ouster.sdk.core.data module

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

BufferT

Types that support the buffer protocol.

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

class ChanField

Bases: object

RANGE = 'RANGE'

RANGE2 = 'RANGE2'

SIGNAL = 'SIGNAL'

SIGNAL2 = 'SIGNAL2'

REFLECTIVITY = 'REFLECTIVITY'

REFLECTIVITY2 = 'REFLECTIVITY2'

NEAR_IR = 'NEAR_IR'

FLAGS = 'FLAGS'

FLAGS2 = 'FLAGS2'

WINDOW = 'WINDOW'

ZONE = 'ZONE'

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'

NORMALS = 'NORMALS'

NORMALS2 = 'NORMALS2'

IMU_ACC = 'IMU_ACC'

IMU_GYRO = 'IMU_GYRO'

IMU_TIMESTAMP = 'IMU_TIMESTAMP'

IMU_MEASUREMENT_ID = 'IMU_MEASUREMENT_ID'

IMU_STATUS = 'IMU_STATUS'

IMU_PACKET_TIMESTAMP = 'IMU_PACKET_TIMESTAMP'

IMU_ALERT_FLAGS = 'IMU_ALERT_FLAGS'

POSITION_STRING = 'POSITION_STRING'

POSITION_LAT_LONG = 'POSITION_LAT_LONG'

POSITION_TIMESTAMP = 'POSITION_TIMESTAMP'

LIVE_ZONESET_HASH = 'LIVE_ZONESET_HASH'

ZONE_TIMESTAMP = 'ZONE_TIMESTAMP'

ZONE_PACKET_TIMESTAMP = 'ZONE_PACKET_TIMESTAMP'

ZONE_STATES = 'ZONE_STATES'

ZONE_ALERT_FLAGS = 'ZONE_ALERT_FLAGS'

class ColHeader(value)

Bases: Enum

Column headers available in lidar data.

This definition is deprecated.

TIMESTAMP = 0

ENCODER_COUNT = 1

MEASUREMENT_ID = 2

STATUS = 3

FRAME_ID = 4

stagger(info, fields)

Return a staggered 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

Return type:

ndarray

Returns:

A staggered numpy array of the same shape

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

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

XYZLutFloat(info, use_extrinsics=False)

Return type:

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

packet_ts(packet)

Return the packet timestamp in nanoseconds

Return type:

int