fix:size initial to fix the hub lvx file generate

README.md

@@ -28,12 +28,12 @@ The Livox LiDAR sensors can be connected to host directly or through the Livox H
 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](https://livox-sdk.github.io/Livox-SDK/) for further information.
 
 ## 4.1 Installation
-The installation procedures in Ubuntu 16.04/14.04 LTS and Windows 7/10 are shown here as examples.
+The installation procedures in Ubuntu 16.04/14.04 LTS and Windows 7/10 are shown here as examples. For Ubuntu 16.04/14.04 32-bit LTS and Mac, you can get it in [Livox-SDK wiki](https://github.com/Livox-SDK/Livox-SDK/wiki).
 ### 4.1.1 Ubuntu 16.04/14.04 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 libapr1-dev libboost-atomic-dev libboost-system-dev
+sudo apt install cmake pkg-config libapr1-dev libboost-atomic-dev libboost-system-dev
 ```
 #### Compile Livox SDK
 In the Livox SDK directory, run the following commands to compile the project:

sample/hub_lvx_file/lvx_file.cpp

@@ -23,7 +23,7 @@
 //
 
 #include <time.h>
-#include <math.h>
+#include <cmath>
 #include "lvx_file.h"
 
 #define WRITE_BUFFER_LEN 1024 * 1024
@@ -31,7 +31,7 @@
 #define PACK_POINT_NUM   100
 #define M_PI             3.14159265358979323846
 
-LvxFileHandle::LvxFileHandle() : cur_offset_(0), cur_frame_index_(0) {
+LvxFileHandle::LvxFileHandle() : cur_frame_index_(0), cur_offset_(0) {
 }
 
 bool LvxFileHandle::InitLvxFile() {
@@ -148,8 +148,8 @@ void LvxFileHandle::BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &pa
       packet.point[i].y = static_cast<float>(tmp[i].theta);
       packet.point[i].z = static_cast<float>(tmp[i].phi);
       packet.point[i].reflectivity = tmp[i].reflectivity;
-      LivoxPoint temp = { packet.point[i].x * sin(packet.point[i].y) * cos(packet.point[i].z), packet.point[i].x * sin(packet.point[i].y) * sin(packet.point[i].z), packet.point[i].x * cos(packet.point[i].y) };;
+      LivoxPoint temp = { packet.point[i].x * std::sin(packet.point[i].y) * std::cos(packet.point[i].z), packet.point[i].x * std::sin(packet.point[i].y) * std::sin(packet.point[i].z), packet.point[i].x * std::cos(packet.point[i].y) };
       packet.point[i] = temp;
     }
   }
-}
+}

sample/hub_lvx_file/main.cpp

@@ -96,7 +96,7 @@ void OnGetLidarUnitsExtrinsicParameter(uint8_t status, uint8_t handle, HubGetExt
         strncpy((char *)lidar_info.hub_broadcast_code, broadcast_code_list[0].c_str(), kBroadcastCodeSize);
 
         std::unique_ptr<DeviceInfo[]> device_list(new DeviceInfo[kMaxLidarCount]);
-        std::unique_ptr<uint8_t> size(new uint8_t);
+        std::unique_ptr<uint8_t> size(new uint8_t(kMaxLidarCount));
         GetConnectedDevices(device_list.get(), size.get());
         for (int j = 0; j < kMaxLidarCount; j++) {
           if (strncmp(device_list[j].broadcast_code, temp.broadcast_code, kBroadcastCodeSize) == 0) {

sample/lidar_lvx_file/lvx_file.cpp

@@ -23,7 +23,7 @@
 //
 
 #include <time.h>
-#include <math.h>
+#include <cmath>
 #include "lvx_file.h"
 #include "third_party/rapidxml/rapidxml.hpp"
 #include "third_party/rapidxml/rapidxml_utils.hpp"
@@ -33,7 +33,7 @@
 #define PACK_POINT_NUM   100
 #define M_PI             3.14159265358979323846
 
-LvxFileHandle::LvxFileHandle() : cur_offset_(0), cur_frame_index_(0) {
+LvxFileHandle::LvxFileHandle() : cur_frame_index_(0), cur_offset_(0) {
 }
 
 bool LvxFileHandle::InitLvxFile() {
@@ -159,9 +159,9 @@ void LvxFileHandle::CalcExtrinsicPoints(LvxBasePackDetail &packet) {
   info.roll = static_cast<float>(info.roll * M_PI / 180.0);
   info.pitch = static_cast<float>(info.pitch * M_PI / 180.0);
   info.yaw = static_cast<float>(info.yaw * M_PI / 180.0);
-  float rotate[3][3] = { { cos(info.pitch) * cos(info.yaw), sin(info.roll) * sin(info.pitch) * cos(info.yaw) - cos(info.roll) * sin(info.yaw), cos(info.roll) * sin(info.pitch) * cos(info.yaw) + sin(info.roll) * sin(info.yaw) },
-                         { cos(info.pitch) * sin(info.yaw), sin(info.roll) * sin(info.pitch) * sin(info.yaw) + cos(info.roll) * cos(info.yaw), cos(info.roll) * sin(info.pitch) * sin(info.yaw) - sin(info.roll) * cos(info.yaw) },
-                         { -sin(info.pitch), sin(info.roll) * cos(info.pitch), cos(info.roll) * cos(info.pitch) } };
+  float rotate[3][3] = { { std::cos(info.pitch) * std::cos(info.yaw), std::sin(info.roll) * std::sin(info.pitch) * std::cos(info.yaw) - std::cos(info.roll) * std::sin(info.yaw), std::cos(info.roll) * std::sin(info.pitch) * std::cos(info.yaw) + std::sin(info.roll) * std::sin(info.yaw) },
+                         { std::cos(info.pitch) * std::sin(info.yaw), std::sin(info.roll) * std::sin(info.pitch) * std::sin(info.yaw) + std::cos(info.roll) * std::cos(info.yaw), std::cos(info.roll) * std::sin(info.pitch) * std::sin(info.yaw) - std::sin(info.roll) * std::cos(info.yaw) },
+                         { -std::sin(info.pitch), std::sin(info.roll) * std::cos(info.pitch), std::cos(info.roll) * std::cos(info.pitch) } };
 
   float trans[3] = { static_cast<float>(info.x), static_cast<float>(info.y), static_cast<float>(info.z) };
   if (packet.data_type == 0) {
@@ -174,7 +174,7 @@ void LvxFileHandle::CalcExtrinsicPoints(LvxBasePackDetail &packet) {
   }
   else {
     for (int i = 0; i < PACK_POINT_NUM; i++) {
-      LivoxPoint temp = { packet.point[i].x * sin(packet.point[i].y) * cos(packet.point[i].z), packet.point[i].x * sin(packet.point[i].y) * sin(packet.point[i].z), packet.point[i].x * cos(packet.point[i].y) };;
+      LivoxPoint temp = { packet.point[i].x * std::sin(packet.point[i].y) * std::cos(packet.point[i].z), packet.point[i].x * std::sin(packet.point[i].y) * std::sin(packet.point[i].z), packet.point[i].x * std::cos(packet.point[i].y) };
       packet.point[i].x = temp.x * rotate[0][0] + temp.y * rotate[0][1] + temp.z * rotate[0][2] + trans[0];
       packet.point[i].y = temp.x * rotate[1][0] + temp.y * rotate[1][1] + temp.z * rotate[1][2] + trans[1];
       packet.point[i].z = temp.x * rotate[2][0] + temp.y * rotate[2][1] + temp.z * rotate[2][2] + trans[2];

sdk_core/CMakeLists.txt

@@ -3,6 +3,11 @@ cmake_minimum_required(VERSION 3.0)
 set(SDK_LIBRARY ${PROJECT_NAME}_static)
 add_library(${SDK_LIBRARY} STATIC "")
 
+set(LIVOX_SDK_MAJOR_VERSION "1")
+set(LIVOX_SDK_MINOR_VERSION "2")
+set(LIVOX_SDK_PATCH_VERSION "1")
+set(LIVOX_SDK_VERSION_STRING "${LIVOX_SDK_MAJOR_VERSION}.${LIVOX_SDK_MINOR_VERSION}.${LIVOX_SDK_PATCH_VERSION}")
+
 if (WIN32)
     find_path(APR_INCLUDE_DIRS apr.h)
     find_library(APR_LIBRARIES libapr-1)
@@ -18,18 +23,30 @@ if (APR_FOUND)
     target_include_directories(${SDK_LIBRARY}
             PUBLIC
             ${APR_INCLUDE_DIRS})
-    target_link_libraries(${SDK_LIBRARY}
-            PUBLIC
-            ${APR_LIBRARIES})
+    if (APR_LIBRARY_DIRS AND NOT APPLE)
+        target_link_libraries(${SDK_LIBRARY}
+                PUBLIC
+                ${APR_LIBRARY_DIRS}/libapr-1.so)
+    else ()
+        target_link_libraries(${SDK_LIBRARY}
+                PUBLIC
+                ${APR_LIBRARIES})
+    endif ()
 endif ()
 
 find_package(Boost 1.54 REQUIRED COMPONENTS system)
-if (Boost_FOUND AND Boost_VERSION LESS 106900)
-    target_link_libraries(${SDK_LIBRARY}
-            PUBLIC
-            Boost::boost
-            Boost::system)
-endif ()
+if(Boost_FOUND)
+    if (Boost_VERSION LESS 106900)
+        target_link_libraries(${SDK_LIBRARY} 
+                PUBLIC
+                Boost::boost
+                Boost::system)
+    else()
+        target_link_libraries(${SDK_LIBRARY}     
+                PUBLIC      
+                Boost::boost)
+    endif()
+endif()
 
 target_include_directories(${SDK_LIBRARY}
         PUBLIC

sdk_core/include/livox_def.h

@@ -91,7 +91,7 @@ typedef enum {
 
 #define LIVOX_SDK_MAJOR_VERSION       1
 #define LIVOX_SDK_MINOR_VERSION       2
-#define LIVOX_SDK_PATCH_VERSION       0
+#define LIVOX_SDK_PATCH_VERSION       1
 
 #define kBroadcastCodeSize 16