metadata

Documentation

Index

• type BeamIntrinsics
• type CalibrationStatus
• type IMUDataFormat
• type IMUIntrinsics
• type LIDARIntrinsics
• type ReflectivityCalibrationStatus
  • func (r *ReflectivityCalibrationStatus) Age() time.Duration
• type SensorInfo

Types

type BeamIntrinsics

type BeamIntrinsics struct {
	// BeamAltitudeAngles is the beam altitude angle offset, measured in degrees.
	BeamAltitudeAngles []float64 `json:"beam_altitude_angles,omitempty"`

	// BeamAzimuthAngles is the beam azimuth angle offsets, measured in degrees.
	BeamAzimuthAngles []float64 `json:"beam_azimuth_angles,omitempty"`

	// LIDAROriginToBeamOrigin is the offset distance between the LiDAR origin and the beam origin, measured in millimeters.
	LIDAROriginToBeamOrigin float64 `json:"lidar_origin_to_beam_origin_mm,omitempty"`

	// BeamToLIDARTransform represents the transformation matrix from the LiDAR origin coordinate frame to the LiDAR front optics.
	// It is a 4x4 matrix stored in row-major order in a 16-element float64 array.
	BeamToLIDARTransform [16]float64 `json:"beam_to_lidar_transform,omitempty"`
}

BeamIntrinsics represents the intrinsic parameters of the LiDAR beam.

type CalibrationStatus

type CalibrationStatus struct {
	Reflectivity *ReflectivityCalibrationStatus `json:"reflectivity,omitempty"`
}

CalibrationStatus contains the calibration status of the sensor.

type IMUDataFormat

type IMUDataFormat struct {
	// AccelerationFullScaleRange is the full-scale range of the accelerometer.
	//
	// Settings:
	//   - types.FullScaleRangeNormal (default): digital output X-, Y-, Z-axis with a range fixed at ±2g.
	//   - types.FullScaleRangeExtended: digital-output X-, Y-, Z-axis with an expanded full-scale range of ±16g.
	AccelerationFullScaleRange types.FullScaleRange `json:"accel_fsr"`

	// GyroscopeFullScaleRange is the full-scale range of the gyroscope.
	//
	// Settings:
	//   - types.FullScaleRangeNormal (default): digital output X-, Y-, Z-axis with a range fixed at ±250°/sec.
	//   - types.FullScaleRangeExtended: digital-output X-, Y-, Z-axis with a programmable full-scale range of ±2000°/sec.
	GyroscopeFullScaleRange types.FullScaleRange `json:"gyro_fsr"`
}

IMUDataFormat represents the format of IMU data from an Ouster sensor. For additional information, refer to imu_data_format.

type IMUIntrinsics

type IMUIntrinsics struct {
	// IMUToSensorTransform is the transformation matrix from the IMU (Inertial Measurement Unit) coordinate frame to the sensor coordinate frame.
	// It is a 4x4 matrix stored in row-major order in a 16-element float64 array.
	IMUToSensorTransform [16]float64
}

IMUIntrinsics represents the intrinsic parameters of the IMU (Inertial Measurement Unit).

For additional information, refer to Ouster docs: imu_intrinsics.

type LIDARIntrinsics

type LIDARIntrinsics struct {
	// LIDARToSensorTransform is the transformation matrix from the LiDAR coordinate frame to the sensor coordinate frame.
	// It is a 4x4 matrix stored in row-major order in a 16-element float64 array.
	LIDARToSensorTransform [16]float64 `json:"lidar_to_sensor_transform"`
}

LIDARIntrinsics represents the intrinsic parameters of the LiDAR.

For additional information, refer to Ouster docs: lidar_intrinsics.

type ReflectivityCalibrationStatus

type ReflectivityCalibrationStatus struct {
	// Valid is true if the sensor is factory-calibrated for better accuracy;
	// otherwise, the sensor is using default values and likely has less accuracy.
	Valid bool `json:"valid"`

	// Timestamp is the date and time when the calibration has been performed.
	Timestamp time.Time `json:"timestamp"`
}

ReflectivityCalibrationStatus contains the calibration data field from the sensor. Currently, this is solely used for reflectivity calibration details. For additional information, refer to Calibrated Reflectivity.

Ouster recommends contacting Ouster Support if you have questions on whether your sensor is hardware-enabled for calibrated reflectivity.

func (*ReflectivityCalibrationStatus) Age

func (r *ReflectivityCalibrationStatus) Age() time.Duration

Age returns the duration since the calibration was performed.

type SensorInfo

type SensorInfo struct {
	Status           types.OperatingMode `json:"status"`            // Current status of the sensor.
	InitializationID uint                `json:"initialization_id"` // Startup initialization number of the sensor.

	ProductLine  string `json:"prod_line"` // The market product line of the sensor.
	PartNumber   string `json:"prod_pn"`   // The part number of the sensor.
	SerialNumber string `json:"prod_sn"`   // The serial number of the sensor.

	BuildDate        time.Time `json:"build_date"`          // The build date of the sensor.
	BuildRevision    string    `json:"build_rev"`           // The build revision of the sensor.
	ImageRevision    string    `json:"image_rev"`           // The revision of the firmware on the sensor.
	ProtocolRevision string    `json:"proto_rev,omitempty"` // The revision of the communications protocol.
}

SensorInfo represents basic information about the sensor.