ouster.sdk.viz.track module

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class ScanRecord(pose, scan, cloud_mode_keys=<factory>)

Bases: object

Represents a scan, its pose, and its color (aka keys) for each available cloud mode.

pose: ndarray

scan: LidarScan

cloud_mode_keys: Dict[str, Optional[ndarray]]

property position

class Track(config, extrinsics=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]))

Bases: object

Represents a sequence of scans with their poses and “key frames”, which are scans representing every Nth scan or every few meters.

property key_frames_num: int

Current number of key frames

update(scan, scan_num)

Register the new scan and update the track and key frames

Return type:

None

class MultiTrack(model, config)

Bases: object

Represents scan positions and key frames for multiple sensors.

update(scans, scan_num=None)

Update the Track for each sensor.

Return type:

None