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    "info": {
        "author": "Ryan Siemens",
        "author_email": "ryanjsiemens@gmail.com",
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        "classifiers": [
            "License :: OSI Approved :: MIT License",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 3"
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        "description": "# Python client for the Ouster Lidar OS-1\n\nCompatible with Firmware Version 1.10.0 and python 3\n> Your milage may vary with other versions, it was tested against a device OS1-16\n> device running 1.10.0\n\n## Installing\n`pip install --upgrade ouster-os1`\n\n## Quick start\n```python\nfrom os1 import OS1\nfrom os1.utils import xyz_points\n\n\ndef handler(raw_packet):\n    \"\"\"Takes each packet and log it to a file as xyz points\"\"\"\n    with open('points.csv', 'a') as f:\n        x, y, z = xyz_points(raw_packet)\n        for coords in zip(x, y, z):\n            f.write(\"{}\\n\".format(','.join(coords)))\n\n\nos1 = OS1('10.0.0.3', '10.0.0.1', mode='1024x10')  # OS1 sensor IP, destination IP, and resolution\n# Inform the sensor of the destination host and reintialize it\nos1.start()\n# Start the loop which will handle and dispatch each packet to the handler\n# function for processing\nos1.run_forever(handler)\n```\n\n> You can run the server as threaded with `os1.run_forever(handler, threaded=True)`\n\n## Recipes\nGenerally speed is a concern since the OS1 is sending 12,608 bytes/packet at a\nrate of 1280 packets/sec (in 1024x20 or 2048x10 mode).\nSo a multiprocessing producer consumer model works well.\n```python\nimport json\nfrom multiprocessing import Process, Queue\n\nfrom os1 import OS1\nfrom os1.utils import build_trig_table, xyz_points\n\n\nOS1_IP = '10.0.0.3'\nHOST_IP = '10.0.0.2'\nunprocessed_packets = Queue()\n\n\ndef handler(packet):\n    unprocessed_packets.put(packet)\n\n\ndef worker(queue, beam_altitude_angles, beam_azimuth_angles) :\n    build_trig_table(beam_altitude_angles, beam_azimuth_angles)\n    while True:\n        packet = queue.get()\n        coords = xyz_points(packet) \n        # do work...\n\n\ndef spawn_workers(n, worker, *args, **kwargs):\n    processes = []\n    for i in range(n):\n        process = Process(\n            target=worker,\n            args=args,\n            kwargs=kwargs\n        )\n        process.start()\n        processes.append(process)\n    return processes\n\n\nos1 = OS1(OS1_IP, HOST_IP)\nbeam_intrinsics = json.loads(os1.get_beam_intrinsics())\nbeam_alt_angles = beam_intrinsics['beam_altitude_angles']\nbeam_az_angles = beam_intrinsics['beam_azimuth_angles']\nworkers = spawn_workers(4, worker, unprocessed_packets, beam_alt_angles, beam_az_angles)\nos1.start()\ntry:\n    os1.run_forever(handler)\nexcept KeyboardInterrupt:\n    for w in workers:\n        w.terminate()\n```\n\n## TCP API Commands\n\nThe TCP API commands can be accessed through an instance of the `OS1` object.\n\nThe following methods are supported:\n\n* `get_config_txt`\n* `get_sensor_info`\n* `get_beam_intrinsics`\n* `get_imu_intrinsics`\n* `get_lidar_intrinsics`\n* `get_config_param` - Supports querying active and staged parameters. Example: `os1.get_config_param('active', 'udp_ip')`\n* `set_config_param` - Supports settings parameters to be staged. Example: `os1.set_config_param('udp_ip', '10.0.0.1')`\n* `reinitialize` - Will reinitialize the sensor and apply all staged parameters to be active.\n\n\n",
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