open_source.h

Structs

struct PacketSourceOptions

All possible configuration options for packet sources available through open_packet_source

Subclassed by ouster::pcap::PcapPacketSourceOptions, ouster::sensor::SensorPacketSourceOptions

Public Functions

explicit PacketSourceOptions(ScanSourceOptions &options)

Construct given the options in a ScanSourceOptions.

Parameters:

options – [in] options

PacketSourceOptions()

Default constructor.

void check(const char *source_type) const

Check if any parameters are unused

Parameters:

source_type – [in] name of source type

Throws:

std::runtime_error – if any parameters are unused

Public Members

impl::Parameter<std::string> extrinsics_file

file to load extrinsics from

impl::Parameter<std::vector<Eigen::Matrix<double, 4, 4, Eigen::RowMajor>>> extrinsics

list of extrinsics matrices to apply to the sensor with the same index, overrides any extrinsics loaded from file

impl::Parameter<bool> soft_id_check = false

If true, accept packets/scans that don’t match the init_id/sn of the metadata

impl::Parameter<std::vector<std::string>> meta

optional list of metadata files to load with some formats, if not provided files are attempted to be found automatically

impl::Parameter<nonstd::optional<uint16_t>> lidar_port

if set, the lidar udp port to use with the sensor

impl::Parameter<nonstd::optional<uint16_t>> imu_port

if set, the imu udp port to use with the sensor

impl::Parameter<float> config_timeout = 45.0

timeout for http endpoints while configuring the sensor

impl::Parameter<float> timeout = 1.0

timeout for receiving packets from the sensor

impl::Parameter<float> buffer_time_sec = 0.0

If > 0.0 buffer packets for this long internally Useful if you may not be retrieving packets from the source consistently

impl::Parameter<bool> index = false

if true, ensure that this file is indexed, indexing in place if necessary

impl::Parameter<std::vector<ouster::sensor::sensor_info>> sensor_info

Override sensor info. If provided used instead of talking to the sensor.

impl::Parameter<bool> do_not_reinitialize = false

If true, do not change any settings on the sensor or reinitialize it.

impl::Parameter<bool> no_auto_udp_dest = false

If true, do not change the udp_dest configuration option on the sensor.

impl::Parameter<std::vector<ouster::sensor::sensor_config>> sensor_config

Configuration to apply to the sensors.

struct ScanSourceOptions

All possible configuration options for sources available through open_source.

Subclassed by ouster::osf::OsfScanSourceOptions, ouster::pcap::PcapScanSourceOptions, ouster::sensor::SensorScanSourceOptions

Public Functions

void check(const char *source_type) const

Check if any parameters are unused

Parameters:

source_type – [in] name of source type

Throws:

std::runtime_error – if any parameters are unused

Public Members

impl::Parameter<std::string> extrinsics_file

file to load extrinsics from

impl::Parameter<std::vector<Eigen::Matrix<double, 4, 4, Eigen::RowMajor>>> extrinsics

list of extrinsics matrices to apply to the sensor with the same index, overrides any extrinsics loaded from file

impl::Parameter<nonstd::optional<std::vector<std::string>>> field_names

list of fields to decode into LidarScans, if not set decodes all fields, if an empty array decodes no fields

impl::Parameter<bool> soft_id_check = false

If true, accept packets/scans that don’t match the init_id/sn of the metadata

impl::Parameter<bool> index = false

if true, ensure that this file is indexed, indexing in place if necessary

impl::Parameter<std::vector<std::string>> meta

optional list of metadata files to load with some formats, if not provided files are attempted to be found automatically

impl::Parameter<nonstd::optional<uint16_t>> lidar_port

if set, the lidar udp port to use with the sensor

impl::Parameter<nonstd::optional<uint16_t>> imu_port

if set, the imu udp port to use with the sensor

impl::Parameter<bool> do_not_reinitialize = false

If true, do not change any settings on the sensor or reinitialize it.

impl::Parameter<bool> no_auto_udp_dest = false

If true, do not change the udp_dest configuration option on the sensor.

impl::Parameter<float> timeout = 1.0

timeout for each sensor in seconds only applies to iterators, not get_scan

impl::Parameter<float> config_timeout = 45.0

timeout in seconds for http endpoints while configuring the sensor

impl::Parameter<unsigned int> queue_size = 2

maximum number of scans to queue, useful for limiting buffer bloat

impl::Parameter<std::vector<ouster::sensor::sensor_info>> sensor_info

Override sensor info. If provided used instead of talking to the sensor.

impl::Parameter<bool> raw_headers = false

If true, batch raw_headers into each scan.

impl::Parameter<bool> raw_fields = false

If true, batch raw_fields into each scan.

impl::Parameter<std::vector<ouster::sensor::sensor_config>> sensor_config

Configuration to apply to the sensors.

impl::Parameter<ouster::core::error_handler_t> error_handler{ouster::core::default_error_handler}

An optional error handler.