Using ouster-sdk python package, a ValueError is fired on pcap vizualization.

[fghoussen]

Describe your question
Using ouster-sdk python package, a ValueError error is fired on pcap vizualization (AFAIU when processing pcap content): is there a workaround or a fix for this problem?

Note that when I open others pcap (like OS1-128_Rev-06_fw23_Urban-Drive_Dual-Returns.pcap provided here https://static.ouster.dev/sensor-docs/#sample-data) I have no problem: the GUI shows up and run as expected (scene OK).

I run ouster-sdk in a virtual environment.

>> python --version
Python 3.10.13

>> ouster-cli --version
ouster-cli, version 0.9.0

Plugins provided:
ouster.cli.plugins.discover
ouster.cli.plugins.io_type
ouster.cli.plugins.source
ouster.cli.plugins.source_mapping
ouster.cli.plugins.source_osf
ouster.cli.plugins.testing

I get the following python stack:

Exception in thread Viz processing:
Traceback (most recent call last):
  File "/home/fhoussen/.pyenv/versions/3.10.13/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
    self.run()
  File "/home/fhoussen/.pyenv/versions/3.10.13/lib/python3.10/threading.py", line 953, in run
    self._target(*self._args, **self._kwargs)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/sdk/viz.py", line 1150, in _process
    self._scan_viz.scan = next(seekable)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/sdk/viz.py", line 871, in __next__
    t = next(self._it)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/core.py", line 418, in __iter__
    packet = next(it)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/pcap/pcap.py", line 124, in __iter__
    validator = LidarPacketValidator(self.metadata)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/data.py", line 144, in __init__
    self._metadata_sn = int(metadata.sn)
ValueError: invalid literal for int() with base 10: ''

As the error message looks like unexpected error thrown on unexpected case, I tried to edit ~/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/data.py to replace the line :

>> sed -n '144,144p' ~/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/data.py 
        self._metadata_sn = int(metadata.sn)

with:

>> sed -n '144,147p' ~/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/data.py 
        if isinstance(metadata.sn, int):
            self._metadata_sn = int(metadata.sn)
        else:
            self._metadata_sn = 0

Then, the code does not trigger any exception, but, I get a viewer with no data in it.

I also tried to clone this repository, but, got a conan error:

>> git clone https://github.com/ouster-lidar/ouster_example
>> python3 -m venv `pwd`/venv
>> source `pwd`/venv/bin/activate
>> pip install conan
>> mkdir build; cd build
>> conan install ..
ERROR: Error loading conanfile at '/home/fhoussen/Workspaces/ouster_example/conanfile.py': Unable to load conanfile in /home/fhoussen/Workspaces/ouster_example/conanfile.py
  File "<frozen importlib._bootstrap_external>", line 940, in exec_module
  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
  File "/home/fhoussen/Workspaces/ouster_example/conanfile.py", line 3, in <module>
    from conans import ConanFile, CMake, tools
ImportError: cannot import name 'ConanFile' from 'conans' (/home/fhoussen/Workspaces/ouster_example/venv/lib/python3.11/site-packages/conans/__init__.py)

Not sure if I am supposed to use conan-1.* or conan-2.*: I stopped here...

Questions:

• Is there a workaround in case this is a known problem?
• Or is there a fix what I could test (and PR later if agreed)?

Any help or clue on how to fix or workaround the problem is appreciated! :)

Screenshots
The call stack I get is the following when I try to visualize the pcap:

>> ouster-cli source  /path/to/data.pcap  viz
Reading metadata from: /path/to/live-1024x20.json
GL Renderer: Mesa Intel(R) Graphics (ADL GT2)
GL Version: 4.6 (Core Profile) Mesa 22.3.6 (GLSL: 4.60)
Press '?' while viz window is focused to print key bindings
Exception in thread Viz processing:
Traceback (most recent call last):
  File "/home/fhoussen/.pyenv/versions/3.10.13/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
    self.run()
  File "/home/fhoussen/.pyenv/versions/3.10.13/lib/python3.10/threading.py", line 953, in run
    self._target(*self._args, **self._kwargs)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/sdk/viz.py", line 1150, in _process
    self._scan_viz.scan = next(seekable)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/sdk/viz.py", line 871, in __next__
    t = next(self._it)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/core.py", line 418, in __iter__
    packet = next(it)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/pcap/pcap.py", line 124, in __iter__
    validator = LidarPacketValidator(self.metadata)
  File "/home/fhoussen/.local/share/virtualenvs/mmHNQW6C/lib/python3.10/site-packages/ouster/client/data.py", line 144, in __init__
    self._metadata_sn = int(metadata.sn)
ValueError: invalid literal for int() with base 10: ''

Note that getting informations related to the same pcap does work (no exception triggered):

>> ouster-cli source   "/path/to/2022-10-19-11-08-21_Ouster-OS1_-Data.pcap"  info
Reading pcap:  [####################################]  100%          
File size:     20359.97M
Packets read:  1685534
Encapsulation: ETHERNET
Capture start: 2022-10-19 11:08:28.233297
Capture end:   2022-10-19 11:30:29.278011
Duration:      0:22:01.044714
UDP Streams:
          Src IP                        Dst IP        Src Port        Dst Port        AF        Frag         Size          Count        
          192.168.0.200        255.255.255.255           40931            7502         4          No        12608        1685534        

Platform (please complete the following information):

• Ouster Sensor? OS-1
• Ouster Firmware Version? Not sure, this information has been lost
• Programming Language? Python
  • For Python include the targeted Python version: 3.10.13
• Operating System? Linux (debian bookworm)
• Machine Architecture? x64
• git commit hash (if not the latest). No commit hash, use in python virtual env

[fghoussen]

I just tried to open the pcap in ouster studio.

I get this error message

With following traces:

>> ./OusterStudio-2.0.1.AppImage 
Socket.io listening on port 1041
Checking for update
[699633:0920/163137.231911:ERROR:nss_util.cc(349)] After loading Root Certs, loaded==false: NSS error code: -8018
Update for version 2.0.1 is not available (latest version: 2.0.1, downgrade is disallowed).
[2023-09-20 16:31:47.027] [ouster::sensor] [warning] No imu_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No lidar_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No prod_line found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No prod_sn found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No build_rev found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No build_date found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No image_rev found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No prod_pn found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No status found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No data_format found. Using default legacy data format
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No valid imu_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:47.031] [ouster::sensor] [warning] No valid lidar_to_sensor_transform found. Using default for gen 1
../src/intel/isl/isl.c:2235: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[2023-09-20 16:31:48.252] [ouster::sensor] [warning] No imu_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.252] [ouster::sensor] [warning] No lidar_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No prod_line found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No prod_sn found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No build_rev found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No build_date found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No image_rev found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No prod_pn found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No status found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No data_format found. Using default legacy data format
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No valid imu_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.253] [ouster::sensor] [warning] No valid lidar_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.256] [ouster::sensor] [warning] No imu_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No lidar_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No prod_line found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No prod_sn found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No build_rev found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No build_date found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No image_rev found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No prod_pn found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No status found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No data_format found. Using default legacy data format
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No valid imu_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.257] [ouster::sensor] [warning] No valid lidar_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No imu_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No lidar_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No prod_line found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No prod_sn found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No build_rev found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No build_date found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No image_rev found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No prod_pn found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No status found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No data_format found. Using default legacy data format
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No valid imu_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.264] [ouster::sensor] [warning] No valid lidar_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No imu_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No lidar_to_sensor_transform found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No prod_line found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No prod_sn found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No build_rev found in metadata. Will be left blank or filled in with default legacy values
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No build_date found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No image_rev found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No prod_pn found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No status found in metadata. Your metadata may be the result of calling to_string() on the sensor_info object OR you recorded this data with a very old version of Ouster Studio. We advise you to record the metadata directly with get_metadata and to update your Ouster Studio.
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No data_format found. Using default legacy data format
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No valid imu_to_sensor_transform found. Using default for gen 1
[2023-09-20 16:31:48.271] [ouster::sensor] [warning] No valid lidar_to_sensor_transform found. Using default for gen 1
Pcap has 0 frames

[twslankard]

@fghoussen

Thanks for your report, and please accept my apologies for the long delay getting back to you.

pcap datasets collected from an Ouster sensor require a corresponding metadata JSON file for Ouster Studio or Ouster SDK tools to visualize the point clouds. This is because the intrinsic calibration and other pertinent info is contained in the metadata, but not the pcap.

Please consult the documentation at https://static.ouster.dev/ or contact [email protected].

Cheers,

Tom Slankard
Staff Engineer
Ouster Inc.