osef 2.6.0a1

Osef file/stream tools.

OSEF library

Library containing utilities to read and parse a stream, live or recorded, retrieved from an ALB (Augmented LiDAR Box).

The stream is in the OSEF format (Open SErialization Format): it's an Outsight-defined serialisation binary format used to encode data streaming out of the ALB. It is based on TLV-encoding.

For the full documentation, contact us @ https://support.outsight.ai

Installation

Install from PyPi using pip:

pip install osef

Usage

Open and parse an osef file or stream:

import osef

osef_path = "path/to/my/file.osef"
# or osef_path="tcp://192.168.2.2:11120"

for frame_dict in osef.parse(osef_path):
    tracked_objects = osef.osef_frame.TrackedObjects(frame_dict)

By default, the parser processes the recorded data as quickly as your computer allows it, so potentially faster than in real conditions. To process recorded data at the same pace as real time OSEF stream coming from an ALB, set the parameter real_frequency = True

frame_iterator = osef.parse(osef_path, True)

or

import osef

osef_path = "path/to/my/file.osef"
# or osef_path="tcp://192.168.2.2:11120"

with osef.parser.OsefStream(osef_path) as osef_stream:
    tlv_iterator = osef.parser.get_tlv_iterator(osef_stream)
    for index, tlv in tlv_iterator:
        tree = osef.parser.build_tree(tlv)
        frame_dict = osef.parser.parse_to_dict(tree)
        tracked_objects = osef.osef_frame.TrackedObjects(frame_dict)

To find more code samples, see Outsight Code Samples repository: https://gitlab.com/outsight-public/outsight-code-samples/-/tree/master

Frame helper

In order to simplify data access in a scan frame, helper classes have been added to the library:

import osef
from osef import osef_frame

osef_path = "path/to/my/file.osef"
# or osef_path="tcp://192.168.2.2:11120"

for frame_dict in osef.parse(osef_path):
    # Frame data
    osef_frame = osef_frame.OsefFrame(frame_dict)
    timestamp = osef_frame.timestamp
    
    # Cloud data
    augmented_cloud = osef_frame.AugmentedCloud(frame_dict)
    coordinates = augmented_cloud.cartesian_coordinates
    reflectivities = augmented_cloud.reflectivities
    
    # Tracking data
    tracking_objects = osef_frame.TrackedObjects(frame_dict)
    poses = tracking_objects.poses
    bounding_boxes = tracking_objects.bounding_boxes

📝 All public types have a helper property

For types that do not have a property, it is possible to access them like this:

import osef
from osef import osef_frame, osef_types

osef_path = "path/to/my/file.osef"
# or osef_path="tcp://192.168.2.2:11120"

for frame_dict in osef.parse(osef_path):
    
    # Tracking data
    tracking_objects = osef_frame.TrackedObjects(frame_dict)
    class_id_array = tracking_objects[osef_types.OsefKeys.CLASS_ID_ARRAY.value]