Module ouster.sdk.bag

ouster.sdk.bag.bag_packet_source

class MessageCount[source]

Bases: Structure

count

Structure/Union member

id

Structure/Union member

class ChannelMetadata[source]

Bases: Structure

len

Structure/Union member

anybag_monkey(self, paths, default_typestore=None)[source]
bag2_monkey(self, paths, default_typestore=None)[source]
class BagPacketSource(bag_path, *, extrinsics_file=None, meta=None, soft_id_check=False, extrinsics=[])[source]

Bases: PacketSource

Read a sensors packet streams out of a bag file as an iterator.

Read sensor data streams from a single bag file.

Parameters:

  • bag_path (Union[str, List[str]]) – path to bag file or folder containing ROS2 db3 and yaml file

  • meta (Optional[List[str]]) – optional list of metadata files to load, if not provided metadata is loaded from the bag instead

  • soft_id_check (bool) – if True, don’t skip packets on init_id mismatch

property sensor_info: List[SensorInfo]

Metadata associated with the packet.

property is_live: bool

Check if the packet source is live.

property is_indexed: bool
property id_error_count: int
property size_error_count: int
restart()[source]

Restart playback, only relevant to non-live sources

Return type:

None

close()[source]

Release Pcap resources. Thread-safe.

Return type:

None

property closed: bool

Check if source is closed. Thread-safe.

ouster.sdk.bag.bag_scan_source

class BagScanSource(file_path, *, extrinsics_file=None, raw_headers=False, raw_fields=False, soft_id_check=False, meta=None, field_names=None, extrinsics=[], **kwargs)[source]

Bases: ScanSource

Implements ScanSource protocol for pcap files with multiple sensors.

Parameters:

  • file_path (Union[str, List[str]]) – OSF filename as scans source

  • raw_headers (bool) – if True, include raw headers in decoded LidarScans

  • raw_fields (bool) – if True, include raw fields in decoded LidarScans

  • soft_id_check (bool) – if True, don’t skip packets on init_id/serial_num mismatch

  • meta (Optional[List[str]]) – optional list of metadata files to load, if not provided metadata is loaded from the bag instead

  • field_names (Optional[List[str]]) – list of fields to decode into a LidarScan, if not provided decodes all default fields

property is_live: bool

Check if the scan source is live.

A live scan source indicates that it is actively receiving data from a sensor.

Returns:

True if the scan source is live, False otherwise.

Return type:

bool

property sensor_info: List[SensorInfo]

Retrieve sensor information for all sensors in the scan source.

Returns:

A list of SensorInfo objects, each containing metadata about a sensor, such as serial number, firmware version, and calibration details.

property id_error_count: int
property size_error_count: int
close()[source]