I want to get the angle value of each point for data format 1 #148

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2021-09-25T12:44:08+02:00

yuyu19970716 commented

2021-09-25 12:44:08 +02:00

(Migrated from github.com)

Hello, I want to know how to get the angle value of each point for data format 1?

Livox-SDK commented

2021-10-08 16:16:49 +02:00

(Migrated from github.com)

Hi @yuyu19970716
you can refer to

void LdsLidar::GetLidarDataCb(uint8_t handle, LivoxEthPacket *data,
                              uint32_t data_num, void *client_data) {
...

LivoxSpherPoint *p_point_data = (LivoxSpherPoint *)data->data;
for (uint32_t i = 0; i < data_num; i++) {
  // each point's angle value
  // uint16_t theta = p_point_data[i].theta;
  // uint16_t phi = p_point_data[i].phi;
}

...
}

Hi @yuyu19970716 you can refer to ``` void LdsLidar::GetLidarDataCb(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) { ... LivoxSpherPoint *p_point_data = (LivoxSpherPoint *)data->data; for (uint32_t i = 0; i < data_num; i++) { // each point's angle value // uint16_t theta = p_point_data[i].theta; // uint16_t phi = p_point_data[i].phi; } ... } ```

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Reference: mmr/Livox-SDK#148