ouster.sdk.util.parsing module
R/W implementation of packet parsing.
Doesn’t rely on custom C++ extensions (just numpy). Provides writable view of packet data for testing and development.
- tohex(data)[source]
Makes a hex string for debug print outs of buffers.
Selects the biggest devisor of np.uint32, np.uint16 or np.uint8 for making a hex output of the provided data. (clunky but usefull for debugging)
- Return type:
str
- scan_to_packets(ls, info)[source]
Converts LidarScan to a lidar_packet buffers
- Parameters:
ls (
LidarScan) – LidarScan; if LidarScan has RAW_HEADERS field, packet headers are recreated to how they were in the original packetsinfo (
SensorInfo) – metadata of the ls scan
- Return type:
List[Packet]- Returns:
A set of lidar packets that will produce the same LidarScan if passed through the ScanBatcher again (less fields data)