feat:support Mid70 and Avia

2020-10-26 20:25:42 +08:00
parent 9f316ced0a
commit eb19d42ce4
23 changed files with 441 additions and 113 deletions
@@ -140,6 +140,7 @@ void LidarGetExtrinsicFromXml(uint8_t handle) {
  LvxDeviceInfo lidar_info;
  ParseExtrinsicXml(devices[handle], lidar_info);
  lvx_file_handler.AddDeviceInfo(lidar_info);
+  lidar_info.extrinsic_enable = true;
  if (lvx_file_handler.GetDeviceInfoListSize() == broadcast_code_list.size()) {
    is_finish_extrinsic_parameter = true;
    extrinsic_condition.notify_one();