Struct SensorFrameSetSourceOptions

Inheritance Relationships

Base Type

Struct Documentation

struct SensorFrameSetSourceOptions : private ouster::sdk::FrameSetSourceOptions

Options for the SensorFrameSetSource.

Public Functions

inline SensorFrameSetSourceOptions(const FrameSetSourceOptions &o)

Construct SensorFrameSetSourceOptions from a FrameSetSourceOptions object.

Parameters:

o[in] The FrameSetSourceOptions object to copy from.

SensorFrameSetSourceOptions() = default
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 LidarFrames, 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 frames to queue, useful for limiting buffer bloat

impl::Parameter<bool> raw_fields

If true, batch raw_fields into each frame.

impl::Parameter<bool> raw_headers

If true, batch raw_headers into each frame.

impl::Parameter<uint32_t> rcvbuf_size

Receive buffer size in bytes.

impl::Parameter<bool> reuse_ports

if true, enable reuse ports on the sensor client sockets this enables multiple programs on the same computer to bind these ports which is useful for multi/broadcast but can lead to conflicts otherwise

impl::Parameter<std::vector<core::SensorConfig>> sensor_config

Configuration to apply to the sensors.

impl::Parameter<std::vector<core::SensorInfo>> sensor_info

Override sensor info. If provided used instead of talking to the sensor.

impl::Parameter<bool> soft_id_check

If true, accept packets/frames 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_frame