Module ouster.sdk.pcap

ouster.sdk.pcap

class PcapPacketSource

Bases: PacketSource

PcapPacketSource produces packets from a given PCAP file.

Parameters:

  • file (str) – The path to the PCAP file.

  • kwargs (dict) – Additional options for configuring the packet source.

id_error_count

The number of packets with ID errors.

Type:

int

size_error_count

The number of packets with size errors.

Type:

int

property id_error_count
property size_error_count
class PcapScanSource

Bases: ScanSource

PcapScanSource is a class for producing LidarScans from a given PCAP file.

property id_error_count
property size_error_count
exception PcapDuplicatePortException

Bases: Exception

ouster.sdk.pcap.packet_iter

ichunked_before(it, pred)[source]

Return the given stream chunked by the predicate.

Each sub-iterator will be fully consumed when the next chunk is requested. No caching of unused items is performed, so client code should evaluate sub-iterators (e.g. into lists) to avoid dropping items.

This should behave same as more_itertools.split_before, except that chunks aren’t eagerly evaluated into lists. This makes it safe to use on streams where it’s possible that pred never evaluates to true.

Return type:

Iterator[Iterator[TypeVar(T)]]

class RecordingPacketSource(source, prefix_path, *, sensor_idx=-1, n_seconds=0.0, n_frames, chunk_size=0, src_ip='127.0.0.1', dst_ip='127.0.0.1', lidar_port=-1, imu_port=-1, use_sll_encapsulation=False, overwrite=True)[source]

Bases: object

ouster.sdk.pcap.pcap

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

record(packets, pcap_path, *, src_ip='127.0.0.1', dst_ip='127.0.0.1', lidar_port=7502, imu_port=7503, use_sll_encapsulation=False)[source]

Record a sequence of sensor packets to a pcap file.

Parameters:

  • packets (Iterable[Packet]) – A (finite!) sequence of packets

  • pcap_path (str) – Path of the output pcap file

  • src_ip (str) – Source IP to use for all packets

  • dst_ip (str) – Destination IP to use for all packets

  • lidar_port (int) – Src/dst port to use for lidar packets

  • imu_port (int) – Src/dst port to use for imu packets

  • use_sll_encapsulation (bool) – Use sll encapsulation

Return type:

int

Returns:

Number of packets captured

_guess_ports(stream_info, sensor_info)[source]
_packet_info_stream(path, n_packets, progress_callback=None, callback_frequency=1)[source]
_replay(pcap_path, info, dst_ip, dst_lidar_port, dst_imu_port, address=None)[source]

Replay UDP packets out over the network.

Parameters:

  • pcap_path (str) – Path to the pcap file to replay

  • info (SensorInfo) – The sensor metadata

  • dst_ip (str) – IP to send packets to

  • dst_lidar_port (int) – Destination port for lidar packets

  • dst_imu_port (int) – Destination port for imu packets

  • address (Optional[Tuple[str, int]]) – Address and port to bind to send packets from. Optional.

Return type:

Iterator[bool]

Returns:

An iterator that reports whether packets were sent successfully as it’s consumed.