Ouster SDK integration

corelib/include/rtabmap/core/IMUFilter.h

@@ -41,7 +41,6 @@ public:
 		kMadgwick=0,
 		kComplementaryFilter=1};
 public:
-	static IMUFilter * create(const ParametersMap & parameters = ParametersMap());
 	static IMUFilter * create(IMUFilter::Type type, const ParametersMap & parameters = ParametersMap());
 
 public:

corelib/include/rtabmap/core/lidar/LidarOuster.h

@@ -0,0 +1,82 @@
+/*
+Copyright (c) 2010-2024, Mathieu Labbe
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDAROUSTER_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDAROUSTER_H_
+
+#include <rtabmap/core/Lidar.h>
+
+namespace rtabmap {
+
+class IMUFilter;
+class OusterCaptureThread;
+
+class RTABMAP_CORE_EXPORT LidarOuster :public Lidar {
+public:
+	static bool available();
+public:
+	LidarOuster(
+		const std::string& sensorHostname,
+		int lidarMode = 0,
+		int timestampMode = 0,
+		const std::string& dataDestination = 0,
+		bool useReflectivityForIntensityChannel = true,
+		bool publishIMU = false,
+		float frameRate = 0.0f,
+		Transform localTransform = Transform::getIdentity());
+
+	LidarOuster(
+			const std::string& pcapFile,
+			const std::string& jsonFile,
+			bool useReflectivityForIntensityChannel = true,
+			bool publishIMU = false,
+			float frameRate = 0.0f,
+			Transform localTransform = Transform::getIdentity());
+	virtual ~LidarOuster();
+
+	SensorData takeScan(SensorCaptureInfo * info = 0) {return takeData(info);}
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") override;
+	virtual std::string getSerial() const override;
+
+protected:
+    virtual SensorData captureData(SensorCaptureInfo * info = 0) override;
+
+private:
+	OusterCaptureThread * ousterCaptureThread_;
+	bool imuPublished_;
+	bool useReflectivityForIntensityChannel_;
+	std::string pcapFile_;
+	std::string jsonFile_;
+	std::string sensorHostname_;
+	std::string dataDestination_;
+	int lidarMode_;
+	int timestampMode_;
+
+};
+
+} /* namespace rtabmap */
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDAROUSTER_H_ */