Ouster OS1 - Page 43

Table 17.1 –continuedfrompreviouspage
Command Description ResponseExample
get_beam_intrinsics Returns JSON-formatted
beam altitude and azimuth
offsets,indegrees. Lengthof
arraysisequaltothenumber
of channels in sensor. Also
returns distance between
lidar origin and beam origin
in mm, to be used for point
cloudcalculations.
{
"lidar_origin_to_beam_origin_mm": 13.762,
"beam_altitude_angles": [
16.926,
16.313,
"...",
-16.078,
-16.689
],
"beam_azimuth_angles": [
3.052,
0.857,
"...",
-0.868,
-3.051
]
}
get_imu_intrinsics Returns JSON-formatted
IMU transformation matrix
needed to adjust to the
SensorCoordinateFrame.
{
"imu_to_sensor_transform": [
1,
0,
0,
6.253,
0,
1,
0,
-11.775,
0,
0,
1,
7.645,
0,
0,
0,
1
]
}
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