ousterlidar

Stream point clouds from Ouster lidar sensor

Since R2022a

Add-On Required: This feature requires the Lidar Toolbox Support Package for Ouster Lidar Sensors add-on.

Description

The ousterlidar object can stream point cloud data from an Ouster^® lidar sensor. Using this object, you can read and preview the incoming point clouds.

Creation

Syntax

ousterObj = ousterlidar(model,calibrationFile)

ousterObj = ousterlidar(model,calibrationFile,Name=Value)

Description

ousterObj = ousterlidar(model,calibrationFile) creates an ousterlidar object, ousterObj, that can stream point cloud data from the specified Ouster lidar sensor model model.

ousterObj = ousterlidar(model,calibrationFile,Name=Value) specifies options using one or more name-value arguments. For example, ousterlidar(model,calibrationFile,Port=7503) specifies the data port of the Ouster lidar sensor as 7503.

Properties

Model — Model name of Ouster lidar sensor

character vector | string

This property is read-only.

Model name of the Ouster sensor, specified as a character vector or string. You must set this property at object creation by using the input argument model.

Valid model names are:

Model Value	Ouster Model
"OS0-32"	OS0-32 sensor
"OS1-32"	OS1-32 sensor
"OS2-32"	OS2-32 sensor
"OS0-64"	OS0-64 sensor
"OS1-64"	OS1-64 sensor
"OS2-64"	OS2-64 sensor
"OS0-128"	OS0-128 sensor
"OS1-128"	OS1-128 sensor
"OS2-128"	OS2-128 sensor

Data Types: char | string

IPAddress — IP address of Ouster lidar sensor

character vector

This property is read-only.

IP address of the Ouster lidar sensor, stored as a character vector. This value is set by the incoming UDP packets from the sensor.

Data Types: char

Port — Data port of Ouster lidar sensor

7502 (default) | positive scalar

This property is read-only.

Data port of the Ouster lidar sensor, specified as a positive scalar. The data port for your sensor is listed in the Ouster sensor web interface Data Port field.

To set this property, you must specify it as a name-value argument at object creation. For example, ousterlidar(model,calibrationFile,Port=7503) sets the data port as 7503.

Data Types: double

NumPointCloudsAvailable — Number of point clouds available in buffer

positive scalar

This property is read-only.

Number of point clouds available for streaming in the buffer, stored as a positive scalar. This value is set by the object buffer.

Data Types: double

CalibrationFile — Ouster lidar sensor calibration file

character vector | string

This property is read-only.

Ouster lidar sensor calibration JSON file, specified as a character vector or string. You must set this property at object creation by using the input argument calibrationFile. You must specify the full file path if the calibration file is not in your MATLAB^® path.

Data Types: char | string

Timeout — Maximum time to wait for a response from Ouster lidar sensor

10 (default) | positive scalar

Maximum time to wait for a response from the Ouster lidar sensor, specified as a positive scalar in seconds.

Example: ousterlidar(model,calibrationFile,Timeout=15) sets the time out value to 15 seconds.

Data Types: double

Streaming — Sensor streams data

0 | 1

This property is read-only.

Sensor streams data, stored as a logical 0(false) or 1(true). The value is 1 if the object receives streaming data from the sensor. You can use the start and stop functions to control data streaming.

Data Types: logical

ReturnMode — Return modes of the point cloud data

{'strongest'} | {'secondStrongest'} | {'strongest','secondStrongest'}

This property is read-only.

Return modes of the point cloud data, stored as {'strongest'}, {'secondStrongest'}, or {'strongest','secondStrongest'}.

FirmwareVersion — Firmware version of Ouster sensor

character vector

This property is read-only.

Firmware version of the Ouster sensor, stored as a character vector. For more information on supported firmware versions, see Release-by-Release Version Support.

LidarUDPProfile — Lidar data packet format

character vector

This property is read-only.

Lidar data packet format, stored as one of these values.

• 'LEGACY' — Legacy data packet format

• 'RNG19_RFL8_SIG16_NIR16' — Single return profile that is similar to the channel data block present in the LEGACY format.

• 'RNG19_RFL8_SIG16_NIR16_DUAL'— Dual return profile that enables the sensor to output strongest and second-strongest returns.

• 'RNG15_RFL8_NIR8' — Low data rate profile, where the data rate and data packet size are smaller compared to other formats.

For more information on the data profiles, see the Sensor Data section in the Ouster Firmware User Manual.

Object Functions

preview	Preview live point cloud data from Ouster lidar sensor
closePreview	Close preview of live point cloud data from Ouster lidar sensor
start	Start streaming point clouds from Ouster lidar sensor
flush	Delete point clouds from ousterlidar object buffer
read	Read point clouds from ousterlidar object buffer
stop	Stop streaming point clouds from Ouster lidar sensor

Examples

Create ousterlidar Object

Specify the model name of an Ouster lidar sensor and the file path of the corresponding calibration file to create an ousterlidar object, obj. The output shows the object properties.

obj = ousterlidar("OS0-64","C:\ouster\OS0-64G_sample.json")

obj = 
   ousterlidar with properties:

                      Model: 'OS0-64'
            CalibrationFile: 'C:\ouster\OS0-64G_sample.json'
                  IPAddress: '127.0.0.1'
                       Port: 7502
    NumPointCloudsAvailable: 0
                    Timeout: 10
                  Streaming: 0
                 ReturnMode: {'strongest'}
            FirmwareVersion: 'v2.1.1'
            LidarUDPProfile: 'LEGACY'

Create ousterlidar Object by Specifying Object Properties

Create an ousterlidar object, obj, for the OS0-64 sensor model. Specify the port number and the time out value. The output shows the object properties with the specified port number, 7506, and time out value, 15 seconds.

obj = ousterlidar("OS0-64","OS0-64G_sample.json", ...
            Port=7506,Timeout=15)

obj = 
   ousterlidar with properties:

                      Model: 'OS0-64'
            CalibrationFile: 'C:\ouster\OS0-64G_sample.json'
                  IPAddress: '127.0.0.1'
                       Port: 7506
    NumPointCloudsAvailable: 0
                    Timeout: 15
                  Streaming: 0
                 ReturnMode: {'strongest'}
            FirmwareVersion: 'v2.1.1'
            LidarUDPProfile: 'LEGACY'

Tips

Release-by-Release Version Support

Release	Supported Firmware Versions
R2022a	Support added for: 2.0 2.1
R2023b	Support added for: 2.2 2.3 2.4
R2024a	Support added for: 2.5 3.0

Version History

Introduced in R2022a

R2024a: Support for firmware versions 2.5 and 3.0

The ousterlidar object supports firmware versions 2.5 and 3.0 of an Ouster lidar sensor.

R2023b: Support for Ouster-32 device models

The ousterlidar object now supports these Ouster-32 sensor models.

• OS0-32

• OS1-32

• OS2-32

R2023b: Object has additional properties

The ousterlidar object includes these additional properties:

• ReturnMode

• FirmwareVersion

• LidarUDPProfile

R2022b: Support for Ouster-128 device models

The ousterlidar object now supports these Ouster-128 sensor models.

• OS0-128

• OS1-128

• OS2-128