Struct RSInputParam

Defined in File driver_param.hpp

Struct Documentation

struct RSInputParam

< The LiDAR input parameter

Public Functions

inline void print() const

Public Members

uint16_t msop_port = 6699: Msop packet port number.

uint16_t difop_port = 7788: Difop packet port number.

uint16_t imu_port = 0: IMU packet port number, default disable.

uint16_t user_layer_bytes = 0: Bytes of user layer. thers is no user layer if it is 0.

uint16_t tail_layer_bytes = 0

Bytes of tail layer. thers is no tail layer if it is 0.

These parameters are valid when the input type is online lidar

std::string host_address = "0.0.0.0": Address of host.

std::string group_address = "0.0.0.0": Address of multicast group.

uint32_t socket_recv_buf = 106496

std::string pcap_path = ""

< These parameters are valid when the input type is pcap file

Absolute path of pcap file

bool pcap_repeat = true: true: The pcap bag will repeat play

float pcap_rate = 1.0f: Rate to read the pcap file.

bool use_vlan = false: Vlan on-off.