view(view)

Parameters:

view (str)

toggle_sky()

Toggle showing the color the sky in the pointcloud where there is no return :rtype: None

Return type:

None

MAX_SENSOR_TOGGLE_KEYS = 9

select_img_mode(i, mode)

Change the displayed field of the i’th image. :rtype: bool

Parameters:

• i (int)

• mode (str)

Return type:

bool

cycle_img_mode(i, *, direction=1)

Change the displayed field of the i’th image. :rtype: None

Parameters:

• i (int)

• direction (int)

Return type:

None

select_cloud_mode(mode)

Change the coloring mode of the 3D point cloud. :rtype: bool

Parameters:

mode (str)

Return type:

bool

cycle_cloud_mode(direction=1)

Change the coloring mode of the 3D point cloud. :rtype: None

Parameters:

direction (int)

Return type:

None

cycle_cloud_palette(*, direction=1)

Change the color palette of the 3D point cloud. :rtype: None

Parameters:

direction (int)

Return type:

None

toggle_cloud(i)

Toggle whether the i’th return is displayed. :rtype: None

Parameters:

i (int)

Return type:

None

toggle_sensor(sensor_index)

Toggle whether the i’th sensor data is displayed. :rtype: None

Parameters:

sensor_index (int)

Return type:

None

update_point_size(amount)

Change the point size of the 3D cloud. :rtype: None

Parameters:

amount (int)

Return type:

None

update_image_size(amount)

Change the size of the 2D image and position image labels. :rtype: None

Parameters:

amount (int)

Return type:

None

toggle_flip_images()

Toggle if 2D images should be flipped or not. :rtype: None

Return type:

None

cycle_img_view_mode()

Return type:

None

update_ring_size(amount)

Change distance ring size. :rtype: None

Parameters:

amount (int)

Return type:

None

cicle_ring_line_width()

Change rings line width. :rtype: None

Return type:

None

toggle_osd(state=None)

Show or hide the on-screen display. :rtype: None

Parameters:

state (bool | None)

Return type:

None

cycle_camera_mode(direction=1)

Toggle the camera follow mode. :rtype: None

Parameters:

direction (int)

Return type:

None

update_flags_mode(mode=None, direction=1)

Return type:

None

Parameters:

• mode (FlagsMode | None)

• direction (int)

cycle_flags_palette()

Cycle the palette used for flags modes. :rtype: None

Return type:

None

cycle_object_color_mode()

Cycle the mode used for object highlighting. :rtype: None

Return type:

None

cycle_object_view_mode()

Return type:

None

toggle_track_view_mode()

Cycle through the track view modes :rtype: None

Return type:

None

toggle_axis_markers()

Toggle the helper axis of a frame ON/OFF :rtype: None

Return type:

None

property frame: FrameSet

The currently displayed frame.

property frame_num: int

The currently displayed frame number

update(frames, frame_num=None, last_n_frame_sets=[])

Update the LidarFrameViz state with the provided frames. :rtype: None

Parameters:

• frames (FrameSet)

• frame_num (int | None)

• last_n_frame_sets (List[FrameSet])

Return type:

None

draw(update=True, update_camera=True)

Process and draw the latest state to the screen. :rtype: None

Parameters:

• update (bool)

• update_camera (bool)

Return type:

None

run()

Run the rendering loop of the visualizer.

See PointViz.run() :rtype: None

Return type:

None

show_all_imu_plots()

hide_all_imu_plots()

show_all_sensor_labels()

hide_all_sensor_labels()

text_scale()

clear_trajectory()

Return type:

None

print_key_bindings()

Return type:

None

toggle_help()

Return type:

None

set_zone_selection_and_render_modes(sel_mode, render_mode)

Return type:

None

Parameters:

• sel_mode (ZoneSelectionMode)

• render_mode (ZoneRenderMode)

cycle_zone_selection_mode()

Return type:

None

cycle_zone_render_mode()

Return type:

None

class LiveConsumer(iterable, should_count_dropped_frame_method)

Bases: object

Spawns a thread to consume frames as soon as they’re available. This is a work-around to deal with situations where the visualizer is too slow to keep up with a live sensor.

start()

shutdown()

property dropped_frames

class SimpleViz(metadata, *, rate=None, pause_at=-1, on_eof='exit', accum_max_num=0, accum_min_dist_meters=0, accum_min_dist_num=1, map_enabled=False, map_select_ratio=0.001, map_max_points=1500000, imu_viz_config=<ouster.sdk.viz.core.ImuVisualizationConfig object>, title='Ouster Viz', maximized=False, fullscreen=False, resolution=None, screenshot_resolution=None, _override_pointviz=None, _override_lidar_frame_viz=None, _buflen=50, video_format='png', clear_on_loop=False, subframes=0)

Bases: object

Visualize a stream of LidarFrames.

Handles controls for playback speed, pausing and stepping.

Parameters:

• arg – Metadata associated with the frames to be visualized or a LidarFrameViz instance to use.

• rate (Optional[float]) – Playback rate. One of 0.25, 0.5, 0.75, 1.0, 1.5, 2.0, 3.0 or None for “live” playback (the default).

• pause_at (int) – frame number to pause at, default (-1) - no auto pause, to stop after the very first frame use 0

• on_eof (str) – What to do when the source ends. One of ‘exit’, ‘stop’ or ‘loop’

• video_format (str) – Format for saving continuous screenshots. One of ‘png’ or ‘gif’

• metadata (List[SensorInfo] | SensorInfo)

• accum_max_num (int)

• accum_min_dist_meters (float)

• accum_min_dist_num (int)

• map_enabled (bool)

• map_select_ratio (float)

• map_max_points (int)

• imu_viz_config (ImuVisualizationConfig)

• title (str)

• maximized (bool)

• fullscreen (bool)

• resolution (Tuple[int, int] | None)

• screenshot_resolution (Tuple[int, int] | float | None)

• _override_pointviz (PointViz | None)

• _override_lidar_frame_viz (LidarFrameViz | None)

• _buflen (int)

• clear_on_loop (bool)

Raises:

ValueError – if the specified rate isn’t one of the options

toggle_help()

Return type:

None

toggle_video_format()

Return type:

None

toggle_pause()

Pause or unpause the visualization. :rtype: None

Return type:

None

seek_relative(n_frames)

Seek forward of backwards in the stream. :rtype: None

Parameters:

n_frames (int)

Return type:

None

modify_rate(amount)

Switch between preset playback rates. :rtype: None

Parameters:

amount (int)

Return type:

None

toggle_osd(state=None)

Show or hide the on-screen display. :rtype: None

Parameters:

state (bool | None)

Return type:

None

toggle_img_recording()

Return type:

None

screenshot(file_path=None)

Return type:

None

Parameters:

file_path (str | None)

cycle_screenshot_res_factor(direction)

Parameters:

direction (int)

set_class_maps(class_maps)

Set the class maps for the visualizer. :rtype: None

Parameters:

class_maps (ClassMapSet)

Return type:

None

adjust_subframes(direction)

Parameters:

direction (int)

property frames_per_sec: float

Frames per second processing rate.

property scans_per_sec: float

use frames_per_sec.

Type:

Deprecated

run(frames)

Start reading frames and visualizing the stream.

Must be called from the main thread on macOS. Will close the provided frame source before returning.

Parameters:

frames (Union[Iterable[FrameSet], Iterable[LidarFrame], Iterable[List[Optional[LidarFrame]]]]) – A stream of frames to visualize.

Return type:

None

Returns:

When the stream is consumed or the visualizer window is closed.

lf_show(frames, *, title=None)

[BETA] Display a set of LidarFrames in an interactive window.

Parameters:

• frames (Union[FrameSetSource, LidarFrame, FrameSet, List[Optional[LidarFrame]], List[List[Optional[LidarFrame]]]]) – A set of LidarFrames to visualize.

• title (str | None)

Return type:

None

Optional Args:

title: Title of the visualization window. If not provided,

it will be composed from the sensor serial numbers.

Note

This is a beta feature and its API may change in future releases.

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