Running the Ouster visualizer

After installing the ouster-sdk package, you can run:

$ ouster-cli source <sensor hostname> viz

where <sensor hostname> is the hostname (os-99xxxxxxxxxx) or IP of the sensor.

Alternately, to replay the existing data from pcap and json files call the visualizer as:

$ ouster-cli source <pcap_path> [--meta <meta_path>] viz

Ouster SDK CLI ouster-cli source <sensor | pcap | osf> viz visualization of OS1 128 sample data

The Ouster SDK CLI visualizer does not include a GUI, but can be controlled with the mouse and keyboard:

• Click and drag rotates the view

• Middle click and drag moves the view

• Scroll adjusts how far away the camera is from the vehicle

Keyboard Controls

Camera*

Key	What it does
shift	Camera Translation with mouse drag
w	Camera pitch up
s	Camera pitch down
a	Camera yaw left
d	Camera yaw right
R	Reset camera
ctr-r	Set camera to the birds-eye view
u	Toggle camera mode FOLLOW/FIXED
= / -	Dolly in/out
0	Toggle orthographic camera

Playback

Key	What it does
space	Toggle pause
. / ,	Step one frame forward/back
ctrl + . / ,	Step 10 frames forward/back
> / <	Increase/decrease playback rate (during replay)

2D View

Key	What it does
b / B	Cycle top 2D image
n / N	Cycle bottom 2D image
e / E	Increase/decrease size of displayed 2D images

3D View

Key	What it does
p / P	Increase/decrease point size
m / M	Cycle point cloud coloring mode
f / F	Cycle point cloud color palette
1	Toggle first return point cloud visibility
6	Toggle scans accumulation view mode (ACCUM)
7	Toggle overall map view mode (MAP)
8	Toggle poses/trajectory view mode (TRACK)
2	Toggle second return point cloud visibility
9	Show axes
' / "	Increase/decrease spacing in range markers
ctrl + '	Increase thickness of range markers
c	Cycle current highlight mode
j / J	Increase/decrease point size of accumulated clouds or map
k / K	Cycle point cloud coloring mode of accumulated clouds or map
g / G	Cycle point cloud color palette of accumulated clouds or map

Other

Key	What it does
o	Toggle on-screen display
?	Print keys to standard out
shift+z	Save a screenshot of the current view
shift+x	Toggle a continuous saving of screenshots
esc	Exit

The visualizer also includes an option to control the orientation of the point cloud in space when loaded. If you possess, say, an OS-DOME mounted an upside down, you can start the visualizer with the option --extrinsics:

$ ouster-cli source 10.0.0.13 viz --extrinsics -1 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 1

The input is a row-major homogeneous matrix.

For other options, run ouster-cli source <sensor | pcap | osf> viz -h

Note

All basic primitives that you see as part of ouster-cli visualizer are exposed through viz.PointViz bindings. Please see PointViz Tutorial & API Usage for how to use it programmatically in Python.

Advanced usage with sensor

The Ouster visualizer automatically configures connected sensors to send data to the appropriate udp destination address. If your sensor is already configured appropriately, you may find it useful to use the argument --no-auto-dest to save time by skipping the round trip to reconfigure the sensor.