Module ouster.sdk.client

Warning

Deprecated since version 0.15.0 Namespace ouster.sdk.client is deprecated. Use ouster.sdk.core and ouster.sdk.sensor instead. Namespace ouster.sdk.client will be removed in the upcoming release.

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

Python sensor client

---

Core

exception ClientError

exception ClientTimeout

exception ClientOverflow

Warning

Deprecated since version 0.15.0 Above exceptions have been be moved to ouster.sdk.sensor. They will be removed from ouster.sdk.client in a future release.

class PacketSource

Bases: pybind11_object

PacketSource is a base class for reading packet data from various sources.

sensor_info

Metadata about the sensors providing the packets.

Type:

List[SensorInfo]

is_live

Indicates whether the packet source is live (actively receiving data).

Type:

bool

close()

Closes the packet source and releases any associated resources.

__iter__()

Returns an iterator over the packets in the source.

property is_live

Check if the packet source is live.

property sensor_info

Retrieve sensor information for all sensors in the packet source.

Returns:

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

class Packets(it, metadata)

Create a PacketSource from an existing iterator.

Parameters:

• it (Iterable[Union[LidarPacket, ImuPacket]]) – A stream of packets

• metadata (SensorInfo) – Metadata for the packet stream

property sensor_info: List[SensorInfo]

Retrieve sensor information for all sensors in the packet source.

Returns:

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

__iter__()

Return the underlying iterator.

Return type:

Iterator[Tuple[int, Union[LidarPacket, ImuPacket]]]

property is_live: bool

Check if the packet source is live.

Warning

Deprecated since version 0.15.0 Sensor has been be moved to ouster.sdk.sensor. It will be removed from ouster.sdk.client in a future release.

class Scans(source, *, complete=False, cycle=False, fields=None, **_)

Multi LidarScan source.

Parameters:

• source (PacketSource) – packet multi source

• complete (bool) – set to True to only release complete scans

• cycle (bool) – repeat infinitely after iteration is finished is True. in case source refers to a live sensor then this parameter has no effect.

• fields (Optional[List[List[FieldType]]]) – specify which channel fields to populate on LidarScans

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 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

---

Metadata

class SensorInfo

Sensor Info required to interpret UDP data streams.

See the sensor documentation for the meaning of each property.

Construct an empty metadata.

Parameters:

s (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 build_date

Build date

property cal

sensor calibration

property config

sensor config

property extrinsic

Extrinsic Matrix.

property format

Describes the structure of a lidar packet. See class DataFormat.

static from_default()

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

property fw_rev

Sensor firmware revision.

get_product_info()

Get parsed product info

get_version()

Get parsed sensor version

property h

returns the height of a frame (equivalent to format.pixels_per_column)

has_fields_equal()

Compare public fields”

property image_rev

Image rev

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 prod_line

Product line, e.g., ‘OS-1-128’.

property prod_pn

Prod pn

property sn

Sensor serial number.

property status

sensor status

to_json_string()

Return metadata string made from current entries”

property user_data

sensor user data

property w

returns the width of a frame (equivalent to format.columns_per_frame)

class DataFormat

Data Format of a packet coming from sensor

See sensor documentation for the meaning of each property

property column_window

Firing window of sensor, set by config.azimuth_window

Type:

Tuple[int, int]

property columns_per_frame

Columns per frame in the lidar packet, corresponding with lidar_mode

Type:

int

property columns_per_packet

Columns per packet in the lidar packet, typically 16

Type:

int

property fps

Frames per second, e.g., 10 for lidar_mode 1024x10

Type:

int

packets_per_frame()

Return the number of valid packets actually sent per frame of data with the column_window applied.

property pixel_shift_by_row

Shift of pixels by row to create natural images

Type:

List[int]

property pixels_per_column

Pixels per column in the lidar packet, synonymous with the number of beams of the sensor

Type:

int

property udp_profile_imu

IMU packet profile

property udp_profile_lidar

Lidar packet profile

valid_columns_per_frame()

Return the number of valid columns per complete frame of data with the column_window applied.

class SensorConfig

Corresponds to sensor config parameters.

Please see sensor documentation for the meaning of each property.

Construct an empty SensorConfig. Construct a SensorConfig from a json string.

Args:

s (str): json string to parse

property accel_fsr

The accelerometer full scale measurement range to use. See sensor documentation for details.

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 extra_options

Extra configuration options on the sensor. Each value should be stringized json.

property gyro_fsr

The gyro full scale measurement range to use. See sensor documentation for details.

property lidar_mode

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

property min_range_threshold_cm

The minimum detection range of the sensor in cm. See sensor documentation for details.

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 return_order

The priority of sensor returns to output. 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

Warning

Deprecated since version 0.15.0 get_config has been be moved to ouster.sdk.sensor. It will be removed from ouster.sdk.client in a future release.

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)

Warning

Deprecated since version 0.15.0 get_config has been be moved to ouster.sdk.sensor. It will be removed from ouster.sdk.client in a future release.

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>

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_UNKNOWN

PROFILE_LIDAR_LEGACY

PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16_DUAL

PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16

PROFILE_LIDAR_RNG15_RFL8_NIR8

PROFILE_LIDAR_FIVE_WORD_PIXEL

PROFILE_LIDAR_FUSA_RNG15_RFL8_NIR8_DUAL

PROFILE_LIDAR_FIVE_WORD_PIXEL = <UDPProfileLidar.PROFILE_LIDAR_FIVE_WORD_PIXEL: 5>

PROFILE_LIDAR_FUSA_RNG15_RFL8_NIR8_DUAL = <UDPProfileLidar.PROFILE_LIDAR_FUSA_RNG15_RFL8_NIR8_DUAL: 6>

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>

PROFILE_LIDAR_UNKNOWN = <UDPProfileLidar.PROFILE_LIDAR_UNKNOWN: 0>

from_string()

Create UDPProfileLidar from string.

property name

The name of the Enum member.

property value

The value of the Enum member.

values = <iterator object>

parse_and_validate_metadata()

Parse and validate sensor metadata

Parameters:

metadata (str) – The metadata json to parse and validate.

Returns:

The list of issues that were encountered

and the parsed SensorInfo

Return type:

returns (ValidatorIssues, SensorInfo)

class ValidatorIssues

property critical

Critical validator issues.

property information

Information validator issues

property warning

Warning validator issues.

class ValidatorEntry

get_msg()

Get the message of the ValidatorEntry

Returns:

returns the message of the ValidatorEntry

get_path()

Get the entry path to the issue.

Returns:

returns the entry path to the issue.

class ProductInfo

property beam_config

The beam configuration of the product..

Type:

string

property beam_count

Number of beams

Type:

int

property form_factor

The form factor of the product.

Type:

string

property full_product_info

The original full product info string.

Type:

string

property short_range

If the product is a short range make.

Type:

bool

---

Data

BufferT

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

Packet = <class 'ouster.sdk._bindings.client.Packet'>

class ImuPacket

class LidarPacket

class ChanField

RANGE = 'RANGE'

RANGE2 = 'RANGE2'

SIGNAL = 'SIGNAL'

SIGNAL2 = 'SIGNAL2'

REFLECTIVITY = 'REFLECTIVITY'

REFLECTIVITY2 = 'REFLECTIVITY2'

NEAR_IR = 'NEAR_IR'

FLAGS = 'FLAGS'

FLAGS2 = 'FLAGS2'

RAW_HEADERS = 'RAW_HEADERS'

RAW32_WORD1 = 'RAW32_WORD1'

RAW32_WORD2 = 'RAW32_WORD2'

RAW32_WORD3 = 'RAW32_WORD3'

RAW32_WORD4 = 'RAW32_WORD4'

RAW32_WORD5 = 'RAW32_WORD5'

RAW32_WORD6 = 'RAW32_WORD6'

RAW32_WORD7 = 'RAW32_WORD7'

RAW32_WORD8 = 'RAW32_WORD8'

RAW32_WORD9 = 'RAW32_WORD9'

class ColHeader(value)

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

• field_types – list of FieldType that specifies which fields should be present in the scan

Returns:

New LidarScan of specified dimensions expecting fields specified by dict

Initialize a scan with defaults fields and size for a given sensor_info

Parameters:

sensor_info – SensorInfo to construct a scan for

Returns:

New LidarScan approprate for the sensor_info

Initialize a scan with defaults fields and size for a given sensor_info

Parameters:

sensor_info – SensorInfo to construct a scan for

Returns:

New LidarScan approprate for the sensor_info

Initialize a scan with defaults fields and size for a given sensor_info with only the specified fields

Parameters:

• sensor_info – SensorInfo to construct a scan for

• field_types – list of fields to have in the new scan where keys are ChanFields and values are type, e.g., FieldType(client.ChanField.SIGNAL, np.uint32)

Returns:

New LidarScan approprate for the sensor_info

Initialize a lidar scan from another with only the indicated fields. Casts, zero pads or removes fields from the original scan if necessary.

Parameters:

• source – LidarScan to copy data from

• field_types – list of fields to have in the new scan where keys are ChanFields and values are type, e.g., FieldType(client.ChanField.SIGNAL, np.uint32)

Returns:

New LidarScan with selected data copied over or zero padded

Initialize a lidar scan with a copy of the data from another.

Parameters:

source – LidarScan to copy

Returns:

New LidarScan with data copied over from provided scan.

add_field()

Adds a new field under specified name

Parameters:

• name – name of the field to add

• shape – tuple of ints, shape of the field to add

• dtype – dtype of field to add, e.g. np.uint32

• field_class – class of the field to add, see field_class

Returns:

The field as a numpy array

Adds a new field under specified name and type

Parameters:

type – FieldType of the field to add

Returns:

The field as a numpy array

Adds a new field under the specified name, with the given contents. IMPORTANT: this will deep copy the supplied data.

Parameters:

• name – the name of the new field

• data – the contents of the new field

• field_class – class of the field to add, see field_class

Returns:

The field as a numpy array.

property alert_flags

The alert flags header as a numpy array with W/columns-per-packet entries.

del_field()

Release a field from the LidarScan and return it to the user

Parameters:

name – name of the field to drop

Returns:

The specified field as a numpy array

field()

Return a view of the specified channel field.

Parameters:

name – name of the field to return

Returns:

The specified field as a numpy array

field_class()

Retrieve FieldClass of field

Parameters:

name – name of the field

Returns:

FieldClass of the field

property field_types

Return an list of available fields.

property fields

Return an list of available 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.

get_first_valid_column()

Return first valid column index in the scan.

get_first_valid_column_timestamp()

Return first valid column timestamp in the scan.

get_first_valid_packet_timestamp()

Return first valid packet timestamp in the scan.

get_last_valid_column()

Return last valid column index in the scan.

get_last_valid_column_timestamp()

Return last valid column timestamp in the scan.

get_last_valid_packet_timestamp()

Return last valid packet timestamp in the scan.

property h

Height or vertical resolution of the scan.

has_field()

Returns true if the LidarScan has a field with the given name

Parameters:

name – name of the field to check for

Returns:

True if the field exists in the scan, false otherwise

Check if a field with a given name exists in the LidarScan.

Parameters:

name – name of the field

Returns:

True if the field is present in the LidarScan.

property measurement_id

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

property packet_count

The number of packets used to produce a full scan given the width in pixels and the number of columns per packet.

property packet_timestamp

The host timestamp header as a numpy array with W/columns-per-packet entries.

property pose

The pose vector of 4x4 homogeneous matrices (per each timestamp).

property sensor_info

The SensorInfo associated with this LidarScan.

shot_limiting()

The frame shot limiting status.

property shot_limiting_countdown

Shot-limiting countdown. Please refer to the firmware documentation for more information.

property shutdown_countdown

Thermal shutdown countdown. Please refer to the firmware documentation for more information.

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)

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)

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