Get the metadata information

GET

http://os-992244000006.local/api/v1/sensor/metadata

GET

/api/v1/sensor/metadata

$ curl http://os-992244000006.local/api/v1/sensor/metadata

200Retrieved

1 {
2   "beam_intrinsics": {
3     "beam_altitude_angles": [
4       20.38,
5       20.12,
6       19.79,
7       19.45,
8       19.14,
9       18.85,
10       18.55,
11       18.2,
12       17.86,
13       17.58,
14       17.27,
15       16.93,
16       16.58,
17       16.29,
18       15.98,
19       15.61,
20       15.27,
21       14.97,
22       14.66,
23       14.3,
24       13.96,
25       13.65,
26       13.33,
27       12.97,
28       12.62,
29       12.31,
30       11.98,
31       11.63,
32       11.27,
33       10.96,
34       10.63,
35       10.26,
36       9.91,
37       9.59,
38       9.26,
39       8.89,
40       8.54,
41       8.21,
42       7.87,
43       7.52,
44       7.15,
45       6.82,
46       6.47,
47       6.11,
48       5.76,
49       5.42,
50       5.08,
51       4.73,
52       4.36,
53       4.03,
54       3.66,
55       3.31,
56       2.96,
57       2.62,
58       2.27,
59       1.91,
60       1.55,
61       1.22,
62       0.85,
63       0.51,
64       0.16,
65       -0.2,
66       -0.55,
67       -0.91,
68       -1.26,
69       -1.62,
70       -1.96,
71       -2.3,
72       -2.66,
73       -3.02,
74       -3.36,
75       -3.72,
76       -4.07,
77       -4.42,
78       -4.77,
79       -5.11,
80       -5.46,
81       -5.82,
82       -6.16,
83       -6.49,
84       -6.85,
85       -7.21,
86       -7.55,
87       -7.88,
88       -8.23,
89       -8.59,
90       -8.93,
91       -9.25,
92       -9.6,
93       -9.96,
94       -10.31,
95       -10.63,
96       -10.96,
97       -11.32,
98       -11.67,
99       -11.97,
100       -12.31,
101       -12.68,
102       -13,
103       -13.32,
104       -13.64,
105       -14,
106       -14.33,
107       -14.63,
108       -14.96,
109       -15.31,
110       -15.64,
111       -15.94,
112       -16.26,
113       -16.62,
114       -16.93,
115       -17.22,
116       -17.54,
117       -17.9,
118       -18.22,
119       -18.49,
120       -18.8,
121       -19.16,
122       -19.47,
123       -19.73,
124       -20.04,
125       -20.39,
126       -20.7,
127       -20.94,
128       -21.25,
129       -21.6,
130       -21.9,
131       -22.14
132     ],
133     "beam_azimuth_angles": [
134       4.24,
135       1.41,
136       -1.42,
137       -4.23,
138       4.23,
139       1.41,
140       -1.41,
141       -4.23,
142       4.23,
143       1.41,
144       -1.41,
145       -4.21,
146       4.23,
147       1.42,
148       -1.4,
149       -4.23,
150       4.24,
151       1.41,
152       -1.4,
153       -4.23,
154       4.24,
155       1.42,
156       -1.4,
157       -4.22,
158       4.23,
159       1.41,
160       -1.41,
161       -4.22,
162       4.23,
163       1.42,
164       -1.4,
165       -4.22,
166       4.24,
167       1.41,
168       -1.4,
169       -4.23,
170       4.23,
171       1.41,
172       -1.41,
173       -4.22,
174       4.23,
175       1.41,
176       -1.41,
177       -4.23,
178       4.23,
179       1.4,
180       -1.42,
181       -4.23,
182       4.23,
183       1.41,
184       -1.42,
185       -4.23,
186       4.23,
187       1.4,
188       -1.42,
189       -4.24,
190       4.22,
191       1.41,
192       -1.43,
193       -4.24,
194       4.22,
195       1.4,
196       -1.42,
197       -4.24,
198       4.22,
199       1.4,
200       -1.42,
201       -4.23,
202       4.22,
203       1.4,
204       -1.4,
205       -4.24,
206       4.22,
207       1.4,
208       -1.42,
209       -4.24,
210       4.22,
211       1.41,
212       -1.41,
213       -4.22,
214       4.22,
215       1.39,
216       -1.42,
217       -4.23,
218       4.22,
219       1.41,
220       -1.41,
221       -4.22,
222       4.23,
223       1.41,
224       -1.41,
225       -4.23,
226       4.23,
227       1.41,
228       -1.41,
229       -4.22,
230       4.23,
231       1.41,
232       -1.41,
233       -4.22,
234       4.22,
235       1.41,
236       -1.41,
237       -4.22,
238       4.23,
239       1.41,
240       -1.4,
241       -4.23,
242       4.22,
243       1.41,
244       -1.41,
245       -4.23,
246       4.22,
247       1.4,
248       -1.41,
249       -4.23,
250       4.22,
251       1.4,
252       -1.41,
253       -4.24,
254       4.22,
255       1.4,
256       -1.42,
257       -4.24,
258       4.22,
259       1.4,
260       -1.42,
261       -4.23
262     ],
263     "beam_to_lidar_transform": [
264       1,
265       0,
266       0,
267       15.805999755859375,
268       0,
269       1,
270       0,
271       0,
272       0,
273       0,
274       1,
275       0,
276       0,
277       0,
278       0,
279       1
280     ],
281     "lidar_origin_to_beam_origin_mm": 15.8059999999
282   },
283   "calibration_status": {
284     "reflectivity": {
285       "valid": true,
286       "timestamp": "2024-01-15T09:30:00Z"
287     }
288   },
289   "config_params": {
290     "accel_fsr": "NORMAL",
291     "azimuth_window": [
292       1
293     ],
294     "bloom_reduction_optimization": "BALANCED",
295     "columns_per_packet": 16,
296     "gyro_fsr": "NORMAL",
297     "imu_packets_per_frame": 8,
298     "imu_rate_hz": 2560,
299     "lidar_frame_azimuth_offset": 0,
300     "lidar_mode": "1024x10",
301     "min_range_threshold_cm": 50,
302     "multipurpose_io_mode": "OFF",
303     "nmea_baud_rate": "BAUD_9600",
304     "nmea_ignore_valid_char": 0,
305     "nmea_in_polarity": "ACTIVE_HIGH",
306     "nmea_leap_seconds": 0,
307     "operating_mode": "NORMAL",
308     "phase_lock_enable": false,
309     "phase_lock_offset": 0,
310     "return_order": "STRONGEST_TO_WEAKEST",
311     "signal_multiplier": 1,
312     "sync_pulse_in_polarity": "ACTIVE_HIGH",
313     "sync_pulse_out_angle": 360,
314     "sync_pulse_out_frequency": 1,
315     "sync_pulse_out_polarity": "ACTIVE_HIGH",
316     "sync_pulse_out_pulse_width": 10,
317     "timestamp_mode": "TIME_FROM_INTERNAL_OSC",
318     "udp_dest": "192.0.2.133",
319     "udp_port_imu": 7503,
320     "udp_port_lidar": 7502,
321     "udp_multicast_ttl": 1,
322     "udp_dest_zm": "",
323     "udp_port_zm": 0,
324     "udp_multicast_ttl_zm": null,
325     "udp_profile_imu": "ACCEL32_GYRO32_NMEA",
326     "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16"
327   },
328   "imu_data_format": {
329     "accel_fsr": "NORMAL",
330     "gyro_fsr": "NORMAL",
331     "imu_packets_per_frame": 1,
332     "imu_rate_hz": 640,
333     "imu_measurements_per_packet": 1,
334     "udp_profile_imu": "ACCEL32_GYRO32_NMEA"
335   },
336   "imu_intrinsics": {
337     "imu_to_sensor_transform": [
338       1,
339       0,
340       0,
341       6.253,
342       0,
343       1,
344       0,
345       -11.775,
346       0,
347       0,
348       1,
349       7.645,
350       0,
351       0,
352       0,
353       1
354     ]
355   },
356   "lidar_data_format": {
357     "columns_per_frame": 1024,
358     "columns_per_packet": 16,
359     "pixel_shift_by_row": [
360       1
361     ],
362     "pixels_per_column": 128,
363     "column_window": [
364       0,
365       1023
366     ],
367     "header_type": "STANDARD",
368     "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16",
369     "udp_profile_imu": null,
370     "lidar_frame_azimuth_offset": 0
371   },
372   "lidar_intrinsics": {
373     "lidar_to_sensor_transform": [
374       -1,
375       0,
376       0,
377       0,
378       0,
379       -1,
380       0,
381       0,
382       0,
383       0,
384       1,
385       36.18,
386       0,
387       0,
388       0,
389       1
390     ]
391   },
392   "sensor_info": {
393     "build_date": "2023-1-15T15:56:07Z",
394     "build_rev": "v3.0.0",
395     "image_rev": "ousteros-image-prod-bootes-v3.0.0+0123456789",
396     "initialization_id": 390072,
397     "prod_line": "OS-1-128",
398     "prod_pn": "860-105010-07",
399     "prod_sn": "992244000006",
400     "status": "RUNNING"
401   },
402   "zone_monitor": {
403     "m_per_zmbin": 1.1
404   }
405 }

Get the sensor metadata information

Response

Sensor metadata result

beam_intrinsicsobject

calibration_statusobject

config_paramsobject

imu_data_formatobject

imu_intrinsicsobject

lidar_data_formatobject

lidar_intrinsicsobject

sensor_infoobject

zone_monitorobject