Examples & Concepts

A loosely connected collection of examples and concepts useful for working with the Ouster Python SDK. If you are just starting, please see Developer’s Quick Start with the Ouster Python SDK.

For convenience, and in keeping it with quickstart section, we will use $SAMPLE_DATA_PCAP_PATH and $SAMPLE_DATA_JSON_PATH for the locations of the sample data pcap and json. For Python code, pcap_path and json_path are taken to be set to those values, respectively:

pcap_path = '<SAMPLE_DATA_PCAP_PATH>'
metadata_path = '<SAMPLE_DATA_JSON_PATH>'

Similarly, $SENSOR_HOSTNAME is used for your sensor’s hostname.

• Working with an Ouster sensor
  • Configuring Your Sensor
  • Obtaining Sensor Metadata
• Lidar and IMU Packets
• The LidarScan Representation
  • Staggered vs Destaggered 2D Representations
  • Projecting into Cartesian Coordinates
  • Working with 2D and 3D Representations Simultaneously
• Recording, Streaming, and Conversion
  • Recording Sensor Data
  • Streaming Live Data
• Visualizations in 3D
  • Visualization with Ouster’s SDK CLI ouster-cli
    • Keyboard Controls
  • Visualization with Ouster’s viz.PointViz
  • Visualization with Open3d
  • Visualization with Matplotlib
• Converting PCAPs to Other Formats
  • PCAPs to CSV
  • PCAPs to LAS
  • PCAPs to PCD
  • PCAPs to PLY
• OSF Python Examples
  • Ouster Python API for OSF
    • Read Lidar Scans with osf.Scans
    • Get Sensors Info with osf.Reader
    • Read All Messages with osf.Reader
    • Checking Chunks Layout via osf.StreamingInfo
    • Get Lidar Scan streams info via osf.LidarScanStream
    • Write Lidar Scan with sliced fields with osf.Writer
    • Split Lidar Scan stream into multiple files