Class IndexedPcapReader

Inheritance Relationships

Base Type

Class Documentation

class IndexedPcapReader : public ouster::sdk::pcap::PcapReader

A PcapReader that allows seeking to the start of a lidar frame.

The index must be computed by iterating through all packets and calling update_index_for_current_packet() for each one.

Public Functions

IndexedPcapReader(const std::string &pcap_filename, const std::vector<std::string> &metadata_filenames)
Parameters:

  • pcap_filename[in] - A file path of the pcap to read

  • metadata_filenames[in] - A vector of sensor metadata file paths

  • pcap_filename[in] – A file path of the pcap to read

  • metadata_filenames[in] – A vector of sensor metadata filepaths

IndexedPcapReader(const std::string &pcap_filename, const std::vector<ouster::sdk::core::SensorInfo> &sensor_infos)
Parameters:

  • pcap_filename[in] – A file path of the pcap to read

  • sensor_infos[in] – A vector of sensor info structures for each sensors

void build_index()

This method constructs the index.

Call this method before requesting the index information using get_index()

const PcapIndex &get_index() const

Get index for the underlying pcap.

Returns:

returns a PcapIndex object

nonstd::optional<size_t> sensor_idx_for_current_packet(bool soft_id_check = false) const

Attempts to match the current packet to one of the sensor info objects and returns the appropriate packet format if there is one.

Parameters:

soft_id_check[in] – if id mismatches should be ignored

Returns:

An optional sensor index for the current packet

std::pair<IdxErrorType, nonstd::optional<size_t>> check_sensor_idx_for_current_packet(bool soft_id_check) const

Attempts to match the current packet to one of the sensor info objects and returns the appropriate packet format if there is one.

Parameters:

soft_id_check[in] – if id mismatches should be ignored

Returns:

An optional packet format for the current packet

nonstd::optional<uint16_t> current_frame_id() const
Returns:

the current packet’s frame_id if the packet is associated with a sensor (and its corresponding packet format)

int update_index_for_current_packet()

Updates the frame index for the current packet.

Returns:

the progress of indexing as an int from [0, 100]

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

Get the SensorInfo for each sensor in this pcap.

Returns:

the SensorInfo for each sensor in this pcap

Public Static Functions

static bool frame_id_rolled_over(uint16_t previous, uint16_t current)

Return true if the frame_id from the packet stream has rolled over, hopefully avoiding spurious result that could occur from out of order or dropped packets.

Parameters:

  • previous[in] – The previous frame id.

  • current[in] – The current frame id.

Returns:

true if the frame id has rolled over.