Running the Ouster visualizer

After installing the ouster-sdk package, you can run:

$ ouster-cli source <sensor hostname> viz

where <sensor hostname> is the hostname (os-99xxxxxxxxxx) or IP of the sensor.

Alternately, to replay the existing data from pcap and json files call the visualizer as:

$ ouster-cli source <pcap_path> [--meta <meta_path>] viz

Ouster SDK CLI ouster-cli source <sensor | pcap | osf> viz visualization of OS1 128 sample data

The Ouster SDK CLI visualizer does not include a GUI, but can be controlled with the mouse and keyboard:

  • Click and drag rotates the view

  • Middle click and drag moves the view

  • Scroll adjusts how far away the camera is from the vehicle

Keyboard controls:


What it does


Toggle on-screen display

p / P

Increase/decrease point size

m / M

Cycle point cloud coloring mode

f / F

Cycle point cloud color palette

b / B

Cycle top 2D image

n / N

Cycle bottom 2D image


Reset camera


Set camera to the birds-eye view


Toggle camera mode FOLLOW/FIXED

e / E

Increase/decrease size of displayed 2D images

' / "

Increase/decrease spacing in range markers


Camera pitch up


Camera pitch down


Camera yaw left


Camera yaw right


Toggle first return point cloud visibility


Toggle second return point cloud visibility


Toggle orthographic camera

= / -

Dolly in/out


Prints key bindings


Toggle pause


Exit visualization

. / ,

Step one frame forward/back

ctrl + . / ,

Step 10 frames forward/back

> / <

Increase/decrease playback rate (during replay)


Camera Translation with mouse drag


Save a screenshot of the current view


Toggle a continuous saving of screenshots


Print keys to standard out

The visualizer also includes an option to control the orientation of the point cloud in space when loaded. If you possess, say, an OS-DOME mounted an upside down, you can start the visualizer with the option --extrinsics:

$ ouster-cli source viz --extrinsics -1 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 1

The input is a row-major homogenous matrix.

For other options, run ouster-cli source <sensor | pcap | osf> viz -h


All basic primitives that you see as part of ouster-cli visualizer are exposed through viz.PointViz bindings. Please see PointViz Tutorial & API Usage for how to use it programmatically in Python.

Advanced usage with sensor

The Ouster visualizer automatically configures connected sensors to send data to the appropriate udp destination address. If your sensor is already configured appropriately, you may find it useful to use the argument --no-auto-dest to save time by skipping the roundtrip to reconfigure the sensor.