mmr/Livox-SDK
Archived
1
0
Fork 0
Code Issues 105 Pull Requests 11 Actions Packages Projects Releases 9 Wiki Activity

[B]Fix bugs in README.md

Browse Source
This commit is contained in:
Livox-SDK
2019-02-02 16:47:33 +08:00
parent 8135095c8a
commit 43a6c37166
1 changed files with 50 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.md
+50 -102
View File
@@ -1,14 +1,18 @@
# Introduction
# 1 Introduction
Livox SDK is the software development kit designed for all Livox products. It is developed based on C/C++ following Livox SDK Communication Protocol, and provides easy-to-use C style API. With Livox SDK, users can quickly connect to Livox products and receive point cloud data.
Livox SDK consists of Livox SDK communication protocol, Livox SDK core, Livox SDK API, Linux sample, and ROS demo.
# Livox SDK Communication Protocol
## Prerequisites
* Ubuntu 14.04/Ubuntu 16.04, both x86 and ARM (Nvidia TX2)
* Windows 7/10, Visual Studio 2015/2017
# 2 Livox SDK Communication Protocol
Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the [Livox SDK Communication Protocol](doc/Livox_SDK_Communication_Protocol_EN_20190117.pdf) for detailed information.
# Livox SDK Core
# 3 Livox SDK Core
Livox SDK provides the implementation of control commands and point cloud data transmission, as well as the C/C++ API. The basic structure of Livox SDK core is shown as below:
@@ -18,87 +22,29 @@ User Datagram Protocol (UDP) is used for communication between Livox SDK and LiD
The Livox LiDAR sensors can be connected to host directly or through the Livox Hub. Livox SDK supports both connection methods. When LiDAR units are connected to host directly, the host will establish communication with each LiDAR unit individually. And if the LiDAR units connect to host through Hub, then the host only communicates with the Livox Hub while the Hub communicates with each LiDAR unit.
# Livox SDK API
# 4 Livox SDK API
Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](doc/Livox_LiDAR_SDK_API_Reference.pdf) for detailed information.
## Build Notes
### Dependencies
LivoxTech SDK requires cmake 3.0.0+, Apache Portable Runtime (APR) 1.61+ and Boost 1.54+.
Here we use the Ubuntu 16.04 LTS system and Windows 7,10 as an example to show you how to compile LivoxTech sdk's dependency libraries using apt or direct compiling the source code of apr and boost lib.
##### Ubuntu 16.04 LTS
The following package are required (feel free to cut and paste the apt-get command below):
Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](doc/Livox_LiDAR_SDK_API_Reference.pdf) for further information.
## 4.1 Installation
The installation procedures in Ubuntu 16.04 LTS and Windows 7/10 are shown here as examples.
### 4.1.1 Ubuntu 16.04 LTS
#### Dependencies
Livox SDK requires [CMake 3.0.0+](https://cmake.org/), [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/) and [Boost 1.54+](https://www.boost.org/) as dependencies. You can install these packages using apt:
```
sudo apt install cmake
sudo apt install cmake libapr1-dev libboost-atomic-dev libboost-system-dev
```
###### Use Apt Install
The following commands can be used to download and install it:
#### Compile Livox SDK
In the Livox SDK directory, run the following commands to compile the project:
```
sudo apt install \
libapr1-dev \
libboost-atomic-dev \
libboost-system-dev
```
###### Compile the Source Code
You can download the apr source code from http://apr.apache.org/download.cgi and boost source code from http://sourceforge.net/projects/boost/files/boost/1.54.0/. The following commands can be used to compile and install it.
```
tar zxf apr-1.6.5.tar.gz && \
cd apr-1.6.5 && \
./configure --prefix=/usr && \
make && \
sudo make install
```
```
tar zxf boost_1_54_0.tar.gz && \
cd boost_1_54_0 && \
./bootstrap.sh --with-libraries=atomic,system && \
./b2 install --prefix=/usr
```
###### Compile the Project
In the LivoxTech SDK directory (e.g. the checkout root or the archive unpack root), run the following commands to compile the project:
```
mkdir build && cd build && \
cmake .. && \
cd build
cmake ..
make
```
###### Run the Project
Run the following commands to run the hub or lidar sample:
```
cd sample\hub && \
./hub_sample
```
```
cd sample\lidar && \
./lidar_sample
```
##### Windows
We test Livox SDK with Visual Studio 2015/2017 on Windows 7/10.
###### Build with Vcpkg
We recommend using [Vcpkg](https://github.com/Microsoft/vcpkg) to build our project. You need to install the following libraries first.
### 4.1.2 Windows 7/10
#### Dependencies
Livox SDK requires [CMake 3.0.0+](https://cmake.org/), [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/) and [Boost 1.54+](https://www.boost.org/) as dependencies.
You can choose any C++ compiler to build the Livox SDK API. Here we use [Visual Studio 2015/2017](https://visualstudio.microsoft.com/) as an example, and [vcpkg](https://github.com/Microsoft/vcpkg) is recommend for building our project. The dependency libraries can be installed by:
```
.\vcpkg install apr && \
.\vcpkg install boost-atomic && \
@@ -106,38 +52,19 @@ We recommend using [Vcpkg](https://github.com/Microsoft/vcpkg) to build our proj
.\vcpkg install boost-thread && \
.\vcpkg integrate install
```
In the LivoxTech SDK directory, run the following commands to create the Visual Studio solution file. Please replace vcpkgroot with your vcpkg installation location.
Then, in the Livox SDK directory, run the following commands to create the Visual Studio solution file. Please replace [vcpkgroot] with your vcpkg installation path.
```
mkdir build && \
cd build && \
cmake .. "-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake"
```
Then you can open the livox_sdk.sln project in Visual Studio.
###### Run the Project
In the LivoxTech SDK directory, run the following commands to run the Hub or LiDAR sample:
```
cd build\sample\hub\Debug && \
./hub_sample.exe
```
```
cd build\sample\lidar\Debug && \
./lidar_sample.exe
```
# Livox SDK Linux Sample
Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox-SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below:
#### Compile Livox SDK
You can now compile the Livox SDK in Visual Studio.
## 4.2 Run Livox SDK Sample
Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below:
![sample](doc/images/sample.png)
**NOTE**: Please replace the broadcast code lists in the `main.c` for both LiDAR sample and Hub sample with the broadcast code of your devices before running. You can find the following code section in `main.c`:
**NOTE**: Please replace the broadcast code lists in the `main.c` for both LiDAR sample ({Livox-SDK}/sample/lidar/main.c) and Hub sample ({Livox-SDK}/sample/hub/main.c) with the broadcast code of your devices before building. The corresponding code section in `main.c` is as follows:
```
#define BROADCAST_CODE_LIST_SIZE 3
char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
@@ -146,3 +73,24 @@ char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
"00000000000004"
};
```
The broadcast code consists of its serial number and an additional number (1,2, or 3). The serial number can be found on the body of the LiDAR unit (below the QR code). The detailed format is shown as below:
![sample](doc/images/broadcast_code.png)
Again, steps for running the samples in Ubuntu 16.04 LTS and Windows 7/10 are shown here as examples.
### 4.2.1 Ubuntu 16.04 LTS
For Ubuntun 16.04 LTS, run the following commands to run the hub or lidar sample:
```
cd sample\hub && ./hub_sample
```
or
```
cd sample\lidar && ./lidar_sample
```
### 4.2.2 Windows 7/10
After compiling the Livox SDK as shown in section 4.1.2, you can find `hub_sample.exe` or `lidar_sample.exe` in the {Livox-SDK}\build\sample\hub\Debug or {Livox-SDK}\build\sample\lidar\Debug folder, respectively, which can be run directly.
# 5 Support
You can get support from Livox with the following methods:
* Send email to dev@livoxtech.com with a clear description of your problem and your setup
* Github Issues