环境准备

操作系统：ubuntu 22.04

安装依赖

安装ouster-sdk

pip install ouster-sdk==0.14.0

安装yolo5：

pip install ultralytics

Demo下载

github地址：https://github.com/ouster-lidar/ouster-yolov5-demo/tree/main

git clone https://github.com/ouster-lidar/ouster-yolov5-demo.git
git clone https://github.com/ouster-lidar/yolov5-ouster-lidar-data.git

安装依赖

cd ouster-yolov5-demo
pip install -r requirements.txt

下载数据

cd yolov5-ouster-lidar-data
sudo apt install git-lfs
git lfs install
git lfs pull
cp -r Ouster-YOLOv5-sample.* ../ouster-yolov5-demo

修改 yolo5_opencv.py（否则运行的时候会报错）：

主要修改get_scan_size_and_fps函数：
修改前：

def get_scan_size_and_fps(sensor_info: client.SensorInfo):
    """extract the scan width x heigh x fps information from the json file"""
    w = sensor_info.mode.cols
    h = len(sensor_info.beam_altitude_angles)
    fps = sensor_info.mode.frequency

修改后：

def get_scan_size_and_fps(sensor_info: client.SensorInfo):
    """extract the scan width x heigh x fps information from the json file"""
    print(sensor_info)
    lidar_mode = sensor_info.config.lidar_mode
    w = sensor_info.format.columns_per_frame
    h = sensor_info.format.pixels_per_column
    print(lidar_mode)
    #w = sensor_info.mode.cols
    #h = len(sensor_info.beam_altitude_angles)
    mode_str = str(lidar_mode).split('.')[-1]
    fps = int(mode_str.split('x')[-1])
    print(w, h, fps)
    return w, h, fps

cv2.imshow对应的行也注释掉（如果用的docker，会无法显示）：

#cv2.imshow('Lidar Detection', stacked_images)

变动如下：

ubuntu@708caa27696a:~/ouster/ouster-yolov5-demo$ git diff
diff --git a/yolo5_opencv.py b/yolo5_opencv.py
index 221841f..7691dad 100644
--- a/yolo5_opencv.py
+++ b/yolo5_opencv.py
@@ -59,9 +59,16 @@ def get_frame_from_scan(scan, channel):
 def get_scan_size_and_fps(sensor_info: client.SensorInfo):
     """extract the scan width x heigh x fps information from the json file"""
-    w = sensor_info.mode.cols
-    h = len(sensor_info.beam_altitude_angles)
-    fps = sensor_info.mode.frequency
+    print(sensor_info)
+    lidar_mode = sensor_info.config.lidar_mode
+    w = sensor_info.format.columns_per_frame
+    h = sensor_info.format.pixels_per_column
+    print(lidar_mode)
+    #w = sensor_info.mode.cols
+    #h = len(sensor_info.beam_altitude_angles)
+    mode_str = str(lidar_mode).split('.')[-1]
+    fps = int(mode_str.split('x')[-1])
+    print(w, h, fps)
     return w, h, fps
@@ -107,7 +114,7 @@ def run():
         stacked_images = cv2.vconcat(images)
         converted_image = cv2.convertScaleAbs(stacked_images * 255)
-        cv2.imshow('Lidar Detection', stacked_images)
+        #cv2.imshow('Lidar Detection', stacked_images)
         out.write(converted_image)
         key = cv2.waitKey(1) & 0xFF

运行：

python3 yolo5_opencv.py

会自动生成output.avi文件，转换成mp4文件：

ffmpeg -i output.avi -c copy output.mp4

使用vlc播放mp4文件，查看结果：

# sudo apt install vlc
vlc output.mp4

参考文章

Ouster雷达Wiki