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Remove window rejection param for 1.13 compatibility #16

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Remove window rejection param for 1.13 compatibility #16

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2 changes: 1 addition & 1 deletion include/ouster/os1.h
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ using PulseMode = pulse_mode_t;
* @param window_rejection to reject short range data (true), or to accept short range data (false)
* @note This function was added to configure advanced operation modes for Autoware
*/
void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection);
void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str);

}
}
11 changes: 1 addition & 10 deletions src/os1.cpp
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Expand Up @@ -25,10 +25,8 @@ using ns = std::chrono::nanoseconds;
*/
static OperationMode _operation_mode = ouster::OS1::MODE_1024x10;
static PulseMode _pulse_mode = ouster::OS1::PULSE_STANDARD;
static bool _window_rejection = true;
static std::string _operation_mode_str = "";
static std::string _pulse_mode_str = "";
static std::string _window_rejection_str = "";
//----------------

struct client {
Expand Down Expand Up @@ -249,10 +247,6 @@ std::shared_ptr<client> init_client(const std::string& hostname,
success &= do_cmd_chk("set_config_param", "pulse_mode " + _pulse_mode_str);
do_configure = true;
}
if (curr_window_rejection_str != _window_rejection_str) {
success &= do_cmd_chk("set_config_param", "window_rejection_enable " + _window_rejection_str);
do_configure = true;
}

if (!success) return std::shared_ptr<client>();

Expand Down Expand Up @@ -320,11 +314,10 @@ bool read_imu_packet(const client& cli, uint8_t* buf) {
* @note Added to support advanced mode parameters configuration for Autoware
*/
//----------------
void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection)
void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str)
{
_operation_mode_str = operation_mode_str;
_pulse_mode_str = pulse_mode_str;
_window_rejection = window_rejection;

_operation_mode = ouster::OS1::MODE_1024x10;
if (_operation_mode_str == std::string("512x10")) {
Expand All @@ -349,8 +342,6 @@ void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_
} else {
std::cout << "Selected pulse mode " << _pulse_mode_str << " is invalid, using default mode \"STANDARD\"" << std::endl;
}

_window_rejection_str = ((_window_rejection) ? std::string("1") : std::string("0"));
}
//----------------

Expand Down
3 changes: 1 addition & 2 deletions src/os1_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,6 @@ int main(int argc, char** argv) {
auto pointcloud_mode = nh.param("pointcloud_mode", std::string("NATIVE"));
auto operation_mode_str = nh.param("operation_mode", std::string("1024x10"));
auto pulse_mode_str = nh.param("pulse_mode", std::string("STANDARD"));
auto window_rejection = nh.param("window_rejection", true);

/**
* @note Added to support Velodyne compatible pointcloud format for Autoware
Expand All @@ -62,7 +61,7 @@ int main(int argc, char** argv) {
* @note Added to support advanced mode parameters configuration for Autoware
*/
//defines the advanced parameters
ouster::OS1::set_advanced_params(operation_mode_str, pulse_mode_str, window_rejection);
ouster::OS1::set_advanced_params(operation_mode_str, pulse_mode_str);
auto queue_size = 10;
if (operation_mode_str == std::string("512x20") || operation_mode_str == std::string("1024x20")) {
queue_size = 20;
Expand Down