How to choose and use multiple "data_type" at the same time? #213

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2023-11-22T11:06:12+01:00

breakway83 commented

2023-11-22 11:06:12 +01:00

(Migrated from github.com)

Hello,

I would like to know how to change the data_type output by the lidar that goes into LivoxEthPacket.

For example, i would like to obtain data_type 3 and 6 (ExtSpherical and IMU) but it seems it is only possible to have one of them at the same time? Please correct me if i'm wrong.

Also how do i input in the code, the command to change the data_type i want?

I know the lidarcallback will fetch the value from LvxBasePackDetail, but there is nowhere in the example i found where we set the value we actually want.
typedef struct {
uint8_t device_index;
uint8_t version;
uint8_t port_id;
uint8_t lidar_index;
uint8_t rsvd;
uint32_t error_code;
uint8_t timestamp_type;
uint8_t data_type; <=============================
uint8_t timestamp[8];
uint8_t raw_point[kMaxPointSize];
uint32_t pack_size;
} LvxBasePackDetail;

Thanks.

Hello, I would like to know how to change the data_type output by the lidar that goes into LivoxEthPacket. For example, i would like to obtain data_type 3 and 6 (ExtSpherical and IMU) but it seems it is only possible to have one of them at the same time? Please correct me if i'm wrong. Also how do i input in the code, the command to change the data_type i want? I know the lidarcallback will fetch the value from LvxBasePackDetail, but there is nowhere in the example i found where we set the value we actually want. typedef struct { uint8_t device_index; uint8_t version; uint8_t port_id; uint8_t lidar_index; uint8_t rsvd; uint32_t error_code; uint8_t timestamp_type; uint8_t data_type; <============================= uint8_t timestamp[8]; uint8_t raw_point[kMaxPointSize]; uint32_t pack_size; } LvxBasePackDetail; Thanks.

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Reference: mmr/Livox-SDK#213