ReadMe.txt

July 9, 2022 ยท View on GitHub

Tutorial:

  1. Compile command (Need compiler which supports C++11)

    1. Windows mkdir build cd build cmake -G "Visual Studio 11 2012" .. (Notice: please change the cmake command if you use other compiler)

    2. Linux mkdir build cd build cmake .. make

  2. Modify port number

    1. Use the USB port number which the lidar is connected to. Please check code and comments for details.
    2. (For Linux) After the USB port number is modified, execute make command to generate all the *.exe files.

  3. Description of print statements

    1. sdk_demo.exe (Output single data package of lidar)

    printf("%d, dist: %d, angle: %f, is_invalid: %d\n", i, dataPack[i].dist, dataPack[i].angle, dataPack[i].flag);

    From left to right: i -> index number of data package (0-7) dist -> distance info (unit: mm) angle -> angle info (in degrees) is_invalid -> validity of current data package (0: valid, 1: invalid)

    1. sdk_scanData.exe (Output single-turn data package of lidar)

    printf("data size=%d, FD=[%.2f], LD=[%.2f], TC=%.3fms, stamp=%llu\n", count, nodebuffer[0].angle_q6_checkbit / 64.0f, nodebuffer[count-1].angle_q6_checkbit / 64.0f, timer.Duation_ms(), data_stamp_new);

    From left to right: data size -> total number of single-turn data packages (for invalid data package, the distance value is set to 0) FD -> first angle info of single-turn data packages LD -> last angle info of single-turn data packages TC -> time cost of single-turn data packages stamp -> data stamp of single-turn data packages (increasing by 1)