How to Get Lidar and IMU Data with Ouster Python SDK

This document provides a simplified guide to using the Ouster Python SDK to acquire and display live lidar and IMU data.

Python Code Implementation

import ouster.sdk.client as client

SIDX = 0  # show casing the example for a single sensor for simplicity 

class ScanSourceWithIMU:

    def __init__(self, source_url):
        self._source = client.SensorPacketSource(source_url) # or use a PcapPacketSource
        self._metadata = self._source._metadata

    def __iter__(self):
        packet_format = client.PacketFormat(self._metadata[SIDX])
        field_types = client.get_field_types(self._metadata[SIDX])
        columns_per_packet = self._metadata[SIDX].format.columns_per_packet
        W = self._metadata[SIDX].format.columns_per_frame
        H = self._metadata[SIDX].format.pixels_per_column
        batcher = client.ScanBatcher(self._metadata[SIDX])
        ls_write = LidarScan(H, W, field_types, columns_per_packet)

        for _, packet in self._source:
            if isinstance(packet, client.LidarPacket):
                if batcher(packet, ls_write):
                    yield [copy.deepcopy(ls_write)]

            if isinstance(packet, core.ImuPacket):
                STANDARD_G = 9.80665
                ts1 = packet_format.imu_accel_ts(packet.buf)
                ax = STANDARD_G * packet_format.imu_la_x(packet.buf)
                ay = STANDARD_G * packet_format.imu_la_y(packet.buf)
                az = STANDARD_G * packet_format.imu_la_z(packet.buf)
                ts2 = packet_format.imu_gyro_ts(packet.buf)
                wx = np.deg2rad(packet_format.imu_av_x(packet.buf))
                wy = np.deg2rad(packet_format.imu_av_y(packet.buf))
                wz = np.deg2rad(packet_format.imu_av_z(packet.buf))
                print(ts1, ax, ay, az, ts2, wx, wy, wz)

    def close()
            self._source.close()


if __name__ == "__main__":
    scan_imu_source = ScanSourceWithIMU(SOURCE_URL)
    try:
        for data in scan_imu_source:
            if "lidar_scan" in data:
                lidar_scan = data["lidar_scan"]
                print(f"Received Lidar Scan with {lidar_scan.h} rows and {lidar_scan.w} columns.")
                # Add your lidar data processing and visualization here
    except KeyboardInterrupt:
        print("Stopping data stream.")
    finally:
        scan_imu_source.close()

Setup Instructions

Install Ouster Python SDK:

pip install ouster-sdk

Replace Placeholder:
- Replace "your_sensor_hostname_or_ip" with your Ouster sensor's address.
Run the Code:

python3 your_script_name.py

This will print IMU data to the console.
To display lidar data, add visualization code (e.g., using Open3D) in the if "lidar_scan" in data: block.