Class OusterDirectInput

• Defined in File OusterDirectInput.h

Nested Relationships

Nested Types

• Struct OusterDirectInput::Params

Inheritance Relationships

Base Type

• public RawDataSourceBase

Class Documentation

class OusterDirectInput : public RawDataSourceBase

RawDataSource from an Ouster LiDAR sensor using the native Ouster C++ SDK.

This module connects directly to an Ouster sensor (or replays a .pcap file) without requiring any ROS middleware. It produces mrpt::obs::CObservationPointCloud (LiDAR) and mrpt::obs::CObservationIMU observations and pushes them into the MOLA pipeline.

Public Functions

OusterDirectInput()

~OusterDirectInput() override

OusterDirectInput(const OusterDirectInput&) = delete

OusterDirectInput &operator=(const OusterDirectInput&) = delete

OusterDirectInput(OusterDirectInput&&) = delete

OusterDirectInput &operator=(OusterDirectInput&&) = delete

void spinOnce() override

void onQuit() override

Protected Functions

void initialize_rds(const Yaml &cfg) override