os1_ros.h File Reference

#include <chrono>
#include <functional>
#include <string>
#include <pcl/common/common.h>
#include <pcl/point_cloud.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include "ouster/os1.h"
#include "ouster_driver/PacketMsg.h"
#include "ouster_driver/point_os1.h"

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Namespaces
	ouster_driver
	ouster_driver::OS1

Typedefs
using	ouster_driver::OS1::CloudOS1 = pcl::PointCloud< PointOS1 >
using	ouster_driver::OS1::CloudOS1XYZ = pcl::PointCloud< pcl::PointXYZ >
using	ouster_driver::OS1::CloudOS1XYZI = pcl::PointCloud< pcl::PointXYZI >
using	ouster_driver::OS1::CloudOS1XYZIF = pcl::PointCloud< PointXYZIF >
using	ouster_driver::OS1::CloudOS1XYZIFN = pcl::PointCloud< PointXYZIFN >
using	ouster_driver::OS1::CloudOS1XYZIR = pcl::PointCloud< PointXYZIR >
using	ouster_driver::OS1::CloudOS1XYZIRF = pcl::PointCloud< PointXYZIRF >
using	ouster_driver::OS1::CloudOS1XYZIRFN = pcl::PointCloud< PointXYZIRFN >
using	ouster_driver::OS1::ns = std::chrono::nanoseconds

Functions
void	ouster_driver::OS1::add_packet_to_cloud (ns scan_start_ts, ns scan_duration, const PacketMsg &pm, CloudOS1 &cloud)
sensor_msgs::PointCloud2	ouster_driver::OS1::cloud_to_cloud_msg (const CloudOS1 &cloud, ns timestamp, const std::string &frame="os1")
void	ouster_driver::OS1::convert2XYZ (const CloudOS1 &in, CloudOS1XYZ &out)
void	ouster_driver::OS1::convert2XYZI (const CloudOS1 &in, CloudOS1XYZI &out)
void	ouster_driver::OS1::convert2XYZIF (const CloudOS1 &in, CloudOS1XYZIF &out)
void	ouster_driver::OS1::convert2XYZIFN (const CloudOS1 &in, CloudOS1XYZIFN &out)
void	ouster_driver::OS1::convert2XYZIR (const CloudOS1 &in, CloudOS1XYZIR &out)
void	ouster_driver::OS1::convert2XYZIRF (const CloudOS1 &in, CloudOS1XYZIRF &out)
void	ouster_driver::OS1::convert2XYZIRFN (const CloudOS1 &in, CloudOS1XYZIRFN &out)
sensor_msgs::Imu	ouster_driver::OS1::packet_to_imu_msg (const PacketMsg &pm, const std::string &frame="os1_imu")
bool	ouster_driver::OS1::read_imu_packet (const ouster::OS1::client &cli, PacketMsg &pm)
bool	ouster_driver::OS1::read_lidar_packet (const ouster::OS1::client &cli, PacketMsg &pm)
void	ouster_driver::OS1::set_point_mode (std::string mode_xyzir)
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)
ns	ouster_driver::OS1::timestamp_of_imu_packet (const PacketMsg &pm)
ns	ouster_driver::OS1::timestamp_of_lidar_packet (const PacketMsg &pm)

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