def configure_dual_returns(hostname: str) -> None:
"""Configure sensor to use dual returns profile given hostname
Args:
hostname: hostname of the sensor
"""
config = client.get_config(hostname)
if (config.lidar_mode == client.LidarMode.MODE_2048x10) or (
config.lidar_mode == client.LidarMode.MODE_1024x20):
print(
f"Changing lidar_mode from {str(config.lidar_mode)} to 1024x10 to"
" enable to dual returns. Will not persist change.")
config.lidar_mode = client.LidarMode.MODE_1024x10
# [doc-stag-config-udp-profile]
config.udp_profile_lidar = client.UDPProfileLidar.PROFILE_LIDAR_RNG19_RFL8_SIG16_NIR16_DUAL
# [doc-etag-config-udp-profile]
try:
client.set_config(hostname, config, persist=False, udp_dest_auto=False)
except ValueError:
print("error: Your sensor does not support dual returns. Please"
" check the hardware revision and firmware version vs release"
" notes.")
return
print("Retrieving sensor metadata..")
with closing(client.Sensor(hostname)) as source:
# print some useful info from
print(
f"udp profile lidar: {str(source.metadata.format.udp_profile_lidar)}"
)
def main() -> None:
descr = """Visualize pcap or sensor data using simple viz bindings."""
epilog = """When reading data from a sensor, this will autoconfigure the udp
destination unless -x is used."""
parser = argparse.ArgumentParser(description=descr, epilog=epilog)
required = parser.add_argument_group('one of the following is required')
group = required.add_mutually_exclusive_group(required=True)
group.add_argument('--sensor', metavar='HOST', help='sensor hostname')
group.add_argument('--pcap', metavar='PATH', help='path to pcap file')
parser.add_argument('--meta', metavar='PATH', help='path to metadata json')
parser.add_argument('--lidar-port', type=int, help='lidar port for sensor')
parser.add_argument('-x',
'--no-auto-dest',
action='store_true',
help='do not auto configure udp destination')
args = parser.parse_args()
if args.sensor:
hostname = args.sensor
if args.lidar_port or (not args.no_auto_dest):
config = client.SensorConfig()
if args.lidar_port:
config.udp_port_lidar = args.lidar_port
print("Configuring sensor...")
client.set_config(hostname,
config,
udp_dest_auto=(not args.no_auto_dest))
config = client.get_config(hostname)
print("Initializing...")
scans = client.Scans.stream(hostname,
config.udp_port_lidar or 7502,
complete=False)
rate = None
elif args.pcap:
import ouster.pcap as pcap
if args.meta:
metadata_path = args.meta
else:
print("Deducing metadata based on pcap name. "
"To provide a different metadata path, use --meta")
metadata_path = os.path.splitext(args.pcap)[0] + ".json"
with open(metadata_path) as json:
info = client.SensorInfo(json.read())
scans = client.Scans(pcap.Pcap(args.pcap, info))
rate = 1.0
SimpleViz(scans.metadata, rate).run(scans)
def configure_sensor_params(hostname: str) -> None:
"""Configure sensor params given hostname
Args:
hostname: hostname of the sensor
"""
# create empty config
config = client.SensorConfig()
# set the values that you need: see sensor documentation for param meanings
config.operating_mode = client.OperatingMode.OPERATING_NORMAL
config.lidar_mode = client.LidarMode.MODE_1024x10
config.udp_port_lidar = 7502
config.udp_port_imu = 7503
# set the config on sensor, using appropriate flags
client.set_config(hostname, config, persist=True, udp_dest_auto=True)
# if you like, you can view the entire set of parameters
config = client.get_config(hostname)
print(f"sensor config of {hostname}:\n{config}")