ouster.sdk.viz.track module

Copyright (c) 2023, Ouster, Inc. All rights reserved.

class FrameRecord(pose, frame, cloud_mode_keys=<factory>)[source]

Bases: object

Represents a frame, its pose, and its color (aka keys) for each available cloud mode.

Parameters:

  • pose (ndarray)

  • frame (LidarFrame)

  • cloud_mode_keys (Dict[str, ndarray | None])

pose: ndarray
frame: LidarFrame
cloud_mode_keys: Dict[str, Optional[ndarray]]
property position
class Track(config, extrinsics=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]))[source]

Bases: object

Represents a sequence of frames with their poses and “key frames”, which are frames representing every Nth frame or every few meters.

Parameters:
property key_frames_num: int

Current number of key frames

update(frame, frame_num)[source]

Register the new frame and update the track and key frames :rtype: None

Parameters:
Return type:

None

clear()[source]
Return type:

None

class MultiTrack(model, config)[source]

Bases: object

Represents frame positions and key frames for multiple sensors.

Parameters:
clear()[source]
Return type:

None

update(frames, frame_num=None)[source]

Update the Track for each sensor. :rtype: None

Parameters:

  • frames (FrameSet)

  • frame_num (int | None)

Return type:

None