|
| enum | BaudRate {
BR2400,
BR4800,
BR9600,
BR19200,
BR38400,
BR57600,
BR115200,
BR230400,
BR460800,
BR500000,
BR576000,
BR921600,
BR1152000,
BR1500000,
BR2000000,
BR2500000,
BR3000000,
BR3500000,
BR4000000,
BRUnkown
} |
| |
| enum | CommDeviceType {
kCommDevUart,
kCommDevUsb,
kCommDevCan,
kCommDevEthernet,
kCommDevUndef
} |
| |
| enum | CoordinateType { kCoordinateCartesian = 0,
kCoordinateSpherical
} |
| |
| enum | DeviceState { kDeviceStateDisconnect = 0,
kDeviceStateConnect = 1,
kDeviceStateSampling = 2
} |
| |
| enum | ExtrinsicParameterType { kNoneExtrinsicParameter,
kExtrinsicParameterFromLidar,
kExtrinsicParameterFromXml
} |
| |
| enum | FindLengthResult { kFindLengthSuccess,
kFindLengthContinue,
kFindLengthError
} |
| |
| enum | FsmParseState { kSearchPacketPreamble = 0,
kFindPacketLength = 1,
kGetPacketData = 2,
kParseStepUndef
} |
| |
| enum | FsmPollState { kOpenDev,
kPrepareDev,
kCheckDevState,
kFsmDevUndef
} |
| |
| enum | LidarConfigCodeBit {
kConfigFan = 1 << 0,
kConfigReturnMode = 1 << 1,
kConfigCoordinate = 1 << 2,
kConfigImuRate = 1 << 3,
kConfigGetExtrinsicParameter = 1 << 4,
kConfigSetHighSensitivity = 1 << 5,
kConfigUndef
} |
| |
| enum | LidarConnectState { kConnectStateOff = 0,
kConnectStateOn = 1,
kConnectStateConfig = 2,
kConnectStateSampling = 3
} |
| |
| enum | LidarDataOutputType { kOutputToRos = 0,
kOutputToRosBagFile = 1
} |
| |
| enum | LidarDataSourceType { kSourceRawLidar = 0,
kSourceRawHub = 1,
kSourceLvxFile,
kSourceUndef
} |
| |
| enum | LvxFileState {
kLvxFileOk = 0,
kLvxFileNotExist,
kLvxFileSizeFault,
kLvxFileHeaderFault,
kLvxFileDeviceInfoFault,
kLvxFileDataInfoFault,
kLvxFileAtEnd,
kLvxFileReadFail,
kLvxFileFrameHeaderError,
kLvxFileUndefFault
} |
| |
| enum | LvxFileVersion { kLvxFileV0 = 0,
kLvxFileV1 = 1,
kLvxFileVersionUndef = 2
} |
| |
| enum | NeedAckType { kNoNeed,
kNeedAck,
kDelayAck
} |
| |
| enum | PacketType { kRequestPack,
kAckPack,
kMsgPack
} |
| |
| enum | Parity {
P_8N1,
P_7E1,
P_7O1,
P_7S1,
ParityUnkown
} |
| |
| enum | ParseResult { kParseSuccess,
kParseFail,
kParseNeedMoreData
} |
| |
| enum | ProtocolType { kLidarSdk,
kRsvd1,
kGps,
kProtocolUndef
} |
| |
| enum | SdkVersion { kSdkVerNone,
kSdkVer0,
kSdkVer1
} |
| |
| enum | TransferType { kPointCloud2Msg = 0,
kLivoxCustomMsg = 1,
kPclPxyziMsg
} |
| |
|
| uint8_t | AscciiToHex (const uint8_t *TwoChar) |
| |
| uint32_t | CalculatePacketQueueSize (uint32_t interval_ms, uint8_t product_type, uint8_t data_type) |
| |
| int | DeInitQueue (LidarDataQueue *queue) |
| |
| void | EulerAnglesToRotationMatrix (EulerAngle euler, RotationMatrix matrix) |
| |
| PointConvertHandler | GetConvertHandler (uint8_t data_type) |
| |
| uint32_t | GetEchoNumPerPoint (uint32_t data_type) |
| |
| uint32_t | GetEthPacketLen (uint32_t data_type) |
| |
| uint32_t | GetLaserLineNumber (uint32_t product_type) |
| |
| uint32_t | GetPacketInterval (uint32_t product_type, uint32_t data_type) |
| |
| uint32_t | GetPacketNumPerSec (uint32_t product_type, uint32_t data_type) |
| |
| uint32_t | GetPointInterval (uint32_t product_type) |
| |
| uint32_t | GetPointLen (uint32_t data_type) |
| |
| uint32_t | GetPointsPerPacket (uint32_t data_type) |
| |
| uint64_t | GetStoragePacketTimestamp (StoragePacket *packet, uint8_t data_src) |
| |
| int | InitQueue (LidarDataQueue *queue, uint32_t queue_size) |
| |
| bool | IsFilePathValid (const char *path_str) |
| |
| static bool | IsPowerOf2 (uint32_t size) |
| |
| bool | IsTripleFloatNoneZero (float x, float y, float z) |
| |
| bool | IsTripleIntNoneZero (int32_t x, int32_t y, int32_t z) |
| |
| static uint8_t * | LivoxDualExtendRawPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxDualExtendSpherPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxExtendRawPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxExtendSpherPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| uint8_t * | LivoxImuDataProcess (uint8_t *point_buf, LivoxEthPacket *eth_packet) |
| |
| uint8_t * | LivoxPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxRawPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxSpherPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxTripleExtendRawPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| static uint8_t * | LivoxTripleExtendSpherPointToPxyzrtl (uint8_t *point_buf, LivoxEthPacket *eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num) |
| |
| void | ParseCommandlineInputBdCode (const char *cammandline_str, std::vector< std::string > &bd_code_list) |
| |
| void | ParseExtrinsicXml (DeviceItem &item, LvxFileDeviceInfo &info) |
| |
| void | PointExtrisincCompensation (PointXyz *dst_point, const PointXyz &src_point, ExtrinsicParameter &extrinsic) |
| |
| void | PointExtrisincCompensation (PointXyz *dst_point, ExtrinsicParameter &extrinsic) |
| |
| uint32_t | QueueIsEmpty (LidarDataQueue *queue) |
| |
| uint32_t | QueueIsFull (LidarDataQueue *queue) |
| |
| uint32_t | QueuePop (LidarDataQueue *queue, StoragePacket *storage_packet) |
| |
| void | QueuePopUpdate (LidarDataQueue *queue) |
| |
| void | QueuePrePop (LidarDataQueue *queue, StoragePacket *storage_packet) |
| |
| uint32_t | QueuePush (LidarDataQueue *queue, StoragePacket *storage_packet) |
| |
| uint32_t | QueuePushAny (LidarDataQueue *queue, uint8_t *data, uint32_t length, uint64_t time_rcv, uint32_t point_num) |
| |
| uint32_t | QueueUnusedSize (LidarDataQueue *queue) |
| |
| uint32_t | QueueUsedSize (LidarDataQueue *queue) |
| |
| uint64_t | RawLdsStampToNs (LdsStamp ×tamp, uint8_t timestamp_type) |
| |
| void | RawPointConvert (LivoxPointXyzr *dst_point, LivoxPoint *raw_point) |
| |
| void | RawPointConvert (LivoxPointXyzr *dst_point, LivoxRawPoint *raw_point) |
| |
| void | RawPointConvert (LivoxPointXyzr *dst_point, LivoxSpherPoint *raw_point) |
| |
| void | RawPointConvert (LivoxPointXyzr *dst_point1, LivoxPointXyzr *dst_point2, LivoxDualExtendSpherPoint *raw_point) |
| |
| void | RawPointConvert (LivoxPointXyzr *dst_point1, LivoxPointXyzr *dst_point2, LivoxPointXyzr *dst_point3, LivoxTripleExtendSpherPoint *raw_point) |
| |
| void | ResetQueue (LidarDataQueue *queue) |
| |
| static uint32_t | RoundupPowerOf2 (uint32_t size) |
| |
| void | ZeroPointDataOfStoragePacket (StoragePacket *storage_packet) |
| |
Livox LiDAR data source, data from hub
Livox LiDAR data source, data from dependent lidar