Obtain every frame IMU's timestamps and IMUPacket's timestamps

[moonmoonmoonmoon]

Hello, how can I get the IMU timestamps information by using python, such as Accelerometer Read Time and Gyroscope Read Time? And how can I get the IMUPacket's timestamps information?

Thank you!

[matthew-lidar]

Here's an example script that prints those in Python. Just provide your sensor IP/hostname as the first argument.

from ouster.sdk import client

import sys

config = client.SensorConfig()
config.udp_dest = '@auto'
packets = client.SensorPacketSource([(sys.argv[1], config)])
pf = client.PacketFormat(packets.metadata[0])

for i, pack in enumerate(packets):
    index, packet = pack
    if i >= 100:
        break

    if isinstance(packet, client.ImuPacket):
        ax = pf.imu_la_x(packet.buf)
        ay = pf.imu_la_y(packet.buf)
        az = pf.imu_la_z(packet.buf)
        ats = pf.imu_accel_ts(packet.buf)
        gts = pf.imu_gyro_ts(packet.buf)
        sts = pf.imu_sys_ts(packet.buf)
        print(ats, gts, sts)

[moonmoonmoonmoon]

Thank you very much!!!