sensor_scan_source.h

Class

class SensorScanSource : public ouster::core::ScanSource, private ouster::impl::ScanSourceBuilderMulti<ouster::core::IoType::SENSOR, SensorScanSource>

Provides a simple API for configuring sensors and retreiving LidarScans from them

Public Functions

SensorScanSource(const std::string &source, SensorScanSourceOptions options)

Construct the SensorScanSource.

Parameters:

  • source – [in] sensor hostname to connect to

  • options – [in] scan source options

SensorScanSource(const std::vector<std::string> &source, SensorScanSourceOptions options)

Construct the SensorScanSource.

Parameters:

  • source – [in] sensor hostnames to connect to

  • options – [in] scan source options

SensorScanSource(const std::string &source, const std::function<void(SensorScanSourceOptions&)> &options = {})

construct the SensorScanSource

Parameters:

  • source – [in] sensor hostname to connect to

  • options – [in] scan source options

SensorScanSource(const std::vector<std::string> &source, const std::function<void(SensorScanSourceOptions&)> &options = {})

construct the SensorScanSource

Parameters:

  • source – [in] sensor hostnames to connect

  • options – [in] scan source options

SensorScanSource(const std::vector<Sensor> &sensors, double config_timeout = 45, unsigned int queue_size = 2, bool soft_id_check = false)

Construct a SensorScanSource to connect to the listed sensors.

Parameters:

  • sensors – [in] sensors to connect to

  • config_timeout – [in] timeout in seconds for configuring sensors

  • queue_size – [in] maximum number of scans to queue

  • soft_id_check – [in] if true, allow accepting packets with mismatched sensor serial numbers and init_ids

SensorScanSource(const std::vector<Sensor> &sensors, const std::vector<ouster::sensor::sensor_info> &infos, double config_timeout = 45, unsigned int queue_size = 2, bool soft_id_check = false)

Construct a SensorScanSource to connect to the listed sensors If infos are provided, they are used instead of configuring the sensors and retrieving the sensor info from them.

Parameters:

  • sensors – [in] sensors to connect to

  • infos – [in] metadata for each sensor, if present used instead of configuring each sensor

  • config_timeout – [in] timeout for sensor config

  • queue_size – [in] maximum number of scans to queue

  • soft_id_check – [in] if true, allow accepting packets with mismatched sensor serial numbers and init_ids

SensorScanSource(const std::vector<Sensor> &sensors, const std::vector<ouster::sensor::sensor_info> &infos, const std::vector<LidarScanFieldTypes> &fields, double config_timeout = 45, unsigned int queue_size = 2, bool soft_id_check = false)

Construct a SensorScanSource to connect to the listed sensors If infos are provided, they are used instead of configuring the sensors and retrieving the sensor info from them.

Parameters:

  • sensors – [in] sensors to connect to

  • infos – [in] metadata for each sensor, if present used instead of configuring each sensor

  • fields – [in] fields to batch into LidarScans for each lidar. If empty default fields for that profile are used.

  • config_timeout – [in] timeout for sensor config

  • queue_size – [in] maximum number of scans to queue

  • soft_id_check – [in] if true, allow accepting packets with mismatched sensor serial numbers and init_ids

void flush()

Flush any buffered scans.

inline uint64_t dropped_scans()

Get the number of scans that were dropped due to buffer overflow.

Returns:

the number of dropped scans

inline uint64_t id_error_count()

Get the number of packets that had an id verification error

Returns:

the number of errors

std::pair<int, std::unique_ptr<LidarScan>> get_scan(double timeout_sec = 0.0)

Retrieves a scan from the queue or waits up to timeout_sec until one is available. Important: may return a nullptr if the underlying condition var experiences a spurious wakeup.

Parameters:

timeout_sec – [in] timeout for retrieving a scan

Returns:

the resulting lidar scan with the idx of the producing sensor if no result, the returned scan will be nullptr

inline virtual bool is_live() const override

Indicates if the source is streaming from a device, such as a sensor

Returns:

if live or not

inline virtual const std::vector<std::shared_ptr<ouster::sensor::sensor_info>> &sensor_info() const override

Get the sensor info for each sensor in this dataset

Returns:

sensor info for each sensor

virtual core::ScanIterator begin() const override

Provides each scan from all sensors in time order

Returns:

start iterator for all sensors

virtual 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

Throws:

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

Returns:

start iterator for the sensor with the given index

Structs

struct SensorScanSourceOptions : private ouster::ScanSourceOptions

Options for theSensorScanSource.

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<float> config_timeout

timeout in seconds for http endpoints while configuring the sensor

impl::Parameter<bool> do_not_reinitialize

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

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<std::string> extrinsics_file

file to load extrinsics from

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<nonstd::optional<uint16_t>> imu_port

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

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

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

impl::Parameter<bool> no_auto_udp_dest

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

impl::Parameter<unsigned int> queue_size

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

impl::Parameter<bool> raw_fields

If true, batch raw_fields into each scan.

impl::Parameter<bool> raw_headers

If true, batch raw_headers into each scan.

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

Configuration to apply to the sensors.

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> soft_id_check

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

impl::Parameter<float> timeout

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