24938 bytes instead of 12608 or 12650 per packet now from OS-128

[Crear12]

Hi,
Instead of the OS-64 we were testing last year, now we are dealing with the newest 128 Beam Ouster LiDAR, there are a lot of new features such as the packet size is totally different now. I used [-12608:] for 64 beam LiDAR, which contained 12650 bytes per packet, but now it's 24938 bytes per packet and doesn't likely to be a 12000+bytes header. I guess I might have to edit the following values on my local server, but I'm not sure about the exact number that should be input for them:
PACKET_SIZE = 12608
TICKS_PER_REVOLUTION = 90112
AZIMUTH_BLOCK_COUNT = 16 # Azimuth blocks per packet
CHANNEL_BLOCK_COUNT = 64 # Channel blocks per Azimuth block
RANGE_BIT_MASK = 0x000FFFFF

Meanwhile, I'm also contacting Ouster Support and trying to figure out the components in each packet.

[Venicius]

hi, i have the same problem. did you get any solution for this?

[Crear12]

I had a temporary solution that just read [:12608] or [-12608:]. You will of course lose some frames if you use this. Considering that I only focused Vehicle Detection algorithm, losing some frames was ok. I'm no longer dealing with Ouster LiDAR with Python now. Matlab seems to be a better platform in supporting LiDAR device/file reading.

[Venicius]

Ok, Thanks!

I had a temporary solution that just read [:12608] or [-12608:]. You will of course lose some frames if you use this. Considering that I only focused Vehicle Detection algorithm, losing some frames was ok. I'm no longer dealing with Ouster LiDAR with Python now. Matlab seems to be a better platform in supporting LiDAR device/file reading.

Thanks.