Module ouster.client

Copyright (c) 2021, Ouster, Inc. All rights reserved.

Python sensor client


Core

exception ClientError[source]

Base class for client errors.

exception ClientTimeout[source]

Raised when data does not arrive within the expected time.

exception ClientOverflow[source]

Raised when data loss is possible due to internal buffers filling up.

class PacketSource[source]

Bases: Protocol

Represents a single-sensor data stream.

__iter__()[source]

A PacketSource supports Iterable[Packet].

Currently defined explicitly due to: https://github.com/python/typing/issues/561

Return type

Iterator[Union[ImuPacket, LidarPacket]]

property metadata: ouster.client._client.SensorInfo

Metadata associated with the packet stream.

Return type

SensorInfo

close()[source]

Release the underlying resource, if any.

Return type

None

class Packets(it, metadata)[source]

Create a PacketSource from an existing iterator.

Parameters
property metadata: ouster.client._client.SensorInfo

Metadata associated with the packet stream.

Return type

SensorInfo

__iter__()[source]

Return the underlying iterator.

Return type

Iterator[Union[ImuPacket, LidarPacket]]

close()[source]

Release the underlying resource, if any.

Return type

None

class Sensor(hostname, lidar_port, imu_port, *, metadata=None, buf_size=128, timeout=2.0, _overflow_err=False, _flush_before_read=True, _flush_frames=5, _legacy_format=True)[source]

A packet source listening on local UDP ports.

Uses a separate thread that fills internal buffers without holding the GIL.

Note

Make sure close() will be called on all instances before Python attempts to exit, or the interpreter will hang waiting to join the thread (like any other non-daemonized Python thread).

Neither the ports nor udp destination configuration on the sensor will be updated. The metadata will be fetched over the network from the sensor unless explicitly provided using the metadata parameter.

Parameters
  • hostname (str) – hostname or IP address of the sensor

  • lidar_port (int) – UDP port to listen on for lidar data

  • imu_port (int) – UDP port to listen on for imu data

  • metadata (Optional[SensorInfo]) – explicitly provide metadata for the stream

  • buf_size (int) – number of packets to buffer before dropping data

  • timeout (Optional[float]) – seconds to wait for packets before signaling error or None

  • _overflow_err (bool) – if True, raise ClientOverflow

  • _flush_before_read (bool) – if True, try to clear buffers before reading

  • _legacy_format (bool) – if True, use legacy metadata format

Raises

ClientError – If initializing the client fails.

write_metadata(path)[source]

Save metadata to disk.

Parameters

path (str) – path to write

Return type

None

property metadata: ouster.client._client.SensorInfo

Metadata associated with the packet stream.

Return type

SensorInfo

__iter__()[source]

Access the UDP data stream as an iterator.

Reading may block waiting for network data for up to the specified timeout. Failing to consume this iterator faster than the data rate of the sensor may cause packets to be dropped.

Raises
  • ClientTimeout – if no packets are received within the configured timeout

  • ClientError – if the client enters an unspecified error state

  • ValueError – if the packet source has already been closed

Return type

Iterator[Union[ImuPacket, LidarPacket]]

flush(n_frames=3, *, full=False)[source]

Drop some data to clear internal buffers.

Parameters
  • n_frames (int) – number of frames to drop

  • full – clear internal buffers first, so data is read from the OS receive buffers (or the network) directly

Return type

int

Returns

The number of packets dropped

Raises
  • ClientTimeout – if a lidar packet is not received within the configured timeout

  • ClientError – if the client enters an unspecified error state

close()[source]

Shut down producer thread and close network connection.

Attributes may be unset if constructor throws an exception.

Return type

None

class Scans(source, *, complete=False, timeout=2.0, fields=None, _max_latency=0)[source]

An iterable stream of scans batched from a PacketSource.

Batching will emit a scan every time the frame_id increments (i.e. on receiving first packet in the next scan). Reordered packets will be handled, except across frame boundaries: packets from the previous scan will be dropped.

Optionally filters out incomplete frames and enforces a timeout. A batching timeout can be useful to detect when we’re only receiving incomplete frames or only imu packets. Can also be configured to manage internal buffers for soft real-time applications.

Parameters
  • source (PacketSource) – any source of packets

  • complete (bool) – if True, only return full scans

  • timeout (Optional[float]) – seconds to wait for a scan before error or None

  • fields (Optional[Dict[ChanField, Type[unsignedinteger]]]) – specify which channel fields to populate on LidarScans

  • _max_latency (int) – (experimental) approximate max number of frames to buffer

__iter__()[source]

Get an iterator.

Return type

Iterator[LidarScan]

close()[source]

Close the underlying PacketSource.

Return type

None

property metadata: ouster.client._client.SensorInfo

Return metadata from the underlying PacketSource.

Return type

SensorInfo

classmethod sample(hostname='localhost', n=1, lidar_port=7502, *, metadata=None)[source]

Conveniently sample n consecutive scans from a sensor.

Does not leave UDP ports open. Suitable for interactive use.

Parameters
  • hostname (str) – hostname of the sensor

  • n (int) – number of consecutive frames in each sample

  • lidar_port (int) – UDP port to listen on for lidar data

  • metadata (Optional[SensorInfo]) – explicitly provide metadata for the stream

Return type

Tuple[SensorInfo, Iterator[List[LidarScan]]]

Returns

A tuple of metadata queried from the sensor and an iterator that samples n consecutive scans

classmethod stream(hostname='localhost', lidar_port=7502, *, buf_size=640, timeout=2.0, complete=True, metadata=None, fields=None)[source]

Stream scans from a sensor.

Will drop frames preemptively to avoid filling up internal buffers and to avoid returning frames older than the scanning period of the sensor.

Parameters
  • hostname (str) – hostname of the sensor

  • lidar_port (int) – UDP port to listen on for lidar data

  • timeout (Optional[float]) – seconds to wait for scans before signaling error

  • complete (bool) – if True, only return full scans

  • metadata (Optional[SensorInfo]) – explicitly provide metadata for the stream

  • fields (Optional[Dict[ChanField, Type[unsignedinteger]]]) – specify which channel fields to populate on LidarScans

Return type

Scans


Metadata

class SensorInfo

Sensor Info required to interpret UDP data streams.

See the sensor documentation for the meaning of each property.

Parameters

raw (str) – json string to parse

property beam_altitude_angles

Beam altitude angles, useful for XYZ projection.

property beam_azimuth_angles

Beam azimuth angles, useful for XYZ projection.

property beam_to_lidar_transform

Homogenous transformation matrix reprsenting Beam to Lidar Transform

property extrinsic

Extrinsic Matrix.

property format

Describes the structure of a lidar packet.

static from_default()

Create gen-1 OS-1-64 SensorInfo populated with design values.

property fw_rev

Sensor firmware revision.

property hostname

Sensor hostname.

property imu_to_sensor_transform

Homogenous transformation matrix representing IMU offset to Sensor Coordinate Frame.

property init_id

Initialization id.

property lidar_origin_to_beam_origin_mm

Distance between lidar origin and beam origin in millimeters.

property lidar_to_sensor_transform

Homogeneous transformation matrix from Lidar Coordinate Frame to Sensor Coordinate Frame.

property mode

Lidar mode, e.g., 1024x10.

property prod_line

Product line, e.g., ‘OS-1-128’.

property sn

Sensor serial number.

property udp_port_imu

Configured port for imu data.

property udp_port_lidar

Configured port for lidar data.

class SensorConfig

Corresponds to sensor config parameters. Please see sensor documentation for the meaning of each property.

Parameters

raw (str) – json string to parse

property azimuth_window

Tuple representing the visible region of interest of the sensor in millidegrees, .e.g., (0, 360000) for full visibility.

property columns_per_packet

Measurement blocks per UDP packet. See sensor documentation for details.

property lidar_mode

Horizontal and Vertical Resolution rate of sensor as mode, e.g., 1024x10. See class LidarMode.

property multipurpose_io_mode

Mode of MULTIPURPOSE_IO pin. See class MultipurposeIOMode.

property nmea_baud_rate

Expected baud rate sensor attempts to decode for NMEA UART input $GPRMC messages.

property nmea_ignore_valid_char

NMEA Ignore Valid Char. True corresponds to 1 and False to 0 for property; see sensor documentation for details.

property nmea_in_polarity

Polarity of NMEA UART input $GPRMC messages. See sensor documentation for details.

property nmea_leap_seconds

Integer number of leap seconds that will be added to the UDP timetsamp when calculating seconds since Unix Epoch time. See sensor documentation for details.

property operating_mode

Operating Mode of sensor. See class OperatingMode.

property phase_lock_enable

Enable phase lock. See sensor documentation for more details.

property phase_lock_offset

Angle in Lidar Coordinate Frame that sensors are locked to, in millidegrees. See sensor documentation for details.

property signal_multiplier

Multiplier for signal strength of sensor, corresponding to maximum allowable azimuth_window. Gen 2 Only.

property sync_pulse_in_polarity

Polarity of SYNC_PULSE_IN pin. See sensor documentation for details.

property sync_pulse_out_angle

Polarity of SYNC_PULSE_OUT output. See sensor documentation for details.

property sync_pulse_out_frequency

SYNC_PULSE_OUT rate. See sensor documentation for details.

property sync_pulse_out_polarity

Polarity of SYNC_PULSE_OUT output. See sensor documentation for details.

property sync_pulse_out_pulse_width

SYNC_PULSE_OUT pulse width in ms. See sensor documentation for details.

property timestamp_mode

Timestamp mode of sensor. See class TimestampMode.

property udp_dest

Destination to which sensor sends UDP traffic.

property udp_port_imu

Port on UDP destination to which IMU data will be sent.

property udp_port_lidar

Port on UDP destination to which lidar data will be sent.

property udp_profile_imu

UDP packet format for imu data. See sensor documentation for details.

property udp_profile_lidar

UDP packet format for lidar data. See sensor documentation for details.

get_config()

Returns sensor config parameters as SensorConfig.

Parameters
  • hostname (str) – hostname of the sensor

  • active (bool) – return active or staged sensor configuration

set_config()

Set sensor config parameters on sensor.

Parameters
  • hostname (str) – hostname of the sensor

  • config (SensorConfig) – config to set sensor parameters to

  • persist (bool) – persist parameters after sensor disconnection (default = False)

  • udp_dest_auto (bool) – automatically determine sender’s IP at the time command was sent and set it as destination of UDP traffic. Function will error out if config has udp_dest member. (default = False)

  • force_reinit (bool) – forces the sensor to re-init during set_config even when config params have not changed. (default = False)

class LidarMode

Possible Lidar Modes of sensor.

Determines to horizontal and vertical resolution rates of sensor. See sensor documentation for details.

Members:

MODE_UNKNOWN

MODE_512x10

MODE_512x20

MODE_1024x10

MODE_1024x20

MODE_2048x10

MODE_4096x5

MODE_UNSPEC

MODE_1024x10 = <LidarMode.MODE_1024x10: 3>
MODE_1024x20 = <LidarMode.MODE_1024x20: 4>
MODE_2048x10 = <LidarMode.MODE_2048x10: 5>
MODE_4096x5 = <LidarMode.MODE_4096x5: 6>
MODE_512x10 = <LidarMode.MODE_512x10: 1>
MODE_512x20 = <LidarMode.MODE_512x20: 2>
MODE_UNKNOWN = <LidarMode.MODE_UNKNOWN: 0>
MODE_UNSPEC = <LidarMode.MODE_UNKNOWN: 0>
property cols

Returns columns of lidar mode, e.g., 1024 for LidarMode 1024x10.

property frequency

Returns frequency of lidar mode, e.g. 10 for LidarMode 512x10.

from_string()

Create LidarMode from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class TimestampMode

Possible Timestamp modes of sensor.

See sensor documentation for details.

Members:

UNKNOWN

TIME_FROM_INTERNAL_OSC

TIME_FROM_SYNC_PULSE_IN

TIME_FROM_PTP_1588

TIME_FROM_UNSPEC

TIME_FROM_INTERNAL_OSC = <TimestampMode.TIME_FROM_INTERNAL_OSC: 1>
TIME_FROM_PTP_1588 = <TimestampMode.TIME_FROM_PTP_1588: 3>
TIME_FROM_SYNC_PULSE_IN = <TimestampMode.TIME_FROM_SYNC_PULSE_IN: 2>
TIME_FROM_UNSPEC = <TimestampMode.UNKNOWN: 0>
UNKNOWN = <TimestampMode.UNKNOWN: 0>
from_string()

Create TimestampMode from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class OperatingMode

Possible Operating modes of sensor.

See sensor documentation for details.

Members:

OPERATING_NORMAL

OPERATING_STANDBY

OPERATING_NORMAL = <OperatingMode.OPERATING_NORMAL: 1>
OPERATING_STANDBY = <OperatingMode.OPERATING_STANDBY: 2>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class MultipurposeIOMode

Mode of MULTIPURPOSE_IO pin.

See sensor documentation for details.

Members:

MULTIPURPOSE_OFF

MULTIPURPOSE_INPUT_NMEA_UART

MULTIPURPOSE_OUTPUT_FROM_INTERNAL_OSC

MULTIPURPOSE_OUTPUT_FROM_SYNC_PULSE_IN

MULTIPURPOSE_OUTPUT_FROM_PTP_1588

MULTIPURPOSE_OUTPUT_FROM_ENCODER_ANGLE

MULTIPURPOSE_INPUT_NMEA_UART = <MultipurposeIOMode.MULTIPURPOSE_INPUT_NMEA_UART: 2>
MULTIPURPOSE_OFF = <MultipurposeIOMode.MULTIPURPOSE_OFF: 1>
MULTIPURPOSE_OUTPUT_FROM_ENCODER_ANGLE = <MultipurposeIOMode.MULTIPURPOSE_OUTPUT_FROM_ENCODER_ANGLE: 6>
MULTIPURPOSE_OUTPUT_FROM_INTERNAL_OSC = <MultipurposeIOMode.MULTIPURPOSE_OUTPUT_FROM_INTERNAL_OSC: 3>
MULTIPURPOSE_OUTPUT_FROM_PTP_1588 = <MultipurposeIOMode.MULTIPURPOSE_OUTPUT_FROM_PTP_1588: 5>
MULTIPURPOSE_OUTPUT_FROM_SYNC_PULSE_IN = <MultipurposeIOMode.MULTIPURPOSE_OUTPUT_FROM_SYNC_PULSE_IN: 4>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class Polarity

Pulse Polarity.

Applicable to several Polarity settings on sensor.

Members:

POLARITY_ACTIVE_LOW

POLARITY_ACTIVE_HIGH

POLARITY_ACTIVE_HIGH = <Polarity.POLARITY_ACTIVE_HIGH: 2>
POLARITY_ACTIVE_LOW = <Polarity.POLARITY_ACTIVE_LOW: 1>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class NMEABaudRate

Expected baud rate sensor attempts to decode for NMEA UART input $GPRMC messages.

Members:

BAUD_9600

BAUD_115200

BAUD_115200 = <NMEABaudRate.BAUD_115200: 2>
BAUD_9600 = <NMEABaudRate.BAUD_9600: 1>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class UDPProfileLidar

UDP lidar profile.

Members:

PROFILE_LIDAR_LEGACY

PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16_DUAL

PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16

PROFILE_LIDAR_RNG15_RFL8_NIR8

PROFILE_LIDAR_LEGACY = <UDPProfileLidar.PROFILE_LIDAR_LEGACY: 1>
PROFILE_LIDAR_RNG15_RFL8_NIR8 = <UDPProfileLidar.PROFILE_LIDAR_RNG15_RFL8_NIR8: 4>
PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16 = <UDPProfileLidar.PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16: 3>
PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16_DUAL = <UDPProfileLidar.PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16_DUAL: 2>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>

Data

BufferT

Types that support the buffer protocol.

alias of Union[bytes, bytearray, memoryview, numpy.ndarray]

Packet

Packets emitted by a sensor.

alias of Union[ImuPacket, LidarPacket]

class ImuPacket(data, info, timestamp=None)[source]

Read IMU Packet data from a bufer.

This will always alias the supplied buffer-like object. Pass in a copy to avoid unintentional aliasing.

Parameters
  • data (Union[bytes, bytearray, memoryview, ndarray]) – Buffer containing the packet payload

  • info (SensorInfo) – Metadata associated with the sensor packet stream

  • timestamp (Optional[float]) – A capture timestamp, in seconds

Raises

ValueError – If the buffer is smaller than the size specified by the packet format

property sys_ts: int

System timestamp in nanoseconds.

Return type

int

property accel_ts: int

Accelerometer read time in nanoseconds.

Return type

int

property gyro_ts: int

Gyro read time in nanoseconds.

Return type

int

property accel: numpy.ndarray

Acceleration as a 3-D vector in G.

Return type

ndarray

property angular_vel: numpy.ndarray

Angular velocity as a 3-D vector in deg/second.

Return type

ndarray

class LidarPacket(data, info, timestamp=None)[source]

Read lidar packet data as numpy arrays.

The dimensions of returned arrays depend on the sensor product line and configuration. Measurement headers will be arrays of size matching the configured columns_per_packet, while measurement fields will be 2d arrays of size pixels_per_column by columns_per_packet.

This will always alias the supplied buffer-like object. Pass in a copy to avoid unintentional aliasing.

Parameters
  • data (Union[bytes, bytearray, memoryview, ndarray]) – Buffer containing the packet payload

  • info (SensorInfo) – Metadata associated with the sensor packet stream

  • timestamp (Optional[float]) – A capture timestamp, in seconds

Raises

ValueError – If the buffer is smaller than the size specified by the packet format, or if the init_id doesn’t match the metadata

property packet_type: int

Get the type header of the packet.

Return type

int

property frame_id: int

Get the frame id of the packet.

Return type

int

property init_id: int

Get the initialization id of the packet.

Return type

int

property prod_sn: int

Get the serial no header of the packet.

Return type

int

property countdown_thermal_shutdown: int

Get the thermal shutdown countdown of the packet.

Return type

int

property countdown_shot_limiting: int

Get the shot limiting countdown of the packet.

Return type

int

property thermal_shutdown: int

Get the thermal shutdown status of the packet.

Return type

int

property shot_limiting: int

Get the shot limiting status of the packet.

Return type

int

property fields: Iterator[ouster.client._client.ChanField]

Get available fields of LidarScan as Iterator.

Return type

Iterator[ChanField]

field(field)[source]

Create a view of the specified channel field.

Parameters

field (ChanField) – The channel field to view

Return type

ndarray

Returns

A numpy array containing a copy of the specified field values

header(header)[source]

Create a view of the specified column header.

This method is deprecated. Use the timestamp, measurement_id or status properties instead.

Parameters

header (ColHeader) – The column header to parse

Return type

ndarray

Returns

A numpy array containing a copy of the specified header values

property timestamp: numpy.ndarray

Parse the measurement block timestamps out of a packet buffer.

Return type

ndarray

Returns

An array of the timestamps of all measurement blocks in the packet.

property measurement_id: numpy.ndarray

Parse the measurement ids out of a packet buffer.

Return type

ndarray

Returns

An array of the ids of all measurement blocks in the packet.

property status: numpy.ndarray

Parse the measurement statuses of a packet buffer.

Return type

ndarray

Returns

An array of the statuses of all measurement blocks in the packet.

class ChanField

Channel data block fields

Members:

RANGE

RANGE2

SIGNAL

SIGNAL2

REFLECTIVITY

REFLECTIVITY2

NEAR_IR

FLAGS

FLAGS2

RAW_HEADERS

CUSTOM0

CUSTOM1

CUSTOM2

CUSTOM3

CUSTOM4

CUSTOM5

CUSTOM6

CUSTOM7

CUSTOM8

CUSTOM9

RAW32_WORD1

RAW32_WORD2

RAW32_WORD3

RAW32_WORD4

CUSTOM0 = <ChanField.CUSTOM0: 50>
CUSTOM1 = <ChanField.CUSTOM1: 51>
CUSTOM2 = <ChanField.CUSTOM2: 52>
CUSTOM3 = <ChanField.CUSTOM3: 53>
CUSTOM4 = <ChanField.CUSTOM4: 54>
CUSTOM5 = <ChanField.CUSTOM5: 55>
CUSTOM6 = <ChanField.CUSTOM6: 56>
CUSTOM7 = <ChanField.CUSTOM7: 57>
CUSTOM8 = <ChanField.CUSTOM8: 58>
CUSTOM9 = <ChanField.CUSTOM9: 59>
FLAGS = <ChanField.FLAGS: 8>
FLAGS2 = <ChanField.FLAGS2: 9>
NEAR_IR = <ChanField.NEAR_IR: 7>
RANGE = <ChanField.RANGE: 1>
RANGE2 = <ChanField.RANGE2: 2>
RAW32_WORD1 = <ChanField.RAW32_WORD1: 60>
RAW32_WORD2 = <ChanField.RAW32_WORD2: 61>
RAW32_WORD3 = <ChanField.RAW32_WORD3: 62>
RAW32_WORD4 = <ChanField.RAW32_WORD4: 63>
RAW_HEADERS = <ChanField.RAW_HEADERS: 40>
REFLECTIVITY = <ChanField.REFLECTIVITY: 5>
REFLECTIVITY2 = <ChanField.REFLECTIVITY2: 6>
SIGNAL = <ChanField.SIGNAL: 3>
SIGNAL2 = <ChanField.SIGNAL2: 4>
static from_string()

Create enum value from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>
class ColHeader(value)[source]

Column headers available in lidar data.

This definition is deprecated.

TIMESTAMP = 0
ENCODER_COUNT = 1
MEASUREMENT_ID = 2
STATUS = 3
FRAME_ID = 4
class LidarScan

Represents a single “scan” or “frame” of lidar data.

This is a “struct of arrays” representation of lidar data. Column headers are stored as contiguous W element arrays, while fields are WxH arrays. Channel fields are staggered, so the ith column header value corresponds to the ith column of data in each field.

Default constructor creates a 0 x 0 scan

Parameters
  • height – height of scan

  • width – width of scan

Returns

New LidarScan of 0x0 expecting fields of the LEGACY profile

Initialize a scan with the default fields for a particular udp profile

Parameters
  • height – height of LidarScan, i.e., number of channels

  • width – width of LidarScan

  • profile – udp profile

Returns

New LidarScan of specified dimensions expecting fields of specified profile

Initialize a scan with a custom set of fields

Parameters
  • height – height of LidarScan, i.e., number of channels

  • width – width of LidarScan

  • fields_dict – dict where keys are ChanFields and values are type, e.g., {client.ChanField.SIGNAL: np.uint32}

Returns

New LidarScan of specified dimensions expecting fields specified by dict

field()

Return a view of the specified channel field.

Parameters

field – The channel field to return

Returns

The specified field as a numpy array

property fields

Return an iterator of available channel fields.

property frame_id

Corresponds to the frame id header in the packet format.

property frame_status

Information from the packet header which corresponds to a frame.

property h

Height or vertical resolution of the scan.

header()

Return the specified column header as a numpy array.

This function is deprecated. Use the measurment_id, timestamp or status properties instead.

Parameters

header – The column header to return

Returns

The specified column header as a numpy array

property measurement_id

The measurement id header as a W-element numpy array.

shot_limiting()

The frame shot limiting status.

property status

The measurement status header as a W-element numpy array.

thermal_shutdown()

The frame thermal shutdown status.

property timestamp

The measurement timestamp header as a W-element numpy array.

property w

Width or horizontal resolution of the scan.

XYZLut(info, use_extrinsics=False)[source]

Return a function that can project scans into Cartesian coordinates.

If called with a numpy array representing a range image, the range image must be in “staggered” form, where each column corresponds to a single measurement block. LidarScan fields are always staggered.

Internally, this will pre-compute a lookup table using the supplied intrinsic parameters. XYZ points are returned as a H x W x 3 array of doubles, where H is the number of beams and W is the horizontal resolution of the scan.

The coordinates are reported in meters in the sensor frame (when use_extrinsics is False, default) as defined in the sensor documentation.

However, the result is returned in the “extrinsics frame” if use_extrinsics is True, which makes additional transform from “sensor frame” to “extrinsics frame” using the homogeneous 4x4 transform matrix from info.extrinsic property.

Parameters
  • info (SensorInfo) – sensor metadata

  • use_extrinsics (bool) – if True, applies the info.extrinsic transform to the resulting “sensor frame” coordinates and returns the result in “extrinsics frame”.

Return type

Callable[[Union[LidarScan, ndarray]], ndarray]

Returns

A function that computes a point cloud given a range image

destagger(info, fields, inverse=False)[source]

Return a destaggered copy of the provided fields.

In the default staggered representation, each column corresponds to a single timestamp. A destaggered representation compensates for the azimuth offset of each beam, returning columns that correspond to a single azimuth angle.

Parameters
  • info (SensorInfo) – Sensor metadata associated with the provided data

  • fields (ndarray) – A numpy array of shape H X W or H X W X N

  • inverse – perform inverse “staggering” operation

Return type

ndarray

Returns

A destaggered numpy array of the same shape