3d激光雷达开发（lidar使用）

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安装好了pcl库之后，下面就是需要想办法采集真实的雷达数据了。和camera不同，3d雷达一般需要单独购买。这方面，camera就强太多了，不仅手机有camera，电脑有camera，就算单独购买，也只要几百块钱。3d雷达则不同，最便宜的3d雷达也要3-4千块，多的可能大几万，这方面大家量力而行。有条件，可以自己购买；没有条件，可以申请单位购买；再不济，那就只能去看一下有没有别人不用的二手lidar了。

1、lidar品牌的选择

目前这方面，国内也是百花齐放，百家争鸣。不过，还是建议大家购买那些有一定知名度，自己也能负担得起的传感器雷达。对我们自己来说，就是购买了livox品牌的雷达。不为别的，主要是价格负担得起。

2、lidar的选择

目前来说，lidar的选择，还是来自于自己的需求。好的lidar视场角宽，看得远，但是价格也贵；便宜的lidar视场角一般，价格适中，比如说下面的mid40，视场角为38.4 * 38.4左右，

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而mid70，视场角达到了70.4*70.4左右，

3、使用view工具显示雷达数据，

等从官方途径购买到了3d雷达之后，接着就是下载view工具，查看图像即可。

view工具下载地址如下所示，

https://www.livoxtech.com/cn/downloads

打开后，链接是这样的，

软件本身是绿色软件，只要把lidar和pc用网线直连在一起，网络配置成192.168.1.*即可。因为lidar默认就是这个网段的ip，pc配置成相同的一个网段后，就可以收到lidar发出来的广播包数据了。忘记说了，livox的雷达需要一个外接12v或者24v的电源，这一块需要准备下。

4、准备livox sdk

通过view软件确认可以，就可以准备sdk读取lidar数据了。这部分github上面有下载，地址如下，

https://github.com/Livox-SDK/Livox-SDK

可以把代码下载下来。

5、编译livox sdk

和pcl的编译差不多，livox sdk也是依赖于cmake才能完成的。

6、进一步编译livx_sdk.sln

打开sln工程后，可以看到很多的项目，这里面除了livox_sdk_static是静态库之外，其他都是exe程序。

编译没有问题的话，就会看到，所有的程序都已经编译成功，

7、雷达数据读取

所有sdk的示例代码中，可以重点关注lidar_sample、lidar_sample_cc这两个项目。前者是c语言，后者是cpp语言，就是这点区别，其他部分基本都是一样的。这里以lidar_sample举例，看一下官方提供的示例代码是这样的，

// // The MIT License (MIT) // // Copyright (c) 2019 Livox. All rights reserved. // // Permission is hereby granted, free of charge, to any person obtaining a copy // of this software and associated documentation files (the "Software"), to deal // in the Software without restriction, including without limitation the rights // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell // copies of the Software, and to permit persons to whom the Software is // furnished to do so, subject to the following conditions: // // The above copyright notice and this permission notice shall be included in // all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE // SOFTWARE. // #include <stdio.h> #include <stdlib.h> #ifdef WIN32 #include <windows.h> #else #include <unistd.h> #endif #include <string.h> #include "livox_sdk.h" typedef enum { kDeviceStateDisconnect = 0, kDeviceStateConnect = 1, kDeviceStateSampling = 2, } DeviceState; typedef struct { uint8_t handle; DeviceState device_state; DeviceInfo info; } DeviceItem; DeviceItem devices[kMaxLidarCount]; uint32_t data_recveive_count[kMaxLidarCount]; / Connect all the broadcast device. */ int lidar_count = 0; char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize]; / Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */ /*#define BROADCAST_CODE_LIST_SIZE 3 int lidar_count = BROADCAST_CODE_LIST_SIZE; char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = { "000000000000002", "000000000000003", "000000000000004" };*/ / Receiving error message from Livox Lidar. */ void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage *message) { static uint32_t error_message_count = 0; if (message != NULL) { ++error_message_count; if (0 == (error_message_count % 100)) { printf("handle: %u\n", handle); printf("temp_status : %u\n", message->lidar_error_code.temp_status); printf("volt_status : %u\n", message->lidar_error_code.volt_status); printf("motor_status : %u\n", message->lidar_error_code.motor_status); printf("dirty_warn : %u\n", message->lidar_error_code.dirty_warn); printf("firmware_err : %u\n", message->lidar_error_code.firmware_err); printf("pps_status : %u\n", message->lidar_error_code.device_status); printf("fan_status : %u\n", message->lidar_error_code.fan_status); printf("self_heating : %u\n", message->lidar_error_code.self_heating); printf("ptp_status : %u\n", message->lidar_error_code.ptp_status); printf("time_sync_status : %u\n", message->lidar_error_code.time_sync_status); printf("system_status : %u\n", message->lidar_error_code.system_status); } } } / Receiving point cloud data from Livox LiDAR. */ void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) { if (data) { data_recveive_count[handle] ++ ; if (data_recveive_count[handle] % 100 == 0) { / Parsing the timestamp and the point cloud data. */ uint64_t cur_timestamp = *((uint64_t *)(data->timestamp)); if(data ->data_type == kCartesian) { LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data; }else if ( data ->data_type == kSpherical) { LivoxSpherPoint *p_point_data = (LivoxSpherPoint *)data->data; }else if ( data ->data_type == kExtendCartesian) { LivoxExtendRawPoint *p_point_data = (LivoxExtendRawPoint *)data->data; }else if ( data ->data_type == kExtendSpherical) { LivoxExtendSpherPoint *p_point_data = (LivoxExtendSpherPoint *)data->data; }else if ( data ->data_type == kDualExtendCartesian) { LivoxDualExtendRawPoint *p_point_data = (LivoxDualExtendRawPoint *)data->data; }else if ( data ->data_type == kDualExtendSpherical) { LivoxDualExtendSpherPoint *p_point_data = (LivoxDualExtendSpherPoint *)data->data; }else if ( data ->data_type == kImu) { LivoxImuPoint *p_point_data = (LivoxImuPoint *)data->data; }else if ( data ->data_type == kTripleExtendCartesian) { LivoxTripleExtendRawPoint *p_point_data = (LivoxTripleExtendRawPoint *)data->data; }else if ( data ->data_type == kTripleExtendSpherical) { LivoxTripleExtendSpherPoint *p_point_data = (LivoxTripleExtendSpherPoint *)data->data; } printf("data_type %d packet num %d\n", data->data_type, data_recveive_count[handle]); } } } / Callback function of starting sampling. */ void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) { printf("OnSampleCallback statue %d handle %d response %d \n", status, handle, response); if (status == kStatusSuccess) { if (response != 0) { devices[handle].device_state = kDeviceStateConnect; } } else if (status == kStatusTimeout) { devices[handle].device_state = kDeviceStateConnect; } } / Callback function of stopping sampling. */ void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) { } / Query the firmware version of Livox LiDAR. */ void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse *ack, void *data) { if (status != kStatusSuccess) { printf("Device Query Informations Failed %d\n", status); } if (ack) { printf("firm ver: %d.%d.%d.%d\n", ack->firmware_version[0], ack->firmware_version[1], ack->firmware_version[2], ack->firmware_version[3]); } } void LidarConnect(const DeviceInfo *info) { uint8_t handle = info->handle; QueryDeviceInformation(handle, OnDeviceInformation, NULL); if (devices[handle].device_state == kDeviceStateDisconnect) { devices[handle].device_state = kDeviceStateConnect; devices[handle].info = *info; } } void LidarDisConnect(const DeviceInfo *info) { uint8_t handle = info->handle; devices[handle].device_state = kDeviceStateDisconnect; } void LidarStateChange(const DeviceInfo *info) { uint8_t handle = info->handle; devices[handle].info = *info; } / Callback function of changing of device state. */ void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type) { if (info == NULL) { return; } uint8_t handle = info->handle; if (handle >= kMaxLidarCount) { return; } if (type == kEventConnect) { LidarConnect(info); printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code); } else if (type == kEventDisconnect) { LidarDisConnect(info); printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code); } else if (type == kEventStateChange) { LidarStateChange(info); printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code); } if (devices[handle].device_state == kDeviceStateConnect) { printf("Device Working State %d\n", devices[handle].info.state); if (devices[handle].info.state == kLidarStateInit) { printf("Device State Change Progress %u\n", devices[handle].info.status.progress); } else { printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code); } printf("Device feature %d\n", devices[handle].info.feature); SetErrorMessageCallback(handle, OnLidarErrorStatusCallback); if (devices[handle].info.state == kLidarStateNormal) { LidarStartSampling(handle, OnSampleCallback, NULL); devices[handle].device_state = kDeviceStateSampling; } } } / Callback function when broadcast message received. * You need to add listening device broadcast code and set the point cloud data callback in this function. */ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) { if (info == NULL || info->dev_type == kDeviceTypeHub) { return; } printf("Receive Broadcast Code %s\n", info->broadcast_code); if (lidar_count > 0) { bool found = false; int i = 0; for (i = 0; i < lidar_count; ++i) { if (strncmp(info->broadcast_code, broadcast_code_list[i], kBroadcastCodeSize) == 0) { found = true; break; } } if (!found) { return; } } bool result = false; uint8_t handle = 0; result = AddLidarToConnect(info->broadcast_code, &handle); if (result == kStatusSuccess) { / Set the point cloud data for a specific Livox LiDAR. */ SetDataCallback(handle, GetLidarData, NULL); devices[handle].handle = handle; devices[handle].device_state = kDeviceStateDisconnect; } } int main(int argc, const char *argv[]) { printf("Livox SDK initializing.\n"); / Initialize Livox-SDK. */ if (!Init()) { return -1; } printf("Livox SDK has been initialized.\n"); LivoxSdkVersion _sdkversion; GetLivoxSdkVersion(&_sdkversion); printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch); memset(devices, 0, sizeof(devices)); memset(data_recveive_count, 0, sizeof(data_recveive_count)); / Set the callback function receiving broadcast message from Livox LiDAR. */ SetBroadcastCallback(OnDeviceBroadcast); / Set the callback function called when device state change, * which means connection/disconnection and changing of LiDAR state. */ SetDeviceStateUpdateCallback(OnDeviceInfoChange); / Start the device discovering routine. */ if (!Start()) { Uninit(); return -1; } printf("Start discovering device.\n"); #ifdef WIN32 Sleep(30000); #else sleep(30); #endif int i = 0; for (i = 0; i < kMaxLidarCount; ++i) { if (devices[i].device_state == kDeviceStateSampling) { / Stop the sampling of Livox LiDAR. */ LidarStopSampling(devices[i].handle, OnStopSampleCallback, NULL); } } / Uninitialize Livox-SDK. */ Uninit(); }

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如果用户需要自己读取数据，只需要修改一下上面这段代码，然后合入到自己的项目当中，略作调整即可。

3d激光雷达开发（lidar使用）

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