{ "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" } }