basics.h

General

using ouster::osf::ts_t = std::chrono::nanoseconds: Common timestamp for all time in ouster::osf. Nanoseconds were chosen due to the data coming off of the sensor.

enum ouster::osf::OSF_VERSION

Enumerator for the OSF Version. This will change whenever the underlying flatbuffer structures change.

Values:

enumerator V_INVALID: Invalid OSF Version.

enumerator V_1_0: Original version of the OSF (2019/9/16)

enumerator V_1_1: Add gps/imu/car trajectory to the OSF (2019/11/14)

enumerator V_1_2: Change gps_waypoint type to Table in order to support Python language generator

enumerator V_1_3: Add extension for Message in osfChunk and for Session in osfSession (2020/03/18)

enumerator V_1_4: Gen2/128 support (2020/08/11)

enumerator V_2_0: Second Generation OSF v2.

enumerator V_2_1: Add full index and addtional info to LidarScans.

static uint32_t ouster::osf::FLATBUFFERS_PREFIX_LENGTH = 4

Standard Flatbuffers prefix size

Todo:: [pb]: Rename this beast?

std::string ouster::osf::to_string(const HEADER_STATUS status)

To String Functionality For HEADER_STATUS

Parameters:: status – [in] The data to get the string representation format
Returns:: The string representation

Buffer Operations

uint32_t ouster::osf::get_prefixed_size(const uint8_t *buf)

Reads the prefix size of the Flatbuffers buffer. First 4 bytes.

Parameters:: buf – [in] Pointer to Flatbuffers buffer stared with prefixed size
Returns:: the size recovered from the stored prefix size

uint32_t ouster::osf::get_block_size(const uint8_t *buf)

Calculates the full size of the block (prefixed_size + size + CRC32).

Parameters:: buf – [in] Pointer to Flatbuffers buffer stared with prefixed size
Returns:: the calculated size of the block

bool ouster::osf::check_prefixed_size_block_crc(const uint8_t *buf, const uint32_t max_size = std::numeric_limits<uint32_t>::max())

Check the prefixed size buffer CRC32 fields.

Parameters:

buf – [in] Structured as size prefixed Flatbuffer buffer, i.e. first 4 bytes is the size of the buffer (excluding 4 bytes of the size), and the 4 bytes that follows right after the 4 + [prefixed_size] is the CRC32 bytes.
max_size – [in] Total number of bytes that can be accessed in the buffer, as a safety precaution if buffer is not well formed, or if first prefixed size bytes are broken.

Returns:

true if CRC field is correct, false otherwise

std::string ouster::osf::to_string(const uint8_t *buf, const size_t count, const size_t max_show_count = 0)

Debug method to get hex buf values in string

Parameters:

buf – [in] The buffer to dump to string.
count – [in] The size of the buffer.
max_show_count – [in] The number of bytes to dump. This arg is optional.

Returns:

The string representation

Batching

ChunksLayout

std::string ouster::osf::to_string(ChunksLayout chunks_layout)

To String Functionality For ChunksLayout

Parameters:: chunks_layout – [in] The data to get the string representation format
Returns:: The string representation

ChunksLayout ouster::osf::chunks_layout_of_string(const std::string &s)

From String Conversion Functionality To ChunksLayout

Parameters:: s – [in] The String Representation of ChunksLayout
Returns:: The corrosponding ChunksLayout object

enum ouster::osf::ChunksLayout

Chunking strategies. Refer to RFC0018 for more details.

Values:

enumerator LAYOUT_STANDARD: not used currently

enumerator LAYOUT_STREAMING: default layout (the only one for a user)