ouster.sdk.examples.pcap module

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

Executable examples for using the pcap APIs.

This module has a rudimentary command line interface. For usage, run:

$ python -m ouster.sdk.examples.pcap -h

pcap_3d_one_scan(source_file, num=0, visualize=True)

Render one scan from a pcap file in the Open3D viewer.

Parameters:

• source – path to pcap

• num (int) – scan number in a given pcap file (satrs from 0)

• visualize (bool) – when False, return xyz array without opening a window

pcap_display_xyz_points(source_file, num=0, plot=True)

Plot point cloud using matplotlib or return xyz/colors when plot is False.

pcap_to_las(source_file, num=0, las_dir='.', las_base='las_out', las_ext='las')

Write scans from a pcap to las files (one per lidar scan).

Return type:

None

pcap_to_pcd(source_file, num=0, pcd_dir='.', pcd_base='pcd_out', pcd_ext='pcd')

Write scans from a pcap to pcd files (one per lidar scan).

Return type:

None

pcap_to_ply(source_file, num=0, ply_dir='.', ply_base='ply_out', ply_ext='ply')

Write scans from a pcap to ply files (one per lidar scan).

Return type:

None

pcap_query_scan(source_file, num=0)

Example: Query available fields in LidarScan

Parameters:

• source_file (str) – Path to pcap file

• num (int) – scan number in a given pcap file (satrs from 0)

pcap_read_packets(source_file, num=0)

Basic read packets example from pcap file.

Parameters:

• source_file (str) – Path to pcap file.

• num (int) – Unused. Included for CLI parity.

pcap_to_csv(source, num=0)

Return type:

None

main()

Pcap examples runner.