Ouster OS1 - lidar-data-packet-size-calculation; imu-data; imu-data-format

9.2 LidarData PacketSizeCalculation
The table below shows the lidar data packet size breakdown for all products. Since the size of the
azimuth block varies proportional the number of channels in a sensors, all sensors with the same
numberof channelshavethesame lidarpacketdatastructure andsize.
Product Number of words in az-
imuthblock
Size of single azimuth
block(Bytes)
Size of lidar
packet(Bytes)
OS1-16 53 212 3,392
OS0-32, OS1-32,
OS2-32
101 404 6,464
OS0-64, OS1-64,
OS2-64
197 788 12,608
OS0-128, OS1-128,
OS2-128
389 1,556 24,896
10 IMUData
10.1 IMU Data Format
IMU UDP Packets are 48 Bytes long and by default are sent to Port 7503 at 100 Hz. Values are little
endian.
EachIMU datablock contains:
IMUDiagnosticTime[64bitunsignedint]-timestampofmonotonicsystemtimesincebootin
nanoseconds.
AccelerometerReadTime [64bit unsignedint] -timestampforaccelerometertime relativeto
timestamp_mode innanoseconds.
Gyroscope Read Time [64 bit unsigned int] - timestamp for gyroscope time relative to times-
tamp_mode in nanoseconds.
AccelerationinX-axis[32bitfloat] -accelerationing.
AccelerationinY-axis [32 bitfloat]- accelerationin g.
AccelerationinZ-axis[32bit float]-acceleration ing.
AngularVelocity about X-axis[32bit float]-Angular velocityin degpersec.
AngularVelocity about Y-axis[32bit float]- Angularvelocityindeg persec.
AngularVelocity about Z-axis [32bit float]- Angularvelocityin degper sec.
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