Classes
struct	client

Typedefs
using	ns = std::chrono::nanoseconds

using	OperationMode = operation_mode_t

using	PulseMode = pulse_mode_t

Enumerations
enum	client_state { ERROR = 1, LIDAR_DATA = 2, IMU_DATA = 4 }

enum	operation_mode_t { MODE_512x10 =0, MODE_1024x10 =1, MODE_2048x10 =2, MODE_512x20 =3, MODE_1024x20 =4 }

enum	pulse_mode_t { PULSE_STANDARD =0, PULSE_NARROW =1 }

Functions
static int	cfg_socket (const char *addr)

float	col_h_angle (const uint8_t *col_buf)

float	col_h_encoder_count (const uint8_t *col_buf)

uint32_t	col_measurement_id (const uint8_t *col_buf)

uint64_t	col_timestamp (const uint8_t *col_buf)

uint32_t	col_valid (const uint8_t *col_buf)

uint64_t	imu_accel_ts (const uint8_t *imu_buf)

float	imu_av_x (const uint8_t *imu_buf)

float	imu_av_y (const uint8_t *imu_buf)

float	imu_av_z (const uint8_t *imu_buf)

uint64_t	imu_gyro_ts (const uint8_t *imu_buf)

float	imu_la_x (const uint8_t *imu_buf)

float	imu_la_y (const uint8_t *imu_buf)

float	imu_la_z (const uint8_t *imu_buf)

uint64_t	imu_sys_ts (const uint8_t *imu_buf)

std::shared_ptr< client >	init_client (const std::string &hostname, const std::string &udp_dest_host, int lidar_port, int imu_port)

static bool	init_tables ()

const uint8_t *	nth_col (int n, const uint8_t *udp_buf)

const uint8_t *	nth_px (int n, const uint8_t *col_buf)

client_state	poll_client (const client &cli)

uint16_t	px_noise_photons (const uint8_t *px_buf)

uint32_t	px_range (const uint8_t *px_buf)

uint16_t	px_reflectivity (const uint8_t *px_buf)

uint16_t	px_signal_photons (const uint8_t *px_buf)

bool	read_imu_packet (const client &cli, uint8_t *buf)

bool	read_lidar_packet (const client &cli, uint8_t *buf)

static bool	recv_fixed (int fd, void *buf, size_t len)

void	set_advanced_params (std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection)

static int	udp_data_socket (int port)

Variables
static OperationMode	_operation_mode = ouster::OS1::MODE_1024x10

static std::string	_operation_mode_str = ""

static PulseMode	_pulse_mode = ouster::OS1::PULSE_STANDARD

static std::string	_pulse_mode_str = ""

static bool	_window_rejection = true

static std::string	_window_rejection_str = ""

const size_t	imu_packet_bytes = 48

const size_t	lidar_packet_bytes = 12608

static bool	tables_initialized = init_tables()

Typedef Documentation

using ouster::OS1::ns = typedef std::chrono::nanoseconds

Definition at line 21 of file os1.cpp.

using ouster::OS1::OperationMode = typedef operation_mode_t

Definition at line 72 of file os1.h.

using ouster::OS1::PulseMode = typedef pulse_mode_t

Definition at line 81 of file os1.h.

Enumeration Type Documentation

enum ouster::OS1::client_state

Enumerator
ERROR
LIDAR_DATA
IMU_DATA

Definition at line 19 of file os1.h.

enum ouster::OS1::operation_mode_t

Operation modes (horizontal resolution and scan rate) supported by the OS1 LiDAR

Enumerator
MODE_512x10
MODE_1024x10
MODE_2048x10
MODE_512x20
MODE_1024x20

Definition at line 65 of file os1.h.

enum ouster::OS1::pulse_mode_t

Laser pulse modes supported by the OS1 LiDAR

Enumerator
PULSE_STANDARD
PULSE_NARROW

Definition at line 77 of file os1.h.

Function Documentation

static int ouster::OS1::cfg_socket ( const char * addr )

static

Definition at line 73 of file os1.cpp.

float ouster::OS1::col_h_angle ( const uint8_t * col_buf )

inline

Definition at line 78 of file os1_packet.h.

float ouster::OS1::col_h_encoder_count ( const uint8_t * col_buf )

inline

Definition at line 84 of file os1_packet.h.

uint32_t ouster::OS1::col_measurement_id ( const uint8_t * col_buf )

inline

Definition at line 90 of file os1_packet.h.

uint64_t ouster::OS1::col_timestamp ( const uint8_t * col_buf )

inline

Definition at line 72 of file os1_packet.h.

uint32_t ouster::OS1::col_valid ( const uint8_t * col_buf )

inline

Definition at line 96 of file os1_packet.h.

uint64_t ouster::OS1::imu_accel_ts ( const uint8_t * imu_buf )

inline

Definition at line 139 of file os1_packet.h.

float ouster::OS1::imu_av_x ( const uint8_t * imu_buf )

inline

Definition at line 171 of file os1_packet.h.

float ouster::OS1::imu_av_y ( const uint8_t * imu_buf )

inline

Definition at line 177 of file os1_packet.h.

float ouster::OS1::imu_av_z ( const uint8_t * imu_buf )

inline

Definition at line 183 of file os1_packet.h.

uint64_t ouster::OS1::imu_gyro_ts ( const uint8_t * imu_buf )

inline

Definition at line 145 of file os1_packet.h.

float ouster::OS1::imu_la_x ( const uint8_t * imu_buf )

inline

Definition at line 152 of file os1_packet.h.

float ouster::OS1::imu_la_y ( const uint8_t * imu_buf )

inline

Definition at line 158 of file os1_packet.h.

float ouster::OS1::imu_la_z ( const uint8_t * imu_buf )

inline

Definition at line 164 of file os1_packet.h.

uint64_t ouster::OS1::imu_sys_ts ( const uint8_t * imu_buf )

inline

Definition at line 133 of file os1_packet.h.

std::shared_ptr< client > ouster::OS1::init_client	(	const std::string &	hostname,
		const std::string &	udp_dest_host,
		int	lidar_port,
		int	imu_port
	)

Connect to the sensor and start listening for data

Parameters

hostname	hostname or ip of the sensor
udp_dest_host	hostname or ip where the sensor should send data
lidar_port	port on which the sensor will send lidar data
imu_port	port on which the sensor will send imu data

Returns: pointer owning the resources associated with the connection

Note: Added to support advanced mode parameters configuration; Added to support advanced mode parameters configuration

Definition at line 114 of file os1.cpp.

static bool ouster::OS1::init_tables ( )

static

Definition at line 56 of file os1_packet.h.

const uint8_t* ouster::OS1::nth_col	(	int	n,
		const uint8_t *	udp_buf
	)

inline

Definition at line 68 of file os1_packet.h.

const uint8_t* ouster::OS1::nth_px	(	int	n,
		const uint8_t *	col_buf
	)

inline

Definition at line 103 of file os1_packet.h.

client_state ouster::OS1::poll_client ( const client & cli )

Block for up to a second until either data is ready or an error occurs.

Parameters

cli	client returned by init_client associated with the connection

Returns: client_state s where (s & ERROR) is true if an error occured, (s & LIDAR_DATA) is true if lidar data is ready to read, and (s & IMU_DATA) is true if imu data is ready to read

Definition at line 279 of file os1.cpp.

uint16_t ouster::OS1::px_noise_photons ( const uint8_t * px_buf )

inline

Definition at line 126 of file os1_packet.h.

uint32_t ouster::OS1::px_range ( const uint8_t * px_buf )

inline

Definition at line 107 of file os1_packet.h.

uint16_t ouster::OS1::px_reflectivity ( const uint8_t * px_buf )

inline

Definition at line 114 of file os1_packet.h.

uint16_t ouster::OS1::px_signal_photons ( const uint8_t * px_buf )

inline

Definition at line 120 of file os1_packet.h.

bool ouster::OS1::read_imu_packet	(	const client &	cli,
		uint8_t *	buf
	)

Read imu data from the sensor. Will block for up to a second if no data is available.

Parameters

cli	client returned by init_client associated with the connection
buf	buffer to which to write imu data. Must be at least imu_packet_bytes + 1 bytes

Returns: true if an imu packet was successfully read

Definition at line 315 of file os1.cpp.

bool ouster::OS1::read_lidar_packet	(	const client &	cli,
		uint8_t *	buf
	)

Read lidar data from the sensor. Will block for up to a second if no data is available.

Parameters

cli	client returned by init_client associated with the connection
buf	buffer to which to write lidar data. Must be at least lidar_packet_bytes + 1 bytes

Returns: true if a lidar packet was successfully read

Definition at line 311 of file os1.cpp.

static bool ouster::OS1::recv_fixed	(	int	fd,
		void *	buf,
		size_t	len
	)

static

Definition at line 300 of file os1.cpp.

void ouster::OS1::set_advanced_params	(	std::string	operation_mode_str,
		std::string	pulse_mode_str,
		bool	window_rejection
	)

Define the pointcloud type to use

Parameters

operation_mode	defines the resolution and frame rate
pulse_mode	is the width of the laser pulse (standard or narrow)
window_rejection	to reject short range data (true), or to accept short range data (false)

Note: This function was added to configure advanced operation modes for Autoware; Added to support advanced mode parameters configuration for Autoware

Definition at line 323 of file os1.cpp.

static int ouster::OS1::udp_data_socket ( int port )

static

Definition at line 43 of file os1.cpp.

Variable Documentation

OperationMode ouster::OS1::_operation_mode = ouster::OS1::MODE_1024x10

static

Note: Added to support advanced mode parameters configuration for Autoware

Definition at line 26 of file os1.cpp.

std::string ouster::OS1::_operation_mode_str = ""

static

Definition at line 29 of file os1.cpp.

PulseMode ouster::OS1::_pulse_mode = ouster::OS1::PULSE_STANDARD

static

Definition at line 27 of file os1.cpp.

std::string ouster::OS1::_pulse_mode_str = ""

static

Definition at line 30 of file os1.cpp.

bool ouster::OS1::_window_rejection = true

static

Definition at line 28 of file os1.cpp.

std::string ouster::OS1::_window_rejection_str = ""

static

Definition at line 31 of file os1.cpp.

const size_t ouster::OS1::imu_packet_bytes = 48

Definition at line 15 of file os1.h.

const size_t ouster::OS1::lidar_packet_bytes = 12608

Definition at line 14 of file os1.h.

bool ouster::OS1::tables_initialized = init_tables()

static

Definition at line 65 of file os1_packet.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation