| { |
| "beam_intrinsics": |
| { |
| "beam_altitude_angles": |
| [ |
| 20.95, |
| 20.33, |
| 19.69, |
| 19.05, |
| 18.44, |
| 17.79, |
| 17.14, |
| 16.48, |
| 15.84, |
| 15.16, |
| 14.5, |
| 13.82, |
| 13.18, |
| 12.49, |
| 11.81, |
| 11.13, |
| 10.46, |
| 9.77, |
| 9.08, |
| 8.39, |
| 7.7, |
| 6.99, |
| 6.3, |
| 5.6, |
| 4.9, |
| 4.2, |
| 3.48, |
| 2.79, |
| 2.09, |
| 1.38, |
| 0.68, |
| -0.03, |
| -0.74, |
| -1.46, |
| -2.16, |
| -2.85, |
| -3.54, |
| -4.26, |
| -4.96, |
| -5.67, |
| -6.37, |
| -7.07, |
| -7.76, |
| -8.46, |
| -9.15, |
| -9.84, |
| -10.52, |
| -11.19, |
| -11.88, |
| -12.57, |
| -13.24, |
| -13.91, |
| -14.58, |
| -15.22, |
| -15.9, |
| -16.53, |
| -17.19, |
| -17.83, |
| -18.47, |
| -19.09, |
| -19.74, |
| -20.33, |
| -20.96, |
| -21.55 |
| ], |
| "beam_azimuth_angles": |
| [ |
| 1.38, |
| -4.25, |
| 1.4, |
| -4.25, |
| 1.39, |
| -4.25, |
| 1.39, |
| -4.25, |
| 1.4, |
| -4.24, |
| 1.38, |
| -4.24, |
| 1.41, |
| -4.24, |
| 1.4, |
| -4.22, |
| 1.42, |
| -4.22, |
| 1.41, |
| -4.23, |
| 1.41, |
| -4.22, |
| 1.41, |
| -4.22, |
| 1.4, |
| -4.22, |
| 1.39, |
| -4.22, |
| 1.41, |
| -4.21, |
| 1.43, |
| -4.21, |
| 1.4, |
| -4.23, |
| 1.4, |
| -4.2, |
| 1.42, |
| -4.2, |
| 1.43, |
| -4.22, |
| 1.42, |
| -4.22, |
| 1.41, |
| -4.22, |
| 1.41, |
| -4.2, |
| 1.43, |
| -4.19, |
| 1.43, |
| -4.21, |
| 1.43, |
| -4.2, |
| 1.42, |
| -4.18, |
| 1.43, |
| -4.2, |
| 1.44, |
| -4.19, |
| 1.44, |
| -4.18, |
| 1.43, |
| -4.18, |
| 1.46, |
| -4.15 |
| ], |
| "beam_to_lidar_transform": |
| [ |
| 1, |
| 0, |
| 0, |
| 15.806, |
| 0, |
| 1, |
| 0, |
| 0, |
| 0, |
| 0, |
| 1, |
| 0, |
| 0, |
| 0, |
| 0, |
| 1 |
| ], |
| "lidar_origin_to_beam_origin_mm": 15.806 |
| }, |
| "calibration_status": |
| { |
| "reflectivity": |
| { |
| "timestamp": "2021-10-05T12:47:00", |
| "valid": true |
| } |
| }, |
| "config_params": |
| { |
| "azimuth_window": |
| [ |
| 0, |
| 360000 |
| ], |
| "columns_per_packet": 16, |
| "lidar_mode": "2048x10", |
| "multipurpose_io_mode": "OFF", |
| "nmea_baud_rate": "BAUD_9600", |
| "nmea_ignore_valid_char": 0, |
| "nmea_in_polarity": "ACTIVE_HIGH", |
| "nmea_leap_seconds": 0, |
| "operating_mode": "NORMAL", |
| "phase_lock_enable": true, |
| "phase_lock_offset": 0, |
| "signal_multiplier": 1, |
| "sync_pulse_in_polarity": "ACTIVE_HIGH", |
| "sync_pulse_out_angle": 360, |
| "sync_pulse_out_frequency": 1, |
| "sync_pulse_out_polarity": "ACTIVE_HIGH", |
| "sync_pulse_out_pulse_width": 10, |
| "timestamp_mode": "TIME_FROM_SYNC_PULSE_IN", |
| "udp_dest": "192.168.123.51", |
| "udp_port_imu": 44765, |
| "udp_port_lidar": 43053, |
| "udp_profile_imu": "LEGACY", |
| "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16" |
| }, |
| "imu_intrinsics": |
| { |
| "imu_to_sensor_transform": |
| [ |
| 1, |
| 0, |
| 0, |
| 6.253, |
| 0, |
| 1, |
| 0, |
| -11.775, |
| 0, |
| 0, |
| 1, |
| 7.645, |
| 0, |
| 0, |
| 0, |
| 1 |
| ] |
| }, |
| "lidar_data_format": |
| { |
| "column_window": |
| [ |
| 0, |
| 2047 |
| ], |
| "columns_per_frame": 2048, |
| "columns_per_packet": 16, |
| "pixel_shift_by_row": |
| [ |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24, |
| 8, |
| -24 |
| ], |
| "pixels_per_column": 64, |
| "udp_profile_imu": "LEGACY", |
| "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16" |
| }, |
| "lidar_intrinsics": |
| { |
| "lidar_to_sensor_transform": |
| [ |
| -1, |
| 0, |
| 0, |
| 0, |
| 0, |
| -1, |
| 0, |
| 0, |
| 0, |
| 0, |
| 1, |
| 36.18, |
| 0, |
| 0, |
| 0, |
| 1 |
| ] |
| }, |
| "ouster-sdk": |
| { |
| "client_version": "ouster_client 0.11.1", |
| "output_source": "collect_metadata" |
| }, |
| "sensor_info": |
| { |
| "build_date": "2024-01-11T06:02:47Z", |
| "build_rev": "v2.5.3", |
| "image_rev": "ousteros-image-prod-aries-v2.5.3+20240111055903", |
| "initialization_id": 7109759, |
| "prod_line": "OS-1-64-U02", |
| "prod_pn": "840-102145-D", |
| "prod_sn": "122139000920", |
| "status": "RUNNING" |
| } |
| } |
|
|
