Classes
struct	PointOS1

struct	PointXYZIF

struct	PointXYZIFN

struct	PointXYZIR

struct	PointXYZIRF

struct	PointXYZIRFN

Typedefs
using	CloudOS1 = pcl::PointCloud< PointOS1 >

using	CloudOS1XYZ = pcl::PointCloud< pcl::PointXYZ >

using	CloudOS1XYZI = pcl::PointCloud< pcl::PointXYZI >

using	CloudOS1XYZIF = pcl::PointCloud< PointXYZIF >

using	CloudOS1XYZIFN = pcl::PointCloud< PointXYZIFN >

using	CloudOS1XYZIR = pcl::PointCloud< PointXYZIR >

using	CloudOS1XYZIRF = pcl::PointCloud< PointXYZIRF >

using	CloudOS1XYZIRFN = pcl::PointCloud< PointXYZIRFN >

using	ns = std::chrono::nanoseconds

Functions
void	add_packet_to_cloud (ns scan_start_ts, ns scan_duration, const PacketMsg &pm, CloudOS1 &cloud)

std::function< void(const PacketMsg &)>	batch_packets (ns scan_dur, const std::function< void(ns, const CloudOS1 &)> &f)

sensor_msgs::PointCloud2	cloud_to_cloud_msg (const CloudOS1 &cloud, ns timestamp, const std::string &frame="os1")

void	convert2XYZ (const CloudOS1 &in, CloudOS1XYZ &out)

void	convert2XYZI (const CloudOS1 &in, CloudOS1XYZI &out)

void	convert2XYZIF (const CloudOS1 &in, CloudOS1XYZIF &out)

void	convert2XYZIFN (const CloudOS1 &in, CloudOS1XYZIFN &out)

void	convert2XYZIR (const CloudOS1 &in, CloudOS1XYZIR &out)

void	convert2XYZIRF (const CloudOS1 &in, CloudOS1XYZIRF &out)

void	convert2XYZIRFN (const CloudOS1 &in, CloudOS1XYZIRFN &out)

static ns	nearest_scan_dur (ns scan_dur, ns ts)

static PointOS1	nth_point (int ind, const uint8_t *col_buf)

sensor_msgs::Imu	packet_to_imu_msg (const PacketMsg &pm, const std::string &frame="os1_imu")

bool	read_imu_packet (const ouster::OS1::client &cli, PacketMsg &pm)

bool	read_lidar_packet (const ouster::OS1::client &cli, PacketMsg &pm)

void	set_point_mode (std::string mode_xyzir)

void	spin (const ouster::OS1::client &cli, const std::function< void(const PacketMsg &pm)> &lidar_handler, const std::function< void(const PacketMsg &pm)> &imu_handler)

ns	timestamp_of_imu_packet (const PacketMsg &pm)

ns	timestamp_of_lidar_packet (const PacketMsg &pm)

Variables
static std::string	_pointcloud_mode = "NATIVE"

std::function< void(const PacketMsg &)>	batch_packets (ns scan_dur, const std::function< void(ns, const CloudOS1 &)> &f)

Typedef Documentation

using ouster_driver::OS1::CloudOS1 = typedef pcl::PointCloud<PointOS1>

Definition at line 23 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZ = typedef pcl::PointCloud<pcl::PointXYZ>

Definition at line 24 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZI = typedef pcl::PointCloud<pcl::PointXYZI>

Definition at line 25 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZIF = typedef pcl::PointCloud<PointXYZIF>

Definition at line 27 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZIFN = typedef pcl::PointCloud<PointXYZIFN>

Definition at line 29 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZIR = typedef pcl::PointCloud<PointXYZIR>

Definition at line 26 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZIRF = typedef pcl::PointCloud<PointXYZIRF>

Definition at line 28 of file os1_ros.h.

using ouster_driver::OS1::CloudOS1XYZIRFN = typedef pcl::PointCloud<PointXYZIRFN>

Definition at line 30 of file os1_ros.h.

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

Definition at line 31 of file os1_ros.h.

Function Documentation

void ouster_driver::OS1::add_packet_to_cloud	(	ns	scan_start_ts,
		ns	scan_duration,
		const PacketMsg &	pm,
		CloudOS1 &	cloud
	)

Accumulate points from a lidar packet message into a PCL point cloud. All points are timestamped relative to scan_start_ts as a fraction of scan_duration, a float usually [0.0, 1.0)

Parameters

scan_start_ts	the timestamp of the beginning of the batch
scan_duration	length of a scan used to compute point timestamps
pm	packet message populated by read_lidar_packet
cloud	PCL point cloud of PointOS1s to accumulate

Definition at line 137 of file os1_ros.cpp.

std::function<void(const PacketMsg&)> ouster_driver::OS1::batch_packets	(	ns	scan_dur,
		const std::function< void(ns, const CloudOS1 &)> &	f
	)

Definition at line 182 of file os1_ros.cpp.

sensor_msgs::PointCloud2 ouster_driver::OS1::cloud_to_cloud_msg	(	const CloudOS1 &	cloud,
		ns	timestamp,
		const std::string &	frame = `"os1"`
	)

Serialize a PCL point cloud to a ROS message

Parameters

cloud	the PCL point cloud to convert
timestamp	the timestamp to give the resulting ROS message
frame	the frame to set in the resulting ROS message

Returns: a ROS message containing the point cloud. Can be deserialized with fromROSMsg in pcl_conversions

Note: Added to support Velodyne compatible pointcloud format for Autoware; Changed timestamp from LiDAR to ROS time for Autoware operation; Added to support Velodyne compatible pointcloud format for Autoware; Changed timestamp from LiDAR to ROS time for Autoware operation

Definition at line 70 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZ	(	const CloudOS1 &	in,
		CloudOS1XYZ &	out
	)

Converts the OS1 native point format to XYZ

Definition at line 212 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZI	(	const CloudOS1 &	in,
		CloudOS1XYZI &	out
	)

Converts the OS1 native point format to XYZI

Definition at line 224 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZIF	(	const CloudOS1 &	in,
		CloudOS1XYZIF &	out
	)

Converts the OS1 native point format to XYZIF (with intensity and reflectivity)

Note: Extract intensity and reflectivity data

Definition at line 257 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZIFN	(	const CloudOS1 &	in,
		CloudOS1XYZIFN &	out
	)

Converts the OS1 native point format to XYZIFN (with intensity, reflectivity and ambient noise)

Note: Extract intensity, reflectivity and ambient noise data

Definition at line 292 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZIR	(	const CloudOS1 &	in,
		CloudOS1XYZIR &	out
	)

Converts the OS1 native point format to XYZIR (Velodyne like)

Note: Added to support Velodyne compatible pointcloud format for Autoware

Definition at line 240 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZIRF	(	const CloudOS1 &	in,
		CloudOS1XYZIRF &	out
	)

Converts the OS1 native point format to XYZIRF (with intensity, ring and reflectivity)

Note: Extract intensity, ring and reflectivity data

Definition at line 274 of file os1_ros.cpp.

void ouster_driver::OS1::convert2XYZIRFN	(	const CloudOS1 &	in,
		CloudOS1XYZIRFN &	out
	)

Converts the OS1 native point format to XYZIRFN (with intensity, ring, reflectivity and ambient noise)

Note: Extract intensity, ring, reflectivity and ambient noise data

Definition at line 310 of file os1_ros.cpp.

static ns ouster_driver::OS1::nearest_scan_dur	(	ns	scan_dur,
		ns	ts
	)

static

Definition at line 178 of file os1_ros.cpp.

static PointOS1 ouster_driver::OS1::nth_point	(	int	ind,
		const uint8_t *	col_buf
	)

static

Definition at line 119 of file os1_ros.cpp.

sensor_msgs::Imu ouster_driver::OS1::packet_to_imu_msg	(	const PacketMsg &	pm,
		const std::string &	frame = `"os1_imu"`
	)

Parse an imu packet message into a ROS imu message

Parameters

pm	packet message populated by read_imu_packet
frame	the frame to set in the resulting ROS message

Returns: ROS sensor message with fields populated from the OS1 packet

Note: Modified to support custom message frame name

Note: Modified to support custom message frame name; Modified to support custom message frame name

Definition at line 32 of file os1_ros.cpp.

bool ouster_driver::OS1::read_imu_packet	(	const ouster::OS1::client &	cli,
		PacketMsg &	pm
	)

Read an imu packet into a ROS message. Blocks for up to a second if no data is available.

Parameters

cli	the OS1 client
pm	the destination packet message

Returns: whether reading was successful

Definition at line 22 of file os1_ros.cpp.

bool ouster_driver::OS1::read_lidar_packet	(	const ouster::OS1::client &	cli,
		PacketMsg &	pm
	)

Read a lidar packet into a ROS message. Blocks for up to a second if no data is available.

Parameters

cli	the OS1 client
pm	the destination packet message

Returns: whether reading was successful

Definition at line 27 of file os1_ros.cpp.

void ouster_driver::OS1::set_point_mode ( std::string mode_xyzir )

Define the pointcloud type to use

Parameters

mode_xyzir specifies the point cloud type to publish supported values: NATIVE, XYZ, XYZI, XYZIR, XYZIF, XYZIFN

Note: Added to support Velodyne compatible pointcloud format for Autoware

Definition at line 207 of file os1_ros.cpp.

void ouster_driver::OS1::spin	(	const ouster::OS1::client &	cli,
		const std::function< void(const PacketMsg &pm)> &	lidar_handler,
		const std::function< void(const PacketMsg &pm)> &	imu_handler
	)

Loop reading from the OS1 client and invoking callbacks with packet messages. Returns when ROS exits. Also runs the ROS event loop via ros::spinOnce().

Parameters

cli	the OS1 client
lidar_handler	callback invoked with messages populated by read_lidar_packet
imu_handler	callback invoked with messages populated by read_imu_packet

Definition at line 153 of file os1_ros.cpp.

ns ouster_driver::OS1::timestamp_of_imu_packet ( const PacketMsg & pm )

Read a timestamp from an imu packet message

Parameters

cli	the OS1 client
pm	packet message populated by read_imu_packet

Returns: timestamp in nanoseconds

Definition at line 14 of file os1_ros.cpp.

ns ouster_driver::OS1::timestamp_of_lidar_packet ( const PacketMsg & pm )

Read a timestamp from a lidar packet message

Parameters

pm	packet message populated by read_lidar_packet

Returns: timestamp in nanoseconds

Definition at line 18 of file os1_ros.cpp.

Variable Documentation

std::string ouster_driver::OS1::_pointcloud_mode = "NATIVE"

static

Definition at line 12 of file os1_ros.cpp.

std::function<void(const PacketMsg&)> ouster_driver::OS1::batch_packets(ns scan_dur, const std::function< void(ns, const CloudOS1 &)> &f)

Construct a function that will batch packets into a PCL point cloud for the given duration, then invoke f with the complete cloud.

Parameters

scan_dur	duration to batch packets in nanoseconds
f	a callback taking a PCL pointcloud to invoke on a complete batch

Returns: a function that batches packet messages populated by read_lidar_packet and invokes f on the result

Definition at line 120 of file os1_ros.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation