| { |
| "beam_intrinsics": |
| { |
| "beam_altitude_angles": |
| [ |
| 21.02, |
| 20.48, |
| 19.79, |
| 19.25, |
| 18.55, |
| 17.99, |
| 17.3, |
| 16.72, |
| 16.01, |
| 15.42, |
| 14.72, |
| 14.11, |
| 13.4, |
| 12.78, |
| 12.07, |
| 11.44, |
| 10.72, |
| 10.08, |
| 9.36, |
| 8.71, |
| 7.99, |
| 7.33, |
| 6.61, |
| 5.94, |
| 5.22, |
| 4.54, |
| 3.82, |
| 3.13, |
| 2.4, |
| 1.71, |
| 1.01, |
| 0.3, |
| -0.41, |
| -1.11, |
| -1.81, |
| -2.51, |
| -3.22, |
| -3.92, |
| -4.61, |
| -5.33, |
| -6.01, |
| -6.73, |
| -7.41, |
| -8.11, |
| -8.79, |
| -9.5, |
| -10.17, |
| -10.87, |
| -11.54, |
| -12.24, |
| -12.89, |
| -13.59, |
| -14.23, |
| -14.91, |
| -15.55, |
| -16.24, |
| -16.86, |
| -17.53, |
| -18.14, |
| -18.83, |
| -19.42, |
| -20.08, |
| -20.66, |
| -21.33 |
| ], |
| "beam_azimuth_angles": |
| [ |
| 4.23, |
| -1.37, |
| 4.22, |
| -1.38, |
| 4.22, |
| -1.38, |
| 4.22, |
| -1.38, |
| 4.22, |
| -1.38, |
| 4.22, |
| -1.39, |
| 4.22, |
| -1.39, |
| 4.23, |
| -1.39, |
| 4.23, |
| -1.39, |
| 4.23, |
| -1.39, |
| 4.22, |
| -1.4, |
| 4.22, |
| -1.39, |
| 4.22, |
| -1.4, |
| 4.22, |
| -1.41, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.42, |
| 4.21, |
| -1.43, |
| 4.2, |
| -1.42, |
| 4.21, |
| -1.43, |
| 4.21, |
| -1.43, |
| 4.2, |
| -1.43, |
| 4.21, |
| -1.43, |
| 4.2, |
| -1.43, |
| 4.21, |
| -1.44, |
| 4.2, |
| -1.43, |
| 4.21, |
| -1.44, |
| 4.2, |
| -1.44, |
| 4.2, |
| -1.45 |
| ], |
| "beam_to_lidar_transform": |
| [ |
| 1, |
| 0, |
| 0, |
| 16.721, |
| 0, |
| 1, |
| 0, |
| 0, |
| 0, |
| 0, |
| 1, |
| 0, |
| 0, |
| 0, |
| 0, |
| 1 |
| ], |
| "lidar_origin_to_beam_origin_mm": 16.721 |
| }, |
| "calibration_status": |
| { |
| "reflectivity": |
| { |
| "timestamp": "2025-09-29T22:16:37", |
| "valid": true |
| } |
| }, |
| "config_params": |
| { |
| "accel_fsr": "NORMAL", |
| "azimuth_window": |
| [ |
| 0, |
| 360000 |
| ], |
| "columns_per_packet": 16, |
| "gyro_fsr": "NORMAL", |
| "lidar_mode": "2048x10", |
| "min_range_threshold_cm": 50, |
| "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, |
| "return_order": "STRONGEST_TO_WEAKEST", |
| "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": 59346, |
| "udp_port_lidar": 55912, |
| "udp_profile_imu": "LEGACY", |
| "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16" |
| }, |
| "imu_data_format": |
| { |
| "accel_fsr": "NORMAL", |
| "gyro_fsr": "NORMAL" |
| }, |
| "imu_intrinsics": |
| { |
| "imu_to_sensor_transform": |
| [ |
| 1, |
| 0, |
| 0, |
| -2.441, |
| 0, |
| 1, |
| 0, |
| -9.725, |
| 0, |
| 0, |
| 1, |
| 7.533, |
| 0, |
| 0, |
| 0, |
| 1 |
| ] |
| }, |
| "lidar_data_format": |
| { |
| "column_window": |
| [ |
| 0, |
| 2047 |
| ], |
| "columns_per_frame": 2048, |
| "columns_per_packet": 16, |
| "pixel_shift_by_row": |
| [ |
| 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, |
| -8 |
| ], |
| "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, |
| 38.195, |
| 0, |
| 0, |
| 0, |
| 1 |
| ] |
| }, |
| "ouster-sdk": |
| { |
| "client_version": "ouster_client 0.11.1", |
| "output_source": "collect_metadata" |
| }, |
| "sensor_info": |
| { |
| "build_date": "2024-04-26T02:34:31Z", |
| "build_rev": "v3.1.0", |
| "image_rev": "ousteros-image-prod-bootes-v3.1.0+20240426041747", |
| "initialization_id": 390073, |
| "prod_line": "OS-1-64-U13", |
| "prod_pn": "OS1-071-64U-AX", |
| "prod_sn": "122539004047", |
| "status": "RUNNING" |
| } |
| } |
|
|
