c++实现livox-mid70/360采集、保存点云数据

c++实现livox-mid70/360采集、保存点云数据

void PointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data)
{
    if (data == nullptr) {
        return;
    }
    if (data->data_type == kLivoxLidarCartesianCoordinateHighData) {
        LivoxLidarCartesianHighRawPoint *p_point_data = (LivoxLidarCartesianHighRawPoint *)data->data;
        for (uint32_t i = 0; i < data->dot_num; i++)
        {
            
            {
                int32_t i_x = p_point_data[i].x;
                int32_t i_y = p_point_data[i].y;
                int32_t i_z = p_point_data[i].z;

                QVector<int> index_livox_point1;
                index_livox_point1.push_back(i_x);
                index_livox_point1.push_back(i_y);
                index_livox_point1.push_back(i_z);
                livox_points.push_back(index_livox_point1);
                
            }
        }
    }
    else if (data->data_type == kLivoxLidarCartesianCoordinateLowData) {
        LivoxLidarCartesianLowRawPoint *p_point_data = (LivoxLidarCartesianLowRawPoint *)data->data;
    }
    else if (data->data_type == kLivoxLidarSphericalCoordinateData) {
        LivoxLidarSpherPoint* p_point_data = (LivoxLidarSpherPoint *)data->data;
    }
}

 

 

 

 

 

 

 

 

 

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