ouster.sdk.core.core module

This module contains wrappers for packet sources, frame borders, and pose validation. Defines how to read packets, manage frames, and check pose validity.

class Packets(it, metadata)[source]

Bases: PacketSource

Create a PacketSource from an existing iterator.

Parameters:

it (Iterable[Union[LidarPacket, ImuPacket, ZonePacket]]) – 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.

close()[source]

Return type:: None

property is_live: bool: Check if the packet source is live.

class FrameBorder(meta, pred=<function FrameBorder.<lambda>>)[source]

Bases: object

Create callable helper that indicates the cross frames packets.

first_valid_column_pose(scan)[source]

Return first valid column pose of a LidarScan

Return type:: ndarray

last_valid_column_pose(scan)[source]

Return last valid column pose of a LidarScan

Return type:: ndarray

valid_packet_idxs(scan)[source]

Checks for valid packets that was used in in the scan construction

Return type:: ndarray

poses_present(scan)[source]

Check whether any of scan.pose in not identity

Return type:: bool