This is a non official SDK for Ouster LiDAR sensors.
The ouster_clib is meant to be simplistic and uses zero dependencies. Easy to debug, modify and extend. Don't want to build lib? then drop ouster_clib.h and ouster_clib.c in any project.

The official SDK can be found at https://github.com/ouster-lidar/ouster_example.

Features

• Simple and portable with no dependencies C99 API
• Short build time
• C++ compatible
• Easy to integrate with OpenCV or Eigen
• Debug friendly
• Meta file parser and downloader
• Generic destagger
• LUT table for converting image to XYZ pointcloud
• Completes a frame exactly at the last packet
• Memory requirement depends on field of view

Supported devices

I have only tested on these sensors but it should work an all others as Ouster sensor uses common packet format.

• OS1-16
• OS1-128

Documentation

• All Documentation

TODO

• Add cmake build system
• Add meson build system
• HTTP client configure support
• Support all format profiles
• OS layer abstraction

Build systems supported

• bake

Requirement

sudo apt update
sudo apt install git
sudo apt install build-essential

Requirement building with bake

cd ~/Downloads
git clone https://github.com/SanderMertens/bake
bake/setup.sh
cd ~/Downloads
git clone https://github.com/KenthJohan/ouster_clib/
bake ouster_clib

VS code

sudo snap install code --classic