open_source.h
Structs
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struct PacketSourceOptions
All possible configuration options for packet sources available through open_packet_source
Subclassed by ouster::pcap::PcapPacketSourceOptions, ouster::sensor::SensorPacketSourceOptions
Public Functions
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explicit PacketSourceOptions(ScanSourceOptions &options)
Construct given the options in a ScanSourceOptions.
- Parameters:
options – [in] options
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PacketSourceOptions()
Default constructor.
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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
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impl::Parameter<std::string> extrinsics_file
file to load extrinsics from
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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
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impl::Parameter<bool> soft_id_check = false
If true, accept packets/scans that don’t match the init_id/sn of the metadata
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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
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impl::Parameter<nonstd::optional<uint16_t>> lidar_port
if set, the lidar udp port to use with the sensor
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impl::Parameter<nonstd::optional<uint16_t>> imu_port
if set, the imu udp port to use with the sensor
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impl::Parameter<float> config_timeout = 45.0
timeout for http endpoints while configuring the sensor
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impl::Parameter<float> timeout = 1.0
timeout for receiving packets from the sensor
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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
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impl::Parameter<bool> index = false
if true, ensure that this file is indexed, indexing in place if necessary
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impl::Parameter<std::vector<ouster::sensor::sensor_info>> sensor_info
Override sensor info. If provided used instead of talking to the sensor.
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impl::Parameter<bool> do_not_reinitialize = false
If true, do not change any settings on the sensor or reinitialize it.
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impl::Parameter<bool> no_auto_udp_dest = false
If true, do not change the udp_dest configuration option on the sensor.
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impl::Parameter<std::vector<ouster::sensor::sensor_config>> sensor_config
Configuration to apply to the sensors.
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explicit PacketSourceOptions(ScanSourceOptions &options)
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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
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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
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impl::Parameter<std::string> extrinsics_file
file to load extrinsics from
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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
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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
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impl::Parameter<bool> soft_id_check = false
If true, accept packets/scans that don’t match the init_id/sn of the metadata
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impl::Parameter<bool> index = false
if true, ensure that this file is indexed, indexing in place if necessary
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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
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impl::Parameter<nonstd::optional<uint16_t>> lidar_port
if set, the lidar udp port to use with the sensor
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impl::Parameter<nonstd::optional<uint16_t>> imu_port
if set, the imu udp port to use with the sensor
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impl::Parameter<bool> do_not_reinitialize = false
If true, do not change any settings on the sensor or reinitialize it.
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impl::Parameter<bool> no_auto_udp_dest = false
If true, do not change the udp_dest configuration option on the sensor.
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impl::Parameter<float> timeout = 1.0
timeout for each sensor in seconds only applies to iterators, not get_scan
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impl::Parameter<float> config_timeout = 45.0
timeout in seconds for http endpoints while configuring the sensor
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impl::Parameter<unsigned int> queue_size = 2
maximum number of scans to queue, useful for limiting buffer bloat
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impl::Parameter<std::vector<ouster::sensor::sensor_info>> sensor_info
Override sensor info. If provided used instead of talking to the sensor.
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impl::Parameter<bool> raw_headers = false
If true, batch raw_headers into each scan.
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impl::Parameter<bool> raw_fields = false
If true, batch raw_fields into each scan.
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impl::Parameter<std::vector<ouster::sensor::sensor_config>> sensor_config
Configuration to apply to the sensors.
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impl::Parameter<ouster::core::error_handler_t> error_handler{ouster::core::default_error_handler}
An optional error handler.
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void check(const char *source_type) const