indexed_pcap_reader.h

Enums

enum class ouster::sensor_utils::IdxErrorType

Values:

enumerator None

enumerator Size

enumerator Id

Class

class IndexedPcapReader : public ouster::sensor_utils::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::sensor::sensor_info> &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

Todo:

I recommend take this a private method, the problem with exposing this method is that it only yields right results if invoked sequentially ; the results are dependent on the internal state.

Returns:

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

const std::vector<ouster::sensor::sensor_info> &sensor_info() const

Get the sensor_info for each sensor in this pcap.

Returns:

the sensor_info 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.

class PcapDuplicatePortException : public std::runtime_error

class PcapIndex

Public Types

using frame_index = std::vector<uint64_t>

Maps a frame number to a file offset.

Public Functions

void clear()

Simple method to clear the index.

size_t frame_count(size_t sensor_index) const

Returns the number of frames in the frame index for the given sensor index.

Parameters:

sensor_index – [in] The position of the sensor for which to retrieve the desired frame count.

Returns:

The number of frames in the sensor’s frame index.

void seek_to_frame(PcapReader &reader, size_t sensor_index, unsigned int frame_number)

Seeks the given reader to the given frame number for the given sensor index

Parameters:

• reader – [inout] The reader to use for seeking.

• sensor_index – [in] The position of the sensor for which to seek for.

• frame_number – [in] The frame number to seek to.

Public Members

std::vector<frame_index> frame_indices_

frame index for each sensor

std::vector<GlobalIndex> global_frame_indices_

frame index for all sensors, contains the offset followed by the index of each sensor

Structs

struct GlobalIndex