Class OsfScanSource

Inheritance Relationships

Base Types

  • public ouster::sdk::core::ScanSource (Class ScanSource)

  • private ouster::sdk::impl::ScanSourceBuilder< ouster::sdk::core::IoType::OSF, OsfScanSource >

Class Documentation

class OsfScanSource : public ouster::sdk::core::ScanSource, private ouster::sdk::impl::ScanSourceBuilder<ouster::sdk::core::IoType::OSF, OsfScanSource>

ScanSource that produces LidarScans from a given OSF file.

Public Functions

OsfScanSource(const std::string &file, const std::function<void(OsfScanSourceOptions&)> &options = {})

open_source compatible constructor

Parameters:

  • file[in] OSF file to open

  • options[in] scan source options

OsfScanSource(const std::string &file, OsfScanSourceOptions options)

open_source compatible constructor

Parameters:

  • file[in] OSF file to open

  • options[in] scan source options

virtual ouster::sdk::core::ScanIterator begin() const override

Provides each scan from all sensors in time order.

Returns:

start iterator for all sensors

virtual ouster::sdk::core::ScanIterator begin(int sensor_index) const override

Provides scans from a single sensor in time order If idx < 0 provides scans from all sensors.

Parameters:

  • sensor_index[in] sensor index

  • sensor_index[in] – sensor index

Throws:

std::runtime_error – if sensor_idx >= number of sensors

Returns:

start iterator for the sensor with the given index

virtual size_t size() const override

The length of the source from begin to end.

For example: If uncollated this is the total number of scans in the source, if collated this is the number of scan collations.

Throws:

std::runtime_error – if unindexed

Returns:

length of the source

virtual size_t size_hint() const override

The approximate length of the source if unindexed, or the real size if indexed.

Live sources or sources with undefined length will return 0.

Returns:

approximate length of source

virtual const std::vector<size_t> &scans_num() const override

Get the scan count for each sensor in the file.

Throws:

std::runtime_error – if unindexed

Returns:

scan count for each sensor in the file

virtual const std::vector<std::vector<std::pair<uint64_t, uint64_t>>> &individual_index() const override

timestamp based index of all scans in the file for each sensor, each pair is timestamp followed by global scan index

Throws:

std::runtime_error – if unindexed

Returns:

index

virtual const std::vector<std::pair<uint64_t, uint64_t>> &full_index() const override

timestamp based index of all scans in the file, each pair is timestamp followed by sensor index

Throws:

std::runtime_error – if unindexed

Returns:

index

virtual bool is_indexed() const override

Indicates if the source contains an index for fast random access.

Returns:

if indexed or not

virtual const std::vector<std::shared_ptr<ouster::sdk::core::SensorInfo>> &sensor_info() const override

Get the sensor info for each sensor in this dataset.

Returns:

sensor info for each sensor

virtual std::unique_ptr<ScanSource> move() override

move into a newly allocated item

Returns:

a unique pointer to a newly allocated ScanSource instance containing the moved-from state.

bool is_collated() const

Check if the OsfScanSource has collations available and enabled.

Returns:

true if collations are available and enabled

static std::unique_ptr<core::ScanSource> create(const std::vector<std::string> &sources, const ScanSourceOptions &options, bool collate, int sensor_idx = -1)

open_source compatible factory that handles different collating behaviours.

Parameters:

  • sources[in] – source filenames

  • options[in] – source options

  • collate[in] – whether to collate the source or not

  • sensor_idx[in] – access specific sensor index in the osf

Returns:

unique_ptr of ScanSource type