Extract frames from pcap file and construct a frame

[Hanysabeh]

hello guys,

can i visualize pcap data recorded by ouster sensor using python code only ?
How can i create the first frame from packets extracted from pcap file ?

Thanks in advance

[Samahu]

We have an upcoming feature (for Ouster Python SDK) that would fulfill exactly this, please watch for the next public release!

[Samahu]

Hi @Hanysabeh,

With last ouster-sdk 0.11 release the requested feature has been implemented. Check out the new guide on using the ScanSource API specifically the section on indexing and slicing which shows how to access and manipulate individual LidarScan objects of any specific order using Python.

Hope this helps!

[Samahu]

Here is a quick example:

from ouster.sdk import open_source
from ouster.sdk.client import ChanField

pcap_path = '<SAMPLE_DATA_PCAP_PATH>'
source = open_source(pcap_path, sensor_idx=0, index=True)
scan = source[10]    # access the lidar scan at frame 10
print(scan.frame_id) # print frame id or access range data,...
range_vals = scan.field(ChanField.RANGE)

[Hanysabeh]

Thank you @Samahu

[bexcite]

@Hanysabeh if you want to just viz/see things from pcap without ROS/RViz you may probably use Python Ouster SDK:

pip install ouster-sdk
ouster-cli source path/to/data.pcap --meta path/to/metadata.json viz --pause-at 0