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feature:support save lvx file for lidar;

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Livox-SDK
2019-05-06 12:33:55 +08:00
parent 25c945da3b
commit 2765743dea
907 changed files with 10205 additions and 5141 deletions
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sample/lidar/main.c
+13 -7
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@@ -63,15 +63,15 @@ char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
};*/
/** Receiving point cloud data from Livox LiDAR. */
void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
if (data) {
data_recveive_count[handle] += data_num;
if (data_recveive_count[handle] % 10000 == 0) {
printf("receive packet count %d %d\n", handle, data_recveive_count[handle]);
/** Parsing the timestamp and the point cloud data. */
uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
/** Parsing the timestamp and the point cloud data. */
uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
}
}
}
@@ -172,7 +172,7 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
result = AddLidarToConnect(info->broadcast_code, &handle);
if (result == kStatusSuccess) {
/** Set the point cloud data for a specific Livox LiDAR. */
SetDataCallback(handle, GetLidarData);
SetDataCallback(handle, GetLidarData, NULL);
devices[handle].handle = handle;
devices[handle].device_state = kDeviceStateDisconnect;
}
@@ -195,8 +195,14 @@ int SetProgramOption(int argc, const char *argv[]) {
int optch = 0;
const char *optarg = NULL;
apr_initialize();
apr_pool_create(&mp, NULL);
if (apr_initialize() != APR_SUCCESS) {
return -1;
}
if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
return -1;
}
rv = apr_getopt_init(&opt, mp, argc, argv);
if (rv != APR_SUCCESS) {
printf("Program options initialization failed.\n");