types.h

Type-defs
Helper Data
Sensor Info
Sensor Config
Data Format
Packet Format
MISC

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 columsn per second

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

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 – 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_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

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

enum ouster::sensor::ChanField

Tag to identitify a paricular value reported in the sensor channel data block.

Values:

enumerator RANGE: 1st return range

enumerator RANGE2: 2nd return range

enumerator INTENSITY

Deprecated:: (gcc 5.4 doesn’t support annotations here)

enumerator SIGNAL: 1st return signal

enumerator SIGNAL2: 2nd return signal

enumerator REFLECTIVITY: 1st return reflectivity

enumerator REFLECTIVITY2: 2nd return reflectivity

enumerator AMBIENT

enumerator NEAR_IR: near_ir

enumerator FLAGS: 1st return flags

enumerator FLAGS2: 2nd return flags

enumerator RAW32_WORD1: raw word access to packet for dev use

enumerator RAW32_WORD2: raw word access to packet for dev use

enumerator RAW32_WORD3: raw word access to packet for dev use

enumerator RAW32_WORD4: raw word access to packet for dev use

enumerator CHAN_FIELD_MAX: max which allows us to introduce future fields

std::string ouster::sensor::to_string(ChanField field)

Get string representation of a channel field.

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

Sensor Info 

struct ouster::sensor::sensor_info

Stores necessary information from sensor to parse and project sensor data.

Public Members

std::string name

Deprecated:: : will be removed in the next version

std::string sn: sensor serial number

std::string fw_rev: fw revision

lidar_mode mode: lidar mode of sensor

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 imu_to_sensor_transform: transform between sensor coordinate frame and imu

mat4d lidar_to_sensor_transform: transform between lidar and sensor coordinate frames

mat4d extrinsic: extrinsic matrix

uint32_t init_id: initialization ID updated every reinit

uint16_t udp_port_lidar: the lidar destination port

uint16_t udp_port_imu: the imu destination port

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::parse_metadata(const std::string &metadata)

Parse metadata text blob from the sensor into a sensor_info struct.

String and vector fields will have size 0 if the parameter cannot be found or parsed, while lidar_mode will be set to 0 (invalid).

Throws: runtime_error – if the text is not valid json
Parameters: metadata – [in] a text blob returned by get_metadata from client.h.
Returns: a sensor_info struct populated with a subset of the metadata.

sensor_info ouster::sensor::metadata_from_json(const std::string &json_file)

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.
Returns: a sensor_info struct populated with a subset of the metadata.

std::string ouster::sensor::convert_to_legacy(const std::string &metadata)

Convert non-legacy string representation of metadata to legacy.

Parameters: metadata – [in] non-legacy string representation of metadata.
Returns: legacy string representation of 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)

Get a string representation of metadata. All fields included.

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

Sensor Config 

struct ouster::sensor::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<int> udp_port_lidar: The destination port for the lidar data to be sent to

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

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

optional<lidar_mode> ld_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<int> 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.

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 ouster::sensor::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

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 ouster::sensor::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.

uint16_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.

ChanFieldType field_type(ChanField 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.

FieldIter end() const: A const forward iterator over field / type pairs.

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

Deprecated:

uint16_t col_frame_id(const uint8_t *col_buf) const

Deprecated:

template<typename T, typename std::enable_if<std::is_unsigned<T>::value, T>::type = 0> void col_field(const uint8_t *col_buf, ChanField 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 an unsigned integer 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.

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.

uint32_t px_range(const uint8_t *px_buf) const

Read range from pixel buffer.

Parameters: px_buf – [in] the pixel buffer.
Returns: range from pixel buffer.

uint16_t px_reflectivity(const uint8_t *px_buf) const

Read reflectivity from pixel buffer.

Parameters: px_buf – [in] the pixel buffer.
Returns: reflectivity from pixel buffer.

uint16_t px_signal(const uint8_t *px_buf) const

Read signal from pixel buffer.

Parameters: px_buf – [in] the pixel buffer.
Returns: signal from pixel buffer.

uint16_t px_ambient(const uint8_t *px_buf) const

Read ambient from pixel buffer.

Parameters: px_buf – [in] the pixel buffer.
Returns: ambient from pixel 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.

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 int encoder_ticks_per_rev

Deprecated:

Friends

friend const packet_format &get_format(const sensor_info &info)

Declare get_format as friend.

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.

struct Impl

const packet_format &ouster::sensor::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.

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.