types.h

Type-defs 

template<typename T> using ouster::img_t = Eigen::Array<T, -1, -1, Eigen::RowMajor>

For image operations.

Template Parameters:: T – The data type for the array.

using ouster::mat4d = Eigen::Matrix<double, 4, 4, Eigen::DontAlign>: Used for transformations.

using ouster::sensor::AzimuthWindow = std::pair<int, int>: Convenience type alias for azimuth windows, the window over which the sensor fires in millidegrees.

using ouster::sensor::ColumnWindow = std::pair<int, int>: Convenience type alias for column windows, the window over which the sensor fires in columns.

Helper Data 

Lidar Mode 

enum ouster::sensor::lidar_mode

Constants used for configuration. Refer to the sensor documentation for the meaning of each option.

Values:

enumerator MODE_UNSPEC: lidar mode: unspecified

enumerator MODE_512x10: lidar mode: 10 scans of 512 columns per second

enumerator MODE_512x20: lidar mode: 20 scans of 512 columns per second

enumerator MODE_1024x10: lidar mode: 10 scans of 1024 columns per second

enumerator MODE_1024x20: lidar mode: 20 scans of 1024 columns per second

enumerator MODE_2048x10: lidar mode: 10 scans of 2048 columns per second

enumerator MODE_4096x5: lidar mode: 5 scans of 4096 columns per second. Only available on select sensors

uint32_t ouster::sensor::n_cols_of_lidar_mode(lidar_mode mode)

Get number of columns in a scan for a lidar mode.

Parameters:: mode – [in] lidar_mode to get the number of columns for.
Returns:: number of columns per rotation for the mode.

int ouster::sensor::frequency_of_lidar_mode(lidar_mode mode)

Get the lidar rotation frequency from lidar mode.

Parameters:: mode – [in] Lidar mode to get the rotation frequency from.
Returns:: lidar rotation frequency in Hz.

std::string ouster::sensor::to_string(lidar_mode mode)

Get string representation of a lidar mode.

Parameters:: mode – [in] lidar_mode to get the string representation for.
Returns:: string representation of the lidar mode, or “UNKNOWN”.

lidar_mode ouster::sensor::lidar_mode_of_string(const std::string &s)

Get lidar mode from string.

Parameters:: s – [in] String to decode.
Returns:: lidar mode corresponding to the string, or 0 on error.

Timestamp Mode 

enum ouster::sensor::timestamp_mode

Mode controlling timestamp method. Refer to the sensor documentation for the meaning of each option.

Values:

enumerator TIME_FROM_UNSPEC: Timestamp mode unspecified.

enumerator TIME_FROM_INTERNAL_OSC: Use the internal clock.

enumerator TIME_FROM_SYNC_PULSE_IN: A free running counter synced to the SYNC_PULSE_IN input counts seconds (# of pulses) and nanoseconds since sensor turn on.

enumerator TIME_FROM_PTP_1588: Synchronize with an external PTP master.

std::string ouster::sensor::to_string(timestamp_mode mode)

Get string representation of a timestamp mode.

Parameters:: mode – [in] timestamp_mode to get the string representation for.
Returns:: string representation of the timestamp mode, or “UNKNOWN”.

timestamp_mode ouster::sensor::timestamp_mode_of_string(const std::string &s)

Get timestamp mode from string.

Parameters:: s – [in] String to decode into a timestamp mode.
Returns:: timestamp mode corresponding to the string, or 0 on error.

Operating Mode 

enum ouster::sensor::OperatingMode

Mode controlling sensor operation. Refer to the sensor documentation for the meaning of each option.

Values:

enumerator OPERATING_NORMAL: Normal sensor operation.

enumerator OPERATING_STANDBY: Standby.

std::string ouster::sensor::to_string(OperatingMode mode)

Get string representation of an operating mode.

Parameters:: mode – [in] Operating mode to get the string representation from.
Returns:: string representation of the operating mode, or “UNKNOWN”.

optional<OperatingMode> ouster::sensor::operating_mode_of_string(const std::string &s)

Get operating mode from string.

Parameters:: s – [in] String to get the operating mode from.
Returns:: operating mode corresponding to the string, or 0 on error.

Multipurpose IO Mode 

enum ouster::sensor::MultipurposeIOMode

Mode controlling ways to input timesync information. Refer to the sensor documentation for the meaning of each option.

Values:

enumerator MULTIPURPOSE_OFF: Multipurpose IO is turned off (default)

enumerator MULTIPURPOSE_INPUT_NMEA_UART: Used in conjunction with timestamp_mode::TIME_FROM_SYNC_PULSE_IN to enable time pulses in on the multipurpose io input.

enumerator MULTIPURPOSE_OUTPUT_FROM_INTERNAL_OSC: Output a SYNC_PULSE_OUT signal synchronized with the internal clock.

enumerator MULTIPURPOSE_OUTPUT_FROM_SYNC_PULSE_IN: Output a SYNC_PULSE_OUT signal synchronized with a SYNC_PULSE_IN provided to the unit.

enumerator MULTIPURPOSE_OUTPUT_FROM_PTP_1588: Output a SYNC_PULSE_OUT signal synchronized with an external PTP IEEE 1588 master.

enumerator MULTIPURPOSE_OUTPUT_FROM_ENCODER_ANGLE: Output a SYNC_PULSE_OUT signal with a user defined rate in an integer number of degrees.

std::string ouster::sensor::to_string(MultipurposeIOMode mode)

Get string representation of a multipurpose io mode.

Parameters:: mode – [in] Multipurpose io mode to get a string representation from.
Returns:: string representation of the multipurpose io mode, or “UNKNOWN”.

optional<MultipurposeIOMode> ouster::sensor::multipurpose_io_mode_of_string(const std::string &s)

Get multipurpose io mode from string.

Parameters:: s – [in] String to decode into a multipurpose io mode.
Returns:: multipurpose io mode corresponding to the string, or 0 on error.

Polarity 

enum ouster::sensor::Polarity

Polarity represents polarity of NMEA UART and SYNC_PULSE inputs and outputs. See sensor docs for more details.

Values:

enumerator POLARITY_ACTIVE_LOW: ACTIVE_LOW.

enumerator POLARITY_ACTIVE_HIGH: ACTIVE_HIGH.

std::string ouster::sensor::to_string(Polarity polarity)

Get string representation of a polarity.

Parameters:: polarity – [in] The polarity to get the string representation of.
Returns:: string representation of the polarity, or “UNKNOWN”.

optional<Polarity> ouster::sensor::polarity_of_string(const std::string &s)

Get polarity from string.

Parameters:: s – [in] The string to decode into a polarity.
Returns:: polarity corresponding to the string, or 0 on error.

NMEA Baud Rate 

enum ouster::sensor::NMEABaudRate

Baud rate the sensor attempts for NMEA UART input $GPRMC messages See sensor docs for more details.

Values:

enumerator BAUD_9600: 9600 bits per second UART baud rate

enumerator BAUD_115200: 115200 bits per second UART baud rate

std::string ouster::sensor::to_string(NMEABaudRate rate)

Get string representation of a NMEA Baud Rate.

Parameters:: rate – [in] The NNEABaudRate to get the string representation of.
Returns:: string representation of the NMEA baud rate, or “UNKNOWN”.

optional<NMEABaudRate> ouster::sensor::nmea_baud_rate_of_string(const std::string &s)

Get nmea baud rate from string.

Parameters:: s – [in] The string to decode into a NMEA baud rate.
Returns:: nmea baud rate corresponding to the string, or 0 on error.

UDP Profile Lidar 

enum ouster::sensor::UDPProfileLidar

Profile indicating packet format of lidar data.

Values:

enumerator PROFILE_LIDAR_UNKNOWN

enumerator PROFILE_LIDAR_LEGACY: Legacy lidar data

enumerator PROFILE_RNG19_RFL8_SIG16_NIR16_DUAL: Dual Returns data

enumerator PROFILE_RNG19_RFL8_SIG16_NIR16: Single Returns data

enumerator PROFILE_RNG15_RFL8_NIR8: Single Returns Low Data Rate

enumerator PROFILE_FIVE_WORD_PIXEL: Five Word Profile

enumerator PROFILE_FUSA_RNG15_RFL8_NIR8_DUAL: FuSa two-word pixel

std::string ouster::sensor::to_string(UDPProfileLidar profile)

Get string representation of a lidar profile.

Parameters:: profile – [in] The profile to get the string representation of.
Returns:: string representation of the lidar profile.

optional<UDPProfileLidar> ouster::sensor::udp_profile_lidar_of_string(const std::string &s)

Get lidar profile from string.

Parameters:: s – [in] The string to decode into a lidar profile.
Returns:: lidar profile corresponding to the string, or nullopt on error.

UDP Profile IMU 

enum ouster::sensor::UDPProfileIMU

Profile indicating packet format of IMU data.

Values:

enumerator PROFILE_IMU_LEGACY: Legacy IMU data.

std::string ouster::sensor::to_string(UDPProfileIMU profile)

Get string representation of an IMU profile.

Parameters:: profile – [in] The profile to get the string representation of.
Returns:: string representation of the lidar profile.

optional<UDPProfileIMU> ouster::sensor::udp_profile_imu_of_string(const std::string &s)

Get imu profile from string

Parameters:: s – [in] The string to decode into an imu profile.
Returns:: imu profile corresponding to the string, or nullopt on error.

Chan Field 

enum ouster::sensor::ChanFieldType

Types of channel fields.

Values:

enumerator VOID

enumerator UINT8

enumerator UINT16

enumerator UINT32

enumerator UINT64

enumerator INT8

enumerator INT16

enumerator INT32

enumerator INT64

enumerator FLOAT32

enumerator FLOAT64

enumerator UNREGISTERED

namespace ChanField

Variables

static cf_type RANGE = "RANGE": 1st return range in mm

static cf_type RANGE2 = "RANGE2": 2nd return range in mm

static cf_type SIGNAL = "SIGNAL": 1st return signal in photons

static cf_type SIGNAL2 = "SIGNAL2": 2nd return signal in photons

static cf_type REFLECTIVITY = "REFLECTIVITY"

sensitivity in FW 2.1+. See sensor docs for more details

1st return reflectivity, calibrated by range and sensor

static cf_type REFLECTIVITY2 = "REFLECTIVITY2"

sensitivity in FW 2.1+. See sensor docs for more details

2nd return reflectivity, calibrated by range and sensor

static cf_type NEAR_IR = "NEAR_IR": near_ir in photons

static cf_type FLAGS = "FLAGS": 1st return flags

static cf_type FLAGS2 = "FLAGS2": 2nd return flags

static cf_type RAW_HEADERS = "RAW_HEADERS": raw headers for packet/footer/column for dev use

static cf_type RAW32_WORD5 = "RAW32_WORD5": raw word access to packet for dev use

static cf_type RAW32_WORD6 = "RAW32_WORD6": raw word access to packet for dev use

static cf_type RAW32_WORD7 = "RAW32_WORD7": raw word access to packet for dev use

static cf_type RAW32_WORD8 = "RAW32_WORD8": raw word access to packet for dev use

static cf_type RAW32_WORD9 = "RAW32_WORD9": raw word access to packet for dev use

static cf_type RAW32_WORD1 = "RAW32_WORD1": raw word access to packet for dev use

static cf_type RAW32_WORD2 = "RAW32_WORD2": raw word access to packet for dev use

static cf_type RAW32_WORD3 = "RAW32_WORD3": raw word access to packet for dev use

static cf_type RAW32_WORD4 = "RAW32_WORD4": raw word access to packet for dev use

std::string ouster::sensor::to_string(ChanFieldType ft)

Get string representation of a channel field.

Parameters:: ft – [in] The field type to get the string representation of.
Returns:: string representation of the channel field type.

Product Info 

class product_info: Stores parsed information about the prod line

bool ouster::sensor::operator==(const product_info &lhs, const product_info &rhs)

Equality for product_info.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs == rhs

bool ouster::sensor::operator!=(const product_info &lhs, const product_info &rhs)

In-Equality for product_info.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs != rhs

std::string ouster::sensor::to_string(const sensor_info &info)

String representation of the sensor_info. All fields included. NOT equivalent or interchangeable with metadata from sensor.

Parameters:: info – [in] sensor_info struct
Returns:: a debug string in json format

Sensor Info 

struct sensor_info

Stores parsed information from metadata and

Public Functions

ouster::util::version get_version() const

Parse and return version info about this sensor.

Returns:: sensor version info

decltype(format.columns_per_frame) w() const

returns the width of a frame (equivalent to format.columns_per_frame)

Retrieves the width of a frame

Returns:: width of a frame.

decltype(format.pixels_per_column) h() const

returns the height of a frame (equivalent to format.pixels_per_column)

Retrieves the height of a frame

Returns:: height of a frame.

Public Members

std::string sn = {}: sensor serial number corresponding to prod_sn in metadata.json

std::string fw_rev = {}: fw revision corresponding to build_rev in metadata.json

std::string prod_line = {}: prod line

data_format format = {}: data format of sensor

std::vector<double> beam_azimuth_angles = {}: beam azimuth angles for 3D projection

std::vector<double> beam_altitude_angles = {}: beam altitude angles for 3D projection

double lidar_origin_to_beam_origin_mm = {}: distance between lidar origin and beam origin in mm

mat4d beam_to_lidar_transform = mat4d::Zero(): transform between beam and lidar frame

mat4d imu_to_sensor_transform = mat4d::Zero(): transform between sensor coordinate frame and imu

mat4d lidar_to_sensor_transform = mat4d::Zero(): transform between lidar and sensor coordinate frames

mat4d extrinsic = mat4d::Zero(): user-convenience client-side assignable extrinsic matrix, currently is not read from metadata.json

uint32_t init_id = {}: initialization ID updated every reinit

std::string build_date = {}: build date from FW sensor_info

std::string image_rev = {}: image rev from FW sensor_info

std::string prod_pn = {}: prod pn

std::string status = {}: sensor status at time of pulling metadata

calibration_status cal = {}: sensor calibration

sensor_config config = {}: parsed sensor config if available from metadata

std::string user_data = {}: userdata from sensor if available

sensor_info ouster::sensor::default_sensor_info(lidar_mode mode)

Get a default sensor_info for the given lidar mode.

Parameters:: mode – [in] lidar mode to generate default sensor_info for.
Returns:: default sensor_info for the OS1-64.

sensor_info ouster::sensor::metadata_from_json(const std::string &json_file, bool skip_beam_validation = false)

Parse metadata given path to a json file.

Throws:

runtime_error – if json file does not exist or is malformed.

Parameters:

json_file – [in] path to a json file containing sensor metadata.
skip_beam_validation – [in] whether to skip validation on metadata - not for use on recorded data or metadata from sensors

Returns:

a sensor_info struct populated with a subset of the metadata.

bool ouster::sensor::operator==(const sensor_info &lhs, const sensor_info &rhs)

Equality for sensor_info.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs == rhs

bool ouster::sensor::operator!=(const sensor_info &lhs, const sensor_info &rhs)

Not-Equality for sensor_info.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs != rhs

std::string ouster::sensor::to_string(const sensor_info &info)

String representation of the sensor_info. All fields included. NOT equivalent or interchangeable with metadata from sensor.

Parameters:: info – [in] sensor_info struct
Returns:: a debug string in json format

Sensor Config 

struct sensor_config

Struct for sensor configuration parameters.

Public Members

optional<std::string> udp_dest: The destination address for the lidar/imu data to be sent to

optional<uint16_t> udp_port_lidar: The destination port for the lidar data to be sent to

optional<uint16_t> udp_port_imu: The destination port for the imu data to be sent to

optional<sensor::timestamp_mode> timestamp_mode: The timestamp mode for the sensor to use. Refer to timestamp_mode for more details.

optional<sensor::lidar_mode> lidar_mode: The lidar mode for the sensor to use. Refer to lidar_mode for more details.

optional<OperatingMode> operating_mode: The operating mode for the sensor to use. Refer to OperatingMode for more details.

optional<MultipurposeIOMode> multipurpose_io_mode: The multipurpose io mode for the sensor to use. Refer to MultipurposeIOMode for more details.

optional<AzimuthWindow> azimuth_window: The azimuth window for the sensor to use. Refer to AzimuthWindow for more details.

optional<double> signal_multiplier: Multiplier for signal strength of sensor. See the sensor docs for more details on usage.

optional<Polarity> nmea_in_polarity: The nmea polarity for the sensor to use. Refer to Polarity for more details.

optional<bool> nmea_ignore_valid_char: Whether NMEA UART input $GPRMC messages should be ignored. Refer to the sensor docs for more details.

optional<NMEABaudRate> nmea_baud_rate: The nmea baud rate for the sensor to use. Refer to Polarity> for more details.

optional<int> nmea_leap_seconds: Number of leap seconds added to UDP timestamp. See the sensor docs for more details.

optional<Polarity> sync_pulse_in_polarity: Polarity of SYNC_PULSE_IN input. See Polarity for more details.

optional<Polarity> sync_pulse_out_polarity: Polarity of SYNC_PULSE_OUT output. See Polarity for more details.

optional<int> sync_pulse_out_angle: Angle in degrees that sensor traverses between each SYNC_PULSE_OUT pulse. See senor docs for more details.

optional<int> sync_pulse_out_pulse_width: Width of SYNC_PULSE_OUT pulse in ms. See sensor docs for more details.

optional<int> sync_pulse_out_frequency: Frequency of SYNC_PULSE_OUT pulse in Hz. See sensor docs for more details.

optional<bool> phase_lock_enable: Whether phase locking is enabled. See sensor docs for more details.

optional<int> phase_lock_offset: Angle that sensors are locked to in millidegrees. See sensor docs for more details.

optional<int> columns_per_packet: Columns per packet. See sensor docs for more details.

optional<UDPProfileLidar> udp_profile_lidar: The lidar profile for the sensor to use. Refer to UDPProfileLidar for more details.

optional<UDPProfileIMU> udp_profile_imu: The imu profile for the sensor to use. Refer to UDPProfileIMU for more details.

optional<FullScaleRange> gyro_fsr: The gyro full scale measurement range to use. Refer to FullScaleRange for more details.

optional<FullScaleRange> accel_fsr: The accelerometer full scale measurement range to use. Refer to FullScaleRange for more details.

optional<ReturnOrder> return_order: The priority of returns for the lidar to output. Refer to ReturnOrder for more details.

optional<int> min_range_threshold_cm: The minimum detection range of the lidar in cm.

sensor_config ouster::sensor::parse_config(const std::string &config)

Parse config text blob from the sensor into a sensor_config struct.

All fields are optional, and will only be set if found.

Throws:: runtime_error – if the text is not valid json.
Parameters:: config – [in] a text blob given by get_config from client.h.
Returns:: a sensor_config struct populated with the sensor config. parameters.

bool ouster::sensor::operator==(const sensor_config &lhs, const sensor_config &rhs)

Equality for sensor config.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs == rhs

bool ouster::sensor::operator!=(const sensor_config &lhs, const sensor_config &rhs)

Not-Equality for sensor config.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs != rhs

std::string ouster::sensor::to_string(const sensor_config &config)

Get a string representation of sensor config. Only set fields will be represented.

Parameters:: config – [in] a struct of sensor config.
Returns:: a json sensor config string.

Data Format 

struct data_format

Stores data format information.

Public Members

uint32_t pixels_per_column: pixels per column

uint32_t columns_per_packet: columns per packet

uint32_t columns_per_frame: columns per frame, should match with lidar mode

std::vector<int> pixel_shift_by_row: shift of pixels by row to enable destagger

ColumnWindow column_window: window of columns over which sensor fires

UDPProfileLidar udp_profile_lidar = {}: profile of lidar packet

UDPProfileIMU udp_profile_imu = {}: profile of imu packet

uint16_t fps: frames per second

bool ouster::sensor::operator==(const data_format &lhs, const data_format &rhs)

Equality for data_format.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs == rhs

bool ouster::sensor::operator!=(const data_format &lhs, const data_format &rhs)

Not-Equality for data_format.

Parameters:

lhs – [in] The first object to compare.
rhs – [in] The second object to compare.

Returns:

lhs != rhs

Packet Format 

class packet_format

Table of accessors for extracting data from imu and lidar packets.

In the user guide, refer to section 9 for the lidar packet format and section 10 for imu packets.

For 0 <= n < columns_per_packet, nth_col(n, packet_buf) returns a pointer to the nth measurement block. For 0 <= m < pixels_per_column, nth_px(m, col_buf) returns the mth channel data block.

Use imu_la_{x,y,z} to access the acceleration in the corresponding direction. Use imu_av_{x,y,z} to read the angular velocity.

Public Types

FieldIter = decltype(field_types_)::const_iterator: iterator over field types of packet

Public Functions

uint16_t packet_type(const uint8_t *lidar_buf) const

Read the packet type packet header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the packet type.

uint32_t frame_id(const uint8_t *lidar_buf) const

Read the frame_id packet header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the frame id.

uint32_t init_id(const uint8_t *lidar_buf) const

Read the initialization id packet header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the init id.

uint64_t prod_sn(const uint8_t *lidar_buf) const

Read the packet serial number header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the serial number.

uint8_t alert_flags(const uint8_t *lidar_buf) const

Read the alert flags.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the alert flags byte.

uint16_t countdown_thermal_shutdown(const uint8_t *lidar_buf) const

Read the packet thermal shutdown countdown

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the thermal shutdown countdown.

uint16_t countdown_shot_limiting(const uint8_t *lidar_buf) const

Read the packet shot limiting countdown

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the shot limiting countdown.

uint8_t thermal_shutdown(const uint8_t *lidar_buf) const

Read the packet thermal shutdown header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the thermal shutdown status

uint8_t shot_limiting(const uint8_t *lidar_buf) const

Read the packet shot limiting header.

Parameters:: lidar_buf – [in] the lidar buf.
Returns:: the shot limiting status

ChanFieldType field_type(const std::string &f) const

Get the bit width of the specified channel field.

Parameters:: f – [in] the channel field to query.
Returns:: a type tag specifying the bitwidth of the requested field or ChannelFieldType::VOID if it is not supported by the packet format.

FieldIter begin() const

A const forward iterator over field / type pairs.

Returns:: Iterator pointing to the first element in the field type of packets.

FieldIter end() const

A const forward iterator over field / type pairs.

Returns:: Iterator pointing to the last element in the field type of packets.

const uint8_t *footer(const uint8_t *lidar_buf) const

Get pointer to the packet footer of a lidar buffer.

Parameters:: lidar_buf – [in] the lidar buffer.
Returns:: pointer to packet footer of lidar buffer, can be nullptr if packet format doesn’t have packet footer.

const uint8_t *nth_col(int n, const uint8_t *lidar_buf) const

Get pointer to nth column of a lidar buffer.

Parameters:

n – [in] which column.
lidar_buf – [in] the lidar buffer.

Returns:

pointer to nth column of lidar buffer.

uint64_t col_timestamp(const uint8_t *col_buf) const

Read column timestamp from column buffer.

Parameters:: col_buf – [in] the column buffer.
Returns:: column timestamp.

uint16_t col_measurement_id(const uint8_t *col_buf) const

Read measurement id from column buffer.

Parameters:: col_buf – [in] the column buffer.
Returns:: column measurement id.

uint32_t col_status(const uint8_t *col_buf) const

Read column status from column buffer.

Parameters:: col_buf – [in] the column buffer.
Returns:: column status.

uint32_t col_encoder(const uint8_t *col_buf) const

Encodes the column value.

This function encodes the column value.

Deprecated:: Use col_measurement_id instead. This function will be removed in future versions.

Deprecated:: Encoder count is deprecated as it is redundant with measurement id, barring a multiplication factor which varies by lidar mode. Use col_measurement_id instead

Parameters:: col_buf – [in] A measurement block pointer returned by nth_col().
Returns:: Encoded column value.

uint16_t col_frame_id(const uint8_t *col_buf) const

Retrieves the current frame id.

This function returns the frame id of a column

Deprecated:: Use frame_id instead. This function will be removed in future versions.

Deprecated:: Use frame_id instead

Parameters:: col_buf – [in] A measurement block pointer returned by nth_col().
Returns:: The current frame id.

template<typename T> void col_field(const uint8_t *col_buf, const std::string &f, T *dst, int dst_stride = 1) const

Copy the specified channel field out of a packet measurement block.

Template Parameters:

T – T should be a numeric type large enough to store values of the specified field. Otherwise, data will be truncated.

Parameters:

col_buf – [in] a measurement block pointer returned by nth_col().
f – [in] the channel field to copy.
dst – [out] destination array of size pixels_per_column * dst_stride.
dst_stride – [in] stride for writing to the destination array.

int block_parsable() const

Returns maximum available size of parsing block usable with block_field

Returns:: if packet format does not allow for block parsing, returns 0

template<typename T, int BlockDim> void block_field(Eigen::Ref<img_t<T>> field, const std::string &f, const uint8_t *lidar_buf) const

Copy the specified channel field out of a packet measurement block. Faster traversal than col_field, but has to copy the entire packet all at once.

Template Parameters:

T – T should be a numeric type large enough to store values of the specified field. Otherwise, data will be truncated.

Parameters:

field – [out] destination eigen array
f – [in] the channel field to copy.
lidar_buf – [in] the lidar buffer.

const uint8_t *nth_px(int n, const uint8_t *col_buf) const

Get pointer to nth pixel of a column buffer.

Parameters:

n – [in] which pixel.
col_buf – [in] the column buffer.

Returns:

pointer to nth pixel of a column buffer.

uint64_t imu_sys_ts(const uint8_t *imu_buf) const

Read sys ts from imu packet buffer.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: sys ts from imu pacet buffer.

uint64_t imu_accel_ts(const uint8_t *imu_buf) const

Read acceleration timestamp.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: acceleration ts from imu packet buffer.

uint64_t imu_gyro_ts(const uint8_t *imu_buf) const

Read gyro timestamp.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: gyro ts from imu packet buffer.

float imu_la_x(const uint8_t *imu_buf) const

Read acceleration in x.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: acceleration in x.

float imu_la_y(const uint8_t *imu_buf) const

Read acceleration in y.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: acceleration in y.

float imu_la_z(const uint8_t *imu_buf) const

Read acceleration in z.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: acceleration in z.

float imu_av_x(const uint8_t *imu_buf) const

Read angular velocity in x.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: angular velocity in x.

float imu_av_y(const uint8_t *imu_buf) const

Read angular velocity in y.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: angular velocity in y.

float imu_av_z(const uint8_t *imu_buf) const

Read angular velocity in z.

Parameters:: imu_buf – [in] the imu packet buffer.
Returns:: angular velocity in z.

uint64_t field_value_mask(const std::string &f) const

Get the mask of possible values that can be parsed by the channel field

Parameters:: f – [in] the channel field
Returns:: mask of possible values

int field_bitness(const std::string &f) const

Get number of bits in the channel field

Parameters:: f – [in] the channel field
Returns:: number of bits

optional<uint64_t> crc(const uint8_t *lidar_buf) const

Return the CRC contained in the packet if present

Parameters:: lidar_buf – [in] the lidar buffer.
Returns:: crc contained in the packet if present

uint64_t calculate_crc(const uint8_t *lidar_buf) const

Calculate the CRC for the given packet.

Parameters:: lidar_buf – [in] the lidar buffer.
Returns:: calculated crc of the packet

Public Members

const UDPProfileLidar udp_profile_lidar: udp lidar profile of packet format

const size_t lidar_packet_size: lidar packet size

const size_t imu_packet_size: imu packet size

const int columns_per_packet: columns per lidar packet

const int pixels_per_column: pixels per column for lidar

const packet_format &get_format(const sensor_info &info)

Get a packet parser for a particular data format.

Parameters:: info – [in] parameters provided by the sensor.
Returns:: a packet_format suitable for parsing UDP packets sent by the sensor.

const packet_format &get_format(UDPProfileLidar udp_profile_lidar, size_t pixels_per_column, size_t columns_per_packet)

Get a packet parser for a particular data format.

Parameters:

udp_profile_lidar – [in] lidar profile
pixels_per_column – [in] pixels per column
columns_per_packet – [in] columns per packet

Returns:

a packet_format suitable for parsing UDP packets sent by the sensor.

MISC 

std::string ouster::sensor::client_version()

Get client version.

Returns:: client version string

double ouster::sensor::range_unit = 0.001: Unit of range from sensor packet, in meters.