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Description:

ousteros1 1.1.1

Python client for the Ouster Lidar OS-1
Compatible with Firmware Version 1.10.0 and python 3

Your milage may vary with other versions, it was tested against a device OS1-16
device running 1.10.0

Installing
pip install --upgrade ouster-os1
Quick start
from os1 import OS1
from os1.utils import xyz_points

def handler(raw_packet):
"""Takes each packet and log it to a file as xyz points"""
with open('points.csv', 'a') as f:
x, y, z = xyz_points(raw_packet)
for coords in zip(x, y, z):
f.write("{}\n".format(','.join(coords)))

os1 = OS1('10.0.0.3', '10.0.0.1', mode='1024x10') # OS1 sensor IP, destination IP, and resolution
# Inform the sensor of the destination host and reintialize it
os1.start()
# Start the loop which will handle and dispatch each packet to the handler
# function for processing
os1.run_forever(handler)

You can run the server as threaded with os1.run_forever(handler, threaded=True)

Recipes
Generally speed is a concern since the OS1 is sending 12,608 bytes/packet at a
rate of 1280 packets/sec (in 1024x20 or 2048x10 mode).
So a multiprocessing producer consumer model works well.
import json
from multiprocessing import Process, Queue

from os1 import OS1
from os1.utils import build_trig_table, xyz_points

OS1_IP = '10.0.0.3'
HOST_IP = '10.0.0.2'
unprocessed_packets = Queue()

def handler(packet):
unprocessed_packets.put(packet)

def worker(queue, beam_altitude_angles, beam_azimuth_angles) :
build_trig_table(beam_altitude_angles, beam_azimuth_angles)
while True:
packet = queue.get()
coords = xyz_points(packet)
# do work...

def spawn_workers(n, worker, *args, **kwargs):
processes = []
for i in range(n):
process = Process(
target=worker,
args=args,
kwargs=kwargs
)
process.start()
processes.append(process)
return processes

os1 = OS1(OS1_IP, HOST_IP)
beam_intrinsics = json.loads(os1.get_beam_intrinsics())
beam_alt_angles = beam_intrinsics['beam_altitude_angles']
beam_az_angles = beam_intrinsics['beam_azimuth_angles']
workers = spawn_workers(4, worker, unprocessed_packets, beam_alt_angles, beam_az_angles)
os1.start()
try:
os1.run_forever(handler)
except KeyboardInterrupt:
for w in workers:
w.terminate()

TCP API Commands
The TCP API commands can be accessed through an instance of the OS1 object.
The following methods are supported:

get_config_txt
get_sensor_info
get_beam_intrinsics
get_imu_intrinsics
get_lidar_intrinsics
get_config_param - Supports querying active and staged parameters. Example: os1.get_config_param('active', 'udp_ip')
set_config_param - Supports settings parameters to be staged. Example: os1.set_config_param('udp_ip', '10.0.0.1')
reinitialize - Will reinitialize the sensor and apply all staged parameters to be active.