├── .gitignore ├── LICENSE.txt ├── NOTICE.txt ├── README.md ├── docker ├── Dockerfile └── run.sh ├── robocar_overview.png ├── robocar_viz.png ├── scripts ├── build.sh ├── can_setup.sh └── tod_interface.py └── src ├── libs ├── linefit_ground_segmentation │ ├── CMakeLists.txt │ ├── LICENSE │ ├── include │ │ └── ground_segmentation │ │ │ ├── bin.h │ │ │ ├── ground_segmentation.h │ │ │ ├── segment.h │ │ │ └── typedefs.h │ ├── package.xml │ └── src │ │ ├── bin.cc │ │ ├── ground_segmentation.cc │ │ └── segment.cc ├── oscc │ ├── CMakeLists.txt │ ├── LICENSE │ ├── OsccConfig.cmake │ ├── README.md │ ├── include │ │ └── oscc │ │ │ ├── can_protocols │ │ │ ├── brake_can_protocol.h │ │ │ ├── fault_can_protocol.h │ │ │ ├── magic.h │ │ │ ├── steering_can_protocol.h │ │ │ └── throttle_can_protocol.h │ │ │ ├── dtc.h │ │ │ ├── oscc.h │ │ │ ├── vehicles.h │ │ │ └── vehicles │ │ │ ├── kia_niro.h │ │ │ ├── kia_soul_ev.h │ │ │ ├── kia_soul_petrol.h │ │ │ └── oscc.dbc │ ├── package.xml │ └── src │ │ ├── internal │ │ └── oscc.h │ │ └── oscc.c └── ouster │ ├── .clang-format │ ├── .clangd │ ├── .dockerignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CMakeSettings.json │ ├── LICENSE │ ├── LICENSE-bin │ ├── README.rst │ ├── cmake │ ├── DefaultBuildType.cmake │ ├── FindCURL.cmake │ ├── FindEigen3.cmake │ ├── FindGTest.cmake │ ├── FindOusterSDK.cmake │ ├── Findglfw3.cmake │ ├── Findjsoncpp.cmake │ ├── Findlibtins.cmake │ ├── OusterSDKConfig.cmake.in │ ├── VcpkgEnv.cmake │ ├── VersionGen.cmake │ └── build.h.in │ ├── conan │ └── test_package │ │ ├── CMakeLists.txt │ │ └── conanfile.py │ ├── conanfile.py │ ├── docs │ ├── Doxyfile │ ├── _static │ │ └── css │ │ │ └── ouster_rtd_tweaks.css │ ├── conf.py │ ├── cpp │ │ ├── api.rst │ │ ├── building.rst │ │ ├── examples.rst │ │ ├── ouster_client │ │ │ ├── client.rst │ │ │ ├── image_processing.rst │ │ │ ├── index.rst │ │ │ ├── lidar_scan.rst │ │ │ ├── types.rst │ │ │ └── version.rst │ │ ├── ouster_pcap │ │ │ ├── index.rst │ │ │ └── os_pcap.rst │ │ └── ouster_viz │ │ │ ├── index.rst │ │ │ └── point_viz.rst │ ├── images │ │ ├── Ouster_Logo_TM_Horiz_Black_RGB_600px.png │ │ ├── Ouster_Logo_TM_Horiz_White_RGB.svg │ │ ├── Ouster_Logo_TM_Stacked_White_RGB.svg │ │ ├── brooklyn_bridge_ls_50_range_image.png │ │ ├── brooklyn_bridge_ls_50_xyz_cut.png │ │ ├── lidar_scan_destaggered.png │ │ ├── lidar_scan_staggered.png │ │ ├── lidar_scan_xyz_84.png │ │ ├── lidar_scan_xyz_84_3d.png │ │ ├── simple-viz.png │ │ └── viz-tutorial │ │ │ ├── axes_helper_unstructured.png │ │ │ ├── empty_point_viz.png │ │ │ ├── image_set_pos_bot_right.png │ │ │ ├── image_set_pos_center.png │ │ │ ├── image_set_pos_left.png │ │ │ ├── image_set_pos_right.png │ │ │ ├── lidar_scan_fields_images.png │ │ │ ├── lidar_scan_fields_images_labels.png │ │ │ ├── lidar_scan_structured.png │ │ │ ├── lidar_scan_viz.png │ │ │ ├── lidar_scan_viz_checkers.png │ │ │ └── lidar_scan_viz_labels.png │ ├── index.rst │ ├── installation.rst │ ├── overview.rst │ ├── python │ │ ├── api │ │ │ ├── client.rst │ │ │ ├── examples.rst │ │ │ ├── index.rst │ │ │ ├── pcap.rst │ │ │ └── viz.rst │ │ ├── devel.rst │ │ ├── examples │ │ │ ├── basics-sensor.rst │ │ │ ├── conversion.rst │ │ │ ├── index.rst │ │ │ ├── lidar-scan.rst │ │ │ ├── record-stream.rst │ │ │ ├── udp-packets.rst │ │ │ └── visualizations.rst │ │ ├── quickstart.rst │ │ └── viz │ │ │ ├── index.rst │ │ │ ├── viz-api-tutorial.rst │ │ │ └── viz-run.rst │ ├── reference │ │ ├── changelog.rst │ │ └── lidar-scan.rst │ └── sample-data.rst │ ├── examples │ ├── CMakeLists.txt │ ├── client_example.cpp │ ├── config_example.cpp │ ├── helpers.cpp │ ├── helpers.h │ ├── lidar_scan_example.cpp │ ├── representations_example.cpp │ └── viz_example.cpp │ ├── ouster_client │ ├── CMakeLists.txt │ ├── include │ │ ├── optional-lite │ │ │ └── nonstd │ │ │ │ └── optional.hpp │ │ └── ouster │ │ │ ├── buffered_udp_source.h │ │ │ ├── client.h │ │ │ ├── image_processing.h │ │ │ ├── impl │ │ │ └── lidar_scan_impl.h │ │ │ ├── lidar_scan.h │ │ │ ├── types.h │ │ │ └── version.h │ └── src │ │ ├── buffered_udp_source.cpp │ │ ├── client.cpp │ │ ├── curl_client.h │ │ ├── http_client.h │ │ ├── image_processing.cpp │ │ ├── lidar_scan.cpp │ │ ├── netcompat.cpp │ │ ├── netcompat.h │ │ ├── parsing.cpp │ │ ├── sensor_http.cpp │ │ ├── sensor_http.h │ │ ├── sensor_http_imp.cpp │ │ ├── sensor_http_imp.h │ │ ├── sensor_tcp_imp.cpp │ │ ├── sensor_tcp_imp.h │ │ └── types.cpp │ ├── ouster_pcap │ ├── CMakeLists.txt │ ├── include │ │ └── ouster │ │ │ └── os_pcap.h │ └── src │ │ └── os_pcap.cpp │ ├── ouster_viz │ ├── CMakeLists.txt │ ├── include │ │ └── ouster │ │ │ └── point_viz.h │ └── src │ │ ├── camera.cpp │ │ ├── camera.h │ │ ├── cloud.cpp │ │ ├── cloud.h │ │ ├── colormaps.h │ │ ├── common.h │ │ ├── glfw.cpp │ │ ├── glfw.h │ │ ├── gltext.cpp │ │ ├── gltext.h │ │ ├── image.cpp │ │ ├── image.h │ │ ├── misc.cpp │ │ ├── misc.h │ │ └── point_viz.cpp │ ├── package.xml │ ├── python │ ├── CMakeLists.txt │ ├── Dockerfile │ ├── MANIFEST.in │ ├── README.rst │ ├── mypy.ini │ ├── pyproject.toml │ ├── setup.cfg │ ├── setup.py │ ├── src │ │ ├── cpp │ │ │ ├── _client.cpp │ │ │ ├── _pcap.cpp │ │ │ └── _viz.cpp │ │ └── ouster │ │ │ ├── client │ │ │ ├── __init__.py │ │ │ ├── _client.pyi │ │ │ ├── _digest.py │ │ │ ├── _utils │ │ │ │ └── __init__.py │ │ │ ├── core.py │ │ │ ├── data.py │ │ │ └── py.typed │ │ │ ├── pcap │ │ │ ├── __init__.py │ │ │ ├── _pcap.pyi │ │ │ ├── pcap.py │ │ │ └── py.typed │ │ │ └── sdk │ │ │ ├── __init__.py │ │ │ ├── _viz.pyi │ │ │ ├── examples │ │ │ ├── __init__.py │ │ │ ├── client.py │ │ │ ├── colormaps.py │ │ │ ├── open3d.py │ │ │ ├── pcap.py │ │ │ ├── reference.py │ │ │ └── viz.py │ │ │ ├── py.typed │ │ │ ├── simple_viz.py │ │ │ └── viz.py │ ├── tests │ │ ├── conftest.py │ │ ├── test_batching.py │ │ ├── test_config.py │ │ ├── test_core.py │ │ ├── test_data.py │ │ ├── test_destagger.py │ │ ├── test_metadata.py │ │ ├── test_pcap.py │ │ ├── test_viz.py │ │ └── test_xyzlut.py │ └── tox.ini │ └── tests │ ├── CMakeLists.txt │ ├── bcompat_meta_json_test.cpp │ ├── bcompat_sensor_info_data.h │ ├── lidar_scan_test.cpp │ ├── metadata │ ├── 1_12_os1-991913000010-64.json │ ├── 1_12_os1-991937000062-16A0_legacy.json │ ├── 1_12_os1-991937000062-64_legacy.json │ ├── 1_13_os1-991913000010-64.json │ ├── 1_13_os1-991937000062-16A0_legacy.json │ ├── 1_13_os1-991937000062-32A02_legacy.json │ ├── 1_13_os1-991937000062-64_legacy.json │ ├── 1_14_6cccd_os-882002000138-128_legacy.json │ ├── 1_14_6cccd_os-882002000138-32U0_legacy.json │ ├── 1_14_6cccd_os-882002000138-64U02_legacy.json │ ├── 1_14_beta_os-882004000055-128_legacy.json │ ├── 1_14_beta_os1-991937000062-16A0_legacy.json │ ├── 1_14_beta_os1-991937000062-32A02_legacy.json │ ├── 1_14_beta_os1-991937000062-64_legacy.json │ ├── 2_0_0_os1-991913000010-64.json │ ├── 2_0_0_os1-992008000494-128_col_win_legacy.json │ ├── 2_0_rc2_os-992011000121-32U0_legacy.json │ ├── 2_1_2_os1-991913000010-64.json │ ├── 2_1_2_os1-991913000010-64_legacy.json │ ├── 2_2_os-992119000444-128.json │ ├── 2_2_os-992119000444-128_legacy.json │ ├── 2_3_1_os-992146000760-128.json │ ├── 2_3_1_os-992146000760-128_legacy.json │ ├── 2_3_os-992146000760-128.json │ ├── 2_3_os-992146000760-128_legacy.json │ └── ouster-studio-reduced-config-v1.json │ └── pcaps │ ├── OS-0-128-U1_v2.3.0_1024x10.json │ ├── OS-0-128-U1_v2.3.0_1024x10.pcap │ ├── OS-0-128-U1_v2.3.0_1024x10_digest.json │ ├── OS-0-32-U1_v2.2.0_1024x10.json │ ├── OS-0-32-U1_v2.2.0_1024x10.pcap │ ├── OS-0-32-U1_v2.2.0_1024x10_digest.json │ ├── OS-1-32-G_v2.1.1_1024x10.json │ ├── OS-1-32-G_v2.1.1_1024x10.pcap │ ├── OS-1-32-G_v2.1.1_1024x10_digest.json │ ├── OS-2-128-U1_v2.3.0_1024x10.json │ ├── OS-2-128-U1_v2.3.0_1024x10.pcap │ ├── OS-2-128-U1_v2.3.0_1024x10_digest.json │ ├── OS-2-32-U0_v2.0.0_1024x10.json │ ├── OS-2-32-U0_v2.0.0_1024x10.pcap │ └── OS-2-32-U0_v2.0.0_1024x10_digest.json ├── robocar ├── CMakeLists.txt ├── config │ ├── robocar.json │ └── robocar.rviz ├── include │ └── robocar │ │ ├── control │ │ └── control_component.h │ │ ├── core │ │ ├── component │ │ │ ├── component.h │ │ │ └── config.h │ │ ├── messages.h │ │ ├── robocar.h │ │ └── utils │ │ │ ├── geodesy.h │ │ │ ├── time.h │ │ │ └── utils.h │ │ ├── drivers │ │ ├── actuator │ │ │ └── actuator_component.h │ │ ├── camera │ │ │ └── camera_component.h │ │ ├── gnss │ │ │ └── gsof_component.h │ │ ├── joystick │ │ │ └── joystick_component.h │ │ └── lidar │ │ │ └── ouster_component.h │ │ ├── hmi │ │ └── hmi_component.h │ │ ├── localization │ │ └── localization_component.h │ │ ├── logging │ │ └── logging_component.h │ │ ├── map │ │ ├── map_component.h │ │ └── mapping_component.h │ │ ├── perception │ │ └── lidar_perception_component.h │ │ ├── planning │ │ ├── mppi │ │ │ └── mppi.h │ │ └── planning_component.h │ │ ├── simulation │ │ ├── sim_objects_agent.h │ │ ├── sim_objects_component.h │ │ └── sim_vehicle_component.h │ │ ├── tod │ │ └── tod_component.h │ │ └── vehicle │ │ └── vehicle_component.h ├── launch │ └── robocar.launch.py ├── maps │ ├── 360lab.geojson │ ├── 360lab2.geojson │ ├── adenauer.geojson │ ├── belval.geojson │ ├── belval2.geojson │ ├── belval_geofeatures.geojson │ ├── belval_virtual_geofeatures.geojson │ ├── cfc.geojson │ ├── cfc2.geojson │ ├── cfc3.geojson │ ├── creutzwald.geojson │ ├── kirchberg.geojson │ ├── kirchberg_geofeatures.geojson │ └── kirchberg_v_geofeatures.geojson ├── mesh │ └── low_poly_car.fbx ├── package.xml └── src │ ├── control │ └── control_component.cc │ ├── drivers │ ├── actuator │ │ └── actuator_component.cc │ ├── camera │ │ └── camera_component.cc │ ├── gnss │ │ └── gsof_component.cc │ ├── joystick │ │ └── joystick_component.cc │ └── lidar │ │ └── ouster_component.cc │ ├── hmi │ └── hmi_component.cc │ ├── localization │ └── localization_component.cc │ ├── logging │ └── logging_component.cc │ ├── main.cc │ ├── map │ ├── map_component.cc │ └── mapping_component.cc │ ├── perception │ └── lidar_perception_component.cc │ ├── planning │ ├── mppi │ │ ├── mppi.cc │ │ └── mppi.cl │ └── planning_component.cc │ ├── 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