Ouster OS1 - tcp-querying-active-or-staged-parameters

Table 17.1 –continuedfrompreviouspage
Command Description ResponseExample
get_lidar_data_format Returns JSON-formatted re-
sponse that describes the
structureofa lidarpacket.
columns_per_frame: Numberof
azimuth columns per frame.
This can be 512, 1024, or
2048, depending upon the
setlidar mode.
columns_per_packet: Number
of azimuth blocks contained
in a single lidar packet. Cur-
rentlyinv1.14andearlier,this
is16.
pixel_shift_by_row: Offset in
terms of pixel count. Can
be used to destagger image.
Variesby lidar mode. Length
of this array is equal to the
number of channels of the
sensor.
pixels_per_column: Numberof
channelsof thesensor.
{
"columns_per_frame": 1024,
"columns_per_packet": 16,
"pixel_shift_by_row": [
18,
12,
6,
0,
"...",
18,
12,
6,
0
],
"pixels_per_column": 128
}
17.2 QueryingActiveor StagedParameters
Sensorconfigurations/ operatingmodescan alsobe queriedoverTCP. Belowis thelatestcommand
format:
get_config_param active <parameter> will returnthe currentactiveconfiguration parametervalues.
get_config_param staged <parameter> will returntheparametervaluesthat willtakeplaceafterissuing
areinitialize commandor aftersensorreset.
Anexample sessionusing theunixnetcat utilityis shownbelow:
$ nc os1-991900123456 7501
get_config_param active lidar_mode
1024x10
Thefollowingcommandswill returnsensor activeor stagedconfiguration parameters:
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