ouster.sdk.bag

Module contents

Copyright (c) 2024, Ouster, Inc. All rights reserved.

Ouster Bag file support. Provides classes and utilities for reading, decoding, and processing Ouster lidar sensor data from ROS bag files. Includes tools for accessing raw sensor packets and assembling complete lidar scans.

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(self: ouster.sdk._bindings.client.ScanSource) → None[source]