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;}
}

 

 

 

 

 

 

 

#########################