Download Recorded Sample Data

If you haven’t downloaded the ouster-sdk, please follow the Python Installation instructions.

Download Data

You can download sample data from the sensor documentation by clicking through the Ouster Data App links and using the Download button. After download, you should have two files, a .pcap file and a .json file.

We will use SAMPLE_DATA_PCAP_PATH to refer to this pcap and SAMPLE_DATA_JSON_PATH to this json in the following. You may find it convenient to assign the paths appropriately in your console.

Note

All Ouster sample data is provided under the CC BY-NC-SA license, whether obtained through the above links or from the Ouster website.

Visualize It!

If you’ve installed the ouster-sdk (see Python Installation) then you’re all set to visualize with:

$ ouster-cli source [--meta $SAMPLE_DATA_JSON_PATH] $SAMPLE_DATA_PCAP_PATH viz

You should get a view similar to:

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

You can control your visualizer with mouse and keyboard:

Keyboard Controls

Camera*

Key	What it does
shift	Camera Translation with mouse drag
w	Camera pitch down
s	Camera pitch up
a	Camera yaw right
d	Camera yaw left
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
ctrl + [N]	Enable/disable the Nth sensor cloud where N is 1 to 9
1	Toggle first return point cloud visibility
2	Toggle second 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

Congratulations! You’ve installed and visualized with the Ouster Python SDK!

For more on Ouster SDK CLI viz, please see Running the Ouster visualizer