Running the Ouster visualizer

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

$ simple-viz --sensor <sensor hostname>

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:

$ simple-viz --pcap <pcap_path> [--meta <meta_path>]
../../_images/simple-viz.png

Ouster simple-viz visualization of OS1 128 sample data

The sample visualizer does not currently 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:

Key

What it does

o

Toggle on-screen display

p/P

Increase/decrease point size

m

Cycle point cloud coloring mode

b

Cycle top 2D image

n

Cycle bottom 2D image

R

Reset camera

e/E

Increase/decrease size of displayed 2D images

'/"

Increase/decrease spacing in range markers

w

Camera pitch up

s

Camera pitch down

a

Camera yaw left

d

Camera yaw right

1

Toggle first return point cloud visibility

2

Toggle second return point cloud visibility

0

Toggle orthographic camera

=/-

Dolly in/out

?

Prints key bindings

space

Toggle pause

esc

Exit visualization

./,

Step one frame forward/back

ctrl + ./,

Step 10 frames forward/back

>/<

Increase/decrease playback rate (during replay)

shift

Camera Translation with mouse drag

shift+z

Save a screenshot of the current view

shift+x

Toggle a continuous saving of screenshots

?

Print keys to standard out

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:

$ simple-viz --sensor 10.0.0.13 --extrinsics -1 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 1

The input is a row-major homogenous matrix.

For other options, run simple-viz -h

Note

All basic primitives that you see as part of simple-viz 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 roundtrip to reconfigure the sensor.