init

.gitignore

@@ -0,0 +1,3 @@
+lidar_driver/build/
+camera_driver/build/
+.idea/

aurco_3d_detect.py

@@ -0,0 +1,802 @@
+import cv2
+print(cv2.__version__) # 4.9.0
+import open3d as o3d
+print(o3d.__version__) # 0.18.0
+import numpy as np
+from os import abort 
+import sys
+sys.path.append(r"./")
+from utils import Log
+from config import *
+import utils
+import pandas as pd
+
+
+def extend_line_3d(pt1, pt2, distance):
+    """
+    计算 3D 空间两个点的延长线上的一个点
+    参数:
+    - point1: 第一个点的坐标 (x1, y1, z1)，类型为列表或数组
+    - point2: 第二个点的坐标 (x2, y2, z2)，类型为列表或数组
+    - distance: 从第二个点延长的距离 (正值表示延长方向，负值表示反向)
+    返回:
+    - 延长线上的点坐标 (x, y, z)，类型为数组
+    """
+    # 转换为 NumPy 数组
+    point1 = np.array(pt1)
+    point2 = np.array(pt2)
+    # 计算方向向量
+    direction = point2 - point1
+    # 计算方向向量的单位向量
+    direction_unit = direction / np.linalg.norm(direction)
+    # 延长线上的点
+    extended_point = point2 + distance * direction_unit
+    return extended_point
+
+def filter_cloud(pcd):
+    # 获取点云中的点坐标
+    points = np.asarray(pcd.points)
+
+    # 定义 x, y, z 的范围
+    x_min, x_max = -2.0, 2.0
+    y_min, y_max = -2.0, 2.0
+    z_min, z_max = 0, global_z_max
+
+    # 创建布尔掩膜
+    mask = (
+        (points[:, 0] >= x_min) & (points[:, 0] <= x_max) &
+        (points[:, 1] >= y_min) & (points[:, 1] <= y_max) &
+        (points[:, 2] >= z_min) & (points[:, 2] <= z_max)
+    )
+
+    # 应用掩膜以过滤点云
+    filtered_points = points[mask]
+
+    # 更新点云对象
+    pcd.points = o3d.utility.Vector3dVector(filtered_points)
+    return pcd
+
+def sort_marks_aruco_3d(masks):
+    new_mask = []
+    left_pt_0, left_pt_1, left_pt_2, left_pt_3 = 0,0,0,0
+    delete_index = []
+    coordinate_temp = [0,1,2,3]
+    # max_val = 0
+    max_val = -999999.0
+    min_val = 999999.0
+    for i in range(len(masks)):
+        left_pt = masks[i][0]
+        val = left_pt[0] + left_pt[1]
+        if val > max_val:
+            left_pt_3 = i
+            max_val = val
+        if val < min_val:
+            left_pt_0 = i
+            min_val = val
+    delete_index.append(left_pt_0)
+    delete_index.append(left_pt_3)
+    coordinate_temp = np.delete(coordinate_temp, delete_index, axis=0)
+    if masks[coordinate_temp[0]][0][0] > masks[coordinate_temp[1]][0][0]:
+        left_pt_1 = coordinate_temp[0]
+        left_pt_2 = coordinate_temp[1]
+    else:
+        left_pt_2 = coordinate_temp[0]
+        left_pt_1 = coordinate_temp[1]
+    new_mask.append(masks[left_pt_0])
+    new_mask.append(masks[left_pt_1])
+    new_mask.append(masks[left_pt_2])
+    new_mask.append(masks[left_pt_3])
+    return new_mask
+
+def sort_marks_aruco_3d_v2(masks):
+    new_mask = []
+    left_pt_0, left_pt_1, left_pt_2, left_pt_3 = 0,0,0,0
+    delete_index = []
+    coordinate_temp = [0,1,2,3]
+    max_val = 0
+    min_val = 999999
+    for i in range(len(masks)):
+        left_pt = masks[i][0][0]
+        val = left_pt[0] + left_pt[1]
+        if val > max_val:
+            left_pt_3 = i
+            max_val = val
+        if val < min_val:
+            left_pt_0 = i
+            min_val = val
+    delete_index.append(left_pt_0)
+    delete_index.append(left_pt_3)
+    coordinate_temp = np.delete(coordinate_temp, delete_index, axis=0)
+    if masks[coordinate_temp[0]][0][0][0] > masks[coordinate_temp[1]][0][0][0]:
+        left_pt_1 = coordinate_temp[0]
+        left_pt_2 = coordinate_temp[1]
+    else:
+        left_pt_2 = coordinate_temp[0]
+        left_pt_1 = coordinate_temp[1]
+    new_mask.append(masks[left_pt_0])
+    new_mask.append(masks[left_pt_1])
+    new_mask.append(masks[left_pt_2])
+    new_mask.append(masks[left_pt_3])
+    return new_mask
+
+def cal_camera_marks_3d_conners(file_path):
+    marks_3d_conners = []
+    frame = cv2.imread(file_path)
+    if frame is None:
+        abort()
+
+    # 定义使用的字典类型
+    aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)
+    parameters = cv2.aruco.DetectorParameters()
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # 检测ArUco标记
+    # corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
+    aruco_detector = cv2.aruco.ArucoDetector(aruco_dict, parameters)
+    corners, ids, rejectedImgPoints = aruco_detector.detectMarkers(gray)
+
+    rotation_matrices = []
+    if ids is not None:
+        # 对角点进行亚像素级别的细化以提高精度
+        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 50, 0.0003)
+        for corner in corners:
+            cv2.cornerSubPix(gray, corner, winSize=(3, 3), zeroZone=(-1, -1), criteria=criteria)
+
+        # 定义标记的世界坐标（假设标记位于z=0平面上）
+        obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
+                                [ marker_size/2, -marker_size/2, 0], # 右上
+                                [ marker_size/2,  marker_size/2, 0], # 右下
+                                [-marker_size/2,  marker_size/2, 0]], dtype=np.float32) # 左下
+    
+        # obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
+        #                         [ marker_size/2, marker_size/2, 0], # 右下角
+        #                         [ marker_size/2,  -marker_size/2, 0], # 右上角
+        #                         [-marker_size/2,  -marker_size/2, 0]], dtype=np.float32) # 左上角
+
+        # 遍历所有检测到的标记
+        Log.info("2D->3D 通过相邻角点计算得到的边长进行对比")
+        for i, corner in enumerate(corners):
+            Log.error("2d-2d 的边长")
+            print(np.linalg.norm(corner[0][0] - corner[0][1]) / 0.7)
+            print(np.linalg.norm(corner[0][1] - corner[0][2]) / 0.7)
+            print(np.linalg.norm(corner[0][2] - corner[0][3]) / 0.7)
+            print(np.linalg.norm(corner[0][3] - corner[0][0]) / 0.7)
+
+            conners_pcd = o3d.geometry.PointCloud()
+            # for j in range(4):
+            #     conners_pcd.points.append(obj_points[j])
+
+            # 估计每个标记的姿态
+            # _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
+
+            _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs)
+
+            # 绘制每个标记的轴线
+            cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
+
+            # 将旋转向量转换为旋转矩阵（如果需要）
+            rotation_matrix, _ = cv2.Rodrigues(rvec)
+            rotation_matrices.append(rotation_matrix)
+
+            # 使用cv2.invert()计算矩阵的逆
+            retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
+            # if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
+            # else: print("无法计算矩阵的逆")
+
+            H = np.eye(4)
+            H[:3, :3] = rotation_matrix
+            H[:3, 3] = tvec.flatten()
+            for j in range(4):
+                P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
+                P_camera_homogeneous = H @ P_world  # 齐次坐标相乘
+                conners_pcd.points.append(P_camera_homogeneous[:-1])
+
+            # conners_pcd.rotate(rotation_matrix, (0,0,0))
+            # conners_pcd.translate(tvec)
+            
+            # 在图像上绘制角点编号（可选）
+            for j, point in enumerate(corner[0]):
+                text = str(conners_pcd.points[j])
+                if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
+                elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
+                elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
+                else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
+
+
+            # 将点云的点转换为 NumPy 数组
+            points = np.asarray(conners_pcd.points)
+            reversed_points = points[::-1]
+            conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
+
+            # 计算角点和边长
+            e1p1 = extend_line_3d(conners_pcd.points[2], conners_pcd.points[1], b2)
+            e1p2 = extend_line_3d(conners_pcd.points[3], conners_pcd.points[0], b2)
+            left2 = extend_line_3d(e1p2, e1p1 , b1)
+            top = extend_line_3d(e1p1, e1p2, board_size - b1 - marker_size)
+
+            e2p1 = extend_line_3d(conners_pcd.points[1], conners_pcd.points[0], board_size - b1 - marker_size)
+            e2p2 = extend_line_3d(conners_pcd.points[2], conners_pcd.points[3], board_size - b1 - marker_size)
+            top2 = extend_line_3d(e2p2, e2p1, b2)
+            right = extend_line_3d(e2p1, e2p2, board_size - b2 - marker_size)
+
+            e3p1 = extend_line_3d(conners_pcd.points[0], conners_pcd.points[3], board_size  - b2 - marker_size)
+            e3p2 = extend_line_3d(conners_pcd.points[1], conners_pcd.points[2], board_size  - b2 - marker_size)
+            right2 = extend_line_3d(e3p2, e3p1, board_size - b1 - marker_size)
+            bottom = extend_line_3d(e3p1, e3p2, b1)
+
+            e4p1 = extend_line_3d(conners_pcd.points[3], conners_pcd.points[2], b2)
+            e4p2 = extend_line_3d(conners_pcd.points[0], conners_pcd.points[1], b2)
+            bottom2 = extend_line_3d(e4p2, e4p1, board_size - b2 - marker_size)
+            left = extend_line_3d(e4p1, e4p2, b2)
+
+            print(
+                np.linalg.norm(left - left2),
+                np.linalg.norm(top - top2),
+                np.linalg.norm(right - right2),
+                np.linalg.norm(bottom - bottom2)
+            )
+            print(
+                np.linalg.norm(top - left),
+                np.linalg.norm(right - top),
+                np.linalg.norm(bottom - right),
+                np.linalg.norm(left - bottom),
+            )
+            marks_3d_conners.append([left, top, right, bottom])
+    
+    marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
+    # 按照左、上、右、底顺序返回
+    return frame, marks_3d_conners
+
+def cal_camera_marks_3d_conners_v2(file_path):
+    marks_3d_conners = []
+    frame = cv2.imread(file_path)
+    if frame is None:
+        abort()
+
+    # 定义使用的字典类型
+    aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)
+    parameters = cv2.aruco.DetectorParameters()
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    # 检测ArUco标记
+    # corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
+    aruco_detector = cv2.aruco.ArucoDetector(aruco_dict, parameters)
+    corners, ids, rejectedImgPoints = aruco_detector.detectMarkers(gray)
+
+    rotation_matrices = []
+    if ids is not None:
+        # 对角点进行亚像素级别的细化以提高精度
+        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 50, 0.0003)
+        for corner in corners:
+            cv2.cornerSubPix(gray, corner, winSize=(3, 3), zeroZone=(-1, -1), criteria=criteria)
+
+        # 定义标记的世界坐标（假设标记位于z=0平面上）
+        obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
+                                [ marker_size/2, -marker_size/2, 0], # 右上
+                                [ marker_size/2,  marker_size/2, 0], # 右下
+                                [-marker_size/2,  marker_size/2, 0]], dtype=np.float32) # 左下
+    
+        # obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
+        #                         [ marker_size/2, marker_size/2, 0], # 右下角
+        #                         [ marker_size/2,  -marker_size/2, 0], # 右上角
+        #                         [-marker_size/2,  -marker_size/2, 0]], dtype=np.float32) # 左上角
+
+        # 遍历所有检测到的标记
+        Log.error("2D->2D 通过相邻角点计算得到的边长进行对比")
+        # for i, cornner in enumerate(corners):
+        print(np.linalg.norm(corners[0][0][0] - corners[0][0][1]))
+        print(np.linalg.norm(corners[0][0][1] - corners[0][0][2]))
+        print(np.linalg.norm(corners[0][0][2] - corners[0][0][3]))
+        print(np.linalg.norm(corners[0][0][3] - corners[0][0][0]))
+        for i, corner in enumerate(corners):
+            conners_pcd = o3d.geometry.PointCloud()
+            # for j in range(4):
+            #     conners_pcd.points.append(obj_points[j])
+
+            # 估计每个标记的姿态
+            # _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
+
+            _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_EPNP)
+
+            # 绘制每个标记的轴线
+            cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
+
+            # 将旋转向量转换为旋转矩阵（如果需要）
+            rotation_matrix, _ = cv2.Rodrigues(rvec)
+            rotation_matrices.append(rotation_matrix)
+
+            # 使用cv2.invert()计算矩阵的逆
+            retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
+            # if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
+            # else: print("无法计算矩阵的逆")
+
+            H = np.eye(4)
+            H[:3, :3] = rotation_matrix
+            H[:3, 3] = tvec.flatten()
+            for j in range(4):
+                P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
+                P_camera_homogeneous = H @ P_world  # 齐次坐标相乘
+                conners_pcd.points.append(P_camera_homogeneous[:-1])
+
+            # conners_pcd.rotate(rotation_matrix, (0,0,0))
+            # conners_pcd.translate(tvec)
+            
+            # 在图像上绘制角点编号（可选）
+            for j, point in enumerate(corner[0]):
+                text = str(conners_pcd.points[j])
+                if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
+                elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
+                elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
+                else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
+
+            # 将点云的点转换为 NumPy 数组
+            points = np.asarray(conners_pcd.points)
+            reversed_points = points[::-1]
+            conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
+
+            left = conners_pcd.points[1]
+            top = conners_pcd.points[0]
+            right = conners_pcd.points[3]
+            bottom = conners_pcd.points[2]
+            # left = conners_pcd.points[3]
+            # top = conners_pcd.points[0]
+            # right = conners_pcd.points[1]
+            # bottom = conners_pcd.points[2]
+
+            print(
+                np.linalg.norm(top - left),
+                np.linalg.norm(right - top),
+                np.linalg.norm(bottom - right),
+                np.linalg.norm(left - bottom),
+            )
+            marks_3d_conners.append([left, top, right, bottom])
+    
+    marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
+    # 按照左、上、右、底顺序返回
+    return frame, marks_3d_conners
+
+
+def cal_lidar_marks_3d_conners(frame, r_file_path): 
+    # file_path = os.path.dirname(__file__) + "\\samples\\1.png"
+
+    frame, marks_3d_conners = [],[]
+    file_path = os.path.dirname(__file__) + "\\samples\\output.ply"
+    src_cloud_load = o3d.io.read_point_cloud(file_path)
+
+    reflectivitys = utils.parse_custom_attribute(file_path, "reflectivity")
+    # file_path = os.path.dirname(__file__) + "\\samples\\output_data.ply"
+    # src_cloud_data = o3d.io.read_point_cloud(file_path)
+
+    # 点云旋转
+    Rx = src_cloud_load.get_rotation_matrix_from_xyz((roll, 0, 0))
+    Ry = src_cloud_load.get_rotation_matrix_from_xyz((0, pitch, 0))
+    Rz = src_cloud_load.get_rotation_matrix_from_xyz((0, 0, yaw))
+    src_cloud_load.rotate(Rx, (1,0,0))
+    src_cloud_load.rotate(Ry, (0,1,0))
+    src_cloud_load.rotate(Rz, (0,0,1))
+    src_cloud_load.translate(T_vector)
+    # o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
+
+    # 点云过滤
+    ## 通过距离和反射率过滤后剩下得点云数据
+    filte_src_cloud_load = []
+    ## 点云的反射率数据
+    filte_sreflectivitys = []
+    src_cloud_load_array = np.asarray(src_cloud_load.points)
+    index = 0
+    for point_3d in src_cloud_load_array:
+        if -2.0 < point_3d[0] < 2.0 and -2.0 < point_3d[1] < 2.0 and point_3d[2] < global_z_max: 
+            filte_src_cloud_load.append((point_3d[0], point_3d[1], point_3d[2]))
+            filte_sreflectivitys.append([reflectivitys[index]])
+        index += 1
+
+    # 点云投影
+    ## 点云投影后的2D图
+    im_project = np.zeros((global_h, global_w, 3), dtype=np.uint8)
+    ## 点云2D和3D对应的图
+    im_2d_to_3d = np.zeros((global_h, global_w, 3), dtype=np.float64)
+    rvec = np.array([np.array([0.]), np.array([0.]), np.array([0.])])
+    tvec = np.float64([0.0, 0.0, 0.0])
+    pts_2d, _ = cv2.projectPoints(np.asarray(filte_src_cloud_load), rvec, tvec, camera_matrix, dist_coeffs)
+
+    list_pts_2d = pts_2d.tolist()
+    list_pts_2d = [[[int(item) for item in subsublist] for subsublist in sublist] for sublist in list_pts_2d]
+    list_pts_2d_all_mask = []
+    for i, pt_2d in enumerate(list_pts_2d):
+        if 0 <= pt_2d[0][0] < global_w and 0 <= pt_2d[0][1] < global_h:
+            # 只挑选出反射率小于30的点
+            if filte_sreflectivitys[i][0] < 30:
+                # 添加2D图像的像素值
+                im_project[pt_2d[0][1], pt_2d[0][0]] = (255,255,255)
+                # 添加2D-3D映射图像的数值
+                im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]] = filte_src_cloud_load[i]
+                # 添加2D坐标数值，这里要保持和原始数据一致的信息，所以顺序是 pt_2d[0][0], pt_2d[0][1]
+                list_pts_2d_all_mask.append([pt_2d[0][0], pt_2d[0][1]])
+
+    # 计算图像的最小值和最大值
+    min_val = np.min(im_project)
+    max_val = np.max(im_project)
+    print(min_val)
+    print(max_val)
+
+    # 进行膨胀操作
+    kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (25, 25))
+
+    # 计算联通区域
+    im_project_delate = cv2.morphologyEx(im_project, cv2.MORPH_DILATE, kernel)
+    im_project_delate = cv2.cvtColor(im_project_delate, cv2.COLOR_RGB2GRAY)
+    _, im_project_delate_binary = cv2.threshold(im_project_delate, 128, 255, cv2.THRESH_BINARY)
+
+    # 查找轮廓
+    # 计算连通域
+    num_labels, labels, stats, centroids = \
+        cv2.connectedComponentsWithStats(im_project_delate_binary, connectivity=8)
+
+    # 忽略背景组件（标签0）
+    sizes = stats[1:, -1]  # 获取所有连通组件的面积（忽略背景）
+    rectangles = stats[1:, :4]  # 获取所有连通组件的边界框（忽略背景）
+
+    # 根据面积大小排序索引，并选择面积最大的前4个
+    sorted_indexes_by_size = sorted(range(sizes.shape[0]), key=lambda k: sizes[k], reverse=True)[:4]
+
+    print("面积最大的4个连通组件索引:")
+    print(sorted_indexes_by_size)
+
+    # 创建一个新的与labels大小相同的数组，用于保存面积最大的4个连通组件
+    filtered_labels = np.zeros_like(labels)
+
+    for i in sorted_indexes_by_size:
+        filtered_labels[labels == i + 1] = i + 1  # 注意这里要加1，因为忽略了背景组件
+
+    # 给每个连通区域分配一种颜色
+    colors = np.random.randint(0, 255, size=(len(sorted_indexes_by_size), 3), dtype=np.uint8)
+
+    mask4_conners = []
+    for i, idx in enumerate(sorted_indexes_by_size):
+        colored_filtered_labels = np.zeros((filtered_labels.shape[0], filtered_labels.shape[1], 1), dtype=np.uint8)
+        color = colors[i]
+        mask = (filtered_labels == idx + 1)
+        colored_filtered_labels[mask] = 255
+        non_zero = cv2.findNonZero(colored_filtered_labels)
+        rect = cv2.minAreaRect(non_zero)
+        box = cv2.boxPoints(rect)
+        box = np.int0(box)
+        conners = utils.sort_conners_2d(list(box))
+        # 4个角点拍寻 left top right bottom
+        mask4_conners.append(conners)
+
+    # mask 板子排序 左上 右上 左下 右下
+    mask4_conners = sort_marks_aruco_3d(mask4_conners)
+    ## for test mask 板子排序 左上 右上 左下 右下
+    # for i in range(4):
+    #     conners = mask4_conners[i]
+    #     cv2.drawContours(im_project, [np.asarray(conners)], 0, (255), 10)
+    #     im_tmp = cv2.resize(im_project, (1000, 750))
+    #     cv2.imshow("1", im_tmp)
+    #     cv2.waitKey(0)
+
+    # 初始化每个标记板的2d坐标数组和3d点云数据数组
+    pts_2d_mask_list = []
+    im_2d_to_3d_mask_list = []
+    for i in range(4):
+        pts_2d_mask = []
+        im_2d_to_3d_mask = np.zeros((global_h, global_w, 3), dtype=np.float64)
+        pts_2d_mask_list.append(pts_2d_mask)
+        im_2d_to_3d_mask_list.append(im_2d_to_3d_mask)
+
+    # 按没个标记版分别归纳2d坐标数据和3d点云数据
+    ## 遍历过滤后的2d点坐标数据
+    for pt_index in list_pts_2d_all_mask:
+        for i in range(4):
+            conners = mask4_conners[i]
+            if cv2.pointPolygonTest(np.asarray(conners), (pt_index[0],pt_index[1]), False) >= 0:
+                # 这里要保持2D坐标的顺序，所以是pt_index[0],pt_index[1]
+                pts_2d_mask_list[i].append([pt_index[0], pt_index[1]])
+                # im_2d_to_3d_mask_list[i].append(im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]])
+                im_2d_to_3d_mask_list[i][pt_index[1], pt_index[0]] = im_2d_to_3d[pt_index[1], pt_index[0]]
+                break
+    
+    # 遍历4个标记板，计算每隔标记板4个角点的3D坐标
+    for m in range(4):
+        pts_2d_mask = pts_2d_mask_list[m]
+        im_2d_to_3d_mask = im_2d_to_3d_mask_list[m]
+        H = utils.cal_H(im_2d_to_3d_mask, pts_2d_mask, pts_2d_mask)
+
+        # 通过单应矩阵计算角点 3D 单位坐标下的数值
+        H_inv = np.linalg.inv(H)
+        conners_pcd = o3d.geometry.PointCloud()
+        for i in range(4):
+            conner = conners[i]
+            x, y = conner[0], conner[1]
+            pts_hom = np.array([x, y, 1])
+            pts_3d = np.dot(H_inv, pts_hom.T)
+            pts_3d = pts_3d/pts_3d[2]
+            conners_pcd.points.append((pts_3d[0],pts_3d[1],pts_3d[2]))
+        
+        # 生成当前标定板的点云数据
+        mark_pcd = o3d.geometry.PointCloud()
+        for i, pt_2d in enumerate(pts_2d_mask):
+            mark_pcd.points.append([im_2d_to_3d[pt_2d[1], pt_2d[0]][0], 
+                                    im_2d_to_3d[pt_2d[1], pt_2d[0]][1], 
+                                    im_2d_to_3d[pt_2d[1], pt_2d[0]][2]])
+        # 计算标定板点云拟合平面的参数，这里会受到反射率、噪声等的影响
+        plane_model, inlier_cloud, inlier_pcd_correct = utils.correct_mark_cloud(mark_pcd)
+        # 重新计算3D角点的空间未知
+        conners_pcd = utils.reproject_cloud(plane_model, conners_pcd)
+
+    Log.info("2D标记角点，得到得边长为：")
+    for i in range(4):
+        print(np.linalg.norm(conners_pcd.points[i] - conners_pcd.points[(i+1)%4]))
+
+   
+    return frame, marks_3d_conners
+
+
+def cal_lidar_marks_3d_conner_v2(r_file_path): 
+    marks_3d_conners = []
+    file_path = r_file_path
+    src_cloud_load = o3d.io.read_point_cloud(file_path)
+
+    reflectivitys = utils.parse_custom_attribute(file_path, "reflectivity")
+
+    # 点云旋转
+    Rx = src_cloud_load.get_rotation_matrix_from_xyz((roll, 0, 0))
+    Ry = src_cloud_load.get_rotation_matrix_from_xyz((0, pitch, 0))
+    Rz = src_cloud_load.get_rotation_matrix_from_xyz((0, 0, yaw))
+    src_cloud_load.rotate(Rx, (1,0,0))
+    src_cloud_load.rotate(Ry, (0,1,0))
+    src_cloud_load.rotate(Rz, (0,0,1))
+    src_cloud_load.translate(T_vector)
+    # o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
+
+    # 点云过滤
+    ## 通过距离和反射率过滤后剩下得点云数据
+    filte_src_cloud_load = []
+    ## 点云的反射率数据
+    filte_sreflectivitys = []
+    src_cloud_load_array = np.asarray(src_cloud_load.points)
+    index = 0
+    for point_3d in src_cloud_load_array:
+        if -2.0 < point_3d[0] < 2.0 and -2.0 < point_3d[1] < 2.0 and point_3d[2] < global_z_max: 
+            filte_src_cloud_load.append((point_3d[0], point_3d[1], point_3d[2]))
+            filte_sreflectivitys.append([reflectivitys[index]])
+        index += 1
+
+    # 点云投影
+    ## 点云投影后的2D图
+    im_project = np.zeros((global_h, global_w, 3), dtype=np.uint8)
+    ## 点云2D和3D对应的图
+    im_2d_to_3d = np.zeros((global_h, global_w, 3), dtype=np.float64)
+    rvec = np.array([np.array([0.]), np.array([0.]), np.array([0.])])
+    tvec = np.float64([0.0, 0.0, 0.0])
+    pts_2d, _ = cv2.projectPoints(np.asarray(filte_src_cloud_load), rvec, tvec, camera_matrix, dist_coeffs)
+
+    list_pts_2d = pts_2d.tolist()
+    list_pts_2d = [[[int(item) for item in subsublist] for subsublist in sublist] for sublist in list_pts_2d]
+    list_pts_2d_all_mask = []
+    for i, pt_2d in enumerate(list_pts_2d):
+        if 0 <= pt_2d[0][0] < global_w and 0 <= pt_2d[0][1] < global_h:
+            # 只挑选出反射率小于30的点
+            if filte_sreflectivitys[i][0] < 20:
+                # 添加2D图像的像素值
+                im_project[pt_2d[0][1], pt_2d[0][0]] = (255,255,255)
+                # 添加2D-3D映射图像的数值
+                im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]] = filte_src_cloud_load[i]
+                # 添加2D坐标数值，这里要保持和原始数据一致的信息，所以顺序是 pt_2d[0][0], pt_2d[0][1]
+                list_pts_2d_all_mask.append([pt_2d[0][0], pt_2d[0][1]])
+
+    # 计算图像的最小值和最大值
+    min_val = np.min(im_project)
+    max_val = np.max(im_project)
+    print(min_val)
+    print(max_val)
+
+    # 进行膨胀操作
+    kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (17, 17))
+
+    # 计算联通区域
+    im_project_delate = cv2.morphologyEx(im_project, cv2.MORPH_DILATE, kernel)
+    im_project_delate_color = im_project_delate.copy()
+    im_project_delate = cv2.cvtColor(im_project_delate, cv2.COLOR_RGB2GRAY)
+    _, im_project_delate_binary = cv2.threshold(im_project_delate, 1, 255, cv2.THRESH_BINARY)
+
+    # 查找轮廓
+    # 计算连通域
+    num_labels, labels, stats, centroids = \
+        cv2.connectedComponentsWithStats(im_project_delate_binary, connectivity=8)
+
+    # 忽略背景组件（标签0）
+    sizes = stats[1:, -1]  # 获取所有连通组件的面积（忽略背景）
+    rectangles = stats[1:, :4]  # 获取所有连通组件的边界框（忽略背景）
+
+    # 根据面积大小排序索引，并选择面积最大的前4个
+    sorted_indexes_by_size = sorted(range(sizes.shape[0]), key=lambda k: sizes[k], reverse=True)[:4]
+
+    print("面积最大的4个连通组件索引:")
+    print(sorted_indexes_by_size)
+
+    # 创建一个新的与labels大小相同的数组，用于保存面积最大的4个连通组件
+    filtered_labels = np.zeros_like(labels)
+
+    for i in sorted_indexes_by_size:
+        filtered_labels[labels == i + 1] = i + 1  # 注意这里要加1，因为忽略了背景组件
+
+    # 给每个连通区域分配一种颜色
+    colors = np.random.randint(0, 255, size=(len(sorted_indexes_by_size), 3), dtype=np.uint8)
+
+    mask4_conners = []
+    for i, idx in enumerate(sorted_indexes_by_size):
+        colored_filtered_labels = np.zeros((filtered_labels.shape[0], filtered_labels.shape[1], 1), dtype=np.uint8)
+        color = colors[i]
+        mask = (filtered_labels == idx + 1)
+        colored_filtered_labels[mask] = 255
+        # 使用该区域与原图相与
+        im_project_gray = cv2.cvtColor(im_project, cv2.COLOR_BGR2GRAY)
+        colored_filtered_labels = cv2.bitwise_and(colored_filtered_labels, im_project_gray)
+        non_zero = cv2.findNonZero(colored_filtered_labels)
+
+        # conners = utils.select_and_sort_conners_2d(non_zero)
+
+        rect = cv2.minAreaRect(non_zero)
+        box = cv2.boxPoints(rect)
+        box = np.int0(box)
+        conners = utils.sort_conners_2d(list(box))
+        # 4个角点拍寻 left top right bottom
+        mask4_conners.append(conners)
+
+    # mask 板子排序 左上 右上 左下 右下
+    mask4_conners = sort_marks_aruco_3d(mask4_conners)
+    ## for test mask 板子排序 左上 右上 左下 右下
+    for i in range(4):
+        conners = mask4_conners[i]
+        cv2.drawContours(im_project_delate_color, [np.asarray(conners)], 0, (0, 255, 0), 20)
+    im_tmp = cv2.resize(im_project_delate_color, (1000, 750))
+    cv2.imshow("1", im_tmp)
+    cv2.waitKey(0)
+
+    Log.error("3D-2D")
+    print(np.linalg.norm(mask4_conners[0][0] - mask4_conners[0][1]))
+    print(np.linalg.norm(mask4_conners[0][1] - mask4_conners[0][2]))
+    print(np.linalg.norm(mask4_conners[0][2] - mask4_conners[0][3]))
+    print(np.linalg.norm(mask4_conners[0][3] - mask4_conners[0][0]))
+    
+    obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
+                                [ marker_size/2, -marker_size/2, 0], # 右上
+                                [ marker_size/2,  marker_size/2, 0], # 右下
+                                [-marker_size/2,  marker_size/2, 0]], dtype=np.float32) # 左下
+
+    # obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
+    #                         [ marker_size/2, marker_size/2, 0], # 右下角
+    #                         [ marker_size/2,  -marker_size/2, 0], # 右上角
+    #                         [-marker_size/2,  -marker_size/2, 0]], dtype=np.float32) # 左上角
+
+    # 遍历所有检测到的标记
+    rotation_matrices = []
+    Log.info("2D->3D 通过相邻角点计算得到的边长进行对比")
+    for i, corner in enumerate(mask4_conners):
+        conners_pcd = o3d.geometry.PointCloud()
+        # for j in range(4):
+        #     conners_pcd.points.append(obj_points[j])
+        # image_points = np.array([
+        #     [corner[0][0], corner[0][1]],
+        #     [corner[1][0], corner[1][1]],
+        #     [corner[2][0], corner[2][1]],
+        #     [corner[3][0], corner[3][1]]
+        # ], dtype=np.float32)
+
+        # 0123 -> 2301
+        # 与objects3D坐标对齐
+        image_points = np.array([
+            [corner[2][0], corner[2][1]],
+            [corner[3][0], corner[3][1]],
+            [corner[0][0], corner[0][1]],
+            [corner[1][0], corner[1][1]],
+        ], dtype=np.float32)
+        # 估计每个标记的姿态
+        # _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
+        _, rvec, tvec = cv2.solvePnP(obj_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_EPNP)
+
+        frame = im_project
+        # 绘制每个标记的轴线
+        # cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
+
+        # 将旋转向量转换为旋转矩阵（如果需要）
+        rotation_matrix, _ = cv2.Rodrigues(rvec)
+        rotation_matrices.append(rotation_matrix)
+
+        # 使用cv2.invert()计算矩阵的逆
+        retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
+        # if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
+        # else: print("无法计算矩阵的逆")
+
+        H = np.eye(4)
+        H[:3, :3] = rotation_matrix
+        H[:3, 3] = tvec.flatten()
+        for j in range(4):
+            P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
+            P_camera_homogeneous = H @ P_world  # 齐次坐标相乘
+            conners_pcd.points.append(P_camera_homogeneous[:-1])
+
+        # conners_pcd.rotate(rotation_matrix, (0,0,0))
+        # conners_pcd.translate(tvec)
+        
+        # 在图像上绘制角点编号（可选）
+        for j, point in enumerate(image_points):
+            text = str(conners_pcd.points[j])
+            if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
+            elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
+            elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
+            else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
+
+        # 将点云的点转换为 NumPy 数组
+        points = np.asarray(conners_pcd.points)
+        reversed_points = points[::-1]
+        conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
+
+        left = conners_pcd.points[3]
+        top = conners_pcd.points[0]
+        right = conners_pcd.points[1]
+        bottom = conners_pcd.points[2]
+        conners = [left, top, right, bottom]
+        conners = utils.sort_conners_2d(conners)
+
+        print(
+            np.linalg.norm(top - left),
+            np.linalg.norm(right - top),
+            np.linalg.norm(bottom - right),
+            np.linalg.norm(left - bottom),
+        )
+        # marks_3d_conners.append([left, top, right, bottom])
+        marks_3d_conners.append(conners)
+    
+    marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
+    # 按照左、上、右、底顺序返回
+    return frame, marks_3d_conners
+
+import struct
+def get_low_8bits(float_num):
+    # 把浮点数转换成一个4字节的二进制表示
+    bytes_rep = struct.pack('>d', float_num)
+    # 解析这个二进制表示为一个整数
+    int_rep = int.from_bytes(bytes_rep, 'big')
+    # 使用位运算取出低8位
+    low_8bits = int_rep & 0xFF
+    return low_8bits
+
+def check_ply_file(filename):
+    with open(filename, 'r') as file:
+        lines = file.readlines()
+    
+    # 打印文件头部分
+    print("File header:")
+    for line in lines[:lines.index('end_header\n') + 1]:
+        print(line.strip())
+    
+    # 打印前几个数据行
+    print("\nSample data rows:")
+    data_start_index = lines.index('end_header\n') + 1
+    for i, line in enumerate(lines[data_start_index:data_start_index + 5], start=data_start_index):
+        print(f"Line {i}: {line.strip()}")
+
+if __name__ == '__main__':
+    ile_path = os.path.dirname(__file__) + "\\samples\\output.ply"
+    cal_lidar_marks_3d_conner_v2(ile_path)
+
+
+    # o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
+
+    #################################
+    # FILE_PATH = "./samples/calibration/1/output.png"
+    # frame = cv2.imread(FILE_PATH)
+    # if frame is None:
+    #     exit()
+    # frame, marks = cal_camera_marks_3d_conners_v2(frame)
+
+    # # frame, marks = cal_camera_marks_3d_conners(FILE_PATH)
+    # Log.info("2D->3D marks conners value")
+    # print(marks)
+    # frame = cv2.resize(frame, (1000, 750))
+    # cv2.imshow('frame', frame)
+    # cv2.waitKey(0) 
+
+    # cv2.destroyAllWindows()

calibration_mian.py

@@ -0,0 +1,535 @@
+# -- coding: utf-8 --
+import aurco_3d_detect as aurco3d
+import cloud_3d_detect as cloud3d
+import svd
+import utils
+import os
+import sys
+from utils import Log
+from config import *
+
+
+CAMERA_FILE = os.path.dirname(__file__) + "\\samples\\1\\output.png"
+LIDAR_FILE = os.path.dirname(__file__) + "\\samples\\1\\output.ply"
+sys.path.append(r"./")
+
+
+_dict = [
+    "LEFT",
+    "TOP",
+    "RIGHT",
+    "BOTTOM",
+]
+
+
+def do_calibration_with_one_sample(camera_file_path = CAMERA_FILE, lidar_file_path = LIDAR_FILE):
+    global CAMERA_FILE, LIDAR_FILE
+    if CAMERA_FILE != camera_file_path :
+        CAMERA_FILE = camera_file_path
+    if LIDAR_FILE != lidar_file_path :
+        LIDAR_FILE = lidar_file_path
+
+    frame, aurco_marks_conners = aurco3d.cal_camera_marks_3d_conners(CAMERA_FILE)
+
+    # 分割标定板
+    marks_pcd = cloud3d.seg_mark_cloud(LIDAR_FILE, kk, show=False)
+    if len(marks_pcd) != MARK_COUNT:
+        return -1, None, None
+    pcd_marks_conners = cloud3d.cal_marks_3d_conners(show=False)
+
+    pcd_marks_conners_new = []
+    for i in range(4): 
+        tmmp = []
+        for j in range(4):
+            tmmp.append(pcd_marks_conners[i].points[j])
+        pcd_marks_conners_new.append(tmmp)
+    
+    # 排除异常点
+    __exclude = []
+    while True:
+        __max = 0
+        __min = 10
+        __mean = 0
+        __cnt = 0
+        __conner_mean = 0
+        __conner_cnt = 0
+        __conners_mean_distance = []
+        for i in range(16):
+            src_aruco_mark_conner = aurco_marks_conners[int(i/4)][i%4]
+            src_cloud_mark_conner = pcd_marks_conners_new[int(i/4)][i%4]
+            for j in range(16):
+                if i in __exclude or j in __exclude:
+                    continue
+                dst_aruco_mark_conner = aurco_marks_conners[int(j/4)][j%4]
+                dst_cloud_mark_conner = pcd_marks_conners_new[int(j/4)][j%4]
+                aurco_distance = np.linalg.norm(src_aruco_mark_conner - dst_aruco_mark_conner)
+                lidar_distance = np.linalg.norm(src_cloud_mark_conner - dst_cloud_mark_conner)
+                diff_distance = abs(aurco_distance - lidar_distance)
+                if diff_distance > __max:
+                    __max = diff_distance
+                if diff_distance < __min:
+                    __min = diff_distance
+                __cnt += 1
+                __mean += diff_distance
+                __conner_cnt += 1
+                __conner_mean += diff_distance
+                # print(str(int(i/4)) + "-" + _dict[i%4] + " : " + str(int(j/4)) + "-" + _dict[j%4] 
+                #         + " = " +  str(diff_distance))
+            if __conner_cnt == 0: tmp=0
+            else : tmp = __conner_mean/__conner_cnt
+            __conners_mean_distance.append(tmp)
+            __conner_cnt = 0
+            __conner_mean = 0
+        __mean = __mean/__cnt
+        Log.info("16点对比结果")
+        print("__max:" + str(__max))
+        print("__min:" + str(__min))
+        print("__cnt:" + str(__cnt))
+        print("__mean:" + str(__mean))
+        print("__conners_mean_distance:")
+
+        # for test
+        # for i in range(len(__conners_mean_distance)):
+        #     print(__conners_mean_distance[i])
+        
+        max_index = max(enumerate(__conners_mean_distance), key=lambda x: x[1])[0]
+        if len(__exclude) < conf_max_exclude_num:
+            __exclude.append(max_index)
+        else:
+            break
+
+    # 初始化SVD数据
+    list_marks_aurco = []
+    list_marks_pcd = []
+    for i in range(16):
+        # for test
+        print(aurco_marks_conners[int(i/4)][i%4][0] - pcd_marks_conners_new[int(i/4)][i%4][0],
+            aurco_marks_conners[int(i/4)][i%4][1] - pcd_marks_conners_new[int(i/4)][i%4][1],
+            aurco_marks_conners[int(i/4)][i%4][2] - pcd_marks_conners_new[int(i/4)][i%4][2])
+        if i in __exclude: 
+            continue
+        list_marks_aurco.append(aurco_marks_conners[int(i/4)][i%4])
+        list_marks_pcd.append(pcd_marks_conners_new[int(i/4)][i%4])
+
+    # SVD 分解得到 RT
+    _R, _t, _ ,_ = svd.scipy_svd(np.asarray(list_marks_pcd), np.asarray(list_marks_aurco))
+    # _r, _p, _y = utils.rotation_matrix_to_euler_angles(_R)
+    _r, _p, _y = utils.rotation_matrix_to_rpy(_R)
+    print(_R)
+    print(_t)
+    print(_r, _p, _y)
+    
+    return 0, [_t[0],_t[1],_t[2]], [_r, _p, _y], __mean
+
+g_marks_pcd = []
+def step1_get_aruco_and_lidar_marks_and_conners(
+        camera_file_path = CAMERA_FILE, 
+        lidar_file_path = LIDAR_FILE, 
+        times = 1,
+        simple=True):
+    
+    global CAMERA_FILE, LIDAR_FILE, g_marks_pcd
+    if CAMERA_FILE != camera_file_path :
+        CAMERA_FILE = camera_file_path
+    if LIDAR_FILE != lidar_file_path :
+        LIDAR_FILE = lidar_file_path
+
+    frame, aurco_marks_conners = aurco3d.cal_camera_marks_3d_conners(CAMERA_FILE)
+
+    if simple:
+        # 分割标定板
+        if times == 1: # 第一次执行时分割
+            g_marks_pcd = cloud3d.seg_mark_cloud_simple(LIDAR_FILE, kk, show=False)
+            if len(g_marks_pcd) != MARK_COUNT:
+                return None, None
+        pcd_marks_conners = cloud3d.cal_marks_3d_conners_simple(g_marks_pcd, show=False)
+    else:
+        # 分割标定板
+        if times == 1: # 第一次执行时分割
+            g_marks_pcd = cloud3d.seg_mark_cloud(LIDAR_FILE, kk, show=False)
+            if len(g_marks_pcd) != MARK_COUNT:
+                return None, None
+        pcd_marks_conners = cloud3d.cal_marks_3d_conners(show=False)
+
+    pcd_marks_conners_new = []
+    for i in range(4): 
+        tmmp = []
+        for j in range(4):
+            tmmp.append(pcd_marks_conners[i].points[j])
+        pcd_marks_conners_new.append(tmmp)
+
+    return aurco_marks_conners, pcd_marks_conners_new
+
+def step1_get_aruco_and_lidar_marks_and_conners_v2(
+        camera_file_path = CAMERA_FILE, 
+        lidar_file_path = LIDAR_FILE, 
+        times = 1,
+        simple=True):
+    
+    global CAMERA_FILE, LIDAR_FILE, g_marks_pcd
+    if CAMERA_FILE != camera_file_path :
+        CAMERA_FILE = camera_file_path
+    if LIDAR_FILE != lidar_file_path :
+        LIDAR_FILE = lidar_file_path
+
+    frame, aurco_marks_conners = aurco3d.cal_camera_marks_3d_conners_v2(CAMERA_FILE)
+    frame, pcd_marks_conners = aurco3d.cal_lidar_marks_3d_conner_v2(LIDAR_FILE)
+
+    pcd_marks_conners_new = []
+    for i in range(4): 
+        tmmp = []
+        for j in range(4):
+            tmmp.append(pcd_marks_conners[i][j])
+        pcd_marks_conners_new.append(tmmp)
+
+    return aurco_marks_conners, pcd_marks_conners_new
+
+def step2_exclude_bad_conners(aurco_marks_conners, pcd_marks_conners):
+    # 排除异常点
+    __exclude = []
+    while True:
+        __max = 0
+        __min = 10
+        __mean = 0
+        __cnt = 0
+        __conner_mean = 0
+        __conner_cnt = 0
+        __conners_mean_distance = []
+        for i in range(16):
+            src_aruco_mark_conner = aurco_marks_conners[int(i/4)][i%4]
+            src_cloud_mark_conner = pcd_marks_conners[int(i/4)][i%4]
+            for j in range(16):
+                if i in __exclude or j in __exclude:
+                    continue
+                dst_aruco_mark_conner = aurco_marks_conners[int(j/4)][j%4]
+                dst_cloud_mark_conner = pcd_marks_conners[int(j/4)][j%4]
+                aurco_distance = np.linalg.norm(src_aruco_mark_conner - dst_aruco_mark_conner)
+                lidar_distance = np.linalg.norm(src_cloud_mark_conner - dst_cloud_mark_conner)
+                diff_distance = abs(aurco_distance - lidar_distance)
+                if diff_distance > __max:
+                    __max = diff_distance
+                if diff_distance < __min:
+                    __min = diff_distance
+                __cnt += 1
+                __mean += diff_distance
+                __conner_cnt += 1
+                __conner_mean += diff_distance
+                # print(str(int(i/4)) + "-" + _dict[i%4] + " : " + str(int(j/4)) + "-" + _dict[j%4] 
+                #         + " = " +  str(diff_distance))
+            if __conner_cnt == 0: tmp=0
+            else : tmp = __conner_mean/__conner_cnt
+            __conners_mean_distance.append(tmp)
+            __conner_cnt = 0
+            __conner_mean = 0
+        __mean = __mean/__cnt
+        Log.info("16点对比结果")
+        print("__max:" + str(__max))
+        print("__min:" + str(__min))
+        print("__cnt:" + str(__cnt))
+        print("__mean:" + str(__mean))
+        print("__conners_mean_distance:")
+
+        # for test
+        # for i in range(len(__conners_mean_distance)):
+        #     print(__conners_mean_distance[i])
+        
+        max_index = max(enumerate(__conners_mean_distance), key=lambda x: x[1])[0]
+        if len(__exclude) < conf_max_exclude_num:
+            __exclude.append(max_index)
+        else:
+            break
+
+    # 初始化SVD数据
+    list_marks_aurco = []
+    list_marks_pcd = []
+    for i in range(16):
+        # for test
+        print(aurco_marks_conners[int(i/4)][i%4][0] - pcd_marks_conners[int(i/4)][i%4][0],
+            aurco_marks_conners[int(i/4)][i%4][1] - pcd_marks_conners[int(i/4)][i%4][1],
+            aurco_marks_conners[int(i/4)][i%4][2] - pcd_marks_conners[int(i/4)][i%4][2])
+        if i in __exclude: 
+            continue
+        list_marks_aurco.append(aurco_marks_conners[int(i/4)][i%4])
+        list_marks_pcd.append(pcd_marks_conners[int(i/4)][i%4])
+
+    return list_marks_aurco, list_marks_pcd, __mean
+
+def step2_exclude_bad_conners_v2(aurco_marks_conners, pcd_marks_conners):
+    # 排除异常点
+    __exclude = []
+    while True:
+        __max = 0
+        __min = 10
+        __mean = 0
+        __cnt = 0
+        __conner_mean = 0
+        __conner_cnt = 0
+        __conners_mean_distance = []
+        for i in range(16):
+            src_aruco_mark_conner = aurco_marks_conners[int(i/4)][i%4]
+            src_cloud_mark_conner = pcd_marks_conners[int(i/4)][i%4]
+            for j in range(16):
+                if i in __exclude or j in __exclude:
+                    continue
+                dst_aruco_mark_conner = aurco_marks_conners[int(j/4)][j%4]
+                dst_cloud_mark_conner = pcd_marks_conners[int(j/4)][j%4]
+                aurco_distance = np.linalg.norm(src_aruco_mark_conner - dst_aruco_mark_conner)
+                lidar_distance = np.linalg.norm(src_cloud_mark_conner - dst_cloud_mark_conner)
+                diff_distance = abs(aurco_distance - lidar_distance)
+                if diff_distance > __max:
+                    __max = diff_distance
+                if diff_distance < __min:
+                    __min = diff_distance
+                __cnt += 1
+                __mean += diff_distance
+                __conner_cnt += 1
+                __conner_mean += diff_distance
+                # print(str(int(i/4)) + "-" + _dict[i%4] + " : " + str(int(j/4)) + "-" + _dict[j%4] 
+                #         + " = " +  str(diff_distance))
+            if __conner_cnt == 0: tmp=0
+            else : tmp = __conner_mean/__conner_cnt
+            __conners_mean_distance.append(tmp)
+            __conner_cnt = 0
+            __conner_mean = 0
+        __mean = __mean/__cnt
+        Log.info("16点对比结果")
+        print("__max:" + str(__max))
+        print("__min:" + str(__min))
+        print("__cnt:" + str(__cnt))
+        print("__mean:" + str(__mean))
+        print("__conners_mean_distance:")
+
+        # for test
+        # for i in range(len(__conners_mean_distance)):
+        #     print(__conners_mean_distance[i])
+        
+        max_index = max(enumerate(__conners_mean_distance), key=lambda x: x[1])[0]
+        if len(__exclude) < conf_max_exclude_num:
+            __exclude.append(max_index)
+        else:
+            break
+        
+    # 初始化SVD数据
+    list_marks_aurco = []
+    list_marks_pcd = []
+    Log.info("16点对比结果")
+    for i in range(16):
+        # for test
+        print(aurco_marks_conners[int(i/4)][i%4][0] - pcd_marks_conners[int(i/4)][i%4][0],
+            aurco_marks_conners[int(i/4)][i%4][1] - pcd_marks_conners[int(i/4)][i%4][1],
+            aurco_marks_conners[int(i/4)][i%4][2] - pcd_marks_conners[int(i/4)][i%4][2])
+        list_marks_aurco.append(aurco_marks_conners[int(i/4)][i%4])
+        list_marks_pcd.append(pcd_marks_conners[int(i/4)][i%4])
+
+    return list_marks_aurco, list_marks_pcd, __mean
+
+import open3d as o3d
+def create_spheres(points, sizes=None, color=[0, 0.706, 1]):
+    """
+    创建一系列球体以替代点云中的点，允许每个点有不同的大小。
+    
+    参数:
+    points: N x 3 数组，表示N个点的位置。
+    sizes: N维数组或列表，表示对应点的半径大小。如果为None，则所有球体大小相同。
+    color: RGB颜色值，默认是橙色。
+    
+    返回:
+    spheres: 包含所有球体的Open3D几何对象列表。
+    """
+    spheres = []
+    if sizes is None:
+        sizes = [0.006] * len(points)  # 如果没有提供大小，则默认所有球体大小相同
+    for i, point in enumerate(points):
+        sphere = o3d.geometry.TriangleMesh.create_sphere(radius=sizes[i])
+        sphere.translate(point)  # 将球体移动到点的位置
+        sphere.paint_uniform_color(color)
+        spheres.append(sphere)
+    return spheres
+
+def step3_cal_aruco_and_lidar_marks_rt(aurco_marks_conners, pcd_marks_conners):
+    # SVD 分解得到 RT
+    array_aurco_marks_conners = np.asarray(aurco_marks_conners)
+    array_pcd_marks_conners = np.asarray(pcd_marks_conners)
+    _R, _t, _ ,_ = svd.scipy_svd(array_pcd_marks_conners, array_aurco_marks_conners)
+    # _r, _p, _y = utils.rotation_matrix_to_euler_angles(_R)
+    _r, _p, _y = utils.rotation_matrix_to_rpy(_R)
+    print(_R)
+    print(_t)
+    print(_r, _p, _y)
+
+    # for test
+    _pdc_rt = (_R @ np.asarray(array_pcd_marks_conners).T).T + _t
+    if True:
+        # 角点显示的圆球半径，单位（米）
+        spheres_2d = create_spheres(array_aurco_marks_conners[:16], None, color=[0, 0.706, 1])
+        spheres_3d = create_spheres(_pdc_rt[:16], None, color=[0, 0, 0])
+        points_list = []
+        for i in range(len(array_aurco_marks_conners[:16])):
+            points_list.append(spheres_2d[i])
+            points_list.append(spheres_3d[i])
+        # o3d.visualization.draw_geometries(points_list)
+    return 0, [_t[0],_t[1],_t[2]], [_r, _p, _y]
+
+def calibration_by_one_samples_points():
+    calibration_result = []
+    bad_samples = []
+    samples_path_root = os.path.dirname(__file__) + "\\samples\\calibration"
+
+    # 标定使用的样本数量
+    samples_size = 1
+    # 每个样本执行的次数
+    times_per_one_sample = 2
+    for subdir in utils.list_subdirs(samples_path_root):
+        paths = utils.traverse_folder(samples_path_root + "\\" + subdir)
+        if len(paths) != 2:
+            print("[ERROR]\t Data Error Path : " + paths)
+        times = 0
+        while times < times_per_one_sample:
+            times += 1
+            ret, _t, _rpy, __mean = do_calibration_with_one_sample(paths[1], paths[0]) # 0 png, 1 ply
+            if ret != 0: 
+                bad_samples.append(subdir)
+                continue
+            # 合并得到最终得旋转角
+            _new_rpy = utils.combine_rpy(roll, pitch, yaw, _rpy[0], _rpy[1], _rpy[2])
+            calibration_result.append([subdir, str(times), __mean, _t, _rpy, _new_rpy])
+        samples_size -= 1
+        if samples_size == 0:
+            break
+    for i in range(len(calibration_result)):
+        str_mean = str(calibration_result[i][2])
+        str_t = str(calibration_result[i][3])
+        str_ypr = str(calibration_result[i][4])
+        str_new_rpy = str(calibration_result[i][5])
+        print(calibration_result[i][0], calibration_result[i][1], str_mean, str_t, str_ypr, str_new_rpy)
+    for i in range(len(bad_samples)):
+        print(bad_samples[i])
+    utils.save_to_json(os.path.dirname(__file__) + '\\record\\record.json', calibration_result)
+
+
+def calibration_by_all_samples_points(samples_path_root, samples_size=1, times_per_one_sample=2):
+    calibration_result = []
+    bad_samples = []
+    all_points = []
+
+    # 定义总体的 aurco_marks_conners, pcd_marks_conners
+    aurco_marks_conners_all = []
+    pcd_marks_conners_all = []
+    for subdir in utils.list_subdirs(samples_path_root):
+        paths = utils.traverse_folder(samples_path_root + "\\" + subdir)
+        if len(paths) != 2:
+            print("[ERROR]\t Data Error Path : " + paths)
+        times = 0
+        while times < times_per_one_sample:
+            times += 1
+            aurco_marks_conners, pcd_marks_conners = \
+                step1_get_aruco_and_lidar_marks_and_conners(paths[1], paths[0], times) # 0 png, 1 ply
+            if aurco_marks_conners is None:
+                Log.error("subdir is " + subdir + " aurco_marks_conners has ERROR")
+                break
+            aurco_marks_conners, pcd_marks_conners, __mean = \
+                step2_exclude_bad_conners(aurco_marks_conners, pcd_marks_conners)
+            _, _t, _rpy = step3_cal_aruco_and_lidar_marks_rt(aurco_marks_conners, pcd_marks_conners)
+            _new_rpy = utils.combine_rpy(roll, pitch, yaw, _rpy[0], _rpy[1], _rpy[2])
+            calibration_result.append([subdir, str(times), __mean, _t, _rpy, _new_rpy])
+
+            for it in range(len(aurco_marks_conners)):
+                aurco_marks_conners_all.append(aurco_marks_conners[it].tolist())
+                pcd_marks_conners_all.append(pcd_marks_conners[it].tolist())
+        samples_size -= 1
+        if samples_size == 0:
+            break
+    
+    # 将多样本多次计算的综合点统一进行SVD分解
+    if len(aurco_marks_conners_all) == 0:
+        return -1, None, None, None
+    _, _t, _rpy = step3_cal_aruco_and_lidar_marks_rt(aurco_marks_conners_all, pcd_marks_conners_all)
+    # 
+    _new_rpy = utils.combine_rpy(roll, pitch, yaw, _rpy[0], _rpy[1], _rpy[2])
+    calibration_result.append(["all", str(len(aurco_marks_conners_all)) + " & " + str(len(pcd_marks_conners_all)), \
+                               __mean, _t, _rpy, _new_rpy])
+
+    for i in range(len(calibration_result)):
+        str_mean = str(calibration_result[i][2])
+        str_t = str(calibration_result[i][3])
+        str_ypr = str(calibration_result[i][4])
+        str_new_rpy = str(calibration_result[i][5])
+        print(calibration_result[i][0], calibration_result[i][1], str_mean, str_t, str_ypr, str_new_rpy)
+    for i in range(len(bad_samples)):
+        print(bad_samples[i])
+    utils.save_to_json(os.path.dirname(__file__) + '\\record\\record.json', calibration_result)
+
+    all_points.append(aurco_marks_conners_all)
+    all_points.append(pcd_marks_conners_all)
+    utils.save_to_json(os.path.dirname(__file__) + '\\record\\points.json', all_points)
+
+    return 0, _t, _rpy, __mean
+
+def calibration_by_all_samples_points_v2(samples_path_root, samples_size=1, times_per_one_sample=2):
+    calibration_result = []
+    bad_samples = []
+    all_points = []
+
+    # 定义总体的 aurco_marks_conners, pcd_marks_conners
+    aurco_marks_conners_all = []
+    pcd_marks_conners_all = []
+    for subdir in utils.list_subdirs(samples_path_root):
+        paths = utils.traverse_folder(samples_path_root + "\\" + subdir)
+        if len(paths) != 2:
+            print("[ERROR]\t Data Error Path : " + paths)
+        times = 0
+        while times < times_per_one_sample:
+            times += 1
+            aurco_marks_conners, pcd_marks_conners = \
+                step1_get_aruco_and_lidar_marks_and_conners_v2(paths[1], paths[0], times) # 0 png, 1 ply
+            if aurco_marks_conners is None:
+                Log.error("subdir is " + subdir + " aurco_marks_conners has ERROR")
+                break
+            aurco_marks_conners, pcd_marks_conners, __mean = \
+                step2_exclude_bad_conners(aurco_marks_conners, pcd_marks_conners)
+            _, _t, _rpy = step3_cal_aruco_and_lidar_marks_rt(aurco_marks_conners, pcd_marks_conners)
+            _new_rpy = utils.combine_rpy(roll, pitch, yaw, _rpy[0], _rpy[1], _rpy[2])
+            calibration_result.append([subdir, str(times), __mean, _t, _rpy, _new_rpy])
+
+            for it in range(len(aurco_marks_conners)):
+                aurco_marks_conners_all.append(aurco_marks_conners[it].tolist())
+                pcd_marks_conners_all.append(pcd_marks_conners[it].tolist())
+        samples_size -= 1
+        if samples_size == 0:
+            break
+    
+    # 将多样本多次计算的综合点统一进行SVD分解
+    if len(aurco_marks_conners_all) == 0:
+        return -1, None, None, None
+    _, _t, _rpy = step3_cal_aruco_and_lidar_marks_rt(aurco_marks_conners_all, pcd_marks_conners_all)
+    _new_rpy = utils.combine_rpy(roll, pitch, yaw, _rpy[0], _rpy[1], _rpy[2])
+    calibration_result.append(["all", str(len(aurco_marks_conners_all)) + " & " + str(len(pcd_marks_conners_all)), \
+                               __mean, _t, _rpy, _new_rpy])
+
+    for i in range(len(calibration_result)):
+        str_mean = str(calibration_result[i][2])
+        str_t = str(calibration_result[i][3])
+        str_ypr = str(calibration_result[i][4])
+        str_new_rpy = str(calibration_result[i][5])
+        print(calibration_result[i][0], calibration_result[i][1], str_mean, str_t, str_ypr, str_new_rpy)
+    for i in range(len(bad_samples)):
+        print(bad_samples[i])
+    utils.save_to_json(os.path.dirname(__file__) + '\\record\\record.json', calibration_result)
+
+    all_points.append(aurco_marks_conners_all)
+    all_points.append(pcd_marks_conners_all)
+    utils.save_to_json(os.path.dirname(__file__) + '\\record\\points.json', all_points)
+
+    return 0, _t, _rpy, __mean
+
+
+if __name__ == '__main__':
+    # calibration_by_one_samples_points()
+    samples_size = 5
+    times_per_one_sample = 1
+    # samples_path_root = os.path.dirname(__file__) + "\\ssh_tmp"
+    samples_path_root = os.path.dirname(__file__) + "\\samples\\20250214"
+    ret, _t, _rpy, __mean = calibration_by_all_samples_points(samples_path_root, samples_size, times_per_one_sample)
+    # ret, _t, _rpy, __mean = calibration_by_all_samples_points_v2(samples_path_root, samples_size, times_per_one_sample)
+    # rt = utils.read_from_json(os.path.dirname(__file__) + '\\record\\record.json')
+    # print(rt)

camera_driver/CMakeLists.txt

@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.24)
+
+set(CMAKE_SOURCE_DIR "/home/setups/camera_driver")
+
+include(${CMAKE_SOURCE_DIR}/cmake/cmakebase.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/project.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/ss928.cmake)
+
+message(STATUS "========================")
+message(STATUS ${CMAKE_SYSTEM_NAME})
+message(STATUS ${CMAKE_SYSTEM_PROCESSOR})
+message(STATUS "========================")
+
+
+PROJECT(camera_driver)
+
+set(CMAKE_SOURCE_DIR "./")
+
+find_package(OpenCV 4.10)
+if(NOT OpenCV_FOUND)
+    message(FATAL_ERROR "OpenCV > 4.10  not found.")
+endif()
+MESSAGE(${OpenCV_VERSION})
+
+# 检测操作系统和架构
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+        set(PLATFORM "linux/x64")
+    elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+        set(PLATFORM "linux/aarch64")
+    else()
+        message(FATAL_ERROR "Unsupported architecture on Linux")
+    endif()
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
+    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+        set(PLATFORM "windows/x64")
+    else()
+        message(FATAL_ERROR "Unsupported architecture on Windows")
+    endif()
+else()
+    message(FATAL_ERROR "Unsupported operating system")
+endif()
+
+# 输出当前系统和架构
+message(STATUS "operating system: ${PLATFORM}")
+
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY  "${CMAKE_SOURCE_DIR}/output/")
+
+INCLUDE_DIRECTORIES(
+    "/include"
+    "/usr/include"
+)
+LINK_DIRECTORIES(
+    /usr/lib/aarch64-linux-gnu
+    ${CMAKE_SOURCE_DIR}/lib
+)
+
+aux_source_directory(${CMAKE_SOURCE_DIR}/ SRCLIST)
+
+add_executable(${PROJECT_NAME} ${SRCLIST})
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath-link,/usr/lib/aarch64-linux-gnu")
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} libdl-2.31.so pthread)
+
+add_library(CameraDriver MODULE ${SRCLIST})
+target_link_libraries(CameraDriver ${OpenCV_LIBS})
+

camera_driver/CameraDriver.h

@@ -0,0 +1,99 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#ifndef _WIN32
+#include <unistd.h>
+#include <pthread.h>
+#include <dlfcn.h> 
+#endif // !_WIN32
+#include "IMVApi.h"
+#include "IMVDefines.h"
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/core.hpp>
+
+extern "C"{
+
+#define	MONO_CHANNEL_NUM	1
+#define	RGB_CHANNEL_NUM		3
+#define	BGR_CHANNEL_NUM		3
+
+#define sleep(ms)	usleep(1000 * ms)
+
+typedef const char*	(IMV_CALL * DLL_GetVersion)							();
+typedef int			(IMV_CALL * DLL_EnumDevices)						(OUT IMV_DeviceList *pDeviceList, IN unsigned int interfaceType);
+typedef int			(IMV_CALL * DLL_EnumDevicesByUnicast)				(OUT IMV_DeviceList *pDeviceList, IN const char* pIpAddress);
+typedef int			(IMV_CALL * DLL_CreateHandle)						(OUT IMV_HANDLE* handle, IN IMV_ECreateHandleMode mode, IN void* pIdentifier);
+typedef int			(IMV_CALL * DLL_DestroyHandle)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GetDeviceInfo)						(IN IMV_HANDLE handle, OUT IMV_DeviceInfo *pDevInfo);
+typedef int			(IMV_CALL * DLL_Open)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_OpenEx)								(IN IMV_HANDLE handle, IN IMV_ECameraAccessPermission accessPermission);
+typedef bool		(IMV_CALL * DLL_IsOpen)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_Close)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GIGE_ForceIpAddress)				(IN IMV_HANDLE handle, IN const char* pIpAddress, IN const char* pSubnetMask, IN const char* pGateway);
+typedef int			(IMV_CALL * DLL_GIGE_GetAccessPermission)			(IN IMV_HANDLE handle, IMV_ECameraAccessPermission* pAccessPermission);
+typedef int			(IMV_CALL * DLL_GIGE_SetAnswerTimeout)				(IN IMV_HANDLE handle, IN unsigned int timeout);
+typedef int			(IMV_CALL * DLL_DownLoadGenICamXML)					(IN IMV_HANDLE handle, IN const char* pFullFileName);
+typedef int			(IMV_CALL * DLL_SaveDeviceCfg)						(IN IMV_HANDLE handle, IN const char* pFullFileName);
+typedef int			(IMV_CALL * DLL_LoadDeviceCfg)						(IN IMV_HANDLE handle, IN const char* pFullFileName, OUT IMV_ErrorList* pErrorList);
+typedef int			(IMV_CALL * DLL_WriteUserPrivateData)				(IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_ReadUserPrivateData)				(IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_WriteUARTData)						(IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_ReadUARTData)						(IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_SubscribeConnectArg)				(IN IMV_HANDLE handle, IN IMV_ConnectCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeParamUpdateArg)			(IN IMV_HANDLE handle, IN IMV_ParamUpdateCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeStreamArg)					(IN IMV_HANDLE handle, IN IMV_StreamCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeMsgChannelArg)				(IN IMV_HANDLE handle, IN IMV_MsgChannelCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SetBufferCount)						(IN IMV_HANDLE handle, IN unsigned int nSize);
+typedef int			(IMV_CALL * DLL_ClearFrameBuffer)					(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GIGE_SetInterPacketTimeout)			(IN IMV_HANDLE handle, IN unsigned int nTimeout);
+typedef int			(IMV_CALL * DLL_GIGE_SetSingleResendMaxPacketNum)	(IN IMV_HANDLE handle, IN unsigned int maxPacketNum);
+typedef int			(IMV_CALL * DLL_GIGE_SetMaxLostPacketNum)			(IN IMV_HANDLE handle, IN unsigned int maxLostPacketNum);
+typedef int			(IMV_CALL * DLL_StartGrabbing)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_StartGrabbingEx)					(IN IMV_HANDLE handle, IN uint64_t maxImagesGrabbed, IN IMV_EGrabStrategy strategy);
+typedef bool		(IMV_CALL * DLL_IsGrabbing)							(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_StopGrabbing)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_AttachGrabbing)						(IN IMV_HANDLE handle, IN IMV_FrameCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_GetFrame)							(IN IMV_HANDLE handle, OUT IMV_Frame* pFrame, IN unsigned int timeoutMS);
+typedef int			(IMV_CALL * DLL_ReleaseFrame)						(IN IMV_HANDLE handle, IN IMV_Frame* pFrame);
+typedef int			(IMV_CALL * DLL_CloneFrame)							(IN IMV_HANDLE handle, IN IMV_Frame* pFrame, OUT IMV_Frame* pCloneFrame);
+typedef int			(IMV_CALL * DLL_GetChunkDataByIndex)				(IN IMV_HANDLE handle, IN IMV_Frame* pFrame, IN unsigned int index, OUT IMV_ChunkDataInfo *pChunkDataInfo);
+typedef int			(IMV_CALL * DLL_GetStatisticsInfo)					(IN IMV_HANDLE handle, OUT IMV_StreamStatisticsInfo* pStreamStatsInfo);
+typedef int			(IMV_CALL * DLL_ResetStatisticsInfo)				(IN IMV_HANDLE handle);
+typedef bool		(IMV_CALL * DLL_FeatureIsAvailable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsReadable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsWriteable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsStreamable)				(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsValid)						(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef int			(IMV_CALL * DLL_GetIntFeatureValue)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureMin)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureMax)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureInc)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_SetIntFeatureValue)					(IN IMV_HANDLE handle, IN const char* pFeatureName, IN int64_t intValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureMin)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureMax)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_SetDoubleFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN double doubleValue);
+typedef int			(IMV_CALL * DLL_GetBoolFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT bool* pBoolValue);
+typedef int			(IMV_CALL * DLL_SetBoolFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN bool boolValue);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT uint64_t* pEnumValue);
+typedef int			(IMV_CALL * DLL_SetEnumFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN uint64_t enumValue);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureSymbol)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pEnumSymbol);
+typedef int			(IMV_CALL * DLL_SetEnumFeatureSymbol)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pEnumSymbol);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureEntryNum)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT unsigned int* pEntryNum);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureEntrys)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_EnumEntryList* pEnumEntryList);
+typedef int			(IMV_CALL * DLL_GetStringFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pStringValue);
+typedef int			(IMV_CALL * DLL_SetStringFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pStringValue);
+typedef int			(IMV_CALL * DLL_ExecuteCommandFeature)				(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef int			(IMV_CALL * DLL_PixelConvert)						(IN IMV_HANDLE handle, IN_OUT IMV_PixelConvertParam* pstPixelConvertParam);
+typedef int			(IMV_CALL * DLL_OpenRecord)							(IN IMV_HANDLE handle, IN IMV_RecordParam *pstRecordParam);
+typedef int			(IMV_CALL * DLL_InputOneFrame)						(IN IMV_HANDLE handle, IN IMV_RecordFrameInfoParam *pstRecordFrameInfoParam);
+typedef int			(IMV_CALL * DLL_CloseRecord)						(IN IMV_HANDLE handle);
+
+
+int camera_init();
+int camera_start(int epx_time = 12 * 10000);
+int camera_stop();
+int camera_cap(void** data, int& w, int& h, int time_out);
+
+}

camera_driver/CameraPublisher.cpp.bak

@@ -0,0 +1,798 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <dlfcn.h> 
+#include "IMVApi.h"
+#include "IMVDefines.h"
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/core.hpp>
+
+extern "C"{
+
+#define	MONO_CHANNEL_NUM	1
+#define	RGB_CHANNEL_NUM		3
+#define	BGR_CHANNEL_NUM		3
+
+#define sleep(ms)	usleep(1000 * ms)
+
+typedef const char*	(IMV_CALL * DLL_GetVersion)							();
+typedef int			(IMV_CALL * DLL_EnumDevices)						(OUT IMV_DeviceList *pDeviceList, IN unsigned int interfaceType);
+typedef int			(IMV_CALL * DLL_EnumDevicesByUnicast)				(OUT IMV_DeviceList *pDeviceList, IN const char* pIpAddress);
+typedef int			(IMV_CALL * DLL_CreateHandle)						(OUT IMV_HANDLE* handle, IN IMV_ECreateHandleMode mode, IN void* pIdentifier);
+typedef int			(IMV_CALL * DLL_DestroyHandle)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GetDeviceInfo)						(IN IMV_HANDLE handle, OUT IMV_DeviceInfo *pDevInfo);
+typedef int			(IMV_CALL * DLL_Open)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_OpenEx)								(IN IMV_HANDLE handle, IN IMV_ECameraAccessPermission accessPermission);
+typedef bool		(IMV_CALL * DLL_IsOpen)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_Close)								(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GIGE_ForceIpAddress)				(IN IMV_HANDLE handle, IN const char* pIpAddress, IN const char* pSubnetMask, IN const char* pGateway);
+typedef int			(IMV_CALL * DLL_GIGE_GetAccessPermission)			(IN IMV_HANDLE handle, IMV_ECameraAccessPermission* pAccessPermission);
+typedef int			(IMV_CALL * DLL_GIGE_SetAnswerTimeout)				(IN IMV_HANDLE handle, IN unsigned int timeout);
+typedef int			(IMV_CALL * DLL_DownLoadGenICamXML)					(IN IMV_HANDLE handle, IN const char* pFullFileName);
+typedef int			(IMV_CALL * DLL_SaveDeviceCfg)						(IN IMV_HANDLE handle, IN const char* pFullFileName);
+typedef int			(IMV_CALL * DLL_LoadDeviceCfg)						(IN IMV_HANDLE handle, IN const char* pFullFileName, OUT IMV_ErrorList* pErrorList);
+typedef int			(IMV_CALL * DLL_WriteUserPrivateData)				(IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_ReadUserPrivateData)				(IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_WriteUARTData)						(IN IMV_HANDLE handle, IN void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_ReadUARTData)						(IN IMV_HANDLE handle, OUT void* pBuffer, IN_OUT unsigned int* pLength);
+typedef int			(IMV_CALL * DLL_SubscribeConnectArg)				(IN IMV_HANDLE handle, IN IMV_ConnectCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeParamUpdateArg)			(IN IMV_HANDLE handle, IN IMV_ParamUpdateCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeStreamArg)					(IN IMV_HANDLE handle, IN IMV_StreamCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SubscribeMsgChannelArg)				(IN IMV_HANDLE handle, IN IMV_MsgChannelCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_SetBufferCount)						(IN IMV_HANDLE handle, IN unsigned int nSize);
+typedef int			(IMV_CALL * DLL_ClearFrameBuffer)					(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_GIGE_SetInterPacketTimeout)			(IN IMV_HANDLE handle, IN unsigned int nTimeout);
+typedef int			(IMV_CALL * DLL_GIGE_SetSingleResendMaxPacketNum)	(IN IMV_HANDLE handle, IN unsigned int maxPacketNum);
+typedef int			(IMV_CALL * DLL_GIGE_SetMaxLostPacketNum)			(IN IMV_HANDLE handle, IN unsigned int maxLostPacketNum);
+typedef int			(IMV_CALL * DLL_StartGrabbing)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_StartGrabbingEx)					(IN IMV_HANDLE handle, IN uint64_t maxImagesGrabbed, IN IMV_EGrabStrategy strategy);
+typedef bool		(IMV_CALL * DLL_IsGrabbing)							(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_StopGrabbing)						(IN IMV_HANDLE handle);
+typedef int			(IMV_CALL * DLL_AttachGrabbing)						(IN IMV_HANDLE handle, IN IMV_FrameCallBack proc, IN void* pUser);
+typedef int			(IMV_CALL * DLL_GetFrame)							(IN IMV_HANDLE handle, OUT IMV_Frame* pFrame, IN unsigned int timeoutMS);
+typedef int			(IMV_CALL * DLL_ReleaseFrame)						(IN IMV_HANDLE handle, IN IMV_Frame* pFrame);
+typedef int			(IMV_CALL * DLL_CloneFrame)							(IN IMV_HANDLE handle, IN IMV_Frame* pFrame, OUT IMV_Frame* pCloneFrame);
+typedef int			(IMV_CALL * DLL_GetChunkDataByIndex)				(IN IMV_HANDLE handle, IN IMV_Frame* pFrame, IN unsigned int index, OUT IMV_ChunkDataInfo *pChunkDataInfo);
+typedef int			(IMV_CALL * DLL_GetStatisticsInfo)					(IN IMV_HANDLE handle, OUT IMV_StreamStatisticsInfo* pStreamStatsInfo);
+typedef int			(IMV_CALL * DLL_ResetStatisticsInfo)				(IN IMV_HANDLE handle);
+typedef bool		(IMV_CALL * DLL_FeatureIsAvailable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsReadable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsWriteable)					(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsStreamable)				(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef bool		(IMV_CALL * DLL_FeatureIsValid)						(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef int			(IMV_CALL * DLL_GetIntFeatureValue)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureMin)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureMax)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_GetIntFeatureInc)					(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT int64_t* pIntValue);
+typedef int			(IMV_CALL * DLL_SetIntFeatureValue)					(IN IMV_HANDLE handle, IN const char* pFeatureName, IN int64_t intValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureMin)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_GetDoubleFeatureMax)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT double* pDoubleValue);
+typedef int			(IMV_CALL * DLL_SetDoubleFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN double doubleValue);
+typedef int			(IMV_CALL * DLL_GetBoolFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT bool* pBoolValue);
+typedef int			(IMV_CALL * DLL_SetBoolFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN bool boolValue);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT uint64_t* pEnumValue);
+typedef int			(IMV_CALL * DLL_SetEnumFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN uint64_t enumValue);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureSymbol)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pEnumSymbol);
+typedef int			(IMV_CALL * DLL_SetEnumFeatureSymbol)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pEnumSymbol);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureEntryNum)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT unsigned int* pEntryNum);
+typedef int			(IMV_CALL * DLL_GetEnumFeatureEntrys)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_EnumEntryList* pEnumEntryList);
+typedef int			(IMV_CALL * DLL_GetStringFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, OUT IMV_String* pStringValue);
+typedef int			(IMV_CALL * DLL_SetStringFeatureValue)				(IN IMV_HANDLE handle, IN const char* pFeatureName, IN const char* pStringValue);
+typedef int			(IMV_CALL * DLL_ExecuteCommandFeature)				(IN IMV_HANDLE handle, IN const char* pFeatureName);
+typedef int			(IMV_CALL * DLL_PixelConvert)						(IN IMV_HANDLE handle, IN_OUT IMV_PixelConvertParam* pstPixelConvertParam);
+typedef int			(IMV_CALL * DLL_OpenRecord)							(IN IMV_HANDLE handle, IN IMV_RecordParam *pstRecordParam);
+typedef int			(IMV_CALL * DLL_InputOneFrame)						(IN IMV_HANDLE handle, IN IMV_RecordFrameInfoParam *pstRecordFrameInfoParam);
+typedef int			(IMV_CALL * DLL_CloseRecord)						(IN IMV_HANDLE handle);
+
+
+
+// ***********开始： 这部分处理与SDK操作相机无关，用于显示设备列表 ***********
+// ***********BEGIN: These functions are not related to API call and used to display device info***********
+// 数据帧回调函数
+// Data frame callback function
+static void onGetFrame(IMV_Frame* pFrame, void* pUser)
+{
+	if (pFrame == NULL)
+	{
+		printf("pFrame is NULL\n");
+		return;
+	}
+
+	printf("Get frame blockId = %llu\n", pFrame->frameInfo.blockId);
+
+	return;
+}
+
+static void displayDeviceInfo(IMV_DeviceList deviceInfoList)
+{
+	IMV_DeviceInfo*	pDevInfo = NULL;
+	unsigned int cameraIndex = 0;
+	char vendorNameCat[11];
+	char cameraNameCat[16];
+
+	// 打印Title行 
+	// Print title line 
+	printf("\nIdx Type Vendor     Model      S/N             DeviceUserID    IP Address    \n");
+	printf("------------------------------------------------------------------------------\n");
+
+	for (cameraIndex = 0; cameraIndex < deviceInfoList.nDevNum; cameraIndex++)
+	{
+		pDevInfo = &deviceInfoList.pDevInfo[cameraIndex];
+		// 设备列表的相机索引  最大表示字数：3
+		// Camera index in device list, display in 3 characters 
+		printf("%-3d", cameraIndex + 1);
+
+		// 相机的设备类型（GigE，U3V，CL，PCIe）
+		// Camera type 
+		switch (pDevInfo->nCameraType)
+		{
+			case typeGigeCamera:printf(" GigE");break;
+			case typeU3vCamera:printf(" U3V ");break;
+			case typeCLCamera:printf(" CL  ");break;
+			case typePCIeCamera:printf(" PCIe");break;
+			default:printf("     ");break;
+		}
+
+		// 制造商信息  最大表示字数：10 
+		// Camera vendor name, display in 10 characters 
+		if (strlen(pDevInfo->vendorName) > 10)
+		{
+			memcpy(vendorNameCat, pDevInfo->vendorName, 7);
+			vendorNameCat[7] = '\0';
+			strcat(vendorNameCat, "...");
+			printf(" %-10.10s", vendorNameCat);
+		}
+		else
+		{
+			printf(" %-10.10s", pDevInfo->vendorName);
+		}
+
+		// 相机的型号信息 最大表示字数：10 
+		// Camera model name, display in 10 characters 
+		printf(" %-10.10s", pDevInfo->modelName);
+
+		// 相机的序列号 最大表示字数：15 
+		// Camera serial number, display in 15 characters 
+		printf(" %-15.15s", pDevInfo->serialNumber);
+
+		// 自定义用户ID 最大表示字数：15 
+		// Camera user id, display in 15 characters 
+		if (strlen(pDevInfo->cameraName) > 15)
+		{
+			memcpy(cameraNameCat, pDevInfo->cameraName, 12);
+			cameraNameCat[12] = '\0';
+			strcat(cameraNameCat, "...");
+			printf(" %-15.15s", cameraNameCat);
+		}
+		else
+		{
+			printf(" %-15.15s", pDevInfo->cameraName);
+		}
+
+		// GigE相机时获取IP地址 
+		// IP address of GigE camera 
+		if (pDevInfo->nCameraType == typeGigeCamera)
+		{
+			printf(" %s", pDevInfo->DeviceSpecificInfo.gigeDeviceInfo.ipAddress);
+		}
+
+		printf("\n");
+	}
+
+	return;
+}
+
+static char* trim(char* pStr)
+{
+	char* pDst = pStr;
+	char* pTemStr = NULL;
+
+	if (pDst != NULL)
+	{
+		pTemStr = pDst + strlen(pStr) - 1;
+		while (*pDst == ' ')
+		{
+			pDst++;
+		}
+		while ((pTemStr > pDst) && (*pTemStr == ' '))
+		{
+			*pTemStr-- = '\0';
+		}
+	}
+	return pDst;
+}
+
+static int isInputValid(char* pInpuStr)
+{
+	char numChar;
+	char* pStr = pInpuStr;
+	while (*pStr != '\0')
+	{
+		numChar = *pStr;
+		if ((numChar > '9') || (numChar < '0'))
+		{
+			return -1;
+		}
+		pStr++;
+	}
+	return 0;
+}
+
+static unsigned int selectDevice(unsigned int cameraCnt)
+{
+	char inputStr[256];
+	char* pTrimStr;
+	int inputIndex = -1;
+	int ret = -1;
+	char* find = NULL;
+
+	printf("\nPlease input the camera index: ");
+	while (1)
+	{
+		memset(inputStr, 0, sizeof(inputStr));
+		fgets(inputStr, sizeof(inputStr), stdin);
+
+		// 清空输入缓存
+		// clear flush
+		fflush(stdin);
+
+		// fgets比gets多吃一个换行符号，取出换行符号 
+		// fgets eats one more line feed symbol than gets, and takes out the line feed symbol
+		find = strchr(inputStr, '\n');
+		if (find) { *find = '\0'; }
+
+		pTrimStr = trim(inputStr);
+		ret = isInputValid(pTrimStr);
+		if (ret == 0)
+		{
+			inputIndex = atoi(pTrimStr);
+			// 输入的序号从1开始 
+			// Input index starts from 1 
+			inputIndex -= 1;
+			if ((inputIndex >= 0) && (inputIndex < (int)cameraCnt))
+			{
+				break;
+			}
+		}
+
+		printf("Input invalid! Please input the camera index: ");
+	}
+	return (unsigned int)inputIndex;
+}
+
+// ***********结束： 这部分处理与SDK操作相机无关，用于显示设备列表 ***********
+// ***********END: These functions are not related to API call and used to display device info***********
+static int setSoftTriggerConf(void* libHandle, IMV_HANDLE devHandle)
+{
+	int ret = IMV_OK;
+  // 获取设置触发源为软触发函数地址 
+  DLL_SetEnumFeatureSymbol DLLSetEnumFeatureSymbol = (DLL_SetEnumFeatureSymbol)dlsym(libHandle, "IMV_SetEnumFeatureSymbol");
+  if (NULL == DLLSetEnumFeatureSymbol)
+  {
+    printf("Get IMV_SetEnumFeatureSymbol address failed!\n");
+    return ret;
+  }
+
+	// 设置触发源为软触发 
+	// Set trigger source to Software 
+	ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerSource", "Software");
+	if (IMV_OK != ret)
+	{
+		printf("Set triggerSource value failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+	// 设置触发器 
+	// Set trigger selector to FrameStart 
+	ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerSelector", "FrameStart");
+	if (IMV_OK != ret)
+	{
+		printf("Set triggerSelector value failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+	// 设置触发模式 
+	// Set trigger mode to On 
+	ret = DLLSetEnumFeatureSymbol(devHandle, "TriggerMode", "On");
+	if (IMV_OK != ret)
+	{
+		printf("Set triggerMode value failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+// Image convert
+static int imageConvert(void* libHandle, IMV_HANDLE devHandle, IMV_Frame frame, IMV_EPixelType convertFormat)
+{
+	IMV_PixelConvertParam stPixelConvertParam;
+	unsigned char*			pDstBuf = NULL;
+	unsigned int			nDstBufSize = 0;
+	int						ret = IMV_OK;
+	FILE*					hFile = NULL;
+	const char*				pFileName = NULL;
+	const char*				pConvertFormatStr = NULL;
+
+  // 获取设置触发源为软触发函数地址 
+  DLL_PixelConvert DLLPixelConvert = (DLL_PixelConvert)dlsym(libHandle, "IMV_PixelConvert");
+  if (NULL == DLLPixelConvert)
+  {
+    printf("Get IMV_PixelConvert address failed!\n");
+    return ret;
+  }
+
+	switch (convertFormat)
+	{
+		case gvspPixelRGB8:
+			nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 3;
+			pFileName = (const char*)"convertRGB8.bmp";
+			pConvertFormatStr = (const char*)"RGB8";
+			break;
+
+		case gvspPixelBGR8:
+			nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 3;
+			pFileName = (const char*)"convertBGR8.bmp";
+			pConvertFormatStr = (const char*)"BGR8";
+			break;
+		case gvspPixelBGRA8:
+			nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height * 4;
+			pFileName = (const char*)"convertBGRA8.bmp";
+			pConvertFormatStr = (const char*)"BGRA8";
+			break;
+		case gvspPixelMono8:
+		default:
+			nDstBufSize = sizeof(unsigned char) * frame.frameInfo.width * frame.frameInfo.height;
+			pFileName = (const char*)"convertMono8.bmp";
+			pConvertFormatStr = (const char*)"Mono8";
+			break;
+	}
+
+	pDstBuf = (unsigned char*)malloc(nDstBufSize);
+	if (NULL == pDstBuf)
+	{
+		printf("malloc pDstBuf failed!\n");
+		return -1;
+	}
+
+	// 图像转换成BGR8
+	// convert image to BGR8
+	memset(&stPixelConvertParam, 0, sizeof(stPixelConvertParam));
+	stPixelConvertParam.nWidth = frame.frameInfo.width;
+	stPixelConvertParam.nHeight = frame.frameInfo.height;
+	stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
+	stPixelConvertParam.pSrcData = frame.pData;
+	stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
+	stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
+	stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
+	stPixelConvertParam.eBayerDemosaic = demosaicNearestNeighbor;
+	stPixelConvertParam.eDstPixelFormat = convertFormat;
+	stPixelConvertParam.pDstBuf = pDstBuf;
+	stPixelConvertParam.nDstBufSize = nDstBufSize;
+
+
+	ret = DLLPixelConvert(devHandle, &stPixelConvertParam);
+	if (IMV_OK == ret)
+	{
+		printf("image convert to %s successfully! nDstDataLen (%u)\n", 
+			pConvertFormatStr, stPixelConvertParam.nDstBufSize);
+
+    cv::Mat im(stPixelConvertParam.nHeight, stPixelConvertParam.nWidth, CV_8UC3, stPixelConvertParam.pDstBuf);
+
+	// // for test
+	// // 内参矩阵
+	// cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << 11057.154, 0, 4538.85, 0, 11044.943, 3350.918, 0, 0, 1);
+    // // 设置畸变系数
+    // cv::Mat distCoeffs = (cv::Mat_<double>(1, 5) << 0.311583980, -14.5864013, -0.00630134677, -0.00466401902, 183.662957);
+	// // 准备输出图像
+    // cv::Mat undistortedImg;
+    //  // 使用cv::undistort函数进行校正
+    // cv::undistort(im, undistortedImg, cameraMatrix, distCoeffs);
+
+
+    cv::imwrite("/home/caowei/catkin_ws/output.png", im);
+    cv::imwrite("output.png", im);
+
+		// hFile = fopen(pFileName, "wb");
+		// if (hFile != NULL)
+		// {
+		// 	fwrite((void*)pDstBuf, 1, stPixelConvertParam.nDstBufSize, hFile);
+		// 	fclose(hFile);
+		// }
+		// else
+		// {
+		// 	// 如果打开失败，请用root权限执行
+		// 	// If opefailed, Run as root
+		// 	printf("Open file (%s) failed!\n", pFileName);
+		// }
+	}
+	else
+	{
+		printf("image convert to %s failed! ErrorCode[%d]\n", pConvertFormatStr, ret);
+	}
+
+	if (pDstBuf)
+	{
+		free(pDstBuf);
+		pDstBuf = NULL;
+	}
+
+	return IMV_OK;
+}
+
+static void sendToRos(IMV_Frame frame)
+{
+	IMV_FlipImageParam		stFlipImageParam;
+	unsigned int			nChannelNum = 0;
+	int						ret = IMV_OK;
+	FILE*					hFile = NULL;
+
+	memset(&stFlipImageParam, 0, sizeof(stFlipImageParam));
+
+  if (gvspPixelBGR8 == frame.frameInfo.pixelFormat)
+	{
+		stFlipImageParam.pSrcData = frame.pData;
+		stFlipImageParam.nSrcDataLen = frame.frameInfo.width * frame.frameInfo.height * BGR_CHANNEL_NUM;
+		stFlipImageParam.ePixelFormat = frame.frameInfo.pixelFormat;
+		nChannelNum = BGR_CHANNEL_NUM;
+	}
+	else
+	{
+			printf("image convert to BGR8 failed! ErrorCode[%d]\n", ret);
+	}
+
+  // 向ros发送/image消息
+	do
+	{
+    
+	} while (false);
+
+}
+
+
+int main()
+{
+	int ret = IMV_OK;
+	unsigned int cameraIndex = 0;
+	IMV_HANDLE devHandle = NULL;
+	void* libHandle = NULL;
+	DLL_DestroyHandle DLLDestroyHandle = NULL;
+  IMV_Frame frame;
+
+  // 加载SDK库  
+  // Load SDK library
+  libHandle = dlopen("libMVSDK.so", RTLD_LAZY);
+  if (NULL == libHandle)
+  {
+    printf("Load MVSDKmd.dll library failed!\n");
+    return 0;
+  }
+
+  // 获取发现设备接口函数地址 
+  // Get discover camera interface address
+  DLL_EnumDevices DLLEnumDevices = (DLL_EnumDevices)dlsym(libHandle, "IMV_EnumDevices");
+  if (NULL == DLLEnumDevices)
+  {
+    printf("Get IMV_EnumDevices address failed!\n");
+    return 0;
+  }
+
+  // 获取创建设备句柄接口函数地址 
+  // Get create Device Handle interface address
+  DLL_CreateHandle DLLCreateHandle = (DLL_CreateHandle)dlsym(libHandle, "IMV_CreateHandle");
+  if (NULL == DLLCreateHandle)
+  {
+    printf("Get IMV_CreateHandle address failed!\n");
+    return 0;
+  }
+
+  // 获取销毁设备句柄接口函数地址 
+  // Get destroy Device Handle interface address
+  DLLDestroyHandle = (DLL_DestroyHandle)dlsym(libHandle, "IMV_DestroyHandle");
+  if (NULL == DLLDestroyHandle)
+  {
+    printf("Get IMV_DestroyHandle address failed!\n");
+    return 0;
+  }
+
+  // 获取打开相机接口函数地址 
+  // Get open camera interface address
+  DLL_Open DLLOpen = (DLL_Open)dlsym(libHandle, "IMV_Open");
+  if (NULL == DLLOpen)
+  {
+    printf("Get IMV_Open address failed!\n");
+    return 0;
+  }
+
+  // 获取注册数据帧回调接口函数地址 
+  // Get register data frame callback interface address
+  DLL_AttachGrabbing DLLAttachGrabbing = (DLL_AttachGrabbing)dlsym(libHandle, "IMV_AttachGrabbing");
+  if (NULL == DLLAttachGrabbing)
+  {
+    printf("Get IMV_AttachGrabbing address failed!\n");
+    return 0;
+  }
+
+  // 获取开始拉流接口函数地址 
+  // Get start grabbing interface address
+  DLL_StartGrabbing DLLStartGrabbing = (DLL_StartGrabbing)dlsym(libHandle, "IMV_StartGrabbing");
+  if (NULL == DLLStartGrabbing)
+  {
+    printf("Get IMV_StartGrabbing address failed!\n");
+    return 0;
+  }
+
+  // 获取停止拉流接口函数地址 
+  // Get stop grabbing interface address
+  DLL_StopGrabbing DLLStopGrabbing = (DLL_StopGrabbing)dlsym(libHandle, "IMV_StopGrabbing");
+  if (NULL == DLLStopGrabbing)
+  {
+    printf("Get IMV_StopGrabbing address failed!\n");
+    return 0;
+  }
+
+  // 获取
+
+  // 获取关闭相机接口函数地址 
+  // Get close camera interface address
+  DLL_Close DLLClose = (DLL_Close)dlsym(libHandle, "IMV_Close");
+  if (NULL == DLLClose)
+  {
+    printf("Get IMV_Close address failed!\n");
+    return 0;
+  }
+
+  // 获取获取一帧图像函数地址 
+  DLL_GetFrame DLLGetFrame = (DLL_GetFrame)dlsym(libHandle, "IMV_GetFrame");
+  if (NULL == DLLGetFrame)
+  {
+    printf("Get IMV_GetFrame address failed!\n");
+    return 0;
+  }
+
+  DLL_ReleaseFrame DLLReleaseFrame = (DLL_ReleaseFrame)dlsym(libHandle, "IMV_ReleaseFrame");
+  if (NULL == DLLReleaseFrame)
+  {
+    printf("Get IMV_ReleaseFrame address failed!\n");
+    return 0;
+  }
+
+  DLL_ClearFrameBuffer DLLClearFrameBuffer = (DLL_ClearFrameBuffer)dlsym(libHandle, "IMV_ClearFrameBuffer");
+  if (NULL == DLLClearFrameBuffer)
+  {
+    printf("Get IMV_ClearFrameBuffer address failed!\n");
+    return 0;
+  }
+
+  DLL_ExecuteCommandFeature DLLExecuteCommandFeature = (DLL_ExecuteCommandFeature)dlsym(libHandle, "IMV_ExecuteCommandFeature");
+  if (NULL == DLLExecuteCommandFeature)
+  {
+    printf("Get IMV_ExecuteCommandFeature address failed!\n");
+    return 0;
+  }
+
+  DLL_SetIntFeatureValue DLLSetIntFeatureValue = (DLL_SetIntFeatureValue)dlsym(libHandle, "IMV_SetIntFeatureValue");
+  if (NULL == DLLSetIntFeatureValue)
+  {
+    printf("Get IMV_SetIntFeatureValue address failed!\n");
+    return 0;
+  }
+
+  DLL_SetDoubleFeatureValue DLLSetDoubleFeatureValue = (DLL_SetDoubleFeatureValue)dlsym(libHandle, "IMV_SetDoubleFeatureValue");
+  if (NULL == DLLSetDoubleFeatureValue)
+  {
+    printf("Get IMV_SetDoubleFeatureValue address failed!\n");
+    return 0;
+  }
+
+  
+
+////////////////////// 检查接口结束
+		// 发现设备 
+		// discover camera 
+  IMV_DeviceList deviceInfoList;
+  ret = DLLEnumDevices(&deviceInfoList, interfaceTypeAll);
+  if (IMV_OK != ret)
+  {
+    printf("Enumeration devices failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  if (deviceInfoList.nDevNum < 1)
+  {
+    printf("no camera\n");
+    return 0;
+  }
+
+  // 打印相机基本信息（序号,类型,制造商信息,型号,序列号,用户自定义ID,IP地址） 
+  // Print camera info (Index, Type, Vendor, Model, Serial number, DeviceUserID, IP Address) 
+
+  displayDeviceInfo(deviceInfoList);
+  // 选择需要连接的相机 
+  // Select one camera to connect to  
+  // cameraIndex = selectDevice(deviceInfoList.nDevNum);
+  cameraIndex = 0; // 第一个相机
+
+  // 创建设备句柄
+  // Create Device Handle
+  ret = DLLCreateHandle(&devHandle, modeByIndex, (void*)&cameraIndex);
+  if (IMV_OK != ret)
+  {
+    printf("Create devHandle failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  // 打开相机 
+  ret = DLLOpen(devHandle);
+  if (IMV_OK != ret)
+  {
+    printf("Open camera failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  // 设置软触发模式
+  ret = setSoftTriggerConf(libHandle, devHandle);
+  if (IMV_OK != ret)
+  {
+    printf("setSoftTriggerConf failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  ret = DLLSetIntFeatureValue(devHandle, "Width", 9344);
+	if (IMV_OK != ret)
+	{
+		printf("Set feature value Width failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+  ret = DLLSetIntFeatureValue(devHandle, "Height", 7000);
+	if (IMV_OK != ret)
+	{
+		printf("Set feature value Height failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+  ret = DLLSetIntFeatureValue(devHandle, "OffsetX", 0);
+	if (IMV_OK != ret)
+	{
+		printf("Set feature value OffsetX failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+  ret = DLLSetIntFeatureValue(devHandle, "OffsetY", 0);
+	if (IMV_OK != ret)
+	{
+		printf("Set feature value OffsetY failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+  // 设置属性值曝光
+	// Set feature value 
+	ret = DLLSetDoubleFeatureValue(devHandle, "ExposureTime", 12*10000);
+	if (IMV_OK != ret)
+	{
+		printf("Set feature value failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+  // // 非多线程，不需要注册回调
+  // // 注册数据帧回调函数
+  // // Register data frame callback function
+  // ret = DLLAttachGrabbing(devHandle, onGetFrame, NULL);
+  // if (IMV_OK != ret)
+  // {
+  //   printf("Attach grabbing failed! ErrorCode[%d]\n", ret);
+  //   return 0;
+  // }
+
+  // 开始拉流 
+  // Start grabbing 
+  ret = DLLStartGrabbing(devHandle);
+  if (IMV_OK != ret)
+  {
+    printf("Start grabbing failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  /////////////////////////获取一帧图像////////////////////////////
+
+  // 清除帧数据缓存
+	// Clear frame buffer
+	ret = DLLClearFrameBuffer(devHandle);
+	if (IMV_OK != ret)
+	{
+		printf("Clear frame buffer failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+	// 执行软触发
+	// Execute soft trigger 
+	ret = DLLExecuteCommandFeature(devHandle, "TriggerSoftware");
+	if (IMV_OK != ret)
+	{
+		printf("Execute TriggerSoftware failed! ErrorCode[%d]\n", ret);
+		return ret;
+	}
+
+sleep(2000);
+  // 获取一帧图像, TIMEOUT 5000ms
+  ret = DLLGetFrame(devHandle, &frame, 5000);
+  if (IMV_OK != ret)
+  {
+    printf("Get frame failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  printf("width %d\n", frame.frameInfo.width);
+  printf("Height %d\n", frame.frameInfo.height);
+
+  ret = imageConvert(libHandle, devHandle, frame, gvspPixelBGR8);
+  if (IMV_OK != ret)
+  {
+    printf("imageConvert failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+  // printf("11111111111111\n", ret);
+  // cv::Mat im(frame.frameInfo.width, frame.frameInfo.height, CV_8UC3, frame.pData);
+  // cv::imwrite("/home/caowei/catkin_ws/output.png", im);
+  // cv::imwrite("output.png", im);
+  // printf("22222222222222\n", ret);
+  // // 向ros送 /image消息
+  // sendToRos(frame);
+
+  // 释放图像缓存
+  ret = DLLReleaseFrame(devHandle, &frame);
+  if (IMV_OK != ret)
+  {
+    printf("Release frame failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+  ////////////////////////////////////////////////////////////////
+
+  // // 取图2秒
+  // // get frame 2 seconds
+  // sleep(2000);
+
+  // 停止拉流 
+  // Stop grabbing 
+  ret = DLLStopGrabbing(devHandle);
+  if (IMV_OK != ret)
+  {
+    printf("Stop grabbing failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+  // 关闭相机
+  // Close camera 
+  ret = DLLClose(devHandle);
+  if (IMV_OK != ret)
+  {
+    printf("Close camera failed! ErrorCode[%d]\n", ret);
+    return 0;
+  }
+
+	// 销毁设备句柄
+	// Destroy Device Handle
+	if (NULL != devHandle)
+	{
+		// 销毁设备句柄
+		// Destroy Device Handle
+		DLLDestroyHandle(devHandle);
+	}
+
+	if (NULL != libHandle)
+	{
+		dlclose(libHandle);
+	}
+
+	printf("end...\n");
+	// getchar();
+
+	return 0;
+}
+  
+}

camera_driver/IMVDefines.h

@@ -0,0 +1,811 @@
+#ifndef __IMV_DEFINES_H__
+#define __IMV_DEFINES_H__
+
+#ifdef WIN32
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+#else
+#include <stdint.h>
+#endif
+
+#ifndef IN
+#define IN		///< \~chinese 输入型参数		\~english Input param 
+#endif
+
+#ifndef OUT
+#define OUT		///< \~chinese 输出型参数		\~english Output param 
+#endif
+
+#ifndef IN_OUT
+#define IN_OUT	///< \~chinese 输入/输出型参数  \~english Input/Output param 
+#endif
+
+#ifndef __cplusplus
+typedef char    bool;
+#define true    1
+#define false   0
+#endif
+
+/// \~chinese
+/// \brief 错误码 
+/// \~english
+/// \brief Error code
+#define IMV_OK						0			///< \~chinese 成功，无错误							\~english Successed, no error
+#define IMV_ERROR					-101		///< \~chinese 通用的错误							\~english Generic error
+#define IMV_INVALID_HANDLE			-102		///< \~chinese 错误或无效的句柄						\~english Error or invalid handle
+#define IMV_INVALID_PARAM			-103		///< \~chinese 错误的参数							\~english Incorrect parameter
+#define IMV_INVALID_FRAME_HANDLE	-104		///< \~chinese 错误或无效的帧句柄					\~english Error or invalid frame handle
+#define IMV_INVALID_FRAME			-105		///< \~chinese 无效的帧								\~english Invalid frame
+#define IMV_INVALID_RESOURCE		-106		///< \~chinese 相机/事件/流等资源无效				\~english Camera/Event/Stream and so on resource invalid
+#define IMV_INVALID_IP				-107		///< \~chinese 设备与主机的IP网段不匹配				\~english Device's and PC's subnet is mismatch
+#define IMV_NO_MEMORY				-108		///< \~chinese 内存不足								\~english Malloc memery failed
+#define IMV_INSUFFICIENT_MEMORY		-109		///< \~chinese 传入的内存空间不足					\~english Insufficient memory
+#define IMV_ERROR_PROPERTY_TYPE		-110		///< \~chinese 属性类型错误							\~english Property type error
+#define IMV_INVALID_ACCESS			-111		///< \~chinese 属性不可访问、或不能读/写、或读/写失败	\~english Property not accessible, or not be read/written, or read/written failed
+#define IMV_INVALID_RANGE			-112		///< \~chinese 属性值超出范围、或者不是步长整数倍	\~english The property's value is out of range, or is not integer multiple of the step
+#define IMV_NOT_SUPPORT				-113		///< \~chinese 设备不支持的功能						\~english Device not supported function
+
+#define IMV_MAX_DEVICE_ENUM_NUM		100			///< \~chinese 支持设备最大个数		\~english The maximum number of supported devices
+#define IMV_MAX_STRING_LENTH		256			///< \~chinese 字符串最大长度		\~english The maximum length of string
+#define IMV_MAX_ERROR_LIST_NUM		128			///< \~chinese 失败属性列表最大长度 \~english The maximum size of failed properties list
+
+typedef	void*	IMV_HANDLE;						///< \~chinese 设备句柄				\~english Device handle 
+typedef	void*	IMV_FRAME_HANDLE;				///< \~chinese 帧句柄				\~english Frame handle 
+
+/// \~chinese
+///枚举：接口类型
+/// \~english
+///Enumeration: interface type
+typedef enum _IMV_EInterfaceType
+{
+	interfaceTypeGige = 0x00000001,			///< \~chinese 网卡接口类型  		\~english NIC type
+	interfaceTypeUsb3 = 0x00000002,			///< \~chinese USB3.0接口类型		\~english USB3.0 interface type
+	interfaceTypeCL = 0x00000004, 			///< \~chinese CAMERALINK接口类型	\~english Cameralink interface type
+	interfaceTypePCIe = 0x00000008,			///< \~chinese PCIe接口类型         \~english PCIe interface type
+	interfaceTypeAll = 0x00000000,			///< \~chinese 忽略接口类型			\~english All types interface type
+	interfaceInvalidType = 0xFFFFFFFF		///< \~chinese 无效接口类型			\~english Invalid interface type
+}IMV_EInterfaceType;
+
+/// \~chinese
+///枚举：设备类型
+/// \~english
+///Enumeration: device type
+typedef enum _IMV_ECameraType
+{
+	typeGigeCamera = 0,						///< \~chinese GIGE相机				\~english GigE Vision Camera
+	typeU3vCamera = 1,						///< \~chinese USB3.0相机			\~english USB3.0 Vision Camera
+	typeCLCamera = 2,						///< \~chinese CAMERALINK 相机		\~english Cameralink camera
+	typePCIeCamera = 3,						///< \~chinese PCIe相机				\~english PCIe Camera
+	typeUndefinedCamera = 255				///< \~chinese 未知类型				\~english Undefined Camera
+}IMV_ECameraType;
+
+/// \~chinese
+///枚举：创建句柄方式
+/// \~english
+///Enumeration: Create handle mode
+typedef enum _IMV_ECreateHandleMode
+{
+	modeByIndex = 0,						///< \~chinese 通过已枚举设备的索引(从0开始，比如 0, 1, 2...)	\~english By index of enumerated devices (Start from 0, such as 0, 1, 2...)
+	modeByCameraKey,						///< \~chinese 通过设备键"厂商:序列号"							\~english By device's key "vendor:serial number"
+	modeByDeviceUserID,						///< \~chinese 通过设备自定义名									\~english By device userID
+	modeByIPAddress,						///< \~chinese 通过设备IP地址									\~english By device IP address.
+}IMV_ECreateHandleMode;
+
+/// \~chinese
+///枚举：访问权限
+/// \~english
+///Enumeration: access permission
+typedef enum _IMV_ECameraAccessPermission
+{
+	accessPermissionOpen = 0,				///< \~chinese GigE相机没有被连接			\~english The GigE vision device isn't connected to any application. 
+	accessPermissionExclusive,				///< \~chinese 独占访问权限					\~english Exclusive Access Permission   
+	accessPermissionControl, 				///< \~chinese 非独占可读访问权限			\~english Non-Exclusive Readbale Access Permission  
+	accessPermissionControlWithSwitchover,  ///< \~chinese 切换控制访问权限				\~english Control access with switchover enabled.	
+	accessPermissionUnknown = 254,  		///< \~chinese 无法确定						\~english Value not known; indeterminate.   	
+	accessPermissionUndefined				///< \~chinese 未定义访问权限				\~english Undefined Access Permission
+}IMV_ECameraAccessPermission;
+
+/// \~chinese
+///枚举：抓图策略
+/// \~english
+///Enumeration: grab strartegy
+typedef enum _IMV_EGrabStrategy
+{
+	grabStrartegySequential = 0,			///< \~chinese 按到达顺序处理图片	\~english The images are processed in the order of their arrival
+	grabStrartegyLatestImage = 1,			///< \~chinese 获取最新的图片		\~english Get latest image
+	grabStrartegyUpcomingImage = 2,			///< \~chinese 等待获取下一张图片(只针对GigE相机)	\~english Waiting for next image(GigE only)
+	grabStrartegyUndefined   				///< \~chinese 未定义				\~english Undefined
+}IMV_EGrabStrategy;
+
+/// \~chinese
+///枚举：流事件状态
+/// \~english
+/// Enumeration:stream event status
+typedef enum _IMV_EEventStatus
+{
+	streamEventNormal = 1,						///< \~chinese 正常流事件		\~english Normal stream event
+	streamEventLostFrame = 2,					///< \~chinese 丢帧事件		    \~english Lost frame event
+	streamEventLostPacket = 3,					///< \~chinese 丢包事件		    \~english Lost packet event
+	streamEventImageError = 4,					///< \~chinese 图像错误事件		\~english Error image event
+	streamEventStreamChannelError = 5,			///< \~chinese 取流错误事件		\~english Stream channel error event
+	streamEventTooManyConsecutiveResends = 6,	///< \~chinese 太多连续重传		\~english Too many consecutive resends event
+	streamEventTooManyLostPacket = 7			///< \~chinese 太多丢包			\~english Too many lost packet event
+}IMV_EEventStatus;
+
+/// \~chinese
+///枚举：图像转换Bayer格式所用的算法
+/// \~english
+/// Enumeration:alorithm used for Bayer demosaic
+typedef enum _IMV_EBayerDemosaic
+{
+	demosaicNearestNeighbor,					///< \~chinese 最近邻			\~english Nearest neighbor
+	demosaicBilinear,							///< \~chinese 双线性			\~english Bilinear
+	demosaicEdgeSensing,						///< \~chinese 边缘检测			\~english Edge sensing
+	demosaicNotSupport = 255,					///< \~chinese 不支持			\~english Not support
+}IMV_EBayerDemosaic;
+
+/// \~chinese
+///枚举：事件类型
+/// \~english
+/// Enumeration:event type
+typedef enum _IMV_EVType
+{
+	offLine,									///< \~chinese 设备离线通知		\~english device offline notification
+	onLine										///< \~chinese 设备在线通知		\~english device online notification
+}IMV_EVType;
+
+/// \~chinese
+///枚举：视频格式
+/// \~english
+/// Enumeration:Video format
+typedef enum _IMV_EVideoType
+{
+	typeVideoFormatAVI = 0,						///< \~chinese AVI格式			\~english AVI format
+	typeVideoFormatNotSupport = 255				///< \~chinese 不支持			\~english Not support
+}IMV_EVideoType;
+
+/// \~chinese
+///枚举：图像翻转类型
+/// \~english
+/// Enumeration:Image flip type
+typedef enum _IMV_EFlipType
+{
+	typeFlipVertical,							///< \~chinese 垂直(Y轴)翻转	\~english Vertical(Y-axis) flip
+	typeFlipHorizontal							///< \~chinese 水平(X轴)翻转	\~english Horizontal(X-axis) flip
+}IMV_EFlipType;
+
+/// \~chinese
+///枚举：顺时针旋转角度
+/// \~english
+/// Enumeration:Rotation angle clockwise
+typedef enum _IMV_ERotationAngle
+{
+	rotationAngle90,							///< \~chinese 顺时针旋转90度	\~english Rotate 90 degree clockwise
+	rotationAngle180,							///< \~chinese 顺时针旋转180度	\~english Rotate 180 degree clockwise
+	rotationAngle270,							///< \~chinese 顺时针旋转270度	\~english Rotate 270 degree clockwise
+}IMV_ERotationAngle;
+
+#define IMV_GVSP_PIX_MONO                           0x01000000
+#define IMV_GVSP_PIX_RGB                            0x02000000
+#define IMV_GVSP_PIX_COLOR                          0x02000000
+#define IMV_GVSP_PIX_CUSTOM                         0x80000000
+#define IMV_GVSP_PIX_COLOR_MASK                     0xFF000000
+
+// Indicate effective number of bits occupied by the pixel (including padding).
+// This can be used to compute amount of memory required to store an image.
+#define IMV_GVSP_PIX_OCCUPY1BIT                     0x00010000
+#define IMV_GVSP_PIX_OCCUPY2BIT                     0x00020000
+#define IMV_GVSP_PIX_OCCUPY4BIT                     0x00040000
+#define IMV_GVSP_PIX_OCCUPY8BIT                     0x00080000
+#define IMV_GVSP_PIX_OCCUPY12BIT                    0x000C0000
+#define IMV_GVSP_PIX_OCCUPY16BIT                    0x00100000
+#define IMV_GVSP_PIX_OCCUPY24BIT                    0x00180000
+#define IMV_GVSP_PIX_OCCUPY32BIT                    0x00200000
+#define IMV_GVSP_PIX_OCCUPY36BIT                    0x00240000
+#define IMV_GVSP_PIX_OCCUPY48BIT                    0x00300000
+
+/// \~chinese
+///枚举：图像格式
+/// \~english
+/// Enumeration:image format
+typedef enum _IMV_EPixelType
+{
+	// Undefined pixel type
+	gvspPixelTypeUndefined = -1,
+
+	// Mono Format
+	gvspPixelMono1p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY1BIT | 0x0037),
+	gvspPixelMono2p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY2BIT | 0x0038),
+	gvspPixelMono4p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY4BIT | 0x0039),
+	gvspPixelMono8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0001),
+	gvspPixelMono8S = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0002),
+	gvspPixelMono10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0003),
+	gvspPixelMono10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0004),
+	gvspPixelMono12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0005),
+	gvspPixelMono12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0006),
+	gvspPixelMono14 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0025),
+	gvspPixelMono16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0007),
+
+	// Bayer Format
+	gvspPixelBayGR8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0008),
+	gvspPixelBayRG8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0009),
+	gvspPixelBayGB8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x000A),
+	gvspPixelBayBG8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x000B),
+	gvspPixelBayGR10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000C),
+	gvspPixelBayRG10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000D),
+	gvspPixelBayGB10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000E),
+	gvspPixelBayBG10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000F),
+	gvspPixelBayGR12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0010),
+	gvspPixelBayRG12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0011),
+	gvspPixelBayGB12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0012),
+	gvspPixelBayBG12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0013),
+	gvspPixelBayGR10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0026),
+	gvspPixelBayRG10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0027),
+	gvspPixelBayGB10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0028),
+	gvspPixelBayBG10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0029),
+	gvspPixelBayGR12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002A),
+	gvspPixelBayRG12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002B),
+	gvspPixelBayGB12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002C),
+	gvspPixelBayBG12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002D),
+	gvspPixelBayGR16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x002E),
+	gvspPixelBayRG16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x002F),
+	gvspPixelBayGB16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0030),
+	gvspPixelBayBG16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0031),
+
+	// RGB Format
+	gvspPixelRGB8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0014),
+	gvspPixelBGR8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0015),
+	gvspPixelRGBA8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x0016),
+	gvspPixelBGRA8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x0017),
+	gvspPixelRGB10 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0018),
+	gvspPixelBGR10 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0019),
+	gvspPixelRGB12 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x001A),
+	gvspPixelBGR12 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x001B),
+	gvspPixelRGB16 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0033),
+	gvspPixelRGB10V1Packed = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x001C),
+	gvspPixelRGB10P32 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x001D),
+	gvspPixelRGB12V1Packed = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY36BIT | 0X0034),
+	gvspPixelRGB565P = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0035),
+	gvspPixelBGR565P = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0X0036),
+
+	// YVR Format
+	gvspPixelYUV411_8_UYYVYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x001E),
+	gvspPixelYUV422_8_UYVY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x001F),
+	gvspPixelYUV422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0032),
+	gvspPixelYUV8_UYV = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0020),
+	gvspPixelYCbCr8CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x003A),
+	gvspPixelYCbCr422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x003B),
+	gvspPixelYCbCr422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0043),
+	gvspPixelYCbCr411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x003C),
+	gvspPixelYCbCr601_8_CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x003D),
+	gvspPixelYCbCr601_422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x003E),
+	gvspPixelYCbCr601_422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0044),
+	gvspPixelYCbCr601_411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x003F),
+	gvspPixelYCbCr709_8_CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0040),
+	gvspPixelYCbCr709_422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0041),
+	gvspPixelYCbCr709_422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0045),
+	gvspPixelYCbCr709_411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x0042),
+
+	// RGB Planar
+	gvspPixelRGB8Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0021),
+	gvspPixelRGB10Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0022),
+	gvspPixelRGB12Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0023),
+	gvspPixelRGB16Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0024),
+
+	//BayerRG10p和BayerRG12p格式，针对特定项目临时添加,请不要使用
+	//BayerRG10p and BayerRG12p, currently used for specific project, please do not use them
+	gvspPixelBayRG10p = 0x010A0058,
+	gvspPixelBayRG12p = 0x010c0059,
+
+	//mono1c格式，自定义格式
+	//mono1c, customized image format, used for binary output
+	gvspPixelMono1c = 0x012000FF,
+
+	//mono1e格式，自定义格式，用来显示连通域
+	//mono1e, customized image format, used for displaying connected domain
+	gvspPixelMono1e = 0x01080FFF
+}IMV_EPixelType;
+
+/// \~chinese
+/// \brief 字符串信息
+/// \~english
+/// \brief String information
+typedef struct _IMV_String
+{
+	char str[IMV_MAX_STRING_LENTH];						///< \~chinese	字符串.长度不超过256  \~english Strings and the maximum length of strings is 255.
+}IMV_String;
+
+/// \~chinese
+/// \brief GigE网卡信息
+/// \~english
+/// \brief GigE interface information
+typedef struct _IMV_GigEInterfaceInfo
+{
+	char description[IMV_MAX_STRING_LENTH];				///< \~chinese  网卡描述信息		\~english Network card description
+	char macAddress[IMV_MAX_STRING_LENTH];				///< \~chinese  网卡Mac地址			\~english Network card MAC Address
+	char ipAddress[IMV_MAX_STRING_LENTH];				///< \~chinese  设备Ip地址			\~english Device ip Address
+	char subnetMask[IMV_MAX_STRING_LENTH];				///< \~chinese  子网掩码			\~english SubnetMask
+	char defaultGateWay[IMV_MAX_STRING_LENTH];			///< \~chinese  默认网关			\~english Default GateWay
+	char chReserved[5][IMV_MAX_STRING_LENTH];			///< 保留							\~english Reserved field
+}IMV_GigEInterfaceInfo;
+
+/// \~chinese
+/// \brief USB接口信息
+/// \~english
+/// \brief USB interface information
+typedef struct _IMV_UsbInterfaceInfo
+{
+	char description[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口描述信息		\~english USB interface description
+	char vendorID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Vendor ID	\~english USB interface Vendor ID
+	char deviceID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口设备ID		\~english USB interface Device ID
+	char subsystemID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Subsystem ID	\~english USB interface Subsystem ID
+	char revision[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Revision		\~english USB interface Revision
+	char speed[IMV_MAX_STRING_LENTH];					///< \~chinese  USB接口speed		\~english USB interface speed
+	char chReserved[4][IMV_MAX_STRING_LENTH];			///< 保留							\~english Reserved field
+}IMV_UsbInterfaceInfo;
+
+/// \~chinese
+/// \brief GigE设备信息
+/// \~english
+/// \brief GigE device information
+typedef struct _IMV_GigEDeviceInfo
+{
+	/// \~chinese
+	/// 设备支持的IP配置选项\n
+	/// value:4 相机只支持LLA\n
+	/// value:5 相机支持LLA和Persistent IP\n
+	/// value:6 相机支持LLA和DHCP\n
+	/// value:7 相机支持LLA、DHCP和Persistent IP\n
+	/// value:0 获取失败
+	/// \~english
+	/// Supported IP configuration options of device\n
+	/// value:4 Device supports LLA \n
+	/// value:5 Device supports LLA and Persistent IP\n
+	/// value:6 Device supports LLA and DHCP\n
+	/// value:7 Device supports LLA, DHCP and Persistent IP\n
+	/// value:0 Get fail
+	unsigned int nIpConfigOptions;
+	/// \~chinese
+	/// 设备当前的IP配置选项\n
+	/// value:4 LLA处于活动状态\n
+	/// value:5 LLA和Persistent IP处于活动状态\n
+	/// value:6 LLA和DHCP处于活动状态\n
+	/// value:7 LLA、DHCP和Persistent IP处于活动状态\n
+	/// value:0 获取失败
+	/// \~english
+	/// Current IP Configuration options of device\n
+	/// value:4 LLA is active\n
+	/// value:5 LLA and Persistent IP are active\n
+	/// value:6 LLA and DHCP are active\n
+	/// value:7 LLA, DHCP and Persistent IP are active\n
+	/// value:0 Get fail
+	unsigned int nIpConfigCurrent;
+	unsigned int nReserved[3];						///< \~chinese 保留					\~english Reserved field
+
+	char macAddress[IMV_MAX_STRING_LENTH];			///< \~chinese 设备Mac地址			\~english Device MAC Address
+	char ipAddress[IMV_MAX_STRING_LENTH];			///< \~chinese 设备Ip地址			\~english Device ip Address
+	char subnetMask[IMV_MAX_STRING_LENTH];			///< \~chinese 子网掩码				\~english SubnetMask
+	char defaultGateWay[IMV_MAX_STRING_LENTH];		///< \~chinese 默认网关				\~english Default GateWay
+	char protocolVersion[IMV_MAX_STRING_LENTH];		///< \~chinese 网络协议版本			\~english Net protocol version
+	/// \~chinese
+	/// Ip配置有效性\n
+	/// Ip配置有效时字符串值"Valid"\n
+	/// Ip配置无效时字符串值"Invalid On This Interface"
+	/// \~english
+	/// IP configuration valid\n
+	/// String value is "Valid" when ip configuration valid\n
+	/// String value is "Invalid On This Interface" when ip configuration invalid
+	char ipConfiguration[IMV_MAX_STRING_LENTH];
+	char chReserved[6][IMV_MAX_STRING_LENTH];		///< \~chinese 保留					\~english Reserved field
+
+}IMV_GigEDeviceInfo;
+
+/// \~chinese
+/// \brief Usb设备信息
+/// \~english
+/// \brief Usb device information
+typedef struct _IMV_UsbDeviceInfo
+{
+	bool bLowSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bFullSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bHighSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bSuperSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bDriverInstalled;							///< \~chinese true安装，false未安装，其他值 非法。	\~english true support,false not supported,other invalid
+	bool boolReserved[3];							///< \~chinese 保留		
+	unsigned int Reserved[4];						///< \~chinese 保留									\~english Reserved field
+
+	char configurationValid[IMV_MAX_STRING_LENTH];	///< \~chinese 配置有效性							\~english Configuration Valid
+	char genCPVersion[IMV_MAX_STRING_LENTH];		///< \~chinese GenCP 版本							\~english GenCP Version
+	char u3vVersion[IMV_MAX_STRING_LENTH];			///< \~chinese U3V 版本号							\~english U3v Version
+	char deviceGUID[IMV_MAX_STRING_LENTH];			///< \~chinese 设备引导号							\~english Device guid number                  
+	char familyName[IMV_MAX_STRING_LENTH];			///< \~chinese 设备系列号							\~english Device serial number 
+	char u3vSerialNumber[IMV_MAX_STRING_LENTH];		///< \~chinese 设备序列号							\~english Device SerialNumber
+	char speed[IMV_MAX_STRING_LENTH];				///< \~chinese 设备传输速度							\~english Device transmission speed
+	char maxPower[IMV_MAX_STRING_LENTH];			///< \~chinese 设备最大供电量						\~english Maximum power supply of device
+	char chReserved[4][IMV_MAX_STRING_LENTH];		///< \~chinese 保留									\~english Reserved field
+
+}IMV_UsbDeviceInfo;
+
+/// \~chinese
+/// \brief 设备通用信息
+/// \~english
+/// \brief Device general information
+typedef struct _IMV_DeviceInfo
+{
+	IMV_ECameraType					nCameraType;								///< \~chinese 设备类别			\~english Camera type
+	int								nCameraReserved[5];							///< \~chinese 保留				\~english Reserved field
+
+	char							cameraKey[IMV_MAX_STRING_LENTH];			///< \~chinese 厂商:序列号		\~english Camera key
+	char							cameraName[IMV_MAX_STRING_LENTH];			///< \~chinese 用户自定义名		\~english UserDefinedName
+	char							serialNumber[IMV_MAX_STRING_LENTH];			///< \~chinese 设备序列号		\~english Device SerialNumber
+	char							vendorName[IMV_MAX_STRING_LENTH];			///< \~chinese 厂商				\~english Camera Vendor
+	char							modelName[IMV_MAX_STRING_LENTH];			///< \~chinese 设备型号			\~english Device model
+	char							manufactureInfo[IMV_MAX_STRING_LENTH];		///< \~chinese 设备制造信息		\~english Device ManufactureInfo
+	char							deviceVersion[IMV_MAX_STRING_LENTH];		///< \~chinese 设备版本			\~english Device Version
+	char							cameraReserved[5][IMV_MAX_STRING_LENTH];	///< \~chinese 保留				\~english Reserved field
+	union
+	{
+		IMV_GigEDeviceInfo			gigeDeviceInfo;								///< \~chinese  Gige设备信息	\~english Gige Device Information
+		IMV_UsbDeviceInfo			usbDeviceInfo;								///< \~chinese  Usb设备信息		\~english Usb  Device Information
+	}DeviceSpecificInfo;
+
+	IMV_EInterfaceType				nInterfaceType;								///< \~chinese 接口类别			\~english Interface type
+	int								nInterfaceReserved[5];						///< \~chinese 保留				\~english Reserved field
+	char							interfaceName[IMV_MAX_STRING_LENTH];		///< \~chinese 接口名			\~english Interface Name
+	char							interfaceReserved[5][IMV_MAX_STRING_LENTH];	///< \~chinese 保留				\~english Reserved field
+	union
+	{
+		IMV_GigEInterfaceInfo		gigeInterfaceInfo;							///< \~chinese  GigE网卡信息	\~english Gige interface Information
+		IMV_UsbInterfaceInfo		usbInterfaceInfo;							///< \~chinese  Usb接口信息		\~english Usb interface Information
+	}InterfaceInfo;
+}IMV_DeviceInfo;
+
+/// \~chinese
+/// \brief 加载失败的属性信息
+/// \~english
+/// \brief Load failed properties information
+typedef struct _IMV_ErrorList
+{
+	unsigned int		nParamCnt;									///< \~chinese 加载失败的属性个数			\~english The count of load failed properties
+	IMV_String			paramNameList[IMV_MAX_ERROR_LIST_NUM];		///< \~chinese 加载失败的属性集合，上限128	\~english Array of load failed properties, up to 128 
+}IMV_ErrorList;
+
+/// \~chinese
+/// \brief 设备信息列表
+/// \~english
+/// \brief Device information list
+typedef struct _IMV_DeviceList
+{
+	unsigned int		nDevNum;					///< \~chinese 设备数量									\~english Device Number
+	IMV_DeviceInfo*		pDevInfo;					///< \~chinese 设备息列表(SDK内部缓存)，最多100设备		\~english Device information list(cached within the SDK), up to 100
+}IMV_DeviceList;
+
+/// \~chinese
+/// \brief 连接事件信息
+/// \~english
+/// \brief connection event information
+typedef struct _IMV_SConnectArg
+{
+	IMV_EVType			event;						///< \~chinese 事件类型							\~english event type
+	unsigned int		nReserve[10];				///< \~chinese 预留字段							\~english Reserved field
+}IMV_SConnectArg;
+
+/// \~chinese
+/// \brief 参数更新事件信息
+/// \~english
+/// \brief Updating parameters event information
+typedef struct _IMV_SParamUpdateArg
+{
+	bool				isPoll;						///< \~chinese 是否是定时更新,true:表示是定时更新，false:表示非定时更新	\~english Update periodically or not. true:update periodically, true:not update periodically
+	unsigned int		nReserve[10];				///< \~chinese 预留字段							\~english Reserved field
+	unsigned int		nParamCnt;					///< \~chinese 更新的参数个数					\~english The number of parameters which need update
+	IMV_String*			pParamNameList;				///< \~chinese 更新的参数名称集合(SDK内部缓存)	\~english Array of parameter's name which need to be updated(cached within the SDK)
+}IMV_SParamUpdateArg;
+
+/// \~chinese
+/// \brief 流事件信息
+/// \~english
+/// \brief Stream event information
+typedef struct _IMV_SStreamArg
+{
+	unsigned int		channel;					///< \~chinese 流通道号         \~english Channel no.
+	uint64_t			blockId;					///< \~chinese 流数据BlockID    \~english Block ID of stream data
+	uint64_t			timeStamp;					///< \~chinese 时间戳           \~english Event time stamp
+	IMV_EEventStatus	eStreamEventStatus;			///< \~chinese 流事件状态码     \~english Stream event status code
+	unsigned int		status;						///< \~chinese 事件状态错误码   \~english Status error code
+	unsigned int		nReserve[9];				///< \~chinese 预留字段         \~english Reserved field
+}IMV_SStreamArg;
+
+/// \~chinese
+/// 消息通道事件ID列表
+/// \~english
+/// message channel event id list
+#define IMV_MSG_EVENT_ID_EXPOSURE_END			0x9001
+#define IMV_MSG_EVENT_ID_FRAME_TRIGGER			0x9002
+#define IMV_MSG_EVENT_ID_FRAME_START			0x9003
+#define IMV_MSG_EVENT_ID_ACQ_START				0x9004
+#define IMV_MSG_EVENT_ID_ACQ_TRIGGER			0x9005
+#define IMV_MSG_EVENT_ID_DATA_READ_OUT			0x9006
+
+/// \~chinese
+/// \brief 消息通道事件信息
+/// \~english
+/// \brief Message channel event information
+typedef struct _IMV_SMsgChannelArg
+{
+	unsigned short		eventId;					///< \~chinese 事件Id								\~english Event id
+	unsigned short		channelId;					///< \~chinese 消息通道号							\~english Channel id
+	uint64_t			blockId;					///< \~chinese 流数据BlockID						\~english Block ID of stream data
+	uint64_t			timeStamp;					///< \~chinese 时间戳								\~english Event timestamp
+	unsigned int		nReserve[8];				///< \~chinese 预留字段         					\~english Reserved field
+	unsigned int		nParamCnt;					///< \~chinese 参数个数								\~english The number of parameters which need update
+	IMV_String*			pParamNameList;				///< \~chinese 事件相关的属性名列集合(SDK内部缓存)	\~english Array of parameter's name which is related(cached within the SDK)
+}IMV_SMsgChannelArg;
+
+/// \~chinese
+/// \brief Chunk数据信息
+/// \~english
+/// \brief Chunk data information
+typedef struct _IMV_ChunkDataInfo
+{
+	unsigned int			chunkID;				///< \~chinese ChunkID									\~english ChunkID
+	unsigned int			nParamCnt;				///< \~chinese 属性名个数								\~english The number of paramNames
+	IMV_String*				pParamNameList;			///< \~chinese Chunk数据对应的属性名集合(SDK内部缓存)	\~english ParamNames Corresponding property name of chunk data(cached within the SDK)
+}IMV_ChunkDataInfo;
+
+/// \~chinese
+/// \brief 帧图像信息
+/// \~english
+/// \brief The frame image information
+typedef struct _IMV_FrameInfo
+{
+	uint64_t				blockId;				///< \~chinese 帧Id(仅对GigE/Usb/PCIe相机有效)					\~english The block ID(GigE/Usb/PCIe camera only)
+	unsigned int			status;					///< \~chinese 数据帧状态(0是正常状态)							\~english The status of frame(0 is normal status)
+	unsigned int			width;					///< \~chinese 图像宽度											\~english The width of image
+	unsigned int			height;					///< \~chinese 图像高度											\~english The height of image
+	unsigned int			size;					///< \~chinese 图像大小											\~english The size of image
+	IMV_EPixelType			pixelFormat;			///< \~chinese 图像像素格式										\~english The pixel format of image
+	uint64_t				timeStamp;				///< \~chinese 图像时间戳(仅对GigE/Usb/PCIe相机有效)			\~english The timestamp of image(GigE/Usb/PCIe camera only)
+	unsigned int			chunkCount;				///< \~chinese 帧数据中包含的Chunk个数(仅对GigE/Usb相机有效)	\~english The number of chunk in frame data(GigE/Usb Camera Only)
+	unsigned int			paddingX;				///< \~chinese 图像paddingX(仅对GigE/Usb/PCIe相机有效)			\~english The paddingX of image(GigE/Usb/PCIe camera only)
+	unsigned int			paddingY;				///< \~chinese 图像paddingY(仅对GigE/Usb/PCIe相机有效)			\~english The paddingY of image(GigE/Usb/PCIe camera only)
+	unsigned int			recvFrameTime;			///< \~chinese 图像在网络传输所用的时间(单位:微秒,非GigE相机该值为0)	\~english The time taken for the image to be transmitted over the network(unit:us, The value is 0 for non-GigE camera)
+	unsigned int			nReserved[19];			///< \~chinese 预留字段											\~english Reserved field
+}IMV_FrameInfo;
+
+/// \~chinese
+/// \brief 帧图像数据信息
+/// \~english
+/// \brief Frame image data information
+typedef struct _IMV_Frame
+{
+	IMV_FRAME_HANDLE		frameHandle;			///< \~chinese 帧图像句柄(SDK内部帧管理用)						\~english Frame image handle(used for managing frame within the SDK)
+	unsigned char*			pData;					///< \~chinese 帧图像数据的内存首地址							\~english The starting address of memory of image data
+	IMV_FrameInfo			frameInfo;				///< \~chinese 帧信息											\~english Frame information
+	unsigned int			nReserved[10];			///< \~chinese 预留字段											\~english Reserved field
+}IMV_Frame;
+
+/// \~chinese
+/// \brief PCIE设备统计流信息
+/// \~english
+/// \brief PCIE device stream statistics information
+typedef struct _IMV_PCIEStreamStatsInfo
+{
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of images error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of frames acquired
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[8];           ///< \~chinese 预留						\~english  Reserved field
+}IMV_PCIEStreamStatsInfo;
+
+/// \~chinese
+/// \brief U3V设备统计流信息
+/// \~english
+/// \brief U3V device stream statistics information
+typedef struct _IMV_U3VStreamStatsInfo
+{
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of images error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of images error frames
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[8];           ///< \~chinese 预留						\~english  Reserved field
+}IMV_U3VStreamStatsInfo;
+
+/// \~chinese
+/// \brief Gige设备统计流信息
+/// \~english
+/// \brief Gige device stream statistics information
+typedef struct _IMV_GigEStreamStatsInfo
+{
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of image error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved1[4];			///< \~chinese 预留						\~english  Reserved field
+	unsigned int			nReserved2[5];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of frames acquired
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[4];			///< \~chinese 预留						\~english  Reserved field
+}IMV_GigEStreamStatsInfo;
+
+/// \~chinese
+/// \brief 统计流信息
+/// \~english
+/// \brief Stream statistics information
+typedef struct _IMV_StreamStatisticsInfo
+{
+	IMV_ECameraType			nCameraType;			///< \~chinese 设备类型				\~english  Device type
+
+	union
+	{
+		IMV_PCIEStreamStatsInfo	pcieStatisticsInfo;	///< \~chinese PCIE设备统计信息		\~english  PCIE device statistics information
+		IMV_U3VStreamStatsInfo	u3vStatisticsInfo;	///< \~chinese U3V设备统计信息		\~english  U3V device statistics information
+		IMV_GigEStreamStatsInfo	gigeStatisticsInfo;	///< \~chinese Gige设备统计信息		\~english  GIGE device statistics information
+	};
+}IMV_StreamStatisticsInfo;
+
+/// \~chinese
+/// \brief 枚举属性的枚举值信息
+/// \~english
+/// \brief Enumeration property 's enumeration value information
+typedef struct _IMV_EnumEntryInfo
+{
+	uint64_t				value;							///< \~chinese 枚举值				\~english  Enumeration value 
+	char					name[IMV_MAX_STRING_LENTH];		///< \~chinese symbol名				\~english  Symbol name
+}IMV_EnumEntryInfo;
+
+/// \~chinese
+/// \brief 枚举属性的可设枚举值列表信息
+/// \~english
+/// \brief Enumeration property 's settable enumeration value list information
+typedef struct _IMV_EnumEntryList
+{
+	unsigned int			nEnumEntryBufferSize;		///< \~chinese 存放枚举值内存大小					\~english The size of saving enumeration value 
+	IMV_EnumEntryInfo*		pEnumEntryInfo;				///< \~chinese 存放可设枚举值列表(调用者分配缓存)	\~english Save the list of settable enumeration value(allocated cache by the caller)
+}IMV_EnumEntryList;
+
+/// \~chinese
+/// \brief 像素转换结构体
+/// \~english
+/// \brief Pixel convert structure
+typedef struct _IMV_PixelConvertParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	unsigned char*			pSrcData;						///< [IN]	\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]	\~chinese 输入图像长度					\~english Input image length
+	unsigned int			nPaddingX;						///< [IN]	\~chinese 图像宽填充					\~english Padding X
+	unsigned int			nPaddingY;						///< [IN]	\~chinese 图像高填充					\~english Padding Y
+	IMV_EBayerDemosaic		eBayerDemosaic;					///< [IN]	\~chinese 转换Bayer格式算法				\~english Alorithm used for Bayer demosaic
+	IMV_EPixelType			eDstPixelFormat;				///< [IN]	\~chinese 目标像素格式					\~english Destination pixel format
+	unsigned char*			pDstBuf;						///< [OUT]	\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]   \~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]	\~chinese 输出数据长度          		\~english Output data length
+	unsigned int			nReserved[8];					///<		\~chinese 预留							\~english Reserved field
+}IMV_PixelConvertParam;
+
+/// \~chinese
+/// \brief 录像结构体
+/// \~english
+/// \brief Record structure
+typedef struct _IMV_RecordParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	float                   fFameRate;						///< [IN]	\~chinese 帧率(大于0)					\~english Frame rate(greater than 0)
+	unsigned int            nQuality;						///< [IN]	\~chinese 视频质量(1-100)				\~english Video quality(1-100)
+	IMV_EVideoType			recordFormat;					///< [IN]	\~chinese 视频格式						\~english Video format
+	const char*				pRecordFilePath;				///< [IN]	\~chinese 保存视频路径          		\~english Save video path
+	unsigned int            nReserved[5];					///<		\~chinese 预留							\~english Reserved
+}IMV_RecordParam;
+
+/// \~chinese
+/// \brief 录像用帧信息结构体
+/// \~english
+/// \brief Frame information for recording structure
+typedef struct _IMV_RecordFrameInfoParam
+{
+	unsigned char*			pData;							///< [IN]	\~chinese 图像数据						\~english Image data
+	unsigned int			nDataLen;						///< [IN]	\~chinese 图像数据长度					\~english Image data length
+	unsigned int			nPaddingX;						///< [IN]	\~chinese 图像宽填充					\~english Padding X
+	unsigned int			nPaddingY;						///< [IN]	\~chinese 图像高填充					\~english Padding Y
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	unsigned int            nReserved[5];					///<		\~chinese 预留							\~english Reserved
+}IMV_RecordFrameInfoParam;
+
+/// \~chinese
+/// \brief 图像翻转结构体
+/// \~english
+/// \brief Flip image structure
+typedef struct _IMV_FlipImageParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	IMV_EFlipType			eFlipType;						///< [IN]	\~chinese 翻转类型						\~english Flip type
+	unsigned char*			pSrcData;						///< [IN]	\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]	\~chinese 输入图像长度					\~english Input image length
+	unsigned char*			pDstBuf;						///< [OUT]	\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]   \~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]	\~chinese 输出数据长度          		\~english Output data length
+	unsigned int            nReserved[8];					///<		\~chinese 预留							\~english Reserved
+}IMV_FlipImageParam;
+
+/// \~chinese
+/// \brief 图像旋转结构体
+/// \~english
+/// \brief Rotate image structure
+typedef struct _IMV_RotateImageParam
+{
+	unsigned int			nWidth;							///< [IN][OUT]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN][OUT]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]		\~chinese 像素格式						\~english Pixel format
+	IMV_ERotationAngle		eRotationAngle;					///< [IN]		\~chinese 旋转角度						\~english Rotation angle
+	unsigned char*			pSrcData;						///< [IN]		\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]		\~chinese 输入图像长度					\~english Input image length
+	unsigned char*			pDstBuf;						///< [OUT]		\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]		\~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]		\~chinese 输出数据长度          		\~english Output data length
+	unsigned int			nReserved[8];					///<			\~chinese 预留							\~english Reserved
+}IMV_RotateImageParam;
+
+/// \~chinese
+/// \brief 设备连接状态事件回调函数声明
+/// \param pParamUpdateArg [in] 回调时主动推送的设备连接状态事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of device connection status event 
+/// \param pStreamArg [in] The device connection status event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_ConnectCallBack)(const IMV_SConnectArg* pConnectArg, void* pUser);
+
+/// \~chinese
+/// \brief 参数更新事件回调函数声明
+/// \param pParamUpdateArg [in] 回调时主动推送的参数更新事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of parameter update event
+/// \param pStreamArg [in] The parameter update event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_ParamUpdateCallBack)(const IMV_SParamUpdateArg* pParamUpdateArg, void* pUser);
+
+/// \~chinese
+/// \brief 流事件回调函数声明
+/// \param pStreamArg [in] 回调时主动推送的流事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of stream event
+/// \param pStreamArg [in] The stream event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_StreamCallBack)(const IMV_SStreamArg* pStreamArg, void* pUser);
+
+/// \~chinese
+/// \brief 消息通道事件回调函数声明
+/// \param pMsgChannelArg [in] 回调时主动推送的消息通道事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of message channel event
+/// \param pMsgChannelArg [in] The message channel event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_MsgChannelCallBack)(const IMV_SMsgChannelArg* pMsgChannelArg, void* pUser);
+
+/// \~chinese
+/// \brief 帧数据信息回调函数声明
+/// \param pFrame [in] 回调时主动推送的帧信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of frame data information
+/// \param pFrame [in] The frame information which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_FrameCallBack)(IMV_Frame* pFrame, void* pUser);
+
+#endif // __IMV_DEFINES_H__

camera_driver/include/IMVDefines.h

@@ -0,0 +1,811 @@
+#ifndef __IMV_DEFINES_H__
+#define __IMV_DEFINES_H__
+
+#ifdef WIN32
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+#else
+#include <stdint.h>
+#endif
+
+#ifndef IN
+#define IN		///< \~chinese 输入型参数		\~english Input param 
+#endif
+
+#ifndef OUT
+#define OUT		///< \~chinese 输出型参数		\~english Output param 
+#endif
+
+#ifndef IN_OUT
+#define IN_OUT	///< \~chinese 输入/输出型参数  \~english Input/Output param 
+#endif
+
+#ifndef __cplusplus
+typedef char    bool;
+#define true    1
+#define false   0
+#endif
+
+/// \~chinese
+/// \brief 错误码 
+/// \~english
+/// \brief Error code
+#define IMV_OK						0			///< \~chinese 成功，无错误							\~english Successed, no error
+#define IMV_ERROR					-101		///< \~chinese 通用的错误							\~english Generic error
+#define IMV_INVALID_HANDLE			-102		///< \~chinese 错误或无效的句柄						\~english Error or invalid handle
+#define IMV_INVALID_PARAM			-103		///< \~chinese 错误的参数							\~english Incorrect parameter
+#define IMV_INVALID_FRAME_HANDLE	-104		///< \~chinese 错误或无效的帧句柄					\~english Error or invalid frame handle
+#define IMV_INVALID_FRAME			-105		///< \~chinese 无效的帧								\~english Invalid frame
+#define IMV_INVALID_RESOURCE		-106		///< \~chinese 相机/事件/流等资源无效				\~english Camera/Event/Stream and so on resource invalid
+#define IMV_INVALID_IP				-107		///< \~chinese 设备与主机的IP网段不匹配				\~english Device's and PC's subnet is mismatch
+#define IMV_NO_MEMORY				-108		///< \~chinese 内存不足								\~english Malloc memery failed
+#define IMV_INSUFFICIENT_MEMORY		-109		///< \~chinese 传入的内存空间不足					\~english Insufficient memory
+#define IMV_ERROR_PROPERTY_TYPE		-110		///< \~chinese 属性类型错误							\~english Property type error
+#define IMV_INVALID_ACCESS			-111		///< \~chinese 属性不可访问、或不能读/写、或读/写失败	\~english Property not accessible, or not be read/written, or read/written failed
+#define IMV_INVALID_RANGE			-112		///< \~chinese 属性值超出范围、或者不是步长整数倍	\~english The property's value is out of range, or is not integer multiple of the step
+#define IMV_NOT_SUPPORT				-113		///< \~chinese 设备不支持的功能						\~english Device not supported function
+
+#define IMV_MAX_DEVICE_ENUM_NUM		100			///< \~chinese 支持设备最大个数		\~english The maximum number of supported devices
+#define IMV_MAX_STRING_LENTH		256			///< \~chinese 字符串最大长度		\~english The maximum length of string
+#define IMV_MAX_ERROR_LIST_NUM		128			///< \~chinese 失败属性列表最大长度 \~english The maximum size of failed properties list
+
+typedef	void*	IMV_HANDLE;						///< \~chinese 设备句柄				\~english Device handle 
+typedef	void*	IMV_FRAME_HANDLE;				///< \~chinese 帧句柄				\~english Frame handle 
+
+/// \~chinese
+///枚举：接口类型
+/// \~english
+///Enumeration: interface type
+typedef enum _IMV_EInterfaceType
+{
+	interfaceTypeGige = 0x00000001,			///< \~chinese 网卡接口类型  		\~english NIC type
+	interfaceTypeUsb3 = 0x00000002,			///< \~chinese USB3.0接口类型		\~english USB3.0 interface type
+	interfaceTypeCL = 0x00000004, 			///< \~chinese CAMERALINK接口类型	\~english Cameralink interface type
+	interfaceTypePCIe = 0x00000008,			///< \~chinese PCIe接口类型         \~english PCIe interface type
+	interfaceTypeAll = 0x00000000,			///< \~chinese 忽略接口类型			\~english All types interface type
+	interfaceInvalidType = 0xFFFFFFFF		///< \~chinese 无效接口类型			\~english Invalid interface type
+}IMV_EInterfaceType;
+
+/// \~chinese
+///枚举：设备类型
+/// \~english
+///Enumeration: device type
+typedef enum _IMV_ECameraType
+{
+	typeGigeCamera = 0,						///< \~chinese GIGE相机				\~english GigE Vision Camera
+	typeU3vCamera = 1,						///< \~chinese USB3.0相机			\~english USB3.0 Vision Camera
+	typeCLCamera = 2,						///< \~chinese CAMERALINK 相机		\~english Cameralink camera
+	typePCIeCamera = 3,						///< \~chinese PCIe相机				\~english PCIe Camera
+	typeUndefinedCamera = 255				///< \~chinese 未知类型				\~english Undefined Camera
+}IMV_ECameraType;
+
+/// \~chinese
+///枚举：创建句柄方式
+/// \~english
+///Enumeration: Create handle mode
+typedef enum _IMV_ECreateHandleMode
+{
+	modeByIndex = 0,						///< \~chinese 通过已枚举设备的索引(从0开始，比如 0, 1, 2...)	\~english By index of enumerated devices (Start from 0, such as 0, 1, 2...)
+	modeByCameraKey,						///< \~chinese 通过设备键"厂商:序列号"							\~english By device's key "vendor:serial number"
+	modeByDeviceUserID,						///< \~chinese 通过设备自定义名									\~english By device userID
+	modeByIPAddress,						///< \~chinese 通过设备IP地址									\~english By device IP address.
+}IMV_ECreateHandleMode;
+
+/// \~chinese
+///枚举：访问权限
+/// \~english
+///Enumeration: access permission
+typedef enum _IMV_ECameraAccessPermission
+{
+	accessPermissionOpen = 0,				///< \~chinese GigE相机没有被连接			\~english The GigE vision device isn't connected to any application. 
+	accessPermissionExclusive,				///< \~chinese 独占访问权限					\~english Exclusive Access Permission   
+	accessPermissionControl, 				///< \~chinese 非独占可读访问权限			\~english Non-Exclusive Readbale Access Permission  
+	accessPermissionControlWithSwitchover,  ///< \~chinese 切换控制访问权限				\~english Control access with switchover enabled.	
+	accessPermissionUnknown = 254,  		///< \~chinese 无法确定						\~english Value not known; indeterminate.   	
+	accessPermissionUndefined				///< \~chinese 未定义访问权限				\~english Undefined Access Permission
+}IMV_ECameraAccessPermission;
+
+/// \~chinese
+///枚举：抓图策略
+/// \~english
+///Enumeration: grab strartegy
+typedef enum _IMV_EGrabStrategy
+{
+	grabStrartegySequential = 0,			///< \~chinese 按到达顺序处理图片	\~english The images are processed in the order of their arrival
+	grabStrartegyLatestImage = 1,			///< \~chinese 获取最新的图片		\~english Get latest image
+	grabStrartegyUpcomingImage = 2,			///< \~chinese 等待获取下一张图片(只针对GigE相机)	\~english Waiting for next image(GigE only)
+	grabStrartegyUndefined   				///< \~chinese 未定义				\~english Undefined
+}IMV_EGrabStrategy;
+
+/// \~chinese
+///枚举：流事件状态
+/// \~english
+/// Enumeration:stream event status
+typedef enum _IMV_EEventStatus
+{
+	streamEventNormal = 1,						///< \~chinese 正常流事件		\~english Normal stream event
+	streamEventLostFrame = 2,					///< \~chinese 丢帧事件		    \~english Lost frame event
+	streamEventLostPacket = 3,					///< \~chinese 丢包事件		    \~english Lost packet event
+	streamEventImageError = 4,					///< \~chinese 图像错误事件		\~english Error image event
+	streamEventStreamChannelError = 5,			///< \~chinese 取流错误事件		\~english Stream channel error event
+	streamEventTooManyConsecutiveResends = 6,	///< \~chinese 太多连续重传		\~english Too many consecutive resends event
+	streamEventTooManyLostPacket = 7			///< \~chinese 太多丢包			\~english Too many lost packet event
+}IMV_EEventStatus;
+
+/// \~chinese
+///枚举：图像转换Bayer格式所用的算法
+/// \~english
+/// Enumeration:alorithm used for Bayer demosaic
+typedef enum _IMV_EBayerDemosaic
+{
+	demosaicNearestNeighbor,					///< \~chinese 最近邻			\~english Nearest neighbor
+	demosaicBilinear,							///< \~chinese 双线性			\~english Bilinear
+	demosaicEdgeSensing,						///< \~chinese 边缘检测			\~english Edge sensing
+	demosaicNotSupport = 255,					///< \~chinese 不支持			\~english Not support
+}IMV_EBayerDemosaic;
+
+/// \~chinese
+///枚举：事件类型
+/// \~english
+/// Enumeration:event type
+typedef enum _IMV_EVType
+{
+	offLine,									///< \~chinese 设备离线通知		\~english device offline notification
+	onLine										///< \~chinese 设备在线通知		\~english device online notification
+}IMV_EVType;
+
+/// \~chinese
+///枚举：视频格式
+/// \~english
+/// Enumeration:Video format
+typedef enum _IMV_EVideoType
+{
+	typeVideoFormatAVI = 0,						///< \~chinese AVI格式			\~english AVI format
+	typeVideoFormatNotSupport = 255				///< \~chinese 不支持			\~english Not support
+}IMV_EVideoType;
+
+/// \~chinese
+///枚举：图像翻转类型
+/// \~english
+/// Enumeration:Image flip type
+typedef enum _IMV_EFlipType
+{
+	typeFlipVertical,							///< \~chinese 垂直(Y轴)翻转	\~english Vertical(Y-axis) flip
+	typeFlipHorizontal							///< \~chinese 水平(X轴)翻转	\~english Horizontal(X-axis) flip
+}IMV_EFlipType;
+
+/// \~chinese
+///枚举：顺时针旋转角度
+/// \~english
+/// Enumeration:Rotation angle clockwise
+typedef enum _IMV_ERotationAngle
+{
+	rotationAngle90,							///< \~chinese 顺时针旋转90度	\~english Rotate 90 degree clockwise
+	rotationAngle180,							///< \~chinese 顺时针旋转180度	\~english Rotate 180 degree clockwise
+	rotationAngle270,							///< \~chinese 顺时针旋转270度	\~english Rotate 270 degree clockwise
+}IMV_ERotationAngle;
+
+#define IMV_GVSP_PIX_MONO                           0x01000000
+#define IMV_GVSP_PIX_RGB                            0x02000000
+#define IMV_GVSP_PIX_COLOR                          0x02000000
+#define IMV_GVSP_PIX_CUSTOM                         0x80000000
+#define IMV_GVSP_PIX_COLOR_MASK                     0xFF000000
+
+// Indicate effective number of bits occupied by the pixel (including padding).
+// This can be used to compute amount of memory required to store an image.
+#define IMV_GVSP_PIX_OCCUPY1BIT                     0x00010000
+#define IMV_GVSP_PIX_OCCUPY2BIT                     0x00020000
+#define IMV_GVSP_PIX_OCCUPY4BIT                     0x00040000
+#define IMV_GVSP_PIX_OCCUPY8BIT                     0x00080000
+#define IMV_GVSP_PIX_OCCUPY12BIT                    0x000C0000
+#define IMV_GVSP_PIX_OCCUPY16BIT                    0x00100000
+#define IMV_GVSP_PIX_OCCUPY24BIT                    0x00180000
+#define IMV_GVSP_PIX_OCCUPY32BIT                    0x00200000
+#define IMV_GVSP_PIX_OCCUPY36BIT                    0x00240000
+#define IMV_GVSP_PIX_OCCUPY48BIT                    0x00300000
+
+/// \~chinese
+///枚举：图像格式
+/// \~english
+/// Enumeration:image format
+typedef enum _IMV_EPixelType
+{
+	// Undefined pixel type
+	gvspPixelTypeUndefined = -1,
+
+	// Mono Format
+	gvspPixelMono1p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY1BIT | 0x0037),
+	gvspPixelMono2p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY2BIT | 0x0038),
+	gvspPixelMono4p = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY4BIT | 0x0039),
+	gvspPixelMono8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0001),
+	gvspPixelMono8S = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0002),
+	gvspPixelMono10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0003),
+	gvspPixelMono10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0004),
+	gvspPixelMono12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0005),
+	gvspPixelMono12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0006),
+	gvspPixelMono14 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0025),
+	gvspPixelMono16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0007),
+
+	// Bayer Format
+	gvspPixelBayGR8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0008),
+	gvspPixelBayRG8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x0009),
+	gvspPixelBayGB8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x000A),
+	gvspPixelBayBG8 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY8BIT | 0x000B),
+	gvspPixelBayGR10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000C),
+	gvspPixelBayRG10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000D),
+	gvspPixelBayGB10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000E),
+	gvspPixelBayBG10 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x000F),
+	gvspPixelBayGR12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0010),
+	gvspPixelBayRG12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0011),
+	gvspPixelBayGB12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0012),
+	gvspPixelBayBG12 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0013),
+	gvspPixelBayGR10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0026),
+	gvspPixelBayRG10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0027),
+	gvspPixelBayGB10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0028),
+	gvspPixelBayBG10Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x0029),
+	gvspPixelBayGR12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002A),
+	gvspPixelBayRG12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002B),
+	gvspPixelBayGB12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002C),
+	gvspPixelBayBG12Packed = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY12BIT | 0x002D),
+	gvspPixelBayGR16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x002E),
+	gvspPixelBayRG16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x002F),
+	gvspPixelBayGB16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0030),
+	gvspPixelBayBG16 = (IMV_GVSP_PIX_MONO | IMV_GVSP_PIX_OCCUPY16BIT | 0x0031),
+
+	// RGB Format
+	gvspPixelRGB8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0014),
+	gvspPixelBGR8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0015),
+	gvspPixelRGBA8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x0016),
+	gvspPixelBGRA8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x0017),
+	gvspPixelRGB10 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0018),
+	gvspPixelBGR10 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0019),
+	gvspPixelRGB12 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x001A),
+	gvspPixelBGR12 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x001B),
+	gvspPixelRGB16 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0033),
+	gvspPixelRGB10V1Packed = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x001C),
+	gvspPixelRGB10P32 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY32BIT | 0x001D),
+	gvspPixelRGB12V1Packed = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY36BIT | 0X0034),
+	gvspPixelRGB565P = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0035),
+	gvspPixelBGR565P = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0X0036),
+
+	// YVR Format
+	gvspPixelYUV411_8_UYYVYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x001E),
+	gvspPixelYUV422_8_UYVY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x001F),
+	gvspPixelYUV422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0032),
+	gvspPixelYUV8_UYV = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0020),
+	gvspPixelYCbCr8CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x003A),
+	gvspPixelYCbCr422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x003B),
+	gvspPixelYCbCr422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0043),
+	gvspPixelYCbCr411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x003C),
+	gvspPixelYCbCr601_8_CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x003D),
+	gvspPixelYCbCr601_422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x003E),
+	gvspPixelYCbCr601_422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0044),
+	gvspPixelYCbCr601_411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x003F),
+	gvspPixelYCbCr709_8_CbYCr = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0040),
+	gvspPixelYCbCr709_422_8 = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0041),
+	gvspPixelYCbCr709_422_8_CbYCrY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY16BIT | 0x0045),
+	gvspPixelYCbCr709_411_8_CbYYCrYY = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY12BIT | 0x0042),
+
+	// RGB Planar
+	gvspPixelRGB8Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY24BIT | 0x0021),
+	gvspPixelRGB10Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0022),
+	gvspPixelRGB12Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0023),
+	gvspPixelRGB16Planar = (IMV_GVSP_PIX_COLOR | IMV_GVSP_PIX_OCCUPY48BIT | 0x0024),
+
+	//BayerRG10p和BayerRG12p格式，针对特定项目临时添加,请不要使用
+	//BayerRG10p and BayerRG12p, currently used for specific project, please do not use them
+	gvspPixelBayRG10p = 0x010A0058,
+	gvspPixelBayRG12p = 0x010c0059,
+
+	//mono1c格式，自定义格式
+	//mono1c, customized image format, used for binary output
+	gvspPixelMono1c = 0x012000FF,
+
+	//mono1e格式，自定义格式，用来显示连通域
+	//mono1e, customized image format, used for displaying connected domain
+	gvspPixelMono1e = 0x01080FFF
+}IMV_EPixelType;
+
+/// \~chinese
+/// \brief 字符串信息
+/// \~english
+/// \brief String information
+typedef struct _IMV_String
+{
+	char str[IMV_MAX_STRING_LENTH];						///< \~chinese	字符串.长度不超过256  \~english Strings and the maximum length of strings is 255.
+}IMV_String;
+
+/// \~chinese
+/// \brief GigE网卡信息
+/// \~english
+/// \brief GigE interface information
+typedef struct _IMV_GigEInterfaceInfo
+{
+	char description[IMV_MAX_STRING_LENTH];				///< \~chinese  网卡描述信息		\~english Network card description
+	char macAddress[IMV_MAX_STRING_LENTH];				///< \~chinese  网卡Mac地址			\~english Network card MAC Address
+	char ipAddress[IMV_MAX_STRING_LENTH];				///< \~chinese  设备Ip地址			\~english Device ip Address
+	char subnetMask[IMV_MAX_STRING_LENTH];				///< \~chinese  子网掩码			\~english SubnetMask
+	char defaultGateWay[IMV_MAX_STRING_LENTH];			///< \~chinese  默认网关			\~english Default GateWay
+	char chReserved[5][IMV_MAX_STRING_LENTH];			///< 保留							\~english Reserved field
+}IMV_GigEInterfaceInfo;
+
+/// \~chinese
+/// \brief USB接口信息
+/// \~english
+/// \brief USB interface information
+typedef struct _IMV_UsbInterfaceInfo
+{
+	char description[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口描述信息		\~english USB interface description
+	char vendorID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Vendor ID	\~english USB interface Vendor ID
+	char deviceID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口设备ID		\~english USB interface Device ID
+	char subsystemID[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Subsystem ID	\~english USB interface Subsystem ID
+	char revision[IMV_MAX_STRING_LENTH];				///< \~chinese  USB接口Revision		\~english USB interface Revision
+	char speed[IMV_MAX_STRING_LENTH];					///< \~chinese  USB接口speed		\~english USB interface speed
+	char chReserved[4][IMV_MAX_STRING_LENTH];			///< 保留							\~english Reserved field
+}IMV_UsbInterfaceInfo;
+
+/// \~chinese
+/// \brief GigE设备信息
+/// \~english
+/// \brief GigE device information
+typedef struct _IMV_GigEDeviceInfo
+{
+	/// \~chinese
+	/// 设备支持的IP配置选项\n
+	/// value:4 相机只支持LLA\n
+	/// value:5 相机支持LLA和Persistent IP\n
+	/// value:6 相机支持LLA和DHCP\n
+	/// value:7 相机支持LLA、DHCP和Persistent IP\n
+	/// value:0 获取失败
+	/// \~english
+	/// Supported IP configuration options of device\n
+	/// value:4 Device supports LLA \n
+	/// value:5 Device supports LLA and Persistent IP\n
+	/// value:6 Device supports LLA and DHCP\n
+	/// value:7 Device supports LLA, DHCP and Persistent IP\n
+	/// value:0 Get fail
+	unsigned int nIpConfigOptions;
+	/// \~chinese
+	/// 设备当前的IP配置选项\n
+	/// value:4 LLA处于活动状态\n
+	/// value:5 LLA和Persistent IP处于活动状态\n
+	/// value:6 LLA和DHCP处于活动状态\n
+	/// value:7 LLA、DHCP和Persistent IP处于活动状态\n
+	/// value:0 获取失败
+	/// \~english
+	/// Current IP Configuration options of device\n
+	/// value:4 LLA is active\n
+	/// value:5 LLA and Persistent IP are active\n
+	/// value:6 LLA and DHCP are active\n
+	/// value:7 LLA, DHCP and Persistent IP are active\n
+	/// value:0 Get fail
+	unsigned int nIpConfigCurrent;
+	unsigned int nReserved[3];						///< \~chinese 保留					\~english Reserved field
+
+	char macAddress[IMV_MAX_STRING_LENTH];			///< \~chinese 设备Mac地址			\~english Device MAC Address
+	char ipAddress[IMV_MAX_STRING_LENTH];			///< \~chinese 设备Ip地址			\~english Device ip Address
+	char subnetMask[IMV_MAX_STRING_LENTH];			///< \~chinese 子网掩码				\~english SubnetMask
+	char defaultGateWay[IMV_MAX_STRING_LENTH];		///< \~chinese 默认网关				\~english Default GateWay
+	char protocolVersion[IMV_MAX_STRING_LENTH];		///< \~chinese 网络协议版本			\~english Net protocol version
+	/// \~chinese
+	/// Ip配置有效性\n
+	/// Ip配置有效时字符串值"Valid"\n
+	/// Ip配置无效时字符串值"Invalid On This Interface"
+	/// \~english
+	/// IP configuration valid\n
+	/// String value is "Valid" when ip configuration valid\n
+	/// String value is "Invalid On This Interface" when ip configuration invalid
+	char ipConfiguration[IMV_MAX_STRING_LENTH];
+	char chReserved[6][IMV_MAX_STRING_LENTH];		///< \~chinese 保留					\~english Reserved field
+
+}IMV_GigEDeviceInfo;
+
+/// \~chinese
+/// \brief Usb设备信息
+/// \~english
+/// \brief Usb device information
+typedef struct _IMV_UsbDeviceInfo
+{
+	bool bLowSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bFullSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bHighSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bSuperSpeedSupported;						///< \~chinese true支持，false不支持，其他值 非法。	\~english true support,false not supported,other invalid
+	bool bDriverInstalled;							///< \~chinese true安装，false未安装，其他值 非法。	\~english true support,false not supported,other invalid
+	bool boolReserved[3];							///< \~chinese 保留		
+	unsigned int Reserved[4];						///< \~chinese 保留									\~english Reserved field
+
+	char configurationValid[IMV_MAX_STRING_LENTH];	///< \~chinese 配置有效性							\~english Configuration Valid
+	char genCPVersion[IMV_MAX_STRING_LENTH];		///< \~chinese GenCP 版本							\~english GenCP Version
+	char u3vVersion[IMV_MAX_STRING_LENTH];			///< \~chinese U3V 版本号							\~english U3v Version
+	char deviceGUID[IMV_MAX_STRING_LENTH];			///< \~chinese 设备引导号							\~english Device guid number                  
+	char familyName[IMV_MAX_STRING_LENTH];			///< \~chinese 设备系列号							\~english Device serial number 
+	char u3vSerialNumber[IMV_MAX_STRING_LENTH];		///< \~chinese 设备序列号							\~english Device SerialNumber
+	char speed[IMV_MAX_STRING_LENTH];				///< \~chinese 设备传输速度							\~english Device transmission speed
+	char maxPower[IMV_MAX_STRING_LENTH];			///< \~chinese 设备最大供电量						\~english Maximum power supply of device
+	char chReserved[4][IMV_MAX_STRING_LENTH];		///< \~chinese 保留									\~english Reserved field
+
+}IMV_UsbDeviceInfo;
+
+/// \~chinese
+/// \brief 设备通用信息
+/// \~english
+/// \brief Device general information
+typedef struct _IMV_DeviceInfo
+{
+	IMV_ECameraType					nCameraType;								///< \~chinese 设备类别			\~english Camera type
+	int								nCameraReserved[5];							///< \~chinese 保留				\~english Reserved field
+
+	char							cameraKey[IMV_MAX_STRING_LENTH];			///< \~chinese 厂商:序列号		\~english Camera key
+	char							cameraName[IMV_MAX_STRING_LENTH];			///< \~chinese 用户自定义名		\~english UserDefinedName
+	char							serialNumber[IMV_MAX_STRING_LENTH];			///< \~chinese 设备序列号		\~english Device SerialNumber
+	char							vendorName[IMV_MAX_STRING_LENTH];			///< \~chinese 厂商				\~english Camera Vendor
+	char							modelName[IMV_MAX_STRING_LENTH];			///< \~chinese 设备型号			\~english Device model
+	char							manufactureInfo[IMV_MAX_STRING_LENTH];		///< \~chinese 设备制造信息		\~english Device ManufactureInfo
+	char							deviceVersion[IMV_MAX_STRING_LENTH];		///< \~chinese 设备版本			\~english Device Version
+	char							cameraReserved[5][IMV_MAX_STRING_LENTH];	///< \~chinese 保留				\~english Reserved field
+	union
+	{
+		IMV_GigEDeviceInfo			gigeDeviceInfo;								///< \~chinese  Gige设备信息	\~english Gige Device Information
+		IMV_UsbDeviceInfo			usbDeviceInfo;								///< \~chinese  Usb设备信息		\~english Usb  Device Information
+	}DeviceSpecificInfo;
+
+	IMV_EInterfaceType				nInterfaceType;								///< \~chinese 接口类别			\~english Interface type
+	int								nInterfaceReserved[5];						///< \~chinese 保留				\~english Reserved field
+	char							interfaceName[IMV_MAX_STRING_LENTH];		///< \~chinese 接口名			\~english Interface Name
+	char							interfaceReserved[5][IMV_MAX_STRING_LENTH];	///< \~chinese 保留				\~english Reserved field
+	union
+	{
+		IMV_GigEInterfaceInfo		gigeInterfaceInfo;							///< \~chinese  GigE网卡信息	\~english Gige interface Information
+		IMV_UsbInterfaceInfo		usbInterfaceInfo;							///< \~chinese  Usb接口信息		\~english Usb interface Information
+	}InterfaceInfo;
+}IMV_DeviceInfo;
+
+/// \~chinese
+/// \brief 加载失败的属性信息
+/// \~english
+/// \brief Load failed properties information
+typedef struct _IMV_ErrorList
+{
+	unsigned int		nParamCnt;									///< \~chinese 加载失败的属性个数			\~english The count of load failed properties
+	IMV_String			paramNameList[IMV_MAX_ERROR_LIST_NUM];		///< \~chinese 加载失败的属性集合，上限128	\~english Array of load failed properties, up to 128 
+}IMV_ErrorList;
+
+/// \~chinese
+/// \brief 设备信息列表
+/// \~english
+/// \brief Device information list
+typedef struct _IMV_DeviceList
+{
+	unsigned int		nDevNum;					///< \~chinese 设备数量									\~english Device Number
+	IMV_DeviceInfo*		pDevInfo;					///< \~chinese 设备息列表(SDK内部缓存)，最多100设备		\~english Device information list(cached within the SDK), up to 100
+}IMV_DeviceList;
+
+/// \~chinese
+/// \brief 连接事件信息
+/// \~english
+/// \brief connection event information
+typedef struct _IMV_SConnectArg
+{
+	IMV_EVType			event;						///< \~chinese 事件类型							\~english event type
+	unsigned int		nReserve[10];				///< \~chinese 预留字段							\~english Reserved field
+}IMV_SConnectArg;
+
+/// \~chinese
+/// \brief 参数更新事件信息
+/// \~english
+/// \brief Updating parameters event information
+typedef struct _IMV_SParamUpdateArg
+{
+	bool				isPoll;						///< \~chinese 是否是定时更新,true:表示是定时更新，false:表示非定时更新	\~english Update periodically or not. true:update periodically, true:not update periodically
+	unsigned int		nReserve[10];				///< \~chinese 预留字段							\~english Reserved field
+	unsigned int		nParamCnt;					///< \~chinese 更新的参数个数					\~english The number of parameters which need update
+	IMV_String*			pParamNameList;				///< \~chinese 更新的参数名称集合(SDK内部缓存)	\~english Array of parameter's name which need to be updated(cached within the SDK)
+}IMV_SParamUpdateArg;
+
+/// \~chinese
+/// \brief 流事件信息
+/// \~english
+/// \brief Stream event information
+typedef struct _IMV_SStreamArg
+{
+	unsigned int		channel;					///< \~chinese 流通道号         \~english Channel no.
+	uint64_t			blockId;					///< \~chinese 流数据BlockID    \~english Block ID of stream data
+	uint64_t			timeStamp;					///< \~chinese 时间戳           \~english Event time stamp
+	IMV_EEventStatus	eStreamEventStatus;			///< \~chinese 流事件状态码     \~english Stream event status code
+	unsigned int		status;						///< \~chinese 事件状态错误码   \~english Status error code
+	unsigned int		nReserve[9];				///< \~chinese 预留字段         \~english Reserved field
+}IMV_SStreamArg;
+
+/// \~chinese
+/// 消息通道事件ID列表
+/// \~english
+/// message channel event id list
+#define IMV_MSG_EVENT_ID_EXPOSURE_END			0x9001
+#define IMV_MSG_EVENT_ID_FRAME_TRIGGER			0x9002
+#define IMV_MSG_EVENT_ID_FRAME_START			0x9003
+#define IMV_MSG_EVENT_ID_ACQ_START				0x9004
+#define IMV_MSG_EVENT_ID_ACQ_TRIGGER			0x9005
+#define IMV_MSG_EVENT_ID_DATA_READ_OUT			0x9006
+
+/// \~chinese
+/// \brief 消息通道事件信息
+/// \~english
+/// \brief Message channel event information
+typedef struct _IMV_SMsgChannelArg
+{
+	unsigned short		eventId;					///< \~chinese 事件Id								\~english Event id
+	unsigned short		channelId;					///< \~chinese 消息通道号							\~english Channel id
+	uint64_t			blockId;					///< \~chinese 流数据BlockID						\~english Block ID of stream data
+	uint64_t			timeStamp;					///< \~chinese 时间戳								\~english Event timestamp
+	unsigned int		nReserve[8];				///< \~chinese 预留字段         					\~english Reserved field
+	unsigned int		nParamCnt;					///< \~chinese 参数个数								\~english The number of parameters which need update
+	IMV_String*			pParamNameList;				///< \~chinese 事件相关的属性名列集合(SDK内部缓存)	\~english Array of parameter's name which is related(cached within the SDK)
+}IMV_SMsgChannelArg;
+
+/// \~chinese
+/// \brief Chunk数据信息
+/// \~english
+/// \brief Chunk data information
+typedef struct _IMV_ChunkDataInfo
+{
+	unsigned int			chunkID;				///< \~chinese ChunkID									\~english ChunkID
+	unsigned int			nParamCnt;				///< \~chinese 属性名个数								\~english The number of paramNames
+	IMV_String*				pParamNameList;			///< \~chinese Chunk数据对应的属性名集合(SDK内部缓存)	\~english ParamNames Corresponding property name of chunk data(cached within the SDK)
+}IMV_ChunkDataInfo;
+
+/// \~chinese
+/// \brief 帧图像信息
+/// \~english
+/// \brief The frame image information
+typedef struct _IMV_FrameInfo
+{
+	uint64_t				blockId;				///< \~chinese 帧Id(仅对GigE/Usb/PCIe相机有效)					\~english The block ID(GigE/Usb/PCIe camera only)
+	unsigned int			status;					///< \~chinese 数据帧状态(0是正常状态)							\~english The status of frame(0 is normal status)
+	unsigned int			width;					///< \~chinese 图像宽度											\~english The width of image
+	unsigned int			height;					///< \~chinese 图像高度											\~english The height of image
+	unsigned int			size;					///< \~chinese 图像大小											\~english The size of image
+	IMV_EPixelType			pixelFormat;			///< \~chinese 图像像素格式										\~english The pixel format of image
+	uint64_t				timeStamp;				///< \~chinese 图像时间戳(仅对GigE/Usb/PCIe相机有效)			\~english The timestamp of image(GigE/Usb/PCIe camera only)
+	unsigned int			chunkCount;				///< \~chinese 帧数据中包含的Chunk个数(仅对GigE/Usb相机有效)	\~english The number of chunk in frame data(GigE/Usb Camera Only)
+	unsigned int			paddingX;				///< \~chinese 图像paddingX(仅对GigE/Usb/PCIe相机有效)			\~english The paddingX of image(GigE/Usb/PCIe camera only)
+	unsigned int			paddingY;				///< \~chinese 图像paddingY(仅对GigE/Usb/PCIe相机有效)			\~english The paddingY of image(GigE/Usb/PCIe camera only)
+	unsigned int			recvFrameTime;			///< \~chinese 图像在网络传输所用的时间(单位:微秒,非GigE相机该值为0)	\~english The time taken for the image to be transmitted over the network(unit:us, The value is 0 for non-GigE camera)
+	unsigned int			nReserved[19];			///< \~chinese 预留字段											\~english Reserved field
+}IMV_FrameInfo;
+
+/// \~chinese
+/// \brief 帧图像数据信息
+/// \~english
+/// \brief Frame image data information
+typedef struct _IMV_Frame
+{
+	IMV_FRAME_HANDLE		frameHandle;			///< \~chinese 帧图像句柄(SDK内部帧管理用)						\~english Frame image handle(used for managing frame within the SDK)
+	unsigned char*			pData;					///< \~chinese 帧图像数据的内存首地址							\~english The starting address of memory of image data
+	IMV_FrameInfo			frameInfo;				///< \~chinese 帧信息											\~english Frame information
+	unsigned int			nReserved[10];			///< \~chinese 预留字段											\~english Reserved field
+}IMV_Frame;
+
+/// \~chinese
+/// \brief PCIE设备统计流信息
+/// \~english
+/// \brief PCIE device stream statistics information
+typedef struct _IMV_PCIEStreamStatsInfo
+{
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of images error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of frames acquired
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[8];           ///< \~chinese 预留						\~english  Reserved field
+}IMV_PCIEStreamStatsInfo;
+
+/// \~chinese
+/// \brief U3V设备统计流信息
+/// \~english
+/// \brief U3V device stream statistics information
+typedef struct _IMV_U3VStreamStatsInfo
+{
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of images error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of images error frames
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[8];           ///< \~chinese 预留						\~english  Reserved field
+}IMV_U3VStreamStatsInfo;
+
+/// \~chinese
+/// \brief Gige设备统计流信息
+/// \~english
+/// \brief Gige device stream statistics information
+typedef struct _IMV_GigEStreamStatsInfo
+{
+	unsigned int			nReserved0[10];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageError;				///< \~chinese 图像错误的帧数			\~english  Number of image error frames
+	unsigned int			lostPacketBlock;		///< \~chinese 丢包的帧数				\~english  Number of frames lost
+	unsigned int			nReserved1[4];			///< \~chinese 预留						\~english  Reserved field
+	unsigned int			nReserved2[5];			///< \~chinese 预留						\~english  Reserved field
+
+	unsigned int			imageReceived;			///< \~chinese 正常获取的帧数			\~english  Number of frames acquired
+	double					fps;                    ///< \~chinese 帧率						\~english  Frame rate
+	double					bandwidth;              ///< \~chinese 带宽(Mbps)				\~english  Bandwidth(Mbps)
+	unsigned int			nReserved[4];			///< \~chinese 预留						\~english  Reserved field
+}IMV_GigEStreamStatsInfo;
+
+/// \~chinese
+/// \brief 统计流信息
+/// \~english
+/// \brief Stream statistics information
+typedef struct _IMV_StreamStatisticsInfo
+{
+	IMV_ECameraType			nCameraType;			///< \~chinese 设备类型				\~english  Device type
+
+	union
+	{
+		IMV_PCIEStreamStatsInfo	pcieStatisticsInfo;	///< \~chinese PCIE设备统计信息		\~english  PCIE device statistics information
+		IMV_U3VStreamStatsInfo	u3vStatisticsInfo;	///< \~chinese U3V设备统计信息		\~english  U3V device statistics information
+		IMV_GigEStreamStatsInfo	gigeStatisticsInfo;	///< \~chinese Gige设备统计信息		\~english  GIGE device statistics information
+	};
+}IMV_StreamStatisticsInfo;
+
+/// \~chinese
+/// \brief 枚举属性的枚举值信息
+/// \~english
+/// \brief Enumeration property 's enumeration value information
+typedef struct _IMV_EnumEntryInfo
+{
+	uint64_t				value;							///< \~chinese 枚举值				\~english  Enumeration value 
+	char					name[IMV_MAX_STRING_LENTH];		///< \~chinese symbol名				\~english  Symbol name
+}IMV_EnumEntryInfo;
+
+/// \~chinese
+/// \brief 枚举属性的可设枚举值列表信息
+/// \~english
+/// \brief Enumeration property 's settable enumeration value list information
+typedef struct _IMV_EnumEntryList
+{
+	unsigned int			nEnumEntryBufferSize;		///< \~chinese 存放枚举值内存大小					\~english The size of saving enumeration value 
+	IMV_EnumEntryInfo*		pEnumEntryInfo;				///< \~chinese 存放可设枚举值列表(调用者分配缓存)	\~english Save the list of settable enumeration value(allocated cache by the caller)
+}IMV_EnumEntryList;
+
+/// \~chinese
+/// \brief 像素转换结构体
+/// \~english
+/// \brief Pixel convert structure
+typedef struct _IMV_PixelConvertParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	unsigned char*			pSrcData;						///< [IN]	\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]	\~chinese 输入图像长度					\~english Input image length
+	unsigned int			nPaddingX;						///< [IN]	\~chinese 图像宽填充					\~english Padding X
+	unsigned int			nPaddingY;						///< [IN]	\~chinese 图像高填充					\~english Padding Y
+	IMV_EBayerDemosaic		eBayerDemosaic;					///< [IN]	\~chinese 转换Bayer格式算法				\~english Alorithm used for Bayer demosaic
+	IMV_EPixelType			eDstPixelFormat;				///< [IN]	\~chinese 目标像素格式					\~english Destination pixel format
+	unsigned char*			pDstBuf;						///< [OUT]	\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]   \~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]	\~chinese 输出数据长度          		\~english Output data length
+	unsigned int			nReserved[8];					///<		\~chinese 预留							\~english Reserved field
+}IMV_PixelConvertParam;
+
+/// \~chinese
+/// \brief 录像结构体
+/// \~english
+/// \brief Record structure
+typedef struct _IMV_RecordParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	float                   fFameRate;						///< [IN]	\~chinese 帧率(大于0)					\~english Frame rate(greater than 0)
+	unsigned int            nQuality;						///< [IN]	\~chinese 视频质量(1-100)				\~english Video quality(1-100)
+	IMV_EVideoType			recordFormat;					///< [IN]	\~chinese 视频格式						\~english Video format
+	const char*				pRecordFilePath;				///< [IN]	\~chinese 保存视频路径          		\~english Save video path
+	unsigned int            nReserved[5];					///<		\~chinese 预留							\~english Reserved
+}IMV_RecordParam;
+
+/// \~chinese
+/// \brief 录像用帧信息结构体
+/// \~english
+/// \brief Frame information for recording structure
+typedef struct _IMV_RecordFrameInfoParam
+{
+	unsigned char*			pData;							///< [IN]	\~chinese 图像数据						\~english Image data
+	unsigned int			nDataLen;						///< [IN]	\~chinese 图像数据长度					\~english Image data length
+	unsigned int			nPaddingX;						///< [IN]	\~chinese 图像宽填充					\~english Padding X
+	unsigned int			nPaddingY;						///< [IN]	\~chinese 图像高填充					\~english Padding Y
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	unsigned int            nReserved[5];					///<		\~chinese 预留							\~english Reserved
+}IMV_RecordFrameInfoParam;
+
+/// \~chinese
+/// \brief 图像翻转结构体
+/// \~english
+/// \brief Flip image structure
+typedef struct _IMV_FlipImageParam
+{
+	unsigned int			nWidth;							///< [IN]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]	\~chinese 像素格式						\~english Pixel format
+	IMV_EFlipType			eFlipType;						///< [IN]	\~chinese 翻转类型						\~english Flip type
+	unsigned char*			pSrcData;						///< [IN]	\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]	\~chinese 输入图像长度					\~english Input image length
+	unsigned char*			pDstBuf;						///< [OUT]	\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]   \~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]	\~chinese 输出数据长度          		\~english Output data length
+	unsigned int            nReserved[8];					///<		\~chinese 预留							\~english Reserved
+}IMV_FlipImageParam;
+
+/// \~chinese
+/// \brief 图像旋转结构体
+/// \~english
+/// \brief Rotate image structure
+typedef struct _IMV_RotateImageParam
+{
+	unsigned int			nWidth;							///< [IN][OUT]	\~chinese 图像宽						\~english Width
+	unsigned int			nHeight;						///< [IN][OUT]	\~chinese 图像高						\~english Height
+	IMV_EPixelType			ePixelFormat;					///< [IN]		\~chinese 像素格式						\~english Pixel format
+	IMV_ERotationAngle		eRotationAngle;					///< [IN]		\~chinese 旋转角度						\~english Rotation angle
+	unsigned char*			pSrcData;						///< [IN]		\~chinese 输入图像数据					\~english Input image data
+	unsigned int			nSrcDataLen;					///< [IN]		\~chinese 输入图像长度					\~english Input image length
+	unsigned char*			pDstBuf;						///< [OUT]		\~chinese 输出数据缓存(调用者分配缓存)	\~english Output data buffer(allocated cache by the caller)
+	unsigned int			nDstBufSize;					///< [IN]		\~chinese 提供的输出缓冲区大小  		\~english Provided output buffer size
+	unsigned int			nDstDataLen;					///< [OUT]		\~chinese 输出数据长度          		\~english Output data length
+	unsigned int			nReserved[8];					///<			\~chinese 预留							\~english Reserved
+}IMV_RotateImageParam;
+
+/// \~chinese
+/// \brief 设备连接状态事件回调函数声明
+/// \param pParamUpdateArg [in] 回调时主动推送的设备连接状态事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of device connection status event 
+/// \param pStreamArg [in] The device connection status event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_ConnectCallBack)(const IMV_SConnectArg* pConnectArg, void* pUser);
+
+/// \~chinese
+/// \brief 参数更新事件回调函数声明
+/// \param pParamUpdateArg [in] 回调时主动推送的参数更新事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of parameter update event
+/// \param pStreamArg [in] The parameter update event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_ParamUpdateCallBack)(const IMV_SParamUpdateArg* pParamUpdateArg, void* pUser);
+
+/// \~chinese
+/// \brief 流事件回调函数声明
+/// \param pStreamArg [in] 回调时主动推送的流事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of stream event
+/// \param pStreamArg [in] The stream event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_StreamCallBack)(const IMV_SStreamArg* pStreamArg, void* pUser);
+
+/// \~chinese
+/// \brief 消息通道事件回调函数声明
+/// \param pMsgChannelArg [in] 回调时主动推送的消息通道事件信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of message channel event
+/// \param pMsgChannelArg [in] The message channel event which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_MsgChannelCallBack)(const IMV_SMsgChannelArg* pMsgChannelArg, void* pUser);
+
+/// \~chinese
+/// \brief 帧数据信息回调函数声明
+/// \param pFrame [in] 回调时主动推送的帧信息
+/// \param pUser [in] 用户自定义数据
+/// \~english
+/// \brief Call back function declaration of frame data information
+/// \param pFrame [in] The frame information which will be active pushed out during the callback
+/// \param pUser [in] User defined data
+typedef void(*IMV_FrameCallBack)(IMV_Frame* pFrame, void* pUser);
+
+#endif // __IMV_DEFINES_H__

camera_driver/lib/GenICam/log/config-unix/DefaultLogging.properties

@@ -0,0 +1,6 @@
+# These settings are loaded as default
+
+log4j.rootCategory=ERROR, Console
+log4cpp.appender.Console=org.apache.log4j.ConsoleAppender
+log4cpp.appender.Console.layout=org.apache.log4j.PatternLayout
+log4cpp.appender.Console.layout.ConversionPattern==>LOG %x: %c : %m%n

camera_driver/lib/GenICam/xml/GenApi/GenApiSchema_Version_1_0.xsd

@@ -0,0 +1,741 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--$Header$ -->
+<!-- ***************************************************************************
+*  (c) 2006 by Basler Vision Technologies
+*  Section: Vision Components
+*  Project: GenApi
+*  Author:  Fritz Dierks
+*
+*  License: This file is published under the license of the EMVA GenICam  Standard Group. 
+*  A text file describing the legal terms is included in  your installation as 'GenICam_license.pdf'. 
+*  If for some reason you are missing  this file please contact the EMVA or visit the website
+*  (http://www.genicam.org) for a full copy.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE EMVA GENICAM STANDARD GROUP "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,  
+*  THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR  
+*  PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE EMVA GENICAM STANDARD  GROUP 
+*  OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,  SPECIAL, 
+*  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT  LIMITED TO, 
+*  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,  DATA, OR PROFITS; 
+*  OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY  THEORY OF LIABILITY, 
+*  WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT  (INCLUDING NEGLIGENCE OR OTHERWISE) 
+*  ARISING IN ANY WAY OUT OF THE USE  OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+*  POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************** -->
+<xs:schema xmlns="http://www.genicam.org/GenApi/Version_1_0" xmlns:mstns="http://www.genicam.org/GenApi/Version_1_0" xmlns:xs="http://www.w3.org/2001/XMLSchema" targetNamespace="http://www.genicam.org/GenApi/Version_1_0" elementFormDefault="qualified" id="GenApiSchema_1_0">
+  <xs:element name="RegisterDescription">
+    <xs:complexType>
+      <xs:sequence maxOccurs="unbounded">
+        <xs:group ref="NodesTemplate" />
+      </xs:sequence>
+      <xs:attribute name="ModelName" type="CName_t" use="required" />
+      <xs:attribute name="VendorName" type="CName_t" use="required" />
+      <xs:attribute name="ToolTip" type="xs:string" use="optional" />
+      <xs:attribute name="StandardNameSpace" type="StandardNameSpace_t" use="required" />
+      <xs:attribute name="SchemaMajorVersion" type="nonNegativeHexOrDecimal_t" use="required" fixed="1" />
+      <xs:attribute name="SchemaMinorVersion" type="nonNegativeHexOrDecimal_t" use="required" fixed="0" />
+      <xs:attribute name="SchemaSubMinorVersion" type="nonNegativeHexOrDecimal_t" use="required" />
+      <xs:attribute name="MajorVersion" type="nonNegativeHexOrDecimal_t" use="required" />
+      <xs:attribute name="MinorVersion" type="nonNegativeHexOrDecimal_t" use="required" />
+      <xs:attribute name="SubMinorVersion" type="nonNegativeHexOrDecimal_t" use="required" />
+      <xs:attribute name="ProductGuid" type="xs:string" use="required" />
+      <xs:attribute name="VersionGuid" type="xs:string" use="required" />
+    </xs:complexType>
+    <xs:key name="IntegerKey">
+      <xs:selector xpath=".//mstns:AdvFeatureLock|.//mstns:Integer|.//mstns:IntKey|.//mstns:IntReg|.//mstns:MaskedIntReg|.//mstns:IntSwissKnife|.//mstns:SmartFeature|.//mstns:StructEntry|.//mstns:IntConverter" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="IntegerOrEnumKey">
+      <xs:selector xpath=".//mstns:AdvFeatureLock|.//mstns:Integer|.//mstns:IntKey|.//mstns:IntReg|.//mstns:MaskedIntReg|.//mstns:IntSwissKnife|.//mstns:SmartFeature|.//mstns:StructEntry|.//mstns:IntConverter|.//mstns:Enumeration" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="IntegerOrBooleanKey">
+      <xs:selector xpath=".//mstns:AdvFeatureLock|.//mstns:Integer|.//mstns:IntKey|.//mstns:IntReg|.//mstns:MaskedIntReg|.//mstns:IntSwissKnife|.//mstns:SmartFeature|.//mstns:StructEntry|.//mstns:IntConverter|.//mstns:Boolean" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="FloatKey">
+      <xs:selector xpath=".//mstns:Converter|.//mstns:Float|.//mstns:FloatReg|.//mstns:SwissKnife" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="StringKey">
+      <xs:selector xpath=".//mstns:StringReg|.//mstns:TextDesc" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="IntegerOrFloatKey">
+      <xs:selector xpath=".//mstns:AdvFeatureLock|.//mstns:Integer|.//mstns:IntKey|.//mstns:IntReg|.//mstns:MaskedIntReg|.//mstns:IntSwissKnife|.//mstns:SmartFeature|.//mstns:StructEntry|.//mstns:Converter|.//mstns:IntConverter|.//mstns:Float|.//mstns:FloatReg|.//mstns:SwissKnife" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="SelectedKey">
+      <xs:selector xpath=".//mstns:Node|.//mstns:IntReg|.//mstns:Enumeration|.//mstns:Integer|.//mstns:MaskedIntReg|.//mstns:Register|.//mstns:IntSwissKnife|.//mstns:Category|.//mstns:TextDesc|.//mstns:IntKey|.//mstns:FloatReg|.//mstns:Float|.//mstns:StringReg|.//mstns:SwissKnife|.//mstns:Converter|.//mstns:IntConverter|.//mstns:Boolean|.//mstns:Command|.//mstns:StructReg/mstns:StructEntry" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="RegisterKey">
+      <xs:selector xpath=".//mstns:Register|.//mstns:AdvFeatureLock|.//mstns:FloatReg|.//mstns:ConfRom|.//mstns:IntReg|.//mstns:MaskedIntReg|.//mstns:SmartFeature|.//mstns:StringReg" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="PortKey">
+      <xs:selector xpath=".//mstns:Port" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="FeatureKey">
+      <xs:selector xpath=".//mstns:Node|.//mstns:IntReg|.//mstns:Enumeration|.//mstns:Integer|.//mstns:MaskedIntReg|.//mstns:Register|.//mstns:IntSwissKnife|.//mstns:Category|.//mstns:TextDesc|.//mstns:IntKey|.//mstns:FloatReg|.//mstns:Float|.//mstns:StringReg|.//mstns:SwissKnife|.//mstns:Converter|.//mstns:IntConverter|.//mstns:Boolean|.//mstns:Command|.//mstns:StructReg/mstns:StructEntry" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="EnumEntryKey">
+      <xs:selector xpath=".//mstns:Enumeration/EnumEntry" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:key name="ConfRomKey">
+      <xs:selector xpath=".//mstns:ConfRom" />
+      <xs:field xpath="@Name" />
+    </xs:key>
+    <xs:keyref name="pAddress" refer="IntegerOrEnumKey">
+      <xs:selector xpath=".//mstns:Register/mstns:pAddress|.//mstns:AdvFeatureLock/mstns:pAddress|.//mstns:FloatReg/mstns:pAddress|.//mstns:ConfRom/mstns:pAddress|.//mstns:IntReg/mstns:pAddress|.//mstns:MaskedIntReg/mstns:pAddress|.//mstns:SmartFeature/mstns:pAddress|.//mstns:StringReg/mstns:pAddress" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pIndex" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Register/mstns:pIndex|.//mstns:AdvFeatureLock/mstns:pIndex|.//mstns:FloatReg/mstns:pIndex|.//mstns:ConfRom/mstns:pIndex|.//mstns:IntReg/mstns:pIndex|.//mstns:MaskedIntReg/mstns:pIndex|.//mstns:SmartFeature/mstns:pIndex|.//mstns:StringReg/mstns:pIndex" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pLength" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Register/mstns:pLength|.//mstns:AdvFeatureLock/mstns:pLength|.//mstns:FloatReg/mstns:pLength|.//mstns:ConfRom/mstns:pLength|.//mstns:IntReg/mstns:pLength|.//mstns:MaskedIntReg/mstns:pLength|.//mstns:SmartFeature/mstns:pLength|.//mstns:StringReg/mstns:pLength" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pPort" refer="PortKey">
+      <xs:selector xpath=".//mstns:Register/mstns:pPort|.//mstns:AdvFeatureLock/mstns:pPort|.//mstns:FloatReg/mstns:pPort|.//mstns:ConfRom/mstns:pPort|.//mstns:IntReg/mstns:pPort|.//mstns:MaskedIntReg/mstns:pPort|.//mstns:SmartFeature/mstns:pPort|.//mstns:StringReg/mstns:pPort" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pFeature" refer="FeatureKey">
+      <xs:selector xpath=".//mstns:Category/mstns:pFeature" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pSelected" refer="SelectedKey">
+      <xs:selector xpath=".//mstns:Enumeration/mstns:pSelected|.//mstns:Integer/mstns:pSelected|.//mstns:IntReg/mstns:pSelected|.//mstns:MaskedIntReg/mstns:pSelected|.//mstns:StructEntry/mstns:pSelected" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pValue_Integer" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Enumeration/mstns:pValue|.//mstns:Integer/mstns:pValue|.//mstns:Command/mstns:pValue|.//mstns:Boolean/mstns:pValue" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pMin_Integer" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Integer/mstns:pMin" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pMax_Integer" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Integer/mstns:pMax" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pInc_Integer" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Integer/mstns:pInc" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pValue_Float" refer="FloatKey">
+      <xs:selector xpath=".//mstns:Float/mstns:pValue" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pMin_Float" refer="FloatKey">
+      <xs:selector xpath=".//mstns:Float/mstns:pMin" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pMax_Float" refer="FloatKey">
+      <xs:selector xpath=".//mstns:Float/mstns:pMax" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pValue_IntegerOrFloat" refer="IntegerOrFloatKey">
+      <xs:selector xpath=".//mstns:Converter/mstns:pValue" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pIsImplemented" refer="IntegerOrBooleanKey">
+      <xs:selector xpath=".//mstns:Node/mstns:pIsImplemented|.//mstns:IntReg/mstns:pIsImplemented|.//mstns:Enumeration/mstns:pIsImplemented|.//mstns:Integer/mstns:pIsImplemented|.//mstns:MaskedIntReg/mstns:pIsImplemented|.//mstns:Register/mstns:pIsImplemented|.//mstns:IntSwissKnife/mstns:pIsImplemented|.//mstns:Category/mstns:pIsImplemented|.//mstns:TextDesc/mstns:pIsImplemented|.//mstns:IntKey/mstns:pIsImplemented|.//mstns:FloatReg/mstns:pIsImplemented|.//mstns:Float/mstns:pIsImplemented|.//mstns:StringReg/mstns:pIsImplemented|.//mstns:SwissKnife/mstns:pIsImplemented|.//mstns:Converter/mstns:pIsImplemented|.//mstns:Boolean/mstns:pIsImplemented|.//mstns:Command/mstns:pIsImplemented|.//mstns:StructReg/mstns:StructEntry/mstns:pIsImplemented|.//mstns:EnumEntry/mstns:pIsImplemented|.//mstns:Port/mstns:pIsImplemented|.//mstns:AdvFeatureLock/mstns:pIsImplemented|.//mstns:SmartFeature/mstns:pIsImplemented" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pIsAvailable" refer="IntegerOrBooleanKey">
+      <xs:selector xpath=".//mstns:Node/mstns:pIsAvailable|.//mstns:IntReg/mstns:pIsAvailable|.//mstns:Enumeration/mstns:pIsAvailable|.//mstns:EnumEntry/mstns:pIsAvailable|.//mstns:Integer/mstns:pIsAvailable|.//mstns:MaskedIntReg/mstns:pIsAvailable|.//mstns:Register/mstns:pIsAvailable|.//mstns:IntSwissKnife/mstns:pIsAvailable|.//mstns:Category/mstns:pIsAvailable|.//mstns:TextDesc/mstns:pIsAvailable|.//mstns:IntKey/mstns:pIsAvailable|.//mstns:FloatReg/mstns:pIsAvailable|.//mstns:Float/mstns:pIsAvailable|.//mstns:StringReg/mstns:pIsAvailable|.//mstns:SwissKnife/mstns:pIsAvailable|.//mstns:Converter/mstns:pIsAvailable|.//mstns:Boolean/mstns:pIsAvailable|.//mstns:Command/mstns:pIsAvailable|.//mstns:StructReg/mstns:StructEntry/mstns:pIsAvailable|.//mstns:EnumEntry/mstns:pIsAvailable|.//mstns:Port/mstns:pIsAvailable|.//mstns:AdvFeatureLock/mstns:pIsAvailable|.//mstns:SmartFeature/mstns:pIsAvailable" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pIsLocked" refer="IntegerOrBooleanKey">
+      <xs:selector xpath=".//mstns:Node/mstns:pIsLocked|.//mstns:IntReg/mstns:pIsLocked|.//mstns:Enumeration/mstns:pIsLocked|.//mstns:EnumEntry/mstns:pIsLocked|.//mstns:Integer/mstns:pIsLocked|.//mstns:MaskedIntReg/mstns:pIsLocked|.//mstns:Register/mstns:pIsLocked|.//mstns:IntSwissKnife/mstns:pIsLocked|.//mstns:Category/mstns:pIsLocked|.//mstns:TextDesc/mstns:pIsLocked|.//mstns:IntKey/mstns:pIsLocked|.//mstns:FloatReg/mstns:pIsLocked|.//mstns:Float/mstns:pIsLocked|.//mstns:StringReg/mstns:pIsLocked|.//mstns:SwissKnife/mstns:pIsLocked|.//mstns:Converter/mstns:pIsLocked|.//mstns:Boolean/mstns:pIsLocked|.//mstns:Command/mstns:pIsLocked|.//mstns:StructReg/mstns:StructEntry/mstns:pIsLocked|.//mstns:EnumEntry/mstns:pIsLocked|.//mstns:Port/mstns:pIsLocked|.//mstns:AdvFeatureLock/mstns:pIsLocked|.//mstns:SmartFeature/mstns:pIsLocked" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pVariable_Integer" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:IntSwissKnife/mstns:pVariable|.//mstns:IntConverter/mstns:pVariable" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pVariable_IntegerOrFloat" refer="IntegerOrFloatKey">
+      <xs:selector xpath=".//mstns:SwissKnife/mstns:pVariable|.//mstns:Converter/mstns:pVariable" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pEnumEntry" refer="EnumEntryKey">
+      <xs:selector xpath=".//mstns:Enumeration/mstns:pEnumEntry" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pChunkID" refer="StringKey">
+      <xs:selector xpath=".//mstns:Port/mstns:pChunkID" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="p1212Parser" refer="ConfRomKey">
+      <xs:selector xpath=".//mstns:TextDesc/mstns:p1212Parser|.//mstns:IntKey/mstns:p1212Parser" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pCommandValue" refer="IntegerKey">
+      <xs:selector xpath=".//mstns:Command/mstns:pCommandValue" />
+      <xs:field xpath="." />
+    </xs:keyref>
+    <xs:keyref name="pAlias" refer="FeatureKey">
+      <xs:selector xpath=".//mstns:*/mstns:pAlias" />
+      <xs:field xpath="." />
+    </xs:keyref>
+  </xs:element>
+  <xs:group name="NodesTemplate">
+    <xs:sequence>
+      <xs:element name="Node" type="NodeType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Category" type="CategoryType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Integer" type="IntegerType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="IntReg" type="IntRegType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="MaskedIntReg" type="MaskedIntRegType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Boolean" type="BooleanType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Command" type="CommandType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Enumeration" type="EnumerationType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="EnumEntry" type="EnumEntryType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Float" type="FloatType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="FloatReg" type="FloatRegType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="StringReg" type="StringRegType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Register" type="RegisterType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Converter" type="ConverterType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="IntConverter" type="IntConverterType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="SwissKnife" type="SwissKnifeType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="IntSwissKnife" type="SwissKnifeType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Port" type="PortType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="ConfRom" type="ConfRomType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="TextDesc" type="TextDescType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="IntKey" type="IntKeyType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="AdvFeatureLock" type="DcamLockType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="SmartFeature" type="SmartFeatureAdrType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="Group" type="GroupType" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="StructReg" type="StructRegType" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+  </xs:group>
+  <xs:complexType name="GroupType">
+    <xs:sequence maxOccurs="unbounded">
+      <xs:group ref="NodesTemplate" />
+    </xs:sequence>
+    <xs:attribute name="Comment" type="xs:string" use="required" />
+  </xs:complexType>
+  <xs:group name="NodeElementTemplate">
+    <xs:sequence>
+      <xs:element name="Extension" type="ExtensionType" minOccurs="0" />
+      <xs:element name="ToolTip" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="Description" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="DisplayName" type="xs:string" minOccurs="0" />
+      <xs:element name="Visibility" type="Visibility_t" default="Beginner" minOccurs="0" />
+      <xs:element name="EventID" type="Hex_t" minOccurs="0" />
+      <xs:element name="pIsImplemented" type="CName_t" minOccurs="0" />
+      <xs:element name="pIsAvailable" type="CName_t" minOccurs="0" />
+      <xs:element name="pIsLocked" type="CName_t" minOccurs="0" />
+      <xs:element name="ImposedAccessMode" type="Access_t" default="RW" minOccurs="0" />
+      <xs:element name="pAlias" type="CName_t" minOccurs="0" />
+    </xs:sequence>
+  </xs:group>
+  <xs:attributeGroup name="NodeAttributeTemplate">
+    <xs:attribute name="Name" type="CName_t" use="required" />
+    <xs:attribute name="NameSpace" type="NameSpace_t" default="Custom" />
+    <!-- This is allowed only for inject files not for target files -->
+    <xs:attribute name="MergePriority" type="MergePriority_t"/>
+  </xs:attributeGroup>
+  <xs:group name="RegisterElementTemplate">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice maxOccurs="unbounded">
+        <xs:element name="Address" type="HexOrDecimal_t" />
+        <xs:element name="IntSwissKnife" type="SwissKnifeType" />
+        <xs:element name="pAddress" type="CName_t" />
+        <xs:element name="pIndex">
+          <xs:complexType>
+            <xs:simpleContent>
+              <xs:extension base="xs:string">
+                <xs:attribute name="Offset" type="HexOrDecimal_t" use="required" />
+              </xs:extension>
+            </xs:simpleContent>
+          </xs:complexType>
+        </xs:element>
+      </xs:choice>
+      <xs:choice>
+        <xs:element name="Length" type="xs:positiveInteger" />
+        <xs:element name="pLength" type="CName_t" />
+      </xs:choice>
+      <xs:element name="AccessMode" type="Access_t" default="RO" />
+      <xs:element name="pPort" type="CName_t" />
+      <xs:element name="Cachable" type="CachingMode_t" default="WriteThrough" minOccurs="0" />
+      <xs:element name="PollingTime" type="xs:nonNegativeInteger" minOccurs="0" />
+      <xs:element name="pInvalidator" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+  </xs:group>
+  <xs:complexType name="NodeType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="CategoryType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="pFeature" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="IntegerType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice>
+        <xs:element name="Value" type="HexOrDecimal_t" />
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:choice minOccurs="0">
+        <xs:element name="Min" type="xs:integer" />
+        <xs:element name="pMin" type="CName_t" />
+      </xs:choice>
+      <xs:choice minOccurs="0">
+        <xs:element name="Max" type="xs:integer" />
+        <xs:element name="pMax" type="CName_t" />
+      </xs:choice>
+      <xs:choice minOccurs="0">
+        <xs:element name="Inc" type="nonNegativeHexOrDecimal_t" />
+        <xs:element name="pInc" type="CName_t" />
+      </xs:choice>
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+      <xs:element name="pSelected" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="IntRegType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+      <xs:element name="Sign" type="Sign_t" default="Unsigned" />
+      <xs:element name="Endianess" type="Endianess_t" default="LittleEndian" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+      <xs:element name="pSelected" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="MaskedIntRegType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+      <xs:choice>
+        <xs:element name="Bit" type="xs:nonNegativeInteger" />
+        <xs:sequence>
+          <xs:element name="LSB" type="xs:nonNegativeInteger" />
+          <xs:element name="MSB" type="xs:nonNegativeInteger" />
+        </xs:sequence>
+      </xs:choice>
+      <xs:element name="Sign" type="Sign_t" default="Unsigned" minOccurs="0" />
+      <xs:element name="Endianess" type="Endianess_t" default="LittleEndian" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+      <xs:element name="pSelected" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="StructRegType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+      <xs:element name="Endianess" type="Endianess_t" default="LittleEndian" />
+      <xs:element name="StructEntry" type="StructEntryType" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attribute name="Comment" type="xs:string" use="required" />
+  </xs:complexType>
+  <xs:complexType name="StructEntryType">
+    <xs:sequence>
+      <xs:element name="Extension" type="ExtensionType" minOccurs="0" />
+      <xs:element name="ToolTip" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="DisplayName" type="xs:string" minOccurs="0" />
+      <xs:element name="Visibility" type="Visibility_t" default="Beginner" minOccurs="0" />
+      <xs:element name="pIsImplemented" type="CName_t" minOccurs="0" />
+      <xs:element name="pIsAvailable" type="CName_t" minOccurs="0" />
+      <xs:element name="pIsLocked" type="CName_t" minOccurs="0" />
+      <xs:element name="pInvalidator" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+      <xs:element name="AccessMode" type="Access_t" minOccurs="0" />
+      <xs:element name="Cachable" type="CachingMode_t" default="WriteThrough" minOccurs="0" />
+      <xs:element name="PollingTime" type="xs:nonNegativeInteger" minOccurs="0" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice>
+        <xs:element name="Bit" type="xs:nonNegativeInteger" />
+        <xs:sequence>
+          <xs:element name="LSB" type="xs:nonNegativeInteger" />
+          <xs:element name="MSB" type="xs:nonNegativeInteger" />
+        </xs:sequence>
+      </xs:choice>
+      <xs:element name="Sign" type="Sign_t" default="Unsigned" minOccurs="0" />
+      <xs:element name="pSelected" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="CommandType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:choice>
+        <xs:element name="Value" type="HexOrDecimal_t" />
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:choice>
+        <xs:element name="CommandValue" type="HexOrDecimal_t" />
+        <xs:element name="pCommandValue" type="CName_t" />
+      </xs:choice>
+      <xs:element name="PollingTime" type="xs:nonNegativeInteger" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="BooleanType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice>
+        <xs:element name="Value" type="xs:boolean" />
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:element name="OnValue" type="xs:int" minOccurs="0" />
+      <xs:element name="OffValue" type="xs:int" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="FloatType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice>
+        <xs:element name="pValue" type="CName_t" />
+        <xs:element name="Value" type="xs:float" />
+      </xs:choice>
+      <xs:choice minOccurs="0">
+        <xs:element name="Min" type="xs:float" />
+        <xs:element name="pMin" type="CName_t" />
+      </xs:choice>
+      <xs:choice minOccurs="0">
+        <xs:element name="Max" type="xs:float" />
+        <xs:element name="pMax" type="CName_t" />
+      </xs:choice>
+      <xs:element name="Unit" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="ConverterType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:sequence>
+        <xs:element name="pVariable" minOccurs="0" maxOccurs="unbounded">
+          <xs:complexType>
+            <xs:simpleContent>
+              <xs:extension base="xs:string">
+                <xs:attribute name="Name" type="xs:string" use="required" />
+              </xs:extension>
+            </xs:simpleContent>
+          </xs:complexType>
+        </xs:element>
+        <xs:element name="FormulaTo" type="xs:string" />
+        <xs:element name="FormulaFrom" type="xs:string" />
+      </xs:sequence>
+      <xs:choice>
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:element name="Unit" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+      <xs:element name="Slope" type="Slope_t" default="Automatic" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="IntConverterType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:sequence>
+        <xs:element name="pVariable" minOccurs="0" maxOccurs="unbounded">
+          <xs:complexType>
+            <xs:simpleContent>
+              <xs:extension base="xs:string">
+                <xs:attribute name="Name" type="xs:string" use="required" />
+              </xs:extension>
+            </xs:simpleContent>
+          </xs:complexType>
+        </xs:element>
+        <xs:element name="FormulaTo" type="xs:string" />
+        <xs:element name="FormulaFrom" type="xs:string" />
+      </xs:sequence>
+      <xs:choice>
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:element name="Unit" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+      <xs:element name="Slope" type="Slope_t" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="FloatRegType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+      <xs:element name="Endianess" type="Endianess_t" default="LittleEndian" />
+      <xs:element name="Unit" type="nonEmptyString_t" minOccurs="0" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="EnumerationType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:choice maxOccurs="unbounded">
+        <xs:element name="EnumEntry" type="EnumEntryType" />
+        <xs:element name="pEnumEntry" type="CName_t" />
+      </xs:choice>
+      <xs:choice>
+        <xs:element name="Value" type="HexOrDecimal_t" />
+        <xs:element name="pValue" type="CName_t" />
+      </xs:choice>
+      <xs:element name="pSelected" type="CName_t" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="EnumEntryType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Value" type="HexOrDecimal_t" />
+      <xs:element name="Symbolic" type="CName_t" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+    <!-- Note : this entry is normally generated by the pre-processor only -->
+  </xs:complexType>
+  <xs:complexType name="StringRegType">
+    <xs:sequence>
+      <!-- TODO should be implemented with RegisterElementTemplate; BUT: pLength -->
+      <xs:group ref="RegisterElementTemplate" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="RegisterType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="SwissKnifeType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Streamable" type="YesNo_t" default="No" minOccurs="0" />
+      <xs:element name="pVariable" minOccurs="0" maxOccurs="unbounded">
+        <xs:complexType>
+          <xs:simpleContent>
+            <xs:extension base="xs:string">
+              <xs:attribute name="Name" type="xs:string" use="required" />
+            </xs:extension>
+          </xs:simpleContent>
+        </xs:complexType>
+      </xs:element>
+      <xs:element name="Formula" type="xs:string" />
+      <xs:element name="Representation" type="Representation_t" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="PortType">
+    <xs:sequence>
+      <xs:group ref="NodeElementTemplate" />
+      <xs:choice minOccurs="0">
+        <xs:element name="ChunkID" type="Hex_t" />
+        <xs:element name="pChunkID" type="CName_t" />
+      </xs:choice>
+      <xs:element name="SwapEndianess" type="YesNo_t" default="No" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="ConfRomType">
+    <xs:sequence maxOccurs="unbounded">
+      <xs:group ref="NodeElementTemplate" />
+      <xs:element name="Unit" type="HexOrDecimal_t" />
+      <xs:choice maxOccurs="unbounded">
+        <xs:element name="Address" type="nonNegativeHexOrDecimal_t" />
+        <xs:element name="IntSwissKnife" type="SwissKnifeType" />
+        <xs:element name="pAddress" type="CName_t" />
+      </xs:choice>
+      <xs:element name="Length" type="nonNegativeHexOrDecimal_t" />
+      <xs:element name="pPort" type="CName_t" />
+      <xs:choice minOccurs="0" maxOccurs="unbounded">
+        <xs:element name="TextDesc" type="Key_t" />
+        <xs:element name="IntKey" type="Key_t" />
+      </xs:choice>
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="TextDescType">
+    <xs:sequence>
+      <xs:element name="p1212Parser" type="CName_t" />
+      <xs:element name="Key" type="HexOrDecimal_t" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="IntKeyType">
+    <xs:sequence>
+      <xs:element name="p1212Parser" type="CName_t" />
+      <xs:element name="Key" type="HexOrDecimal_t" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="DcamLockType">
+    <xs:sequence>
+      <xs:group ref="RegisterElementTemplate" />
+      <xs:element name="FeatureID" type="HexOrDecimal_t" />
+      <xs:element name="Timeout" type="xs:nonNegativeInteger" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="SmartFeatureAdrType">
+    <xs:sequence>
+      <xs:element name="FeatureID" type="xs:string" />
+      <xs:choice maxOccurs="unbounded">
+        <xs:element name="Address" type="nonNegativeHexOrDecimal_t" />
+        <xs:element name="IntSwissKnife" type="SwissKnifeType" />
+        <xs:element name="pAddress" type="CName_t" />
+      </xs:choice>
+      <xs:element name="pPort" type="CName_t" />
+      <xs:element name="pIsImplemented" type="CName_t" minOccurs="0" />
+      <xs:element name="pIsAvailable" type="CName_t" minOccurs="0" />
+    </xs:sequence>
+    <xs:attributeGroup ref="NodeAttributeTemplate" />
+  </xs:complexType>
+  <xs:complexType name="ExtensionType">
+    <xs:sequence>
+      <xs:any processContents="skip" minOccurs="0" maxOccurs="unbounded" />
+    </xs:sequence>
+  </xs:complexType>
+  <xs:simpleType name="CName_t">
+    <xs:restriction base="xs:string">
+      <xs:pattern value="[A-Za-z][0-9A-Za-z_]*" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="nonEmptyString_t">
+    <xs:restriction base="xs:string">
+      <xs:minLength value="1" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="CachingMode_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="WriteThrough">
+        <xs:annotation>
+          <xs:documentation>Cache on write and write into register</xs:documentation>
+        </xs:annotation>
+      </xs:enumeration>
+      <xs:enumeration value="WriteAround">
+        <xs:annotation>
+          <xs:documentation>Write w/o cache, read updates cache</xs:documentation>
+        </xs:annotation>
+      </xs:enumeration>
+      <xs:enumeration value="NoCache">
+        <xs:annotation>
+          <xs:documentation>Do not perform caching</xs:documentation>
+        </xs:annotation>
+      </xs:enumeration>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="HexOrDecimal_t">
+    <xs:restriction base="xs:string">
+      <xs:pattern value="(0[xX][0-9A-Fa-f]+)|(-?[0-9]+)" />
+      <!--<xs:pattern value="()|(0x[0-9A-Fa-f]+)"/>-->
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Hex_t">
+    <xs:restriction base="xs:string">
+      <xs:pattern value="([0-9A-Fa-f][0-9A-Fa-f])+" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="nonNegativeHexOrDecimal_t">
+    <xs:restriction base="xs:string">
+      <xs:pattern value="(0[xX][0-9A-Fa-f]+)|[0-9]+" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Sign_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Signed" />
+      <xs:enumeration value="Unsigned" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:complexType name="SwissKnifeConversion_t">
+    <xs:simpleContent>
+      <xs:extension base="xs:string">
+        <xs:attribute name="Input" type="CName_t" use="required" />
+      </xs:extension>
+    </xs:simpleContent>
+  </xs:complexType>
+  <xs:simpleType name="NameSpace_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Custom" />
+      <xs:enumeration value="Standard" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="StandardNameSpace_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="None" />
+      <xs:enumeration value="IIDC" />
+      <xs:enumeration value="GEV" />
+      <xs:enumeration value="CL" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Representation_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Linear" />
+      <xs:enumeration value="Logarithmic" />
+      <xs:enumeration value="Boolean" />
+      <xs:enumeration value="PureNumber" />
+      <xs:enumeration value="HexNumber" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Access_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="RO" />
+      <xs:enumeration value="WO" />
+      <xs:enumeration value="RW" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Endianess_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="LittleEndian" />
+      <xs:enumeration value="BigEndian" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Visibility_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Beginner" />
+      <xs:enumeration value="Expert" />
+      <xs:enumeration value="Guru" />
+      <xs:enumeration value="Invisible" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="YesNo_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Yes" />
+      <xs:enumeration value="No" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="MergePriority_t">
+    <xs:restriction base="xs:integer">
+      <xs:enumeration value="-1"/>
+      <xs:enumeration value="0"/>
+      <xs:enumeration value="+1"/>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="Slope_t">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Increasing" />
+      <xs:enumeration value="Decreasing" />
+      <xs:enumeration value="Varying" />
+      <xs:enumeration value="Automatic" />
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:complexType name="Key_t">
+    <xs:simpleContent>
+      <xs:extension base="HexOrDecimal_t">
+        <xs:attribute name="Name" type="CName_t" use="required" />
+        <xs:attribute name="NameSpace" type="NameSpace_t" default="Custom" />
+      </xs:extension>
+    </xs:simpleContent>
+  </xs:complexType>
+</xs:schema>

camera_driver/lib/GenICam/xml/GenApi/GenApi_Params_h.xsl

@@ -0,0 +1,376 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- ***************************************************************************
+*  (c) 2004-2008 by Basler Vision Technologies
+*  Section: Vision Components
+*  Project: GenApi
+*  Author:  Fritz Dierks
+*  $Header$
+*
+*  License: This file is published under the license of the EMVA GenICam  Standard Group.
+*  A text file describing the legal terms is included in  your installation as 'GenICam_license.pdf'.
+*  If for some reason you are missing  this file please contact the EMVA or visit the website
+*  (http://www.genicam.org) for a full copy.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE EMVA GENICAM STANDARD GROUP "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+*  THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+*  PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE EMVA GENICAM STANDARD  GROUP
+*  OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,  SPECIAL,
+*  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT  LIMITED TO,
+*  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,  DATA, OR PROFITS;
+*  OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY  THEORY OF LIABILITY,
+*  WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT  (INCLUDING NEGLIGENCE OR OTHERWISE)
+*  ARISING IN ANY WAY OUT OF THE USE  OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************** -->
+
+<xsl:stylesheet version="1.0" xmlns:my_v1_0="http://www.genicam.org/GenApi/Version_1_0" xmlns:my_v1_1="http://www.genicam.org/GenApi/Version_1_1" xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
+<xsl:output method="text" encoding="UTF-8" media-type="text/plain"/>
+<xsl:template match="/">
+    
+<!-- =========================================================================== -->
+<!-- Main body                                                                   -->
+<!-- =========================================================================== -->
+
+//-----------------------------------------------------------------------------
+//  (c) 2004-2008 by Basler Vision Technologies
+//  Section: Vision Components
+//  Project: GenApi
+//-----------------------------------------------------------------------------
+/*!
+\file
+\brief <xsl:value-of select="/RegisterDescription/@ToolTip"/>
+*/
+
+//-----------------------------------------------------------------------------
+//  This file is generated automatically
+//  Do not modify!
+//-----------------------------------------------------------------------------
+
+<xsl:variable name="NameSpace">
+    <xsl:value-of select="/RegisterDescription/@VendorName"/>_<xsl:value-of select="/RegisterDescription/@ModelName"/>
+</xsl:variable>
+
+#ifndef <xsl:value-of select="$NameSpace"/><xsl:text>_PARAMS_H</xsl:text>
+#define <xsl:value-of select="$NameSpace"/><xsl:text>_PARAMS_H</xsl:text>
+
+#include &lt;GenApi/IEnumerationT.h&gt;
+#include &lt;GenApi/NodeMapRef.h&gt;
+#include &lt;GenApi/DLLLoad.h&gt;
+
+//! The namespace containing the device's control interface and related enumeration types
+namespace <xsl:value-of select="$NameSpace"/>
+{
+
+    //**************************************************************************************************
+    // Enumerations
+    //**************************************************************************************************
+    <xsl:apply-templates select="/RegisterDescription/Enumeration" mode="DefiningEnums"/>
+
+    //**************************************************************************************************
+    // Parameter class
+    //**************************************************************************************************
+    <xsl:variable name="Class">
+        <xsl:text>C</xsl:text><xsl:value-of select="/RegisterDescription/@ModelName"/><xsl:text>_Params</xsl:text>
+    </xsl:variable>
+
+    //! <xsl:value-of select="/RegisterDescription/@ToolTip"/>
+    class <xsl:value-of select="$Class"/>
+    {
+    //----------------------------------------------------------------------------------------------------------------
+    // Implementation
+    //----------------------------------------------------------------------------------------------------------------
+    protected:
+		// If you want to show the following methods in the help file
+		// add the string HIDE_CLASS_METHODS to the ENABLED_SECTIONS tag in the doxygen file
+        //! \cond HIDE_CLASS_METHODS
+        
+            //! Constructor
+            <xsl:value-of select="$Class"/>(void);
+
+            //! Destructor
+            ~<xsl:value-of select="$Class"/>(void);
+
+            //! Initializes the references
+            void _Initialize(GenApi::INodeMap*);
+
+            //! Return the vendor of the camera
+            const char* _GetVendorName(void);
+
+            //! Returns the camera model name
+            const char* _GetModelName(void);
+        
+        //! \endcond
+
+    //----------------------------------------------------------------------------------------------------------------
+    // References to features
+    //----------------------------------------------------------------------------------------------------------------
+    public:
+        <xsl:apply-templates select="/RegisterDescription/*[ @ExposeStatic='Yes' or ( (/RegisterDescription/Category/pFeature=@Name and name()!='Category') and not(@ExposeStatic='No') ) ]" mode="ReferenceDeclaration"/>
+
+    private:
+        //! \cond HIDE_CLASS_METHODS
+
+            //! not implemented copy constructor
+            <xsl:value-of select="$Class"/>(<xsl:value-of select="$Class"/>&amp;);
+
+            //! not implemented assignment operator
+            <xsl:value-of select="$Class"/>&amp; operator=(<xsl:value-of select="$Class"/>&amp;);
+
+        //! \endcond
+    };
+
+
+    //**************************************************************************************************
+    // Parameter class implementation
+    //**************************************************************************************************
+
+    //! \cond HIDE_CLASS_METHODS
+
+    inline <xsl:value-of select="$Class"/>::<xsl:value-of select="$Class"/>(void)
+        <xsl:apply-templates select="/RegisterDescription/*[ @ExposeStatic='Yes' or ( (/RegisterDescription/Category/pFeature=@Name and name()!='Category') and not(@ExposeStatic='No') ) ]" mode="ReferenceCreation"/>
+    {
+    }
+
+    inline <xsl:value-of select="$Class"/>::~<xsl:value-of select="$Class"/>(void)
+    {
+        <xsl:apply-templates select="/RegisterDescription/*[ @ExposeStatic='Yes' or ( (/RegisterDescription/Category/pFeature=@Name and name()!='Category') and not(@ExposeStatic='No') ) ]" mode="ReferenceDeletion"/>
+    }
+
+    inline void <xsl:value-of select="$Class"/>::_Initialize(GenApi::INodeMap* _Ptr)
+    {
+        <xsl:apply-templates select="/RegisterDescription/*[ @ExposeStatic='Yes' or ( (/RegisterDescription/Category/pFeature=@Name and name()!='Category') and not(@ExposeStatic='No') ) ]" mode="ReferenceInitialization"/>
+    }
+
+    inline const char* <xsl:value-of select="$Class"/>::_GetVendorName(void)
+    {
+        return "<xsl:value-of select="RegisterDescription/@VendorName"/>";
+    }
+
+    inline const char* <xsl:value-of select="$Class"/>::_GetModelName(void)
+    {
+        return "<xsl:value-of select="RegisterDescription/@ModelName"/>";
+    }
+
+    //! \endcond
+
+} // namespace <xsl:value-of select="$NameSpace"/>
+
+#endif // <xsl:value-of select="$NameSpace"/><xsl:text>_PARAMS_H</xsl:text>
+
+<xsl:text>
+</xsl:text>
+    
+</xsl:template>
+
+
+<!-- =========================================================================== -->
+<!-- DefiningEnums                                                               -->
+<!-- =========================================================================== -->
+
+<xsl:template match="Enumeration" mode="DefiningEnums">
+    //! Valid values for <xsl:value-of select="@Name"/>
+    enum <xsl:value-of select="@Name"/>Enums
+    {
+        <xsl:apply-templates select="./pEnumEntry" mode="InsideDefiningEnums"/>
+    };
+</xsl:template>
+
+<!-- =========================================================================== -->
+<!-- InsideDefiningEnums                                                         -->
+<!-- =========================================================================== -->
+        
+<xsl:template match="pEnumEntry" mode="InsideDefiningEnums">
+    <xsl:variable name="NodeName" select="string()"/>
+    <xsl:variable name="Separator">
+        <xsl:choose>
+            <xsl:when test="position()!=last()">
+                <xsl:text>, </xsl:text>
+            </xsl:when>
+            <xsl:otherwise>
+                <xsl:text>  </xsl:text>
+            </xsl:otherwise>
+        </xsl:choose>
+    </xsl:variable>
+    <xsl:value-of select="../@Name"/>_<xsl:value-of select="../../EnumEntry[@Name=$NodeName]/Symbolic"/><xsl:value-of select="$Separator"/> //!&lt;<xsl:value-of select="../../EnumEntry[@Name=$NodeName]/ToolTip"/><xsl:text>&#x0d;&#x0a;&#x9;&#x9;</xsl:text>
+</xsl:template>
+
+<!-- =========================================================================== -->
+<!-- ReferenceDeclaration                                                        -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="ReferenceDeclaration">
+    <xsl:variable name="Feature" select="@Name"/>
+    <xsl:variable name="NodeType" select="name()"/>
+
+    <xsl:choose>
+        <xsl:when test="/RegisterDescription/Category[pFeature=$Feature]">
+	//! \name <xsl:value-of select="/RegisterDescription/Category[pFeature=$Feature]/@Name"/> - <xsl:value-of select="/RegisterDescription/Category[pFeature=$Feature]/ToolTip"/>
+        </xsl:when>
+        <xsl:otherwise>
+	//! \name Miscellaneous Features
+        </xsl:otherwise>        
+    </xsl:choose>
+    //@{
+	/*!	
+		\brief <xsl:value-of select="/RegisterDescription/*[@Name=$Feature]/ToolTip"/>
+		<xsl:text>&#x0d;&#x0a;&#x0d;&#x0a;&#x9;</xsl:text>
+		<xsl:value-of select="/RegisterDescription/*[@Name=$Feature]/Description"/>
+		<xsl:text>&#x0d;&#x0a;&#x9;</xsl:text>
+    <xsl:choose>
+        <xsl:when test="/RegisterDescription/*[@Name=$Feature]/Visibility">
+		\b Visibility = <xsl:value-of select="/RegisterDescription/*[@Name=$Feature]/Visibility"/>
+        </xsl:when>
+        <xsl:otherwise>
+		\b Visibility = Beginner
+        </xsl:otherwise>        
+    </xsl:choose><xsl:text>&#x0d;&#x0a;&#x9;</xsl:text>
+	<xsl:if test="/RegisterDescription/*[@Name=$Feature]/pSelecting">
+		\b Selected by : <xsl:for-each select="/RegisterDescription/*[@Name=$Feature]/pSelecting">
+			<xsl:value-of select="node()"/>
+			<xsl:if test="position()!=last()">, </xsl:if>
+		</xsl:for-each>
+		<xsl:text>&#x0d;&#x0a;&#x9;</xsl:text>
+	</xsl:if>
+    */
+    <xsl:if test="/RegisterDescription/*[@Name=$Feature]/IsDeprecated='Yes'">
+#   pragma deprecated( <xsl:value-of select="$Feature"/> )
+#   pragma warning(push)
+#   pragma warning(disable: 4995) // name has been marked as deprecated
+    </xsl:if>  
+    <xsl:choose>
+        <xsl:when test="$NodeType = 'Enumeration'">
+            <xsl:text>GenApi::</xsl:text>
+            <xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppInterface[../@Name=$NodeType]"/><xsl:text>T&lt;</xsl:text>
+            <xsl:value-of select="$Feature"/>Enums <xsl:text>&gt;</xsl:text>
+        </xsl:when>
+        <xsl:otherwise>
+            <xsl:text>GenApi::</xsl:text>
+            <xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppInterface[../@Name=$NodeType]"/>
+        </xsl:otherwise>
+    </xsl:choose>
+    <xsl:text> &amp;</xsl:text>
+    <xsl:value-of select="$Feature"/>;
+    <xsl:if test="/RegisterDescription/*[@Name=$Feature]/IsDeprecated='Yes'">
+#   pragma warning(pop)
+    </xsl:if>
+    //@}
+
+</xsl:template>
+
+
+<!-- =========================================================================== -->
+<!-- ReferenceCreation                                                           -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="ReferenceCreation">
+    <xsl:variable name="Feature" select="@Name"/>
+    <xsl:variable name="NodeType" select="name()"/>
+
+    <xsl:variable name="Separator">
+        <xsl:choose>
+            <xsl:when test="position()=1">
+                <xsl:text>: </xsl:text>
+            </xsl:when>
+            <xsl:otherwise>
+                <xsl:text>, </xsl:text>
+            </xsl:otherwise>
+        </xsl:choose>
+    </xsl:variable>
+    <xsl:if test="./IsDeprecated='Yes'">
+#		pragma warning(push)
+#		pragma warning(disable: 4995) // name has been marked as deprecated
+		</xsl:if>
+    <xsl:choose>
+        <xsl:when test="$NodeType = 'Enumeration'">
+            <xsl:value-of select="$Separator"/><xsl:value-of select="$Feature"/>( *new GenApi::<xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>&lt;<xsl:value-of select="$Feature"/>Enums&gt;() )
+        </xsl:when>
+        <xsl:otherwise>
+            <xsl:value-of select="$Separator"/><xsl:value-of select="$Feature"/>( *new GenApi::<xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>() )
+        </xsl:otherwise>
+    </xsl:choose>
+    <xsl:if test="./IsDeprecated='Yes'">
+#		pragma warning(pop)
+		</xsl:if>
+</xsl:template>
+
+
+<!-- =========================================================================== -->
+<!-- ReferenceDeletion                                                           -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="ReferenceDeletion">
+    <xsl:variable name="Feature" select="@Name"/>
+    <xsl:variable name="NodeType" select="name()"/>
+    <xsl:if test="./IsDeprecated='Yes'">
+#		pragma warning(push)
+#		pragma warning(disable: 4995) // name has been marked as deprecated
+		</xsl:if>
+    <xsl:choose>
+        <xsl:when test="$NodeType = 'Enumeration'">
+		<xsl:text>delete static_cast &lt; GenApi::</xsl:text><xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>&lt;<xsl:value-of select="$Feature"/>Enums&gt; *&gt; (&amp;<xsl:value-of select="$Feature"/> );
+        </xsl:when>
+        <xsl:otherwise>
+        <xsl:text>delete static_cast &lt; GenApi::</xsl:text><xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>*&gt; (&amp;<xsl:value-of select="$Feature"/> );
+        </xsl:otherwise>
+    </xsl:choose>
+    <xsl:if test="./IsDeprecated='Yes'">
+#		pragma warning(pop)
+		</xsl:if>
+</xsl:template>
+
+<!-- =========================================================================== -->
+<!-- ReferenceInitialization                                                     -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="ReferenceInitialization">
+	<xsl:variable name="Feature" select="@Name"/>
+	<xsl:variable name="NodeType" select="name()"/>
+	<xsl:if test="./IsDeprecated='Yes'">
+#	pragma warning(push)
+#	pragma warning(disable: 4995) // name has been marked as deprecated
+	</xsl:if>
+  <xsl:choose>
+    <xsl:when test="$NodeType = 'Enumeration'">
+      <xsl:text>static_cast&lt;GenApi::</xsl:text><xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>&lt;<xsl:value-of select="$Feature"/>Enums&gt; *&gt; (&amp;<xsl:value-of select="$Feature"/> )<xsl:text>-&gt;SetReference(_Ptr-&gt;GetNode("</xsl:text><xsl:value-of select="$Feature"/>"));
+    </xsl:when>
+    <xsl:otherwise>
+      <xsl:text>static_cast&lt;GenApi::</xsl:text><xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>*&gt; (&amp;<xsl:value-of select="$Feature"/> )<xsl:text>-&gt;SetReference(_Ptr-&gt;GetNode("</xsl:text><xsl:value-of select="$Feature"/>"));
+    </xsl:otherwise>
+  </xsl:choose>
+
+  <xsl:if test="$NodeType = 'Enumeration'">
+    <xsl:text>static_cast&lt;GenApi::</xsl:text><xsl:value-of select="document('NodeTypes.xml')/NodeTypes/Node/CppReference[../@Name=$NodeType]"/>&lt;<xsl:value-of select="$Feature"/>Enums&gt; *&gt; (&amp;<xsl:value-of select="$Feature"/> )<xsl:text>-&gt;SetNumEnums(</xsl:text><xsl:value-of select="count(/RegisterDescription/*[@Name=$Feature]/pEnumEntry)"/>);<xsl:text>&#x0d;&#x0a;&#x9;</xsl:text>
+	<xsl:apply-templates select="/RegisterDescription/*[@Name=$Feature]/pEnumEntry" mode="EnumInitialization">
+		<xsl:with-param name="EnumName" select="$Feature"/>
+    <xsl:with-param name="NodeType" select="$NodeType"/>
+  </xsl:apply-templates>
+	</xsl:if>
+	<xsl:if test="./IsDeprecated='Yes'">
+#	pragma warning(pop)
+	</xsl:if>
+</xsl:template>
+
+<!-- =========================================================================== -->
+<!-- EnumInitialization                                                          -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="EnumInitialization">
+	<xsl:param name="EnumName"/>
+	<xsl:variable name="FeatureName" select="string()"/>
+	<xsl:apply-templates select="/RegisterDescription/*[@Name=$FeatureName]" mode="EnumEntryInitialization">
+		<xsl:with-param name="EnumName" select="$EnumName"/>
+  </xsl:apply-templates>
+</xsl:template>
+
+<!-- =========================================================================== -->
+<!-- EnumEntryInitialization                                                     -->
+<!-- =========================================================================== -->
+
+<xsl:template match="*" mode="EnumEntryInitialization">
+  <xsl:param name="EnumName"/>
+  <xsl:param name="NodeType" />
+  <xsl:text>static_cast&lt;GenApi::CEnumerationTRef</xsl:text>&lt;<xsl:value-of select="$EnumName"/>Enums&gt; *&gt; (&amp;<xsl:value-of select="$EnumName"/> )<xsl:text>-&gt;SetEnumReference( </xsl:text><xsl:value-of select="$EnumName"/>_<xsl:value-of select="./Symbolic"/>, "<xsl:value-of select="./Symbolic"/>" );<xsl:text>&#x9;&#x9;</xsl:text>
+</xsl:template>
+
+</xsl:stylesheet>

camera_driver/lib/GenICam/xml/GenApi/GenApi_Ptr_h.xsl

@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- ***************************************************************************
+*  (c) 2004-2008 by Basler Vision Technologies
+*  Section: Vision Components
+*  Project: GenApi
+*  Author:  Urs Helmig
+*  $Header$
+*
+*  License: This file is published under the license of the EMVA GenICam  Standard Group. 
+*  A text file describing the legal terms is included in  your installation as 'GenICam_license.pdf'. 
+*  If for some reason you are missing  this file please contact the EMVA or visit the website
+*  (http://www.genicam.org) for a full copy.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE EMVA GENICAM STANDARD GROUP "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,  
+*  THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR  
+*  PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE EMVA GENICAM STANDARD  GROUP 
+*  OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,  SPECIAL, 
+*  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT  LIMITED TO, 
+*  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,  DATA, OR PROFITS; 
+*  OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY  THEORY OF LIABILITY, 
+*  WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT  (INCLUDING NEGLIGENCE OR OTHERWISE) 
+*  ARISING IN ANY WAY OUT OF THE USE  OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+*  POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************** -->
+<xsl:stylesheet version="1.0" xmlns:my_v1_0="http://www.genicam.org/GenApi/Version_1_0" xmlns:my_v1_1="http://www.genicam.org/GenApi/Version_1_1" xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
+<xsl:output method="text" encoding="UTF-8" media-type="text/plain"/>
+
+<xsl:param name="HeaderFileName"><xsl:value-of select="/RegisterDescription/@ModelName"/><xsl:text>Params.h</xsl:text></xsl:param>
+
+<xsl:template match="/">
+<!-- =========================================================================== -->
+<!-- Main body                                                                   -->
+<!-- =========================================================================== -->
+//-----------------------------------------------------------------------------
+//  (c) 2004-2008 by Basler Vision Technologies
+//  Section: Vision Components
+//  Project: GenApi
+//-----------------------------------------------------------------------------
+/*!
+\file
+\brief <xsl:value-of select="/RegisterDescription/@ToolTip"/>
+*/
+//-----------------------------------------------------------------------------
+//  This file is generated automatically
+//  Do not modify!
+//-----------------------------------------------------------------------------
+<xsl:variable name="NameSpace">
+    <xsl:value-of select="/RegisterDescription/@VendorName"/>_<xsl:value-of select="/RegisterDescription/@ModelName"/>
+</xsl:variable>
+
+#ifndef <xsl:value-of select="$NameSpace"/><xsl:text>_PTR_H</xsl:text>
+#define <xsl:value-of select="$NameSpace"/><xsl:text>_PTR_H</xsl:text>
+
+#include &lt;GenApi/NodeMapRef.h&gt;
+#include "<xsl:value-of select="$HeaderFileName"/>"
+
+//! The namespace containing the device's control interface and related enumeration types
+namespace <xsl:value-of select="$NameSpace"/>
+{
+    //**************************************************************************************************
+    // Access class
+    //**************************************************************************************************
+    //! <xsl:value-of select="/RegisterDescription/@ToolTip"/>
+    class C<xsl:value-of select="/RegisterDescription/@ModelName"/>
+        : public GenApi::CNodeMapRefT&lt;<xsl:value-of select="$NameSpace"/>::C<xsl:value-of select="/RegisterDescription/@ModelName"/>_Params&gt;
+    {
+    public:
+        //! Constructor
+        C<xsl:value-of select="/RegisterDescription/@ModelName"/>(GenICam::gcstring DeviceName = "Device") : GenApi::CNodeMapRefT&lt;<xsl:value-of select="$NameSpace"/>::C<xsl:value-of select="/RegisterDescription/@ModelName"/>_Params&gt;(DeviceName)
+        {
+        }
+    };
+
+
+} // namespace <xsl:value-of select="$NameSpace"/>
+
+#endif // <xsl:value-of select="$NameSpace"/><xsl:text>_PTR_H</xsl:text>
+<xsl:text>
+</xsl:text>
+
+</xsl:template>
+</xsl:stylesheet>

camera_driver/lib/GenICam/xml/GenApi/NodeTypes.xml

@@ -0,0 +1,131 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- edited with XMLSpy v2005 U (http://www.xmlspy.com) by Heike Skrzynski-Fox (Basler AG) -->
+<!-- ***************************************************************************
+*  (c) 2004 by Basler Vision Technologies
+*  Section: Vision Components
+*  Project: GenApi
+*  Author:  Fritz Dierks
+*  $Header$
+******************************************************************************** -->
+<NodeTypes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="NodeTypes.xsd">
+	<Node Name="Node">
+		<CppClass>CValueNode</CppClass>
+		<CppInterface>IValue</CppInterface>
+		<CppReference>CValueRef</CppReference>
+	</Node>
+	<Node Name="Category">
+		<CppClass>CCategory</CppClass>
+		<CppInterface>ICategory</CppInterface>
+		<CppReference>CCategoryRef</CppReference>
+	</Node>
+	<Node Name="Integer">
+		<CppClass>CInteger</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="Enumeration">
+		<CppClass>CEnumeration</CppClass>
+		<CppInterface>IEnumeration</CppInterface>
+		<CppReference>CEnumerationTRef</CppReference>
+	</Node>
+	<Node Name="EnumEntry">
+		<CppClass>CEnumEntry</CppClass>
+		<CppInterface>IEnumEntry</CppInterface>
+		<CppReference>CEnumEntryRef</CppReference>
+	</Node>
+	<Node Name="MaskedIntReg">
+		<CppClass>CMaskedIntReg</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="Register">
+		<CppClass>CRegister</CppClass>
+		<CppInterface>IRegister</CppInterface>
+		<CppReference>CRegisterRef</CppReference>
+	</Node>
+	<Node Name="IntReg">
+		<CppClass>CIntReg</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="Float">
+		<CppClass>CFloat</CppClass>
+		<CppInterface>IFloat</CppInterface>
+		<CppReference>CFloatRef</CppReference>
+	</Node>
+	<Node Name="FloatReg">
+		<CppClass>CFltReg</CppClass>
+		<CppInterface>IFloat</CppInterface>
+		<CppReference>CFloatRef</CppReference>
+	</Node>
+	<Node Name="SwissKnife">
+		<CppClass>CSwissKnife</CppClass>
+		<CppInterface>IFloat</CppInterface>
+		<CppReference>CFloatRef</CppReference>
+	</Node>
+	<Node Name="IntSwissKnife">
+		<CppClass>CIntSwissKnife</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="IntKey">
+		<CppClass>CIntKey</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="TextDesc">
+		<CppClass>CTxtKey</CppClass>
+		<CppInterface>IString</CppInterface>
+		<CppReference>CStringRef</CppReference>
+	</Node>
+	<Node Name="Port">
+		<CppClass>CPort</CppClass>
+		<CppInterface>IPort</CppInterface>
+		<CppReference>CPortRecorderRef</CppReference>
+	</Node>
+	<Node Name="ConfRom">
+		<CppClass>CIEEE1212Parser</CppClass>
+		<CppInterface>IRegister</CppInterface>
+		<CppReference>CRegisterRef</CppReference>
+	</Node>
+	<Node Name="AdvFeatureLock">
+		<CppClass>CDcamAccessCtrlReg</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+	<Node Name="SmartFeature">
+		<CppClass>CSmartFeature</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+  <Node Name="String">
+    <CppClass>CStringNode</CppClass>
+    <CppInterface>IString</CppInterface>
+    <CppReference>CStringRef</CppReference>
+  </Node>
+  <Node Name="StringReg">
+		<CppClass>CStringRegister</CppClass>
+		<CppInterface>IString</CppInterface>
+		<CppReference>CStringRef</CppReference>
+	</Node>
+	<Node Name="Boolean">
+		<CppClass>CBoolean</CppClass>
+		<CppInterface>IBoolean</CppInterface>
+		<CppReference>CBooleanRef</CppReference>
+	</Node>
+	<Node Name="Command">
+		<CppClass>CCommand</CppClass>
+		<CppInterface>ICommand</CppInterface>
+		<CppReference>CCommandRef</CppReference>
+	</Node>
+	<Node Name="Converter">
+		<CppClass>CConverter</CppClass>
+		<CppInterface>IFloat</CppInterface>
+		<CppReference>CFloatRef</CppReference>
+	</Node>
+	<Node Name="IntConverter">
+		<CppClass>CIntConverter</CppClass>
+		<CppInterface>IInteger</CppInterface>
+		<CppReference>CIntegerRef</CppReference>
+	</Node>
+</NodeTypes>

camera_driver/lib/GenICam/xml/GenApi/NodeTypes.xsd

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--W3C Schema generated by XMLSPY v2004 rel. 4 U (http://www.xmlspy.com)-->
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified">
+	<xs:element name="CppClass" type="xs:token"/>
+	<xs:element name="CppInterface" type="xs:token"/>
+	<xs:element name="CppReference" type="xs:token"/>
+	<xs:element name="Node">
+		<xs:complexType>
+			<xs:sequence>
+				<xs:element ref="CppClass"/>
+				<xs:element ref="CppInterface"/>
+				<xs:element ref="CppReference"/>
+			</xs:sequence>
+			<xs:attribute name="Name" use="required"/>
+		</xs:complexType>
+		<xs:unique name="NodeKey">
+			<xs:selector xpath="./Node"/>
+			<xs:field xpath="@Name"/>
+		</xs:unique>
+	</xs:element>
+	<xs:element name="NodeTypes">
+		<xs:complexType>
+			<xs:sequence>
+				<xs:element ref="Node" maxOccurs="unbounded"/>
+			</xs:sequence>
+		</xs:complexType>
+	</xs:element>
+</xs:schema>

capture.py

@@ -0,0 +1,146 @@
+# -- coding: utf-8 --
+import time
+import os
+import paramiko
+from scp import SCPClient
+import threading
+from os import abort 
+
+
+HOST = "192.168.100.254"
+PORT = 22
+USERNAME = "root"
+PASSWORD = "ebaina"
+
+
+def ssh_execute_command(host, port, username, password, command):
+    ret = False
+    # 创建SSH客户端
+    client = paramiko.SSHClient()
+    client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+    client.connect(host, port, username, password)
+ 
+    # 执行命令
+    stdin, stdout, stderr = client.exec_command(command)
+    print(stdout.read().decode())
+    print(stderr.read().decode())
+ 
+    # 关闭连接
+    client.close()
+    return True
+ 
+
+def scp_get_file(host, port, username, password, remote_path, local_path):
+    ret = False
+    # 创建SSH客户端
+    client = paramiko.Transport((host, port))
+    client.connect(username=username, password=password)
+ 
+    # 创建SCP客户端
+    scp_client = SCPClient(client)
+ 
+    # 拉取文件
+    try:
+        scp_client.get(remote_path, local_path)
+    except Exception as e:
+        print(e)
+        return False
+ 
+    # 关闭连接
+    scp_client.close()
+    client.close()
+
+    return True
+
+def cameraCap():
+    start_time = time.time() 
+    ret = ssh_execute_command(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        command = "cd /root/calibration_tools \n" +
+                  "./camera_driver 240000 \n"
+    )
+    end_time = time.time()  # 记录结束时间
+    execution_time = end_time - start_time  # 计算执行时间
+    print(f"ssh_execute_command 程序执行时间：{execution_time}秒")
+    time.sleep(1) # 等待操作系统保存图像完毕
+    ret = scp_get_file(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        remote_path = "/root/calibration_tools/output.png",
+        local_path = os.path.dirname(__file__) + "\\ssh_tmp\\1\\output.png"
+    )
+    if not ret:
+        return False
+    ret = ssh_execute_command(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        command = "cd /root/calibration_tools \n " +
+                  "rm output.png \n" 
+    )
+    end_time = time.time()  # 记录结束时间
+    execution_time = end_time - start_time  # 计算执行时间
+    print(f"cameraCap 程序执行时间：{execution_time}秒")
+
+
+def lidarCap():
+    start_time = time.time() 
+    ret = ssh_execute_command(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        command = "cd /root/calibration_tools \n" +
+                  "./lidar_driver \n"
+    )
+    ret = scp_get_file(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        remote_path = "/root/calibration_tools/output.ply",
+        local_path = os.path.dirname(__file__) + ".\\ssh_tmp\\1\\output.ply"
+    )
+    ret = ssh_execute_command(
+        host = HOST,
+        port = PORT,
+        username = USERNAME,
+        password = PASSWORD,
+        command = "cd /root/calibration_tools \n " +
+                  "rm output.ply \n" 
+    )
+    end_time = time.time()  # 记录结束时间
+    execution_time = end_time - start_time  # 计算执行时间
+    print(f"lidarCap 程序执行时间：{execution_time}秒")
+
+
+def cap():
+
+    directory = os.path.dirname(__file__) + ".\\ssh_tmp\\"
+    files_and_directories = os.listdir(directory)
+    for file in files_and_directories:
+        file_path = os.path.join(directory, file)
+        if os.path.isfile(file_path):
+            os.unlink(file_path)
+
+    t_lidar = threading.Thread(target=lidarCap)
+    t_lidar.start()
+    cameraCap()
+
+    # t_camera.join()
+
+    t_lidar.join()
+
+if __name__ == '__main__':
+    # 1 设置条件
+    # 2 cap
+    cap()
+    # 3 修改 config.ini
+    # 4 启动  image_framework.py
+    # 5 接收 回调，把结果保存下来

config.py

@@ -0,0 +1,73 @@
+import numpy as np
+import os
+
+GLOBAL_WIDTH = 9344
+GLOBAL_HEIGH = 7000
+
+# 相机内参矩阵，这里假设为简单的相机参数
+global_w = GLOBAL_WIDTH
+global_h = GLOBAL_HEIGH
+
+MARK_COUNT = 4
+
+# 相机内参
+conf_fx = 1.15504192e+04
+conf_fy = 1.15468773e+04
+conf_cx = 4.67228001e+03
+conf_cy = 3.49929103e+03
+
+# 相机畸变参数
+conf_k1 = -1.98130409e-02
+conf_k2 = 4.46498961e-02
+conf_p1 = 3.32909840e-04
+conf_p2 = -4.24586368e-04
+conf_k3 = 3.71045956e-01
+
+# conf_fx = 11241.983
+# conf_fy = 11244.0599
+# conf_cx = 4553.03821
+# conf_cy = 3516.9118
+
+# conf_k1 = -0.04052072
+# conf_k2 = 0.22211572
+# conf_p1 = 0.00042405
+# conf_p2 = -0.00367346
+# conf_k3 = -0.15639485
+
+# 相机内参矩阵
+camera_matrix = np.array([
+                    [conf_fx, 0, conf_cx],
+                    [0, conf_fy, conf_cy],
+                    [0,  0,  1]])
+
+# 相机畸变矩阵
+# dist_coeffs = np.array([k1, k2, p1, p2])  
+dist_coeffs = np.array([conf_k1, conf_k2, conf_p1, conf_p2, conf_k3])  
+
+T_vector = np.array([0.0, 0.0, 0.0])            # 初始化平移向量
+# roll, pitch, yaw = 0.0, -1.5707963, 1.5707963   # 初始化旋转角 对应（x,y,z）
+roll, pitch, yaw = 1.587794314984622, -1.5573540052770616, 0.01084704933694234 # 0.0034
+roll, pitch, yaw = 1.5707963 , -1.5707963, 0.0  # 初始化旋转角 对应（x,y,z）
+# roll,pitch,yaw = 1.5734601389822613, -1.556857147594011, 0.025063428135289487
+
+# z 轴过滤
+global_z_max = 3.5
+
+# aruco 板尺寸定义
+board_size = 0.5
+marker_size = 0.35
+b1 = 0.05
+b2 = 0.05
+
+# 雷达数据修正系数
+kk = -0.01
+kk = 0.0
+
+# 2D投影区域选择系数
+rmin = 3000000
+rmax = 20000000
+
+# 16点中最多过滤的点数
+conf_max_exclude_num = 0
+
+conf_temp_cloud_path = os.path.dirname(__file__) + "\\temp_cloud_data\\"

it.py

@@ -0,0 +1,202 @@
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+from scipy.linalg import svd
+import os
+import utils
+import config
+
+def rotation_matrix_to_rpy(R):
+    # 确保输入是一个有效的旋转矩阵
+    if not np.allclose(np.dot(R, R.T), np.eye(3)) or not np.isclose(np.linalg.det(R), 1.0):
+        raise ValueError("输入不是一个有效的旋转矩阵")
+
+    _pitch = -np.arcsin(R[2, 0])
+    
+    if np.abs(_pitch - np.pi / 2) < 1e-6:  # 处理接近90度的情况
+        _yaw = 0
+        _roll = np.arctan2(R[0, 1], R[0, 2])
+    elif np.abs(_pitch + np.pi / 2) < 1e-6:  # 处理接近-90度的情况
+        _yaw = 0
+        _roll = -np.arctan2(R[0, 1], R[0, 2])
+    else:
+        _yaw = np.arctan2(R[1, 0], R[0, 0])
+        _roll = np.arctan2(R[2, 1], R[2, 2])
+
+    return _roll, _pitch, _yaw
+
+def average_rotation_matrices(rotation_matrices, weights=None):
+    # 将旋转矩阵转换为四元数
+    quaternions = [R.from_matrix(matrix).as_quat() for matrix in rotation_matrices]
+    
+    if weights is None:
+        # 如果没有提供权重，则使用等权重
+        weights = np.ones(len(quaternions)) / len(quaternions)
+    else:
+        # 确保权重之和为1
+        weights = np.array(weights) / np.sum(weights)
+    
+    # 对四元数进行加权平均
+    avg_quaternion = np.zeros(4)
+    for quat, weight in zip(quaternions, weights):
+        avg_quaternion += weight * quat
+    
+    # 归一化四元数以确保它是单位四元数
+    avg_quaternion /= np.linalg.norm(avg_quaternion)
+    
+    # 将平均后的四元数转换回旋转矩阵
+    avg_rotation_matrix = R.from_quat(avg_quaternion).as_matrix()
+    
+    return avg_rotation_matrix
+
+def addQ(q1, q2):
+    return np.quaternion(q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w)
+
+def calc_RT(lidar, camera, MAX_ITERS, lidarToCamera):
+    global iteration_counter, pkg_loc, translation_sum, rotation_sum, rotation_avg_by_mult, rmse_avg
+    
+    if iteration_counter == 0:
+        with open(pkg_loc + "/log/avg_values.txt", "w") as clean_file:
+            pass
+        
+        translation_sum = np.zeros((3, 1), dtype=float)
+        rotation_sum = np.ones(4)
+        rotation_avg_by_mult = np.eye(3, dtype=float)
+        rmse_avg = np.ones(3)
+    
+    num_points = lidar.shape[1]
+    print("Number of points:", num_points)
+    
+    mu_lidar = np.mean(lidar, axis=0)
+    mu_camera = np.mean(camera, axis=0)
+    
+    if iteration_counter == 0:
+        print("mu_lidar:\n", mu_lidar)
+        print("mu_camera:\n", mu_camera)
+    
+    # lidar_centered = lidar - mu_lidar[:, np.newaxis]
+    # camera_centered = camera - mu_camera[:, np.newaxis]
+    lidar_centered = lidar - mu_lidar
+    camera_centered = camera - mu_camera
+    
+    if iteration_counter == 0:
+        print("lidar_centered:\n", lidar_centered)
+        print("camera_centered:\n", camera_centered)
+    
+    # cov = camera_centered @ lidar_centered.T ERROR
+    H = np.dot(lidar_centered.T, camera_centered) 
+    print(H)
+    
+    U, _, Vt = np.linalg.svd(H)
+
+    # rotation = U @ Vt ERROR
+    rotation = np.dot(Vt, U.T)
+    
+    if np.linalg.det(rotation) < 0:
+        # rotation = U @ np.diag([1, 1, -1]) @ Vt
+        rotation = np.dot(Vt, U.T)
+    
+    # translation = mu_camera - rotation @ mu_lidar 
+    translation = mu_camera.reshape(3, 1) - np.dot(rotation, mu_lidar.reshape(3, 1))
+
+    # averaging translation and rotation
+    translation_sum += translation
+    temp_q = R.from_matrix(rotation).as_quat()
+    if iteration_counter == 0:
+        rotation_sum = temp_q
+    else:
+        rotation_sum = rotation_sum + temp_q
+
+    # averaging rotations by multiplication
+    if iteration_counter == 0:
+        rotation_avg_by_mult = rotation
+    else:
+        rotation_avg_by_mult = average_rotation_matrices([rotation_avg_by_mult, rotation])
+    
+    # ea = R.from_matrix(rotation).as_euler('zyx')
+    ea = R.from_matrix(rotation).as_euler('xyz', degrees=False) 
+    combine_ea = utils.combine_rpy(config.roll, config.pitch, config.yaw, ea[0], ea[1], ea[2])
+
+    print("Rotation matrix:\n", rotation)
+    print("Rotation in Euler :\n", ea)
+    print("Combin Rotation in Euler :\n", combine_ea)
+    print("Translation:\n", translation)
+    
+    # eltwise_error = np.sum((camera - (rotation @ lidar + translation[:, np.newaxis])) ** 2, axis=0) ERROR
+    eltwise_error = np.sum((camera - (np.dot(lidar, rotation) + translation[:, np.newaxis])) ** 2, axis=0)
+    error = np.sqrt(np.mean(eltwise_error))
+    print("RMSE:", error)
+    
+    rmse_avg += error
+    
+    T = np.eye(4)
+    T[:3, :3] = rotation
+    T[:3, 3] = np.squeeze(translation)
+    
+    print("Rigid-body transformation:\n", T)
+    
+    iteration_counter += 1
+    if iteration_counter % 1 == 0:
+        with open(pkg_loc + "/log/avg_values.txt", "a") as log_avg_values:
+            print("--------------------------------------------------------------------")
+            print(f"After {iteration_counter} iterations")
+            print("--------------------------------------------------------------------")
+            
+            print("Average translation is:\n", translation_sum / iteration_counter)
+            log_avg_values.write(f"{iteration_counter}\n")
+            log_avg_values.write(str(translation_sum / iteration_counter) + "\n")
+            
+            # rotation_sum_normalized = np.array([getattr(rotation_sum, dim) for dim in ['x', 'y', 'z', 'w']]) / iteration_counter
+            rotation_sum_normalized = rotation_sum / iteration_counter
+            mag = np.linalg.norm(rotation_sum_normalized)
+            rotation_sum_normalized /= mag
+            
+            rotation_avg = R.from_quat(rotation_sum_normalized).as_matrix()
+            print("Average rotation is:\n", rotation_avg)
+            # final_rotation = rotation_avg @ lidarToCamera ERROR
+            final_rotation = np.dot(lidarToCamera, rotation_avg)
+
+            final_angles = R.from_matrix(final_rotation).as_euler('xyz')
+            combine_final_angles = utils.combine_rpy(config.roll, config.pitch, config.yaw, \
+                                                     final_angles[0], final_angles[1], final_angles[2])
+
+            log_avg_values.write("{:.8f} {:.8f} {:.8f}\n".format(*rotation_avg[0]))
+            log_avg_values.write("{:.8f} {:.8f} {:.8f}\n".format(*rotation_avg[1]))
+            log_avg_values.write("{:.8f} {:.8f} {:.8f}\n".format(*rotation_avg[2]))
+            
+            T_avg = np.eye(4)
+            T_avg[:3, :3] = rotation_avg
+            T_avg[:3, 3] = np.squeeze(translation_sum / iteration_counter)
+            print("Average transformation is:\n", T_avg)
+            print("Final rotation is:\n", final_rotation)
+
+            print("Final ypr is:\n", final_angles)
+            print("Final Combine ypr is:\n", combine_final_angles)
+            print(f"Average RMSE is: {rmse_avg / iteration_counter}")
+            
+            # eltwise_error_temp = np.sum((camera - (rotation_avg @ lidar + (translation_sum / iteration_counter)[:, np.newaxis])) ** 2, axis=0)
+            eltwise_error_temp = np.sum((camera - (np.dot(lidar, rotation_avg) + (translation_sum / iteration_counter)[:, np.newaxis])) ** 2, axis=0)
+            
+            error_temp = np.sqrt(np.mean(eltwise_error_temp))
+            print(f"RMSE on average transformation is: {error_temp}")
+            log_avg_values.write("{:.8f}\n".format(error_temp))
+
+    return T
+
+
+
+# Global variables initialization
+iteration_counter = 0
+pkg_loc = "./record"
+translation_sum = np.zeros((3, 1), dtype=float)
+rotation_sum = np.ones(4)
+rotation_avg_by_mult = np.eye(3, dtype=float)
+rmse_avg = np.ones(3)
+
+if __name__ == "__main__":
+    all_points = utils.read_from_json(os.path.dirname(__file__) + '\\record\\points2.json')
+    # records = utils.read_from_json(os.path.dirname(__file__) + '\\record\\record.json')
+    carmera = np.asarray(all_points[0])
+    lidar = np.asarray(all_points[1])
+    lidarToCamera = R.from_euler('xyz', [config.roll, config.pitch, config.yaw], degrees=False).as_matrix()
+
+    calc_RT(lidar, carmera, 50, lidarToCamera)

lidar_driver/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.24)
+
+include(${CMAKE_SOURCE_DIR}/cmake/cmakebase.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/project.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/ss928.cmake)
+
+PROJECT(lidar_driver)
+
+set(CMAKE_CXX_STANDARD 14) # 设置使用C++11标准
+set(CMAKE_CXX_STANDARD_REQUIRED ON) # 确保编译器遵循C++11标准
+
+set(CMAKE_SOURCE_DIR "./")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
+
+set(OPENGL_opengl_LIBRARY /usr/lib/aarch64-linux-gnu/libOpenGL.so)
+set(OPENGL_glx_LIBRARY /usr/lib/aarch64-linux-gnu/libGLX.so)
+set(X11_X11_LIB /usr/lib/aarch64-linux-gnu/libX11.so)
+find_package(Open3D REQUIRED)
+if(NOT Open3D_FOUND)
+    message(FATAL_ERROR "Open3D not found.")
+endif()
+MESSAGE(${Open3D_VERSION})
+message(STATUS "Open3D include dirs: ${Open3D_INCLUDE_DIRS}")
+message(STATUS "Open3D library dirs: ${Open3D_LIBRARY_DIRS}")
+message(STATUS "Open3D libraries: ${Open3D_LIBRARIES}")
+
+include_directories(
+    /usr/local/include
+    ${CMAKE_SOURCE_DIR}/include/open3d/
+    ${CMAKE_SOURCE_DIR}/include/
+    ${CMAKE_SOURCE_DIR}/include/open3d/
+    ${CMAKE_SOURCE_DIR}/include/open3d/3rdparty/
+    ${CMAKE_SOURCE_DIR}/include/eigen3/
+    ${CMAKE_SOURCE_DIR}/include/Livox/
+)
+
+link_directories(
+    /usr/local/lib
+    /usr/lib/aarch64-linux-gnu
+)
+
+aux_source_directory(${CMAKE_SOURCE_DIR}/ CORE_LIST)
+add_executable(${PROJECT_NAME} ${CORE_LIST})
+
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath-link,/usr/lib/aarch64-linux-gnu")
+target_link_libraries(
+    ${PROJECT_NAME} 
+    ${SYSTEM_LINK_LIB}
+    livox_sdk_static 
+    pthread
+    dl
+    Open3D::Open3D
+)
+
+

lidar_driver/README.MD

@@ -0,0 +1,30 @@
+找到 CMakeLists.txt 中编译静态库的地方，确保添加 -fPIC 标志。可以通过以下方式添加：
+```cmake
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+```
+
+# source file
+livox_sdk_wrapper.cpp
+
+# cd build
+make -j8
+
+# install
+copy lidar_driver to board
+path: /root/calibration_tools
+
+# execute
+./lidar_driver 300000
+
+# q&a
+(base) root@localhost:~/calibration_tools# ./lidar_driver 300000
+cloud_points_count ==  [300000]
+Livox SDK initializing.
+Livox SDK has been initialized.
+Livox SDK version 2.3.0 .
+Started device discovery.
+start_sampling error is -3
+
+cd /root/app/detect-ui
+./start.sh   # start lidar
+kill -9 pid

lidar_driver/build.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+rm -rf build
+mkdir build
+cd build
+cmake ..
+make
+cp liblivox_sdk_wrapper.so ../

lidar_driver/cmake/cmakebase.cmake

@@ -0,0 +1,24 @@
+# this one is important
+SET(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64 ) 
+
+SET(CMAKE_SYSTEM_VERSION 1)
+
+SET(SYSTEM_LINK_LIB
+    /usr/lib/aarch64-linux-gnu/libpthread.so
+    /usr/lib/aarch64-linux-gnu/librt.so
+    /usr/lib/aarch64-linux-gnu/libdl.so
+    /usr/lib/aarch64-linux-gnu/libm.so
+)
+SET(DO_FLAG -DO2)
+SET(O_FLAG -O2)
+SET(CMAKE_CXX_FLAGS 
+    "${CMAKE_CXX_FLAGS} ${O_FLAG} -std=c++11 -Wno-deprecated-declarations -ffunction-sections -fdata-sections -Werror -Wno-psabi -Wno-pointer-arith -Wno-int-to-pointer-cast"
+)
+# SET(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS} -lstdc++)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -lstdc++ -mcpu=cortex-a53 -fno-aggressive-loop-optimizations -ldl -ffunction-sections -fdata-sections -O2 -fstack-protector-strong -fPIC")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIE -pie -s -Wall -fsigned-char")
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
+

lidar_driver/cmake/project.cmake

@@ -0,0 +1,96 @@
+# Project libs
+
+SET(SOC_LIBS
+#	libheif.a
+#	libheif.so
+
+	# MPI_LIBS
+	libss_mpi.a
+	# ISP_SUPPORT
+	libss_ae.a
+	libss_isp.a
+	libot_isp.a
+	libss_awb.a
+	libss_dehaze.a
+	libss_extend_stats.a
+	libss_drc.a
+	libss_ldci.a
+	libss_crb.a
+	libss_bnr.a
+	libss_calcflicker.a
+	libss_ir_auto.a
+	libss_acs.a
+	libss_acs.a
+	libsns_os08a20.a
+	libsns_os05a10_2l_slave.a
+	libsns_imx347_slave.a
+	libsns_imx485.a
+	libsns_os04a10.a
+	libsns_os08b10.a
+	# ss_hnr
+
+	# AUDIO_LIBA
+	libss_voice_engine.a
+	libss_upvqe.a
+	libss_dnvqe.a
+	libaac_comm.a
+	libaac_enc.a
+	libaac_dec.a
+	libaac_sbr_enc.a
+	libaac_sbr_dec.a
+
+	# memset_s memcpy_s
+	libsecurec.a
+
+	# HDMI lib
+	libss_hdmi.a
+
+	# SVP
+	libss_ive.a
+	libss_md.a
+	libss_mau.a
+	libss_dpu_rect.a
+	libss_dpu_match.a
+	libss_dsp.a
+	libascend_protobuf.a
+	libsvp_acl.a
+	libprotobuf-c.a
+
+	libacl_cblas.so
+	libacl_retr.so
+	libacl_tdt_queue.so
+	libadump.so
+	libaicpu_kernels.so
+	libaicpu_processer.so
+	libaicpu_prof.so
+	libaicpu_scheduler.so
+	libalog.so
+	libascendcl.so
+	libascend_protobuf.so
+	libcce_aicore.so
+	libcpu_kernels_context.so
+	libcpu_kernels.so
+	libc_sec.so
+	libdrv_aicpu.so
+	libdrvdevdrv.so
+	libdrv_dfx.so
+	liberror_manager.so
+	libge_common.so
+	libge_executor.so
+	libgraph.so
+	libmmpa.so
+	libmsprofiler.so
+	libmsprof.so
+	libopt_feature.so
+	libregister.so
+	libruntime.so
+	libslog.so
+	libtsdclient.so
+
+#	libss_mcf.so
+#	libss_mcf_vi.so
+	libss_pqp.so
+)
+
+add_definitions(-DSENSOR0_TYPE=SONY_IMX485_MIPI_8M_30FPS_12BIT)
+# add_definitions(-DUSE_NCNN_SIMPLEOCV)

lidar_driver/cmake/ss928.cmake

@@ -0,0 +1,5 @@
+SET(PLATFORM ss928)
+SET(CMAKE_C_COMPILER   /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-gcc)
+SET(CMAKE_CXX_COMPILER /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-g++)
+SET(CMAKE_STRIP        /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-strip)
+SET(CMAKE_ASM_COMPILER  ${CMAKE_C_COMPILER})

lidar_driver/include/Livox/comm/comm_port.h

@@ -0,0 +1,72 @@
+//
+// 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.
+//
+
+#ifndef COMM_COMM_PORT_H_
+#define COMM_COMM_PORT_H_
+
+#include <stdint.h>
+#include "protocol.h"
+
+namespace livox {
+const uint32_t kCacheSize = 8192;
+const uint32_t kMoveCacheLimit = 1536;
+
+typedef struct {
+  uint8_t buf[kCacheSize];
+  uint32_t rd_idx;
+  uint32_t wr_idx;
+  uint32_t size;
+} PortCache;
+
+class CommPort {
+ public:
+  CommPort();
+
+  ~CommPort();
+
+  int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
+
+  int32_t ParseCommStream(CommPacket *o_pack);
+
+  uint8_t *FetchCacheFreeSpace(uint32_t *o_len);
+
+  int32_t UpdateCacheWrIdx(uint32_t used_size);
+
+  uint16_t GetAndUpdateSeqNum();
+
+ private:
+  uint32_t GetCacheTailSize();
+
+  uint32_t GetValidDataSize();
+
+  void UpdateCache(void);
+
+  PortCache cache_;
+  Protocol *protocol_;
+  uint32_t parse_step_;
+  uint16_t seq_num_;
+};
+
+}  // namespace livox
+#endif  // COMM_COMM_PORT_H_

lidar_driver/include/Livox/comm/protocol.h

@@ -0,0 +1,82 @@
+//
+// 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.
+//
+
+#ifndef COMM_PROTOCOL_H_
+#define COMM_PROTOCOL_H_
+
+#include <stdint.h>
+
+namespace livox {
+typedef struct CommPacket CommPacket;
+
+typedef int (*RequestPackCb)(CommPacket *packet);
+
+typedef enum { kRequestPack, kAckPack, kMsgPack } PacketType;
+
+typedef enum { kLidarSdk, kRsvd1, kProtocolUndef } ProtocolType;
+
+typedef enum { kNoNeed, kNeedAck, kDelayAck } NeedAckType;
+
+typedef enum { kParseSuccess, kParseFail } ParseResult;
+
+typedef struct CommPacket {
+  uint8_t packet_type;
+  uint8_t protocol;
+  uint8_t protocol_version;
+  uint8_t cmd_set;
+  uint32_t cmd_code;
+  uint32_t sender;
+  uint32_t sub_sender;
+  uint32_t receiver;
+  uint32_t sub_receiver;
+  uint32_t seq_num;
+  uint8_t *data;
+  uint16_t data_len;
+  uint32_t padding;
+  //  RequestPackCb *ack_request_cb;
+  //  uint32_t retry_times;
+  //  uint32_t timeout;
+} CommPacket;
+
+class Protocol {
+ public:
+  virtual ~Protocol(){};
+
+  virtual int32_t ParsePacket(uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) = 0;
+
+  virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet) = 0;
+
+  virtual uint32_t GetPreambleLen() = 0;
+
+  virtual uint32_t GetPacketWrapperLen() = 0;
+
+  virtual uint32_t GetPacketLen(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPreamble(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPacket(uint8_t *buf) = 0;
+};
+
+}  // namespace livox
+#endif  // COMM_PROTOCOL_H_

lidar_driver/include/Livox/config.h

@@ -0,0 +1,49 @@
+//
+// 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.
+//
+
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+#if defined(__linux__)
+    #include <sys/epoll.h>
+    #include <sys/time.h>
+    #include <unistd.h>
+    #define HAVE_EPOLL 1
+#elif defined(_WIN32)
+    #include <winsock2.h>
+    #define HAVE_SELECT 1
+#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__OpenBSD__) || defined (__NetBSD__)
+    #include <sys/event.h>
+    #include <sys/types.h>
+    #include <fcntl.h>
+    #include <unistd.h>
+    #define HAVE_KQUEUE 1
+#else
+    #include <sys/poll.h>
+    #define HAVE_POLL 1
+#endif
+
+#endif  // CONFIG_H_
+
+

lidar_driver/include/Livox/livox_def.h

@@ -0,0 +1,855 @@
+//
+// 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.
+//
+
+#ifndef LIVOX_DEF_H_
+#define LIVOX_DEF_H_
+
+#include <stdint.h>
+
+#define kMaxLidarCount 32
+
+/** Device type. */
+typedef enum {
+  kDeviceTypeHub = 0,          /**< Livox Hub. */
+  kDeviceTypeLidarMid40 = 1,   /**< Mid-40. */
+  kDeviceTypeLidarTele = 2,    /**< Tele. */
+  kDeviceTypeLidarHorizon = 3,  /**< Horizon. */
+  kDeviceTypeLidarMid70 = 6,    /**< Livox Mid-70. */
+  kDeviceTypeLidarAvia = 7     /**< Avia. */
+} DeviceType;
+
+/** Lidar state. */
+typedef enum {
+  kLidarStateInit = 0,        /**< Initialization state. */
+  kLidarStateNormal = 1,      /**< Normal work state. */
+  kLidarStatePowerSaving = 2, /**< Power-saving state. */
+  kLidarStateStandBy = 3,     /**< Standby state. */
+  kLidarStateError = 4,       /**< Error state. */
+  kLidarStateUnknown = 5      /**< Unknown state. */
+} LidarState;
+
+/** Lidar mode. */
+typedef enum {
+  kLidarModeNormal = 1,      /**< Normal mode. */
+  kLidarModePowerSaving = 2, /**< Power-saving mode. */
+  kLidarModeStandby = 3      /**< Standby mode. */
+} LidarMode;
+
+/** Lidar feature. */
+typedef enum {
+  kLidarFeatureNone = 0,   /**< No feature. */
+  kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
+} LidarFeature;
+
+/** Lidar IP mode. */
+typedef enum {
+  kLidarDynamicIpMode = 0,   /**< Dynamic IP. */
+  kLidarStaticIpMode = 1     /**< Static IP. */
+} LidarIpMode;
+
+/** Lidar Scan Pattern. */
+typedef enum {
+  kNoneRepetitiveScanPattern = 0,  /**< None Repetitive Scan Pattern. */
+  kRepetitiveScanPattern = 1,      /**< Repetitive Scan Pattern. */
+} LidarScanPattern;
+
+/** Function return value definition. */
+typedef enum {
+  kStatusSendFailed = -9,           /**< Command send failed. */
+  kStatusHandlerImplNotExist = -8,  /**< Handler implementation not exist. */
+  kStatusInvalidHandle = -7,        /**< Device handle invalid. */
+  kStatusChannelNotExist = -6,      /**< Command channel not exist. */
+  kStatusNotEnoughMemory = -5,      /**< No enough memory. */
+  kStatusTimeout = -4,              /**< Operation timeouts. */
+  kStatusNotSupported = -3,         /**< Operation is not supported on this device. */
+  kStatusNotConnected = -2,         /**< Requested device is not connected. */
+  kStatusFailure = -1,              /**< Failure. */
+  kStatusSuccess = 0                /**< Success. */
+} LivoxStatus;
+
+/** Fuction return value defination, refer to \ref LivoxStatus. */
+typedef int32_t livox_status;
+
+/** Device update type, indicating the change of device connection or working state. */
+typedef enum {
+  kEventConnect = 0,              /**< Device is connected. */
+  kEventDisconnect = 1,           /**< Device is removed. */
+  kEventStateChange = 2,          /**< Device working state changes or an error occurs. */
+  kEventHubConnectionChange = 3   /**< Hub is connected or LiDAR unit(s) is/are removed. */
+} DeviceEvent;
+
+/** Timestamp sync mode define. */
+typedef enum {
+  kTimestampTypeNoSync = 0, /**< No sync signal mode. */
+  kTimestampTypePtp = 1,    /**< 1588v2.0 PTP sync mode. */
+  kTimestampTypeRsvd = 2,   /**< Reserved use. */
+  kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
+  kTimestampTypePps = 4,    /**< pps only sync mode. */
+  kTimestampTypeUnknown = 5 /**< Unknown mode. */
+} TimestampType;
+
+/** Point data type. */
+typedef enum {
+  kCartesian,               /**< Cartesian coordinate point cloud. */
+  kSpherical,               /**< Spherical coordinate point cloud. */
+  kExtendCartesian,         /**< Extend cartesian coordinate point cloud. */
+  kExtendSpherical,         /**< Extend spherical coordinate point cloud. */
+  kDualExtendCartesian,     /**< Dual extend cartesian coordinate  point cloud. */
+  kDualExtendSpherical,     /**< Dual extend spherical coordinate point cloud. */
+  kImu,                     /**< IMU data. */
+  kTripleExtendCartesian,   /**< Triple extend cartesian coordinate  point cloud. */
+  kTripleExtendSpherical,   /**< Triple extend spherical coordinate  point cloud. */
+  kMaxPointDataType         /**< Max Point Data Type. */
+} PointDataType;
+
+/** Point cloud return mode. */
+typedef enum {
+  kFirstReturn,             /**< First single return mode . */
+  kStrongestReturn,         /**< Strongest single return mode. */
+  kDualReturn,              /**< Dual return mode. */
+  kTripleReturn,            /**< Triple return mode. */
+} PointCloudReturnMode;
+
+/** IMU push frequency. */
+typedef enum {
+  kImuFreq0Hz,              /**< IMU push closed. */
+  kImuFreq200Hz,            /**< IMU push frequency 200Hz. */
+} ImuFreq;
+
+#pragma pack(1)
+
+#define LIVOX_SDK_MAJOR_VERSION       2
+#define LIVOX_SDK_MINOR_VERSION       3
+#define LIVOX_SDK_PATCH_VERSION       0
+
+#define kBroadcastCodeSize 16
+
+/** The numeric version information struct.  */
+typedef struct {
+  int major;      /**< major number */
+  int minor;      /**< minor number */
+  int patch;      /**< patch number */
+} LivoxSdkVersion;
+
+/** Cartesian coordinate format. */
+typedef struct {
+  int32_t x;            /**< X axis, Unit:mm */
+  int32_t y;            /**< Y axis, Unit:mm */
+  int32_t z;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxRawPoint;
+
+/** Spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Depth, Unit: mm */
+  uint16_t theta;       /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;         /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxSpherPoint;
+
+/** Standard point cloud format */
+typedef struct {
+  float x;              /**< X axis, Unit:m */
+  float y;              /**< Y axis, Unit:m */
+  float z;              /**< Z axis, Unit:m */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxPoint;
+
+/** Extend cartesian coordinate format. */
+typedef struct {
+  int32_t x;            /**< X axis, Unit:mm */
+  int32_t y;            /**< Y axis, Unit:mm */
+  int32_t z;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity; /**< Reflectivity */
+  uint8_t tag;          /**< Tag */
+} LivoxExtendRawPoint;
+
+/** Extend spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Depth, Unit: mm */
+  uint16_t theta;       /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;         /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint8_t reflectivity; /**< Reflectivity */
+  uint8_t tag;          /**< Tag */
+} LivoxExtendSpherPoint;
+
+/** Dual extend cartesian coordinate format. */
+typedef struct {
+  int32_t x1;            /**< X axis, Unit:mm */
+  int32_t y1;            /**< Y axis, Unit:mm */
+  int32_t z1;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  int32_t x2;            /**< X axis, Unit:mm */
+  int32_t y2;            /**< Y axis, Unit:mm */
+  int32_t z2;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+} LivoxDualExtendRawPoint;
+
+/** Dual extend spherical coordinate format. */
+typedef struct {
+  uint16_t theta;        /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;          /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint32_t depth1;       /**< Depth, Unit: mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  uint32_t depth2;       /**< Depth, Unit: mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+} LivoxDualExtendSpherPoint;
+
+/** Triple extend cartesian coordinate format. */
+typedef struct {
+  int32_t x1;            /**< X axis, Unit:mm */
+  int32_t y1;            /**< Y axis, Unit:mm */
+  int32_t z1;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  int32_t x2;            /**< X axis, Unit:mm */
+  int32_t y2;            /**< Y axis, Unit:mm */
+  int32_t z2;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+  int32_t x3;            /**< X axis, Unit:mm */
+  int32_t y3;            /**< Y axis, Unit:mm */
+  int32_t z3;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity3; /**< Reflectivity */
+  uint8_t tag3;          /**< Tag */
+} LivoxTripleExtendRawPoint;
+
+/** Triple extend spherical coordinate format. */
+typedef struct {
+  uint16_t theta;        /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;          /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint32_t depth1;       /**< Depth, Unit: mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  uint32_t depth2;       /**< Depth, Unit: mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+  uint32_t depth3;       /**< Depth, Unit: mm */
+  uint8_t reflectivity3; /**< Reflectivity */
+  uint8_t tag3;          /**< Tag */
+} LivoxTripleExtendSpherPoint;
+
+/** IMU data format. */
+typedef struct {
+  float gyro_x;        /**< Gyroscope X axis, Unit:rad/s */
+  float gyro_y;        /**< Gyroscope Y axis, Unit:rad/s */
+  float gyro_z;        /**< Gyroscope Z axis, Unit:rad/s */
+  float acc_x;         /**< Accelerometer X axis, Unit:g */
+  float acc_y;         /**< Accelerometer Y axis, Unit:g */
+  float acc_z;         /**< Accelerometer Z axis, Unit:g */
+} LivoxImuPoint;
+
+/** LiDAR error code. */
+typedef struct {
+  uint32_t temp_status : 2;      /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
+  uint32_t volt_status : 2;      /**< 0: Voltage in Normal State. 1: High. 2: Extremely High. */
+  uint32_t motor_status : 2;     /**< 0: Motor in Normal State. 1: Motor in Warning State. 2:Motor in Error State, Unable to Work. */
+  uint32_t dirty_warn : 2;       /**< 0: Not Dirty or Blocked. 1: Dirty or Blocked. */
+  uint32_t firmware_err : 1;     /**< 0: Firmware is OK. 1: Firmware is Abnormal, Need to be Upgraded. */
+  uint32_t pps_status : 1;       /**< 0: No PPS Signal. 1: PPS Signal is OK. */
+  uint32_t device_status : 1;    /**< 0: Normal. 1: Warning for Approaching the End of Service Life. */
+  uint32_t fan_status : 1;       /**< 0: Fan in Normal State. 1: Fan in Warning State. */
+  uint32_t self_heating : 1;     /**< 0: Normal. 1: Low Temperature Self Heating On. */
+  uint32_t ptp_status : 1;       /**< 0: No 1588 Signal. 1: 1588 Signal is OK. */
+  /** 0: System dose not start time synchronization.
+   * 1: Using PTP 1588 synchronization.
+   * 2: Using GPS synchronization.
+   * 3: Using PPS synchronization.
+   * 4: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
+  */
+  uint32_t time_sync_status : 3;
+  uint32_t rsvd : 13;            /**< Reserved. */
+  uint32_t system_status : 2;    /**< 0: Normal. 1: Warning. 2: Error. */
+} LidarErrorCode;
+
+/** Hub error code. */
+typedef struct {
+  /** 0: No synchronization signal.
+   * 1: 1588 synchronization.
+   * 2: GPS synchronization.
+   * 3: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
+   */
+  uint32_t sync_status : 2;
+  uint32_t temp_status : 2;        /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
+  uint32_t lidar_status : 1;       /**< 0: LiDAR State is Normal. 1: LiDAR State is Abnormal. */
+  uint32_t lidar_link_status : 1;  /**< 0: LiDAR Connection is Normal. 1: LiDAR Connection is Abnormal. */
+  uint32_t firmware_err : 1;       /**< 0: LiDAR Firmware is OK. 1: LiDAR Firmware is Abnormal, Need to be Upgraded. */
+  uint32_t rsvd : 23;              /**< Reserved. */
+  uint32_t system_status : 2;      /**< 0: Normal. 1: Warning. 2: Error. */
+} HubErrorCode;
+
+/**
+ * Device error message.
+ */
+typedef union {
+  uint32_t error_code;                /**< Error code. */
+  LidarErrorCode lidar_error_code;    /**< Lidar error code. */
+  HubErrorCode hub_error_code;        /**< Hub error code. */
+} ErrorMessage;
+
+/** Point cloud packet. */
+typedef struct {
+  uint8_t version;              /**< Packet protocol version. */
+  uint8_t slot;                 /**< Slot number used for connecting LiDAR. */
+  uint8_t id;                   /**< LiDAR id. */
+  uint8_t rsvd;                 /**< Reserved. */
+  uint32_t err_code;      /**< Device error status indicator information. */
+  uint8_t timestamp_type;       /**< Timestamp type. */
+  /** Point cloud coordinate format, refer to \ref PointDataType . */
+  uint8_t data_type;
+  uint8_t timestamp[8];         /**< Nanosecond or UTC format timestamp. */
+  uint8_t data[1];              /**< Point cloud data. */
+} LivoxEthPacket;
+
+/** Information of LiDAR work state. */
+typedef union {
+  uint32_t progress;    /**< LiDAR work state switching progress. */
+  ErrorMessage status_code; /**< LiDAR work state status code. */
+} StatusUnion;
+
+/** Information of the connected LiDAR or hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t handle;                          /**< Device handle. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR. */
+  uint8_t id;                              /**< LiDAR id. */
+  uint8_t type;                            /**< Device type, refer to \ref DeviceType. */
+  uint16_t data_port;                      /**< Point cloud data UDP port. */
+  uint16_t cmd_port;                       /**< Control command UDP port. */
+  uint16_t sensor_port;                    /**< IMU data UDP port. */
+  char ip[16];                             /**< IP address. */
+  LidarState state;                        /**< LiDAR state. */
+  LidarFeature feature;                    /**< LiDAR feature. */
+  StatusUnion status;                      /**< LiDAR work state status. */
+  uint8_t firmware_version[4];             /**< Firmware version. */
+} DeviceInfo;
+
+/** The information of broadcast device. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint16_t reserved;                       /**< Reserved. */
+  char ip[16];                             /**< Device ip. */
+} BroadcastDeviceInfo;
+
+/** The information of LiDAR units that are connected to the Livox Hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint8_t version[4];                      /**< Firmware version. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR units. */
+  uint8_t id;                              /**< Device id. */
+} ConnectedLidarInfo;
+
+/** LiDAR mode configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t state;                           /**< LiDAR state, refer to \ref LidarMode. */
+} LidarModeRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} ReturnCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} DeviceBroadcastCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t feature;                         /**< Close or open the rain and fog feature. */
+} RainFogSuppressRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t state;                           /**< Fan state: 1 for turn on fan, 0 for turn off fan. */
+} FanControlRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetFanStateRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t state;                           /**< Fan state: 1 for fan is on, 0 for fan is off. */
+} GetFanStateResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t mode;                            /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} SetPointCloudReturnModeRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetPointCloudReturnModeRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t mode;                            /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} GetPointCloudReturnModeResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t freq;                            /**< IMU push frequency, refer to \ref ImuFreq. */
+} SetImuPushFrequencyRequestItem;
+
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetImuPushFrequencyRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t freq;                            /**< IMU push frequency, refer to \ref ImuFreq. */
+} GetImuPushFrequencyResponseItem;
+
+/** LiDAR configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterRequestItem;
+
+/** LiDAR extrinsic parameters. */
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  uint8_t state;                           /**< LiDAR state. */
+  uint8_t feature;                         /**< LiDAR feature. */
+  StatusUnion error_union;                 /**< LiDAR work state. */
+} LidarStateItem;
+
+/**
+ * The request body for the command of handshake.
+ */
+typedef struct {
+  uint32_t ip_addr;     /**< IP address of the device. */
+  uint16_t data_port;   /**< UDP port of the data connection. */
+  uint16_t cmd_port;    /**< UDP port of the command connection. */
+  uint16_t sensor_port; /**< UDP port of the sensor connection. */
+} HandshakeRequest;
+
+/**
+ * The response body of querying device information.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t firmware_version[4]; /**< Firmware version. */
+} DeviceInformationResponse;
+
+/**
+ * The request body of the command for setting device's IP mode.
+ */
+typedef struct {
+  uint8_t ip_mode;  /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
+  uint32_t ip_addr; /**< IP address. */
+} SetDeviceIPModeRequest;
+
+/**
+ * The response body of getting device's IP mode.
+ */
+typedef struct {
+  uint8_t ret_code;  /**< Return code. */
+  uint8_t ip_mode;   /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
+  uint32_t ip_addr;  /**< IP address. */
+  uint32_t net_mask; /**< Subnet mask. */
+  uint32_t gw_addr;  /**< Gateway address. */
+} GetDeviceIpModeResponse;
+
+/**
+ * The request body of the command for setting static device's IP mode.
+ */
+typedef struct {
+  uint32_t ip_addr;  /**< IP address. */
+  uint32_t net_mask; /**< Subnet mask. */
+  uint32_t gw_addr;  /**< Gateway address. */
+} SetStaticDeviceIpModeRequest;
+
+/**
+ * The body of heartbeat response.
+ */
+typedef struct {
+  uint8_t ret_code;        /**< Return code. */
+  uint8_t state;           /**< Working state. */
+  uint8_t feature;         /**< LiDAR feature. */
+  StatusUnion error_union; /**< LiDAR work state. */
+} HeartbeatResponse;
+
+/**
+ * The error code of Getting/Setting Device's Parameters.
+ */
+typedef enum {
+  kKeyNoError = 0,                  /**< No Error. */
+  kKeyNotSupported = 1,             /**< The key is not supported. */
+  kKeyExecFailed = 2,               /**< Execution failed. */
+  kKeyNotSupportedWritingState = 3, /**< The key cannot be written. */
+  kKeyValueError = 4,               /**< Wrong value. */
+  kKeyValueLengthError = 5,         /**< Wrong value length. */
+  kKeyNoEnoughMemory = 6,           /**< Reading parameter length limit. */
+  kKeyLengthError = 7,              /**< The number of parameters does not match. */
+} KeyErrorCode;
+
+/**
+ * The response body of setting device's parameter.
+ */
+typedef struct {
+  uint8_t ret_code;              /**< Return code. */
+  uint16_t error_param_key;      /**< Error Key. */
+  uint8_t error_code;            /**< Error code, refer to \ref KeyErrorCode. */
+} DeviceParameterResponse;
+
+/**
+ * Keys of device's parameters.
+ */
+typedef enum {
+  kKeyDefault = 0,              /**< Default key name. */
+  kKeyHighSensetivity = 1,      /**< Key to get/set LiDAR' Sensetivity. */
+  kKeyScanPattern =  2,         /**< Key to get/set LiDAR' ScanPattern. */
+  kKeySlotNum = 3,              /**< Key to get/set LiDAR' Slot number. */
+} DeviceParamKeyName;
+
+/**
+ * Key and value of device's parameters.
+ */
+typedef struct {
+  uint16_t key;                /*< Key, refer to \ref DeviceParamKeyName. */
+  uint16_t length;             /*< Length of value */
+  uint8_t value[1];            /*< Value */
+} KeyValueParam;
+
+/**
+ * The response body of getting device's parameter.
+ */
+typedef struct {
+  DeviceParameterResponse rsp;     /*< Return code. */
+  KeyValueParam kv;                /*< Key and value of device's parameters. */
+} GetDeviceParameterResponse;
+
+/**
+ * The request body for the command of getting device's parameters.
+ */
+typedef struct {
+  uint8_t param_num;           /*< Number of key. */
+  uint16_t key[1];             /*< Key, refer to \ref DeviceParamKeyName. */
+} GetDeviceParameterRequest;
+
+/**
+ * The request body for the command of resetting device's parameters.
+ */
+typedef struct {
+  uint8_t flag;                /*< 0: for resetting all keys, 1: for resetting part of keys. */
+  uint8_t key_num;             /*< number of keys to reset. */
+  uint16_t key[1];             /*< Keys to reset, refer to \ref DeviceParamKeyName. */
+} ResetDeviceParameterRequest;
+
+/**
+ * The request body for the command of setting Livox LiDAR's parameters.
+ */
+typedef struct {
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarSetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting Livox LiDAR's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarGetExtrinsicParameterResponse;
+
+/**
+ * The response body of getting the Livox LiDAR's fan state.
+ */
+typedef struct {
+  uint8_t ret_code;     /**< Return code. */
+  uint8_t state;        /**< Fan state: 1 for fan is on, 0 for fan is off. */
+} LidarGetFanStateResponse;
+
+/**
+ * The response body of getting the Livox LiDAR's point cloud return mode.
+ */
+typedef struct {
+  uint8_t ret_code;    /**< Return code. */
+  uint8_t mode;        /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} LidarGetPointCloudReturnModeResponse;
+
+
+/**
+ * The response body of getting the Livox LiDAR's IMU push frequency.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t freq;                /**< IMU push frequency, refer to \ref ImuFreq. */
+} LidarGetImuPushFrequencyResponse;
+
+/**
+ * The response body of setting the Livox LiDAR's Sync time.
+ */
+typedef struct {
+  uint8_t year;
+  uint8_t month;
+  uint8_t day;
+  uint8_t hour;
+  uint32_t microsecond;
+} LidarSetUtcSyncTimeRequest;
+
+/**
+ * The response body of querying the information of LiDAR units connected to the Livox Hub.
+ */
+typedef struct {
+  uint8_t ret_code;                       /**< Return code. */
+  uint8_t count;                          /**< Count of device_info_list. */
+  ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information list. */
+} HubQueryLidarInformationResponse;
+
+/**
+ * The request body of setting Livox Hub's working mode.
+ */
+typedef struct {
+  uint8_t count;                       /**< Count of config_list. */
+  LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
+} HubSetModeRequest;
+
+/**
+ * The response of setting Livox Hub's working mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return status list. */
+} HubSetModeResponse;
+
+/**
+ * The request body of toggling the power supply of the slot.
+ */
+typedef struct {
+  uint8_t slot;  /**< Slot of the hub. */
+  uint8_t state; /**< Status of toggling the power supply. */
+} HubControlSlotPowerRequest;
+
+/**
+ * The request body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of cfg_param_list. */
+  ExtrinsicParameterRequestItem parameter_list[1]; /**< Extrinsic parameter configuration list. */
+} HubSetExtrinsicParameterRequest;
+
+/**
+ * The response body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t count;               /**< Count of ret_code_list. */
+  ReturnCode ret_code_list[1]; /**< Return code list. */
+} HubSetExtrinsicParameterResponse;
+
+/**
+ * The request body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                    /**< Count of code_list. */
+  DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
+} HubGetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;        /**< Return code. */
+  uint8_t count;           /**< Count of code_list. */
+  ExtrinsicParameterResponseItem parameter_list[1]; /**< Extrinsic parameter list. */
+} HubGetExtrinsicParameterResponse;
+
+/**
+ * The response body of getting sub LiDAR's state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of state_list. */
+  LidarStateItem state_list[1]; /**< LiDAR units state list. */
+} HubQueryLidarStatusResponse;
+
+/**
+ * The request body of toggling the Livox Hub's rain and fog mode.
+ */
+typedef struct {
+  uint8_t count;                                /**< Count of lidar_cfg_list. */
+  RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Rain fog suppress configuration list. */
+} HubRainFogSuppressRequest;
+
+/**
+ * The response body of toggling the Livox Hub's rain and fog mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return state list */
+} HubRainFogSuppressResponse;
+
+/**
+* The response body of getting Hub slots' power state.
+*/
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint16_t slot_power_state;    /**< Slot power status. */
+} HubQuerySlotPowerStatusResponse;
+
+/**
+ * The request body of controlling the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                /**< Count of lidar_cfg_list. */
+  FanControlRequestItem lidar_cfg_list[1]; /**< Fan control configuration list. */
+} HubFanControlRequest;
+
+/**
+ * The response body of controlling the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of return_list. */
+  ReturnCode return_list[1];    /**< Return list */
+} HubFanControlResponse;
+
+/**
+ * The request body of getting the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                             /**< Count of lidar_cfg_list. */
+  GetFanStateRequestItem lidar_cfg_list[1];  /**< Get Fan state list. */
+} HubGetFanStateRequest;
+
+/**
+ * The response body of getting the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;                         /**< Return code. */
+  uint8_t count;                            /**< Count of return_list. */
+  GetFanStateResponseItem return_list[1];   /**< Fan state list. */
+} HubGetFanStateResponse;
+
+/**
+ * The request body of setting point cloud return mode of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;         /**< Count of lidar_cfg_list. */
+  SetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Point cloud return mode configuration list. */
+} HubSetPointCloudReturnModeRequest;
+
+/**
+ * The response body of setting point cloud return mode of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of return_list. */
+  ReturnCode return_list[1];    /**< Return list. */
+} HubSetPointCloudReturnModeResponse;
+
+/**
+ * The request body of getting sub LiDAR's point cloud return mode conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                /**< Count of lidar_cfg_list. */
+  GetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Get point cloud return mode list. */
+} HubGetPointCloudReturnModeRequest;
+
+/**
+ * The response body of getting sub LiDAR's point cloud return mode conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;               /**< Return code. */
+  uint8_t count;                  /**< Count of return_list. */
+  GetPointCloudReturnModeResponseItem return_list[1];  /**< Point cloud return mode list. */
+} HubGetPointCloudReturnModeResponse;
+
+/**
+ * The request body of setting IMU push frequency of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of lidar_cfg_list. */
+  SetImuPushFrequencyRequestItem lidar_cfg_list[1]; /**< IMU push frequency configuration list. */
+} HubSetImuPushFrequencyRequest;
+
+/**
+ * The response body of setting IMU push frequency of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;               /**< Return code. */
+  uint8_t count;                  /**< Count of return_list. */
+  ReturnCode return_list[1];      /**< Return list. */
+} HubSetImuPushFrequencyResponse;
+
+/**
+ * The request body of getting sub LiDAR's IMU push frequency conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of lidar_cfg_list. */
+  GetImuPushFrequencyRequestItem lidar_cfg_list[1];  /**< Get IMU push frequency list. */
+} HubGetImuPushFrequencyRequest;
+
+/**
+ * The response body of getting sub LiDAR's IMU push frequency conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;              /**< Return code. */
+  uint8_t count;                 /**< Count of return_list. */
+  GetImuPushFrequencyResponseItem return_list[1];    /**< IMU push frequency list. */
+} HubGetImuPushFrequencyResponse;
+
+#pragma pack()
+
+#endif  // LIVOX_DEF_H_

lidar_driver/include/Livox/livox_sdk.h

@@ -0,0 +1,999 @@
+//
+// 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.
+//
+
+#ifndef LIVOX_SDK_H_
+#define LIVOX_SDK_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "livox_def.h"
+
+/**
+* Return SDK's version information in a numeric form.
+* @param version Pointer to a version structure for returning the version information.
+*/
+void GetLivoxSdkVersion(LivoxSdkVersion *version);
+
+/**
+ * Disable console log output.
+ */
+void DisableConsoleLogger();
+
+/**
+ * Initialize the SDK.
+ * @return true if successfully initialized, otherwise false.
+ */
+bool Init();
+
+/**
+ * Start the device scanning routine which runs on a separate thread.
+ * @return true if successfully started, otherwise false.
+ */
+bool Start();
+
+/**
+ * Uninitialize the SDK.
+ */
+void Uninit();
+
+/**
+* Save the log file.
+*/
+void SaveLoggerFile();
+
+/**
+ * @c SetBroadcastCallback response callback function.
+ * @param info information of the broadcast device, becomes invalid after the function returns.
+ */
+typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
+
+/**
+ * Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
+ * is called.
+ * @param cb callback for device broadcast.
+ */
+void SetBroadcastCallback(DeviceBroadcastCallback cb);
+
+/**
+ * @c SetDeviceStateUpdateCallback response callback function.
+ * @param device  information of the connected device.
+ * @param type    the update type that indicates connection/disconnection of the device or change of working state.
+ */
+typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
+
+/**
+ * @brief Add a callback for device connection or working state changing event.
+ * @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
+ * the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
+ * this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
+ * you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
+ * @note 3 conditions can trigger this callback:
+ *         1. Connection and disconnection of device.
+ *         2. A change of device working state.
+ *         3. An error occurs.
+ * @param cb callback for device connection/disconnection.
+ */
+void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
+ * the corresponding handle is (slot-1)*3+id-1.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status AddHubToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Get all connected devices' information.
+ * @param devices list of connected devices' information.
+ * @param size    number of devices connected.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
+
+/**
+ * Function type of callback that queries device's information.
+ * @param status   kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle   device handle.
+ * @param response response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DeviceInformationCallback)(livox_status status,
+                                          uint8_t handle,
+                                          DeviceInformationResponse *response,
+                                          void *client_data);
+
+/**
+ * Command to query device's information.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
+
+/**
+ * Callback function for receiving point cloud data.
+ * @param handle      device handle.
+ * @param data        device's data.
+ * @param data_num    number of points in data.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
+
+/**
+ * Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
+ * cloud data callback before beginning sampling.
+ * @param handle      device handle.
+ * @param cb callback to receive point cloud data.
+ * @note 1: Don't do any blocking operations in callback function, it will affects further data's receiving;
+ * 2: For different device handle, callback to receive point cloud data will run on its own thread. If you bind
+ * different handle to same callback function, please make sure that operations in callback function are thread-safe;
+ * 3: callback function's data pointer will be invalid after callback fuction returns. It's recommended to
+ * copy all data_num of point cloud every time callback is triggered.
+ * @param client_data user data associated with the command.
+ */
+void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
+
+/**
+ * Function type of callback with 1 byte of response.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*CommonCommandCallback)(livox_status status, uint8_t handle, uint8_t response, void *client_data);
+
+/**
+ * Start hub sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubStartSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop the Livox Hub's sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubStopSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
+ * @param  slot   Livox Hub's slot.
+ * @param  id     Livox Hub's id.
+ * @return LiDAR unit handle.
+ */
+uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
+
+/**
+ * Disconnect divice.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DisconnectDevice(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Change point cloud coordinate system to cartesian coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Change point cloud coordinate system to spherical coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Callback of the error status message.
+ * kStatusSuccess on successful return, see \ref LivoxStatus for other
+ * @param handle      device handle.
+ * @param response    response from the device.
+ */
+typedef void (*ErrorMessageCallback)(livox_status status, uint8_t handle, ErrorMessage *message);
+
+/**
+ * Add error status callback for the device.
+ * error code.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
+
+/**
+ * Set device's IP mode.
+ * @note \ref SetStaticDynamicIP only supports setting Hub or Mid40/100's IP mode.
+ * If you want to set Horizon or Tele's IP mode, see \ref SetStaticIp and \ref SetDynamicIp.
+ * @param  handle        device handle.
+ * @param  req           request sent to device.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetStaticDynamicIP(uint8_t handle,
+                                SetDeviceIPModeRequest *req,
+                                CommonCommandCallback cb,
+                                void *client_data);
+/**
+ * Set device's static IP mode.
+ * @note Mid40/100 is not supported to set subnet mask and gateway address. 
+ * \ref SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.
+ * @param  handle        device handle.
+ * @param  req           request sent to device.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetStaticIp(uint8_t handle,
+                         SetStaticDeviceIpModeRequest *req,
+                         CommonCommandCallback cb,
+                         void *client_data);
+
+/**
+ * Set device's dynamic IP mode.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetDynamicIp(uint8_t handle,
+                          CommonCommandCallback cb,
+                          void *client_data);
+/**
+ * Callback function that gets device's IP information.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*GetDeviceIpInformationCallback)(livox_status status,
+                                               uint8_t handle,
+                                               GetDeviceIpModeResponse *response,
+                                               void *client_data);
+
+/**
+ * Get device's IP mode.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status GetDeviceIpInformation(uint8_t handle, GetDeviceIpInformationCallback cb, void *client_data);
+
+/**
+ * Reboot device.
+ * @note \ref RebootDevice is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  timeout       reboot device after [timeout] ms.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c SetDeviceParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*SetDeviceParametersCallback)(livox_status status,
+                                            uint8_t handle,
+                                            DeviceParameterResponse *response,
+                                            void *client_data);
+
+/**
+ * LiDAR Enable HighSensitivity.
+ * @note \ref LidarEnableHighSensitivity only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Disable HighSensitivity.
+ * @note \ref LidarDisableHighSensitivity only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarDisableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * @c GetDeviceParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*GetDeviceParametersCallback)(livox_status status,
+                                            uint8_t handle,
+                                            GetDeviceParameterResponse *response,
+                                            void *client_data);
+
+/**
+ * LiDAR Get HighSensitivity State.
+ * @note \ref LidarGetHighSensitivityState only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Set Scan Pattern.
+ * @note \ref LidarSetScanPattern only support for Avia.
+ * @param  handle        device handle.
+ * @param  pattern       scan pattern of LiDAR, see \ref LidarScanPattern for detail.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetScanPattern(uint8_t handle, LidarScanPattern pattern, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Get Scan Pattern.
+ * @note \ref LidarGetScanPattern only support for Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetScanPattern(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Set Slot Number.
+ * @note \ref LidarSetSlotNum only support for Mid70/Avia.
+ * @param  handle        device handle.
+ * @param  slot          slot number of LiDAR, range from 1 to 9.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetSlotNum(uint8_t handle, uint8_t slot, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Get Slot Number.
+ * @note \ref LidarGetSlotNum only support for Mid70/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetSlotNum(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * @c DeviceResetParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DeviceResetParametersCallback)(livox_status status,
+                                              uint8_t handle,
+                                              DeviceParameterResponse *response,
+                                              void *client_data);
+
+/**
+ * Reset LiDAR/Hub's All Parameters, see \ref DeviceParamKeyName for all parameters.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command. 
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DeviceResetAllParameters(uint8_t handle, DeviceResetParametersCallback cb, void *client_data);
+
+/**
+ * Reset LiDAR/Hub's Parameters, see \ref DeviceParamKeyName for all parameters.
+ * @param  handle        device handle.
+ * @param  keys          keys to reset, see \ref DeviceParamKeyName for all parameters.
+ * @param  num           num of keys to reset.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DeviceResetParameters(uint8_t handle, DeviceParamKeyName * keys, uint8_t num, DeviceResetParametersCallback cb, void *client_data);
+
+
+/**
+ * @c HubQueryLidarInformation response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarInformationCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubQueryLidarInformationResponse *response,
+                                                 void *client_data);
+
+/**
+ * Query the information of LiDARs connected to the hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
+
+/**
+ * @c HubSetMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetModeCallback)(livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data);
+
+/**
+ * Set the mode of LiDAR unit connected to the Livox Hub.
+ * @param  req           mode configuration of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
+
+/**
+ * @c HubQueryLidarStatus response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarStatusCallback)(livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
+
+/**
+ * Get the state of LiDAR units connected to the Livox Hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
+
+/**
+ * Toggle the power supply of designated slots.
+ * @param  req           request whether to enable or disable the power of designated slots.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubSetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetExtrinsicParameterCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubSetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Set extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  req           the parameters to write.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
+                                      uint16_t length,
+                                      HubSetExtrinsicParameterCallback cb,
+                                      void *client_data);
+
+/**
+ * @c HubGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetExtrinsicParameterCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubGetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Get extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
+
+/**
+ * Turn on or off the calculation of extrinsic parameters.
+ * @param  enable        the request whether enable or disable calculating the extrinsic parameters.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubRainFogSuppress response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubRainFogSuppressCallback)(livox_status status,
+                                           uint8_t handle,
+                                           HubRainFogSuppressResponse *response,
+                                           void *client_data);
+
+/**
+ * Toggling the rain and fog mode for lidars connected to the hub.
+ * @param  req           the request whether open or close the rain and fog mode.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubRainFogSuppress(HubRainFogSuppressRequest *req,
+                                uint16_t length,
+                                HubRainFogSuppressCallback cb,
+                                void *client_data);
+
+/**
+* @c HubQuerySlotPowerStatus response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void(*HubQuerySlotPowerStatusCallback)(livox_status status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data);
+
+/**
+* Get the power supply state of each hub slot.
+* @param  cb            callback for the command.
+* @param  client_data   user data associated with the command.
+* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+*/
+livox_status HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
+
+/**
+* @c HubFanControl response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void (*HubFanControlCallback)(livox_status status,
+                                      uint8_t handle,
+                                      HubFanControlResponse *response,
+                                      void *client_data);
+
+/**
+ * Turn on or off the fan of LiDAR unit connected to the Livox Hub.
+ * @param  req           Fan control of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubFanControl(HubFanControlRequest *req, uint16_t length, HubFanControlCallback cb, void *client_data);
+
+/**
+* @c HubGetFanControl response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void (*HubGetFanStateCallback)(livox_status status,
+                                       uint8_t handle,
+                                       HubGetFanStateResponse *response,
+                                       void *client_data);
+
+/**
+ * Get fan state of LiDAR unit connected to the Livox Hub.
+ * @param  req           Get fan state of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetFanState(HubGetFanStateRequest *req,
+                            uint16_t length,
+                            HubGetFanStateCallback cb,
+                            void *client_data);
+
+/**
+ * @c HubSetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetPointCloudReturnModeCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   HubSetPointCloudReturnModeResponse *response,
+                                                   void *client_data);
+
+/**
+ * Set point cloud return mode of LiDAR units connected to the Livox Hub.
+ * @param  req           set point cloud return mode of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
+                                        uint16_t length,
+                                        HubSetPointCloudReturnModeCallback cb,
+                                        void *client_data);
+
+/**
+ * @c HubGetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetPointCloudReturnModeCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   HubGetPointCloudReturnModeResponse *response,
+                                                   void *client_data);
+
+/**
+ * Get point cloud return mode of LiDAR unit connected to the Livox Hub.
+ * @param  req           Get point cloud return mode of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
+                                        uint16_t length,
+                                        HubGetPointCloudReturnModeCallback cb,
+                                        void *client_data);
+
+/**
+ * @c HubSetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetImuPushFrequencyCallback)(livox_status status,
+                                               uint8_t handle,
+                                               HubSetImuPushFrequencyResponse *response,
+                                               void *client_data);
+
+/**
+ * Set IMU push frequency of LiDAR units connected to the Livox Hub.
+ * @param  req           set IMU push frequency of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
+                                    uint16_t length,
+                                    HubSetImuPushFrequencyCallback cb,
+                                    void *client_data);
+
+/**
+ * @c HubGetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetImuPushFrequencyCallback)(livox_status status,
+                                               uint8_t handle,
+                                               HubGetImuPushFrequencyResponse *response,
+                                               void *client_data);
+
+/**
+ * Get IMU push frequency of LiDAR units connected to the Livox Hub.
+ * @param  req           get IMU push frequency of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
+                                    uint16_t length,
+                                    HubGetImuPushFrequencyCallback cb,
+                                    void *client_data);
+
+/**
+ * Start LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR mode.
+ * @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
+ * You need to observe the actually change of mode in DeviceStateUpdateCallback function.
+ * @param  handle        device handle.
+ * @param  mode          the mode to change.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  req         the parameters to write.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetExtrinsicParameter(uint8_t handle,
+                                        LidarSetExtrinsicParameterRequest *req,
+                                        CommonCommandCallback cb,
+                                        void *client_data);
+
+/**
+ * @c LidarGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetExtrinsicParameterCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   LidarGetExtrinsicParameterResponse *response,
+                                                   void *client_data);
+
+/**
+ * Get LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
+
+/**
+ * Enable and disable the rain/fog suppression.
+ * @note \ref LidarRainFogSuppress only support for Mid40/100.
+ * @param  handle        device handle.
+ * @param  enable        enable and disable the rain/fog suppression.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Turn off the fan.
+ * @note \ref LidarTurnOffFan is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarTurnOffFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Turn on the fan.
+ * @note \ref LidarTurnOnFan is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarTurnOnFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c LidarGetFanState response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetFanStateCallback)(livox_status status,
+                                        uint8_t handle,
+                                        LidarGetFanStateResponse *response,
+                                        void *client_data);
+
+/**
+ * Get state of the fan.
+ * @note \ref LidarGetFanState is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetFanState(uint8_t handle, LidarGetFanStateCallback cb, void * client_data) ;
+
+/**
+ * Set point cloud return mode.
+ * @note \ref LidarSetPointCloudReturnMode is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  mode          point cloud return mode.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetPointCloudReturnMode(uint8_t handle, PointCloudReturnMode mode,  CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c LidaGetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetPointCloudReturnModeCallback)(livox_status status,
+                                                     uint8_t handle,
+                                                     LidarGetPointCloudReturnModeResponse *response,
+                                                     void *client_data);
+
+/**
+ * Get point cloud return mode.
+ * @note \ref LidarGetPointCloudReturnMode is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetPointCloudReturnMode(uint8_t handle, LidarGetPointCloudReturnModeCallback cb, void * client_data);
+
+/**
+ * Set IMU push frequency.
+ * @note \ref LidarSetImuPushFrequency is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  freq          IMU push frequency.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetImuPushFrequency(uint8_t handle, ImuFreq freq, CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c LidaGetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetImuPushFrequencyCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 LidarGetImuPushFrequencyResponse *response,
+                                                 void *client_data);
+
+/**
+ * Get IMU push frequency.
+ * @note \ref LidarGetImuPushFrequency is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetImuPushFrequency(uint8_t handle, LidarGetImuPushFrequencyCallback cb, void * client_data);
+
+/**
+ * Set GPRMC formate synchronization time.
+ * @note \ref LidarSetRmcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  rmc           GPRMC/GNRMC format data.
+ * @param  rmc_length    lenth of gprmc.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetRmcSyncTime(uint8_t handle,
+                                 const char* rmc,
+                                 uint16_t rmc_length,
+                                 CommonCommandCallback cb,
+                                 void *client_data);
+
+/**
+ * Set UTC formate synchronization time.
+ * @note \ref LidarSetUtcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  req           UTC format data.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetUtcSyncTime(uint8_t handle,
+                                 LidarSetUtcSyncTimeRequest* req,
+                                 CommonCommandCallback cb,
+                                 void *client_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // LIVOX_SDK_H_

lidar_driver/include/Livox/third_party/FastCRC/FastCRC.h

@@ -0,0 +1,79 @@
+/* FastCRC library code is placed under the MIT license
+ * Copyright (c) 2014,2015 Frank Bosing
+ *
+ * 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.
+ */
+
+
+// Teensy 3.0, Teensy 3.1:
+// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC Device
+// See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
+//
+// So, ALL HW-calculations are done as 32 bit.
+//
+//
+//
+// Thanks to:
+// - Catalogue of parametrised CRC algorithms, CRC RevEng
+// http://reveng.sourceforge.net/crc-catalogue/
+//
+// - Danjel McGougan (CRC-Table-Generator)
+//
+
+//
+// modify from FastCRC library @ 2018/11/20
+//
+
+#ifndef FASTCRC_FASTCRC_H_
+#define FASTCRC_FASTCRC_H_
+
+#include <stdint.h>
+
+
+// ================= 16-BIT CRC ===================
+
+class FastCRC16 {
+public:
+  FastCRC16(uint16_t seed);
+
+  // change function name from mcrf4xx_upd to mcrf4xx
+  uint16_t mcrf4xx_calc(const uint8_t *data,const uint16_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
+
+private:
+  uint16_t seed_;
+
+};
+
+// ================= 32-BIT CRC ===================
+
+class FastCRC32 {
+public:
+  FastCRC32(uint32_t seed);
+
+  // change function name from crc32_upd to crc32
+  uint32_t crc32_calc(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+
+private:
+  uint32_t seed_;
+};
+
+#endif // FASTCRC_FASTCRC_H_
+

lidar_driver/include/Livox/third_party/cmdline/cmdline.h

@@ -0,0 +1,823 @@
+/*
+  Copyright (c) 2009, Hideyuki Tanaka
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+  * Redistributions of source code must retain the above copyright
+  notice, this list of conditions and the following disclaimer.
+  * Redistributions in binary form must reproduce the above copyright
+  notice, this list of conditions and the following disclaimer in the
+  documentation and/or other materials provided with the distribution.
+  * Neither the name of the <organization> nor the
+  names of its contributors may be used to endorse or promote products
+  derived from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY <copyright holder> ''AS IS'' AND ANY
+  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
+  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <map>
+#include <string>
+#include <stdexcept>
+#include <typeinfo>
+#include <cstring>
+#include <algorithm>
+#if defined(_MSC_VER)
+#include <windows.h>
+#include <dbghelp.h>
+#undef max
+#pragma comment(lib, "dbghelp.lib")
+#elif defined(__clang__) || defined(__GNUC__)
+#include <cxxabi.h>
+#endif
+#include <cstdlib>
+
+namespace cmdline{
+
+namespace detail{
+
+template <typename Target, typename Source, bool Same>
+class lexical_cast_t{
+public:
+  static Target cast(const Source &arg){
+    Target ret;
+    std::stringstream ss;
+    if (!(ss<<arg && ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    
+    return ret;
+  }
+};
+
+template <typename Target, typename Source>
+class lexical_cast_t<Target, Source, true>{
+public:
+  static Target cast(const Source &arg){
+    return arg;
+  }  
+};
+
+template <typename Source>
+class lexical_cast_t<std::string, Source, false>{
+public:
+  static std::string cast(const Source &arg){
+    std::ostringstream ss;
+    ss<<arg;
+    return ss.str();
+  }
+};
+
+template <typename Target>
+class lexical_cast_t<Target, std::string, false>{
+public:
+  static Target cast(const std::string &arg){
+    Target ret;
+    std::istringstream ss(arg);
+    if (!(ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    return ret;
+  }
+};
+
+template <typename T1, typename T2>
+struct is_same {
+  static const bool value = false;
+};
+
+template <typename T>
+struct is_same<T, T>{
+  static const bool value = true;
+};
+
+template<typename Target, typename Source>
+Target lexical_cast(const Source &arg)
+{
+  return lexical_cast_t<Target, Source, detail::is_same<Target, Source>::value>::cast(arg);
+}
+
+static inline std::string demangle(const std::string &name)
+{
+#if defined(_MSC_VER)
+  TCHAR ret[256];
+  std::memset(ret, 0, 256);
+  ::UnDecorateSymbolName(name.c_str(), ret, 256, 0);
+  return ret;
+#else
+  int status=0;
+  char *p=abi::__cxa_demangle(name.c_str(), 0, 0, &status);
+  std::string ret(p);
+  free(p);
+  return ret;
+#endif
+}
+
+template <class T>
+std::string readable_typename()
+{
+  return demangle(typeid(T).name());
+}
+
+template <class T>
+std::string default_value(T def)
+{
+  return detail::lexical_cast<std::string>(def);
+}
+
+template <>
+inline std::string readable_typename<std::string>()
+{
+  return "string";
+}
+
+} // detail
+
+//-----
+
+class cmdline_error : public std::exception {
+public:
+  cmdline_error(const std::string &msg): msg(msg){}
+  ~cmdline_error() throw() {}
+  const char *what() const throw() { return msg.c_str(); }
+private:
+  std::string msg;
+};
+
+template <class T>
+struct default_reader{
+  T operator()(const std::string &str){
+    return detail::lexical_cast<T>(str);
+  }
+};
+
+template <class T>
+struct range_reader{
+  range_reader(const T &low, const T &high): low(low), high(high) {}
+  T operator()(const std::string &s) const {
+    T ret=default_reader<T>()(s);
+    if (!(ret>=low && ret<=high)) throw cmdline::cmdline_error("range_error");
+    return ret;
+  }
+private:
+  T low, high;
+};
+
+template <class T>
+range_reader<T> range(const T &low, const T &high)
+{
+  return range_reader<T>(low, high);
+}
+
+template <class T>
+struct oneof_reader{
+  T operator()(const std::string &s){
+    T ret=default_reader<T>()(s);
+    if (std::find(alt.begin(), alt.end(), ret)==alt.end())
+      throw cmdline_error("");
+    return ret;
+  }
+  void add(const T &v){ alt.push_back(v); }
+private:
+  std::vector<T> alt;
+};
+
+template <class T>
+oneof_reader<T> oneof(T a1)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9, T a10)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  ret.add(a10);
+  return ret;
+}
+
+//-----
+
+class parser{
+public:
+  parser(){
+  }
+  ~parser(){
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      delete p->second;
+  }
+
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc=""){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_without_value(name, short_name, desc);
+    ordered.push_back(options[name]);
+  }
+
+  template <class T>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T()){
+    add(name, short_name, desc, need, def, default_reader<T>());
+  }
+
+  template <class T, class F>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T(),
+           F reader=F()){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_with_value_with_reader<T, F>(name, short_name, need, def, desc, reader);
+    ordered.push_back(options[name]);
+  }
+
+  void footer(const std::string &f){
+    ftr=f;
+  }
+
+  void set_program_name(const std::string &name){
+    prog_name=name;
+  }
+
+  bool exist(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    return options.find(name)->second->has_set();
+  }
+
+  template <class T>
+  const T &get(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    const option_with_value<T> *p=dynamic_cast<const option_with_value<T>*>(options.find(name)->second);
+    if (p==NULL) throw cmdline_error("type mismatch flag '"+name+"'");
+    return p->get();
+  }
+
+  const std::vector<std::string> &rest() const {
+    return others;
+  }
+
+  bool parse(const std::string &arg){
+    std::vector<std::string> args;
+
+    std::string buf;
+    bool in_quote=false;
+    for (std::string::size_type i=0; i<arg.length(); i++){
+      if (arg[i]=='\"'){
+        in_quote=!in_quote;
+        continue;
+      }
+
+      if (arg[i]==' ' && !in_quote){
+        args.push_back(buf);
+        buf="";
+        continue;
+      }
+
+      if (arg[i]=='\\'){
+        i++;
+        if (i>=arg.length()){
+          errors.push_back("unexpected occurrence of '\\' at end of string");
+          return false;
+        }
+      }
+
+      buf+=arg[i];
+    }
+
+    if (in_quote){
+      errors.push_back("quote is not closed");
+      return false;
+    }
+
+    if (buf.length()>0)
+      args.push_back(buf);
+
+    for (size_t i=0; i<args.size(); i++)
+      std::cout<<"\""<<args[i]<<"\""<<std::endl;
+
+    return parse(args);
+  }
+
+  bool parse(const std::vector<std::string> &args){
+    int argc=static_cast<int>(args.size());
+    std::vector<const char*> argv(argc);
+
+    for (int i=0; i<argc; i++)
+      argv[i]=args[i].c_str();
+
+    return parse(argc, &argv[0]);
+  }
+
+  bool parse(int argc, const char * const argv[]){
+    errors.clear();
+    others.clear();
+
+    if (argc<1){
+      errors.push_back("argument number must be longer than 0");
+      return false;
+    }
+    if (prog_name=="")
+      prog_name=argv[0];
+
+    std::map<char, std::string> lookup;
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++){
+      if (p->first.length()==0) continue;
+      char initial=p->second->short_name();
+      if (initial){
+        if (lookup.count(initial)>0){
+          lookup[initial]="";
+          errors.push_back(std::string("short option '")+initial+"' is ambiguous");
+          return false;
+        }
+        else lookup[initial]=p->first;
+      }
+    }
+
+    for (int i=1; i<argc; i++){
+      if (strncmp(argv[i], "--", 2)==0){
+        const char *p=strchr(argv[i]+2, '=');
+        if (p){
+          std::string name(argv[i]+2, p);
+          std::string val(p+1);
+          set_option(name, val);
+        }
+        else{
+          std::string name(argv[i]+2);
+          if (options.count(name)==0){
+            errors.push_back("undefined option: --"+name);
+            continue;
+          }
+          if (options[name]->has_value()){
+            if (i+1>=argc){
+              errors.push_back("option needs value: --"+name);
+              continue;
+            }
+            else{
+              i++;
+              set_option(name, argv[i]);
+            }
+          }
+          else{
+            set_option(name);
+          }
+        }
+      }
+      else if (strncmp(argv[i], "-", 1)==0){
+        if (!argv[i][1]) continue;
+        char last=argv[i][1];
+        for (int j=2; argv[i][j]; j++){
+          last=argv[i][j];
+          if (lookup.count(argv[i][j-1])==0){
+            errors.push_back(std::string("undefined short option: -")+argv[i][j-1]);
+            continue;
+          }
+          if (lookup[argv[i][j-1]]==""){
+            errors.push_back(std::string("ambiguous short option: -")+argv[i][j-1]);
+            continue;
+          }
+          set_option(lookup[argv[i][j-1]]);
+        }
+
+        if (lookup.count(last)==0){
+          errors.push_back(std::string("undefined short option: -")+last);
+          continue;
+        }
+        if (lookup[last]==""){
+          errors.push_back(std::string("ambiguous short option: -")+last);
+          continue;
+        }
+
+        if (i+1<argc && options[lookup[last]]->has_value()){
+          set_option(lookup[last], argv[i+1]);
+          i++;
+        }
+        else{
+          set_option(lookup[last]);
+        }
+      }
+      else{
+        others.push_back(argv[i]);
+      }
+    }
+
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      if (!p->second->valid())
+        errors.push_back("need option: --"+std::string(p->first));
+
+    return errors.size()==0;
+  }
+
+  void parse_check(const std::string &arg){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(0, parse(arg));
+  }
+
+  void parse_check(const std::vector<std::string> &args){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(args.size(), parse(args));
+  }
+
+  void parse_check(int argc, char *argv[]){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(argc, parse(argc, argv));
+  }
+
+  std::string error() const{
+    return errors.size()>0?errors[0]:"";
+  }
+
+  std::string error_full() const{
+    std::ostringstream oss;
+    for (size_t i=0; i<errors.size(); i++)
+      oss<<errors[i]<<std::endl;
+    return oss.str();
+  }
+
+  std::string usage() const {
+    std::ostringstream oss;
+    oss<<"usage: "<<prog_name<<" ";
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->must())
+        oss<<ordered[i]->short_description()<<" ";
+    }
+    
+    oss<<"[options] ... "<<ftr<<std::endl;
+    oss<<"options:"<<std::endl;
+
+    size_t max_width=0;
+    for (size_t i=0; i<ordered.size(); i++){
+      max_width=std::max(max_width, ordered[i]->name().length());
+    }
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->short_name()){
+        oss<<"  -"<<ordered[i]->short_name()<<", ";
+      }
+      else{
+        oss<<"      ";
+      }
+
+      oss<<"--"<<ordered[i]->name();
+      for (size_t j=ordered[i]->name().length(); j<max_width+4; j++)
+        oss<<' ';
+      oss<<ordered[i]->description()<<std::endl;
+    }
+    return oss.str();
+  }
+
+private:
+
+  void check(int argc, bool ok){
+    if ((argc==1 && !ok) || exist("help")){
+      std::cerr<<usage();
+      exit(0);
+    }
+
+    if (!ok){
+      std::cerr<<error()<<std::endl<<usage();
+      exit(1);
+    }
+  }
+
+  void set_option(const std::string &name){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set()){
+      errors.push_back("option needs value: --"+name);
+      return;
+    }
+  }
+
+  void set_option(const std::string &name, const std::string &value){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set(value)){
+      errors.push_back("option value is invalid: --"+name+"="+value);
+      return;
+    }
+  }
+
+  class option_base{
+  public:
+    virtual ~option_base(){}
+
+    virtual bool has_value() const=0;
+    virtual bool set()=0;
+    virtual bool set(const std::string &value)=0;
+    virtual bool has_set() const=0;
+    virtual bool valid() const=0;
+    virtual bool must() const=0;
+
+    virtual const std::string &name() const=0;
+    virtual char short_name() const=0;
+    virtual const std::string &description() const=0;
+    virtual std::string short_description() const=0;
+  };
+
+  class option_without_value : public option_base {
+  public:
+    option_without_value(const std::string &name,
+                         char short_name,
+                         const std::string &desc)
+      :nam(name), snam(short_name), desc(desc), has(false){
+    }
+    ~option_without_value(){}
+
+    bool has_value() const { return false; }
+
+    bool set(){
+      has=true;
+      return true;
+    }
+
+    bool set(const std::string &){
+      return false;
+    }
+
+    bool has_set() const {
+      return has;
+    }
+
+    bool valid() const{
+      return true;
+    }
+
+    bool must() const{
+      return false;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam;
+    }
+
+  private:
+    std::string nam;
+    char snam;
+    std::string desc;
+    bool has;
+  };
+
+  template <class T>
+  class option_with_value : public option_base {
+  public:
+    option_with_value(const std::string &name,
+                      char short_name,
+                      bool need,
+                      const T &def,
+                      const std::string &desc)
+      : nam(name), snam(short_name), need(need), has(false)
+      , def(def), actual(def) {
+      this->desc=full_description(desc);
+    }
+    ~option_with_value(){}
+
+    const T &get() const {
+      return actual;
+    }
+
+    bool has_value() const { return true; }
+
+    bool set(){
+      return false;
+    }
+
+    bool set(const std::string &value){
+      try{
+        actual=read(value);
+        has=true;
+      }
+      catch(const std::exception &){
+        return false;
+      }
+      return true;
+    }
+
+    bool has_set() const{
+      return has;
+    }
+
+    bool valid() const{
+      if (need && !has) return false;
+      return true;
+    }
+
+    bool must() const{
+      return need;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam+"="+detail::readable_typename<T>();
+    }
+
+  protected:
+    std::string full_description(const std::string &desc){
+      return
+        desc+" ("+detail::readable_typename<T>()+
+        (need?"":" [="+detail::default_value<T>(def)+"]")
+        +")";
+    }
+
+    virtual T read(const std::string &s)=0;
+
+    std::string nam;
+    char snam;
+    bool need;
+    std::string desc;
+
+    bool has;
+    T def;
+    T actual;
+  };
+
+  template <class T, class F>
+  class option_with_value_with_reader : public option_with_value<T> {
+  public:
+    option_with_value_with_reader(const std::string &name,
+                                  char short_name,
+                                  bool need,
+                                  const T def,
+                                  const std::string &desc,
+                                  F reader)
+      : option_with_value<T>(name, short_name, need, def, desc), reader(reader){
+    }
+
+  private:
+    T read(const std::string &s){
+      return reader(s);
+    }
+
+    F reader;
+  };
+
+  std::map<std::string, option_base*> options;
+  std::vector<option_base*> ordered;
+  std::string ftr;
+
+  std::string prog_name;
+  std::vector<std::string> others;
+
+  std::vector<std::string> errors;
+};
+
+} // cmdline

lidar_driver/include/Livox/third_party/spdlog/spdlog/async.h

@@ -0,0 +1,87 @@
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Async logging using global thread pool
+// All loggers created here share same global thread pool.
+// Each log message is pushed to a queue along withe a shared pointer to the
+// logger.
+// If a logger deleted while having pending messages in the queue, it's actual
+// destruction will defer
+// until all its messages are processed by the thread pool.
+// This is because each message in the queue holds a shared_ptr to the
+// originating logger.
+
+#include "spdlog/async_logger.h"
+#include "spdlog/details/registry.h"
+#include "spdlog/details/thread_pool.h"
+
+#include <memory>
+#include <mutex>
+
+namespace spdlog {
+
+namespace details {
+static const size_t default_async_q_size = 8192;
+}
+
+// async logger factory - creates async loggers backed with thread pool.
+// if a global thread pool doesn't already exist, create it with default queue
+// size of 8192 items and single thread.
+template<async_overflow_policy OverflowPolicy = async_overflow_policy::block>
+struct async_factory_impl
+{
+    template<typename Sink, typename... SinkArgs>
+    static std::shared_ptr<async_logger> create(std::string logger_name, SinkArgs &&... args)
+    {
+        auto &registry_inst = details::registry::instance();
+
+        // create global thread pool if not already exists..
+        std::lock_guard<std::recursive_mutex> tp_lock(registry_inst.tp_mutex());
+        auto tp = registry_inst.get_tp();
+        if (tp == nullptr)
+        {
+            tp = std::make_shared<details::thread_pool>(details::default_async_q_size, 1);
+            registry_inst.set_tp(tp);
+        }
+
+        auto sink = std::make_shared<Sink>(std::forward<SinkArgs>(args)...);
+        auto new_logger = std::make_shared<async_logger>(std::move(logger_name), std::move(sink), std::move(tp), OverflowPolicy);
+        registry_inst.initialize_logger(new_logger);
+        return new_logger;
+    }
+};
+
+using async_factory = async_factory_impl<async_overflow_policy::block>;
+using async_factory_nonblock = async_factory_impl<async_overflow_policy::overrun_oldest>;
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async(std::string logger_name, SinkArgs &&... sink_args)
+{
+    return async_factory::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async_nb(std::string logger_name, SinkArgs &&... sink_args)
+{
+    return async_factory_nonblock::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+// set global thread pool.
+inline void init_thread_pool(size_t q_size, size_t thread_count)
+{
+    auto tp = std::make_shared<details::thread_pool>(q_size, thread_count);
+    details::registry::instance().set_tp(std::move(tp));
+}
+
+// get the global thread pool.
+inline std::shared_ptr<spdlog::details::thread_pool> thread_pool()
+{
+    return details::registry::instance().get_tp();
+}
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/async_logger.h

@@ -0,0 +1,73 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Very fast asynchronous logger (millions of logs per second on an average
+// desktop)
+// Uses pre allocated lockfree queue for maximum throughput even under large
+// number of threads.
+// Creates a single back thread to pop messages from the queue and log them.
+//
+// Upon each log write the logger:
+//    1. Checks if its log level is enough to log the message
+//    2. Push a new copy of the message to a queue (or block the caller until
+//    space is available in the queue)
+//    3. will throw spdlog_ex upon log exceptions
+// Upon destruction, logs all remaining messages in the queue before
+// destructing..
+
+#include "spdlog/common.h"
+#include "spdlog/logger.h"
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+namespace spdlog {
+
+// Async overflow policy - block by default.
+enum class async_overflow_policy
+{
+    block,         // Block until message can be enqueued
+    overrun_oldest // Discard oldest message in the queue if full when trying to
+                   // add new item.
+};
+
+namespace details {
+class thread_pool;
+}
+
+class async_logger final : public std::enable_shared_from_this<async_logger>, public logger
+{
+    friend class details::thread_pool;
+
+public:
+    template<typename It>
+    async_logger(std::string logger_name, It begin, It end, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    async_logger(std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    async_logger(std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    std::shared_ptr<logger> clone(std::string new_name) override;
+
+protected:
+    void sink_it_(details::log_msg &msg) override;
+    void flush_() override;
+
+    void backend_log_(const details::log_msg &incoming_log_msg);
+    void backend_flush_();
+
+private:
+    std::weak_ptr<details::thread_pool> thread_pool_;
+    async_overflow_policy overflow_policy_;
+};
+} // namespace spdlog
+
+#include "details/async_logger_impl.h"

lidar_driver/include/Livox/third_party/spdlog/spdlog/common.h

@@ -0,0 +1,246 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/tweakme.h"
+
+#include <atomic>
+#include <chrono>
+#include <functional>
+#include <initializer_list>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <cstring>
+#include <type_traits>
+#include <unordered_map>
+
+#if defined(SPDLOG_WCHAR_FILENAMES) || defined(SPDLOG_WCHAR_TO_UTF8_SUPPORT)
+#include <codecvt>
+#include <locale>
+#endif
+
+#include "spdlog/details/null_mutex.h"
+
+#include "spdlog/fmt/fmt.h"
+
+// visual studio upto 2013 does not support noexcept nor constexpr
+#if defined(_MSC_VER) && (_MSC_VER < 1900)
+#define SPDLOG_NOEXCEPT throw()
+#define SPDLOG_CONSTEXPR
+#else
+#define SPDLOG_NOEXCEPT noexcept
+#define SPDLOG_CONSTEXPR constexpr
+#endif
+
+#if defined(__GNUC__) || defined(__clang__)
+#define SPDLOG_DEPRECATED __attribute__((deprecated))
+#elif defined(_MSC_VER)
+#define SPDLOG_DEPRECATED __declspec(deprecated)
+#else
+#define SPDLOG_DEPRECATED
+#endif
+
+// disable thread local on msvc 2013
+#ifndef SPDLOG_NO_TLS
+#if (defined(_MSC_VER) && (_MSC_VER < 1900)) || defined(__cplusplus_winrt)
+#define SPDLOG_NO_TLS 1
+#endif
+#endif
+
+// Get the basename of __FILE__ (at compile time if possible)
+#if FMT_HAS_FEATURE(__builtin_strrchr)
+#define SPDLOG_STRRCHR(str, sep) __builtin_strrchr(str, sep)
+#else
+#define SPDLOG_STRRCHR(str, sep) strrchr(str, sep)
+#endif //__builtin_strrchr not defined
+
+#ifdef _WIN32
+#define SPDLOG_FILE_BASENAME(file) SPDLOG_STRRCHR("\\" file, '\\') + 1
+#else
+#define SPDLOG_FILE_BASENAME(file) SPDLOG_STRRCHR("/" file, '/') + 1
+#endif
+
+#ifndef SPDLOG_FUNCTION
+#define SPDLOG_FUNCTION __FUNCTION__
+#endif
+
+namespace spdlog {
+
+class formatter;
+
+namespace sinks {
+class sink;
+}
+
+using log_clock = std::chrono::system_clock;
+using sink_ptr = std::shared_ptr<sinks::sink>;
+using sinks_init_list = std::initializer_list<sink_ptr>;
+using log_err_handler = std::function<void(const std::string &err_msg)>;
+
+// string_view type - either std::string_view or fmt::string_view (pre c++17)
+#if defined(FMT_USE_STD_STRING_VIEW)
+using string_view_t = std::string_view;
+#else
+using string_view_t = fmt::string_view;
+#endif
+
+#if defined(SPDLOG_NO_ATOMIC_LEVELS)
+using level_t = details::null_atomic_int;
+#else
+using level_t = std::atomic<int>;
+#endif
+
+#define SPDLOG_LEVEL_TRACE 0
+#define SPDLOG_LEVEL_DEBUG 1
+#define SPDLOG_LEVEL_INFO 2
+#define SPDLOG_LEVEL_WARN 3
+#define SPDLOG_LEVEL_ERROR 4
+#define SPDLOG_LEVEL_CRITICAL 5
+#define SPDLOG_LEVEL_OFF 6
+
+#if !defined(SPDLOG_ACTIVE_LEVEL)
+#define SPDLOG_ACTIVE_LEVEL SPDLOG_LEVEL_INFO
+#endif
+
+// Log level enum
+namespace level {
+enum level_enum
+{
+    trace = SPDLOG_LEVEL_TRACE,
+    debug = SPDLOG_LEVEL_DEBUG,
+    info = SPDLOG_LEVEL_INFO,
+    warn = SPDLOG_LEVEL_WARN,
+    err = SPDLOG_LEVEL_ERROR,
+    critical = SPDLOG_LEVEL_CRITICAL,
+    off = SPDLOG_LEVEL_OFF,
+};
+
+#if !defined(SPDLOG_LEVEL_NAMES)
+#define SPDLOG_LEVEL_NAMES                                                                                                                 \
+    {                                                                                                                                      \
+        "trace", "debug", "info", "warning", "error", "critical", "off"                                                                    \
+    }
+#endif
+static string_view_t level_string_views[] SPDLOG_LEVEL_NAMES;
+
+#if !defined(SPDLOG_SHORT_LEVEL_NAMES)
+#define SPDLOG_SHORT_LEVEL_NAMES {"T", "D", "I", "W", "E", "C", "O"}
+#endif
+static const char *short_level_names[] SPDLOG_SHORT_LEVEL_NAMES;
+
+inline string_view_t &to_string_view(spdlog::level::level_enum l) SPDLOG_NOEXCEPT
+{
+    return level_string_views[l];
+}
+
+inline const char *to_short_c_str(spdlog::level::level_enum l) SPDLOG_NOEXCEPT
+{
+    return short_level_names[l];
+}
+
+inline spdlog::level::level_enum from_str(const std::string &name) SPDLOG_NOEXCEPT
+{
+    int level = 0;
+    for (const auto &level_str : level_string_views)
+    {
+        if (level_str == name)
+        {
+            return static_cast<level::level_enum>(level);
+        }
+        level++;
+    }
+    return level::off;
+}
+
+using level_hasher = std::hash<int>;
+} // namespace level
+
+//
+// Pattern time - specific time getting to use for pattern_formatter.
+// local time by default
+//
+enum class pattern_time_type
+{
+    local, // log localtime
+    utc    // log utc
+};
+
+//
+// Log exception
+//
+class spdlog_ex : public std::exception
+{
+public:
+    explicit spdlog_ex(std::string msg)
+        : msg_(std::move(msg))
+    {
+    }
+
+    spdlog_ex(const std::string &msg, int last_errno)
+    {
+        fmt::memory_buffer outbuf;
+        fmt::format_system_error(outbuf, last_errno, msg);
+        msg_ = fmt::to_string(outbuf);
+    }
+
+    const char *what() const SPDLOG_NOEXCEPT override
+    {
+        return msg_.c_str();
+    }
+
+private:
+    std::string msg_;
+};
+
+//
+// wchar support for windows file names (SPDLOG_WCHAR_FILENAMES must be defined)
+//
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+using filename_t = std::wstring;
+#else
+using filename_t = std::string;
+#endif
+
+struct source_loc
+{
+    SPDLOG_CONSTEXPR source_loc()
+        : filename{""}
+        , line{0}
+        , funcname{""}
+    {
+    }
+    SPDLOG_CONSTEXPR source_loc(const char *filename_in, int line_in, const char *funcname_in)
+        : filename{filename_in}
+        , line{static_cast<uint32_t>(line_in)}
+        , funcname{funcname_in}
+    {
+    }
+
+    SPDLOG_CONSTEXPR bool empty() const SPDLOG_NOEXCEPT
+    {
+        return line == 0;
+    }
+    const char *filename;
+    uint32_t line;
+    const char *funcname;
+};
+
+namespace details {
+// make_unique support for pre c++14
+
+#if __cplusplus >= 201402L // C++14 and beyond
+using std::make_unique;
+#else
+template<typename T, typename... Args>
+std::unique_ptr<T> make_unique(Args &&... args)
+{
+    static_assert(!std::is_array<T>::value, "arrays not supported");
+    return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
+}
+#endif
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/async_logger_impl.h

@@ -0,0 +1,110 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// async logger implementation
+// uses a thread pool to perform the actual logging
+
+#include "spdlog/details/thread_pool.h"
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+template<typename It>
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, It begin, It end, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : logger(std::move(logger_name), begin, end)
+    , thread_pool_(std::move(tp))
+    , overflow_policy_(overflow_policy)
+{
+}
+
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), sinks_list.begin(), sinks_list.end(), std::move(tp), overflow_policy)
+{
+}
+
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), {std::move(single_sink)}, std::move(tp), overflow_policy)
+{
+}
+
+// send the log message to the thread pool
+inline void spdlog::async_logger::sink_it_(details::log_msg &msg)
+{
+#if defined(SPDLOG_ENABLE_MESSAGE_COUNTER)
+    incr_msg_counter_(msg);
+#endif
+    if (auto pool_ptr = thread_pool_.lock())
+    {
+        pool_ptr->post_log(shared_from_this(), msg, overflow_policy_);
+    }
+    else
+    {
+        throw spdlog_ex("async log: thread pool doesn't exist anymore");
+    }
+}
+
+// send flush request to the thread pool
+inline void spdlog::async_logger::flush_()
+{
+    if (auto pool_ptr = thread_pool_.lock())
+    {
+        pool_ptr->post_flush(shared_from_this(), overflow_policy_);
+    }
+    else
+    {
+        throw spdlog_ex("async flush: thread pool doesn't exist anymore");
+    }
+}
+
+//
+// backend functions - called from the thread pool to do the actual job
+//
+inline void spdlog::async_logger::backend_log_(const details::log_msg &incoming_log_msg)
+{
+    try
+    {
+        for (auto &s : sinks_)
+        {
+            if (s->should_log(incoming_log_msg.level))
+            {
+                s->log(incoming_log_msg);
+            }
+        }
+    }
+    SPDLOG_CATCH_AND_HANDLE
+
+    if (should_flush_(incoming_log_msg))
+    {
+        backend_flush_();
+    }
+}
+
+inline void spdlog::async_logger::backend_flush_()
+{
+    try
+    {
+        for (auto &sink : sinks_)
+        {
+            sink->flush();
+        }
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline std::shared_ptr<spdlog::logger> spdlog::async_logger::clone(std::string new_name)
+{
+    auto cloned = std::make_shared<spdlog::async_logger>(std::move(new_name), sinks_.begin(), sinks_.end(), thread_pool_, overflow_policy_);
+
+    cloned->set_level(this->level());
+    cloned->flush_on(this->flush_level());
+    cloned->set_error_handler(this->error_handler());
+    return std::move(cloned);
+}

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/circular_q.h

@@ -0,0 +1,72 @@
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+// cirucal q view of std::vector.
+#pragma once
+
+#include <vector>
+
+namespace spdlog {
+namespace details {
+template<typename T>
+class circular_q
+{
+public:
+    using item_type = T;
+
+    explicit circular_q(size_t max_items)
+        : max_items_(max_items + 1) // one item is reserved as marker for full q
+        , v_(max_items_)
+    {
+    }
+
+    // push back, overrun (oldest) item if no room left
+    void push_back(T &&item)
+    {
+        v_[tail_] = std::move(item);
+        tail_ = (tail_ + 1) % max_items_;
+
+        if (tail_ == head_) // overrun last item if full
+        {
+            head_ = (head_ + 1) % max_items_;
+            ++overrun_counter_;
+        }
+    }
+
+    // Pop item from front.
+    // If there are no elements in the container, the behavior is undefined.
+    void pop_front(T &popped_item)
+    {
+        popped_item = std::move(v_[head_]);
+        head_ = (head_ + 1) % max_items_;
+    }
+
+    bool empty()
+    {
+        return tail_ == head_;
+    }
+
+    bool full()
+    {
+        // head is ahead of the tail by 1
+        return ((tail_ + 1) % max_items_) == head_;
+    }
+
+    size_t overrun_counter() const
+    {
+        return overrun_counter_;
+    }
+
+private:
+    size_t max_items_;
+    typename std::vector<T>::size_type head_ = 0;
+    typename std::vector<T>::size_type tail_ = 0;
+
+    std::vector<T> v_;
+
+    size_t overrun_counter_ = 0;
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/console_globals.h

@@ -0,0 +1,74 @@
+#pragma once
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#include "spdlog/details/null_mutex.h"
+#include <cstdio>
+#include <mutex>
+
+#ifdef _WIN32
+
+#ifndef NOMINMAX
+#define NOMINMAX // prevent windows redefining min/max
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+
+#include <windows.h>
+#endif
+
+namespace spdlog {
+namespace details {
+struct console_stdout
+{
+    static std::FILE *stream()
+    {
+        return stdout;
+    }
+#ifdef _WIN32
+    static HANDLE handle()
+    {
+        return ::GetStdHandle(STD_OUTPUT_HANDLE);
+    }
+#endif
+};
+
+struct console_stderr
+{
+    static std::FILE *stream()
+    {
+        return stderr;
+    }
+#ifdef _WIN32
+    static HANDLE handle()
+    {
+        return ::GetStdHandle(STD_ERROR_HANDLE);
+    }
+#endif
+};
+
+struct console_mutex
+{
+    using mutex_t = std::mutex;
+    static mutex_t &mutex()
+    {
+        static mutex_t s_mutex;
+        return s_mutex;
+    }
+};
+
+struct console_nullmutex
+{
+    using mutex_t = null_mutex;
+    static mutex_t &mutex()
+    {
+        static mutex_t s_mutex;
+        return s_mutex;
+    }
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/file_helper.h

@@ -0,0 +1,152 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Helper class for file sinks.
+// When failing to open a file, retry several times(5) with a delay interval(10 ms).
+// Throw spdlog_ex exception on errors.
+
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/os.h"
+
+#include <cerrno>
+#include <chrono>
+#include <cstdio>
+#include <string>
+#include <thread>
+#include <tuple>
+
+namespace spdlog {
+namespace details {
+
+class file_helper
+{
+
+public:
+    const int open_tries = 5;
+    const int open_interval = 10;
+
+    explicit file_helper() = default;
+
+    file_helper(const file_helper &) = delete;
+    file_helper &operator=(const file_helper &) = delete;
+
+    ~file_helper()
+    {
+        close();
+    }
+
+    void open(const filename_t &fname, bool truncate = false)
+    {
+        close();
+        auto *mode = truncate ? SPDLOG_FILENAME_T("wb") : SPDLOG_FILENAME_T("ab");
+        _filename = fname;
+        for (int tries = 0; tries < open_tries; ++tries)
+        {
+            if (!os::fopen_s(&fd_, fname, mode))
+            {
+                return;
+            }
+
+            details::os::sleep_for_millis(open_interval);
+        }
+
+        throw spdlog_ex("Failed opening file " + os::filename_to_str(_filename) + " for writing", errno);
+    }
+
+    void reopen(bool truncate)
+    {
+        if (_filename.empty())
+        {
+            throw spdlog_ex("Failed re opening file - was not opened before");
+        }
+        open(_filename, truncate);
+    }
+
+    void flush()
+    {
+        std::fflush(fd_);
+    }
+
+    void close()
+    {
+        if (fd_ != nullptr)
+        {
+            std::fclose(fd_);
+            fd_ = nullptr;
+        }
+    }
+
+    void write(const fmt::memory_buffer &buf)
+    {
+        size_t msg_size = buf.size();
+        auto data = buf.data();
+        if (std::fwrite(data, 1, msg_size, fd_) != msg_size)
+        {
+            throw spdlog_ex("Failed writing to file " + os::filename_to_str(_filename), errno);
+        }
+    }
+
+    size_t size() const
+    {
+        if (fd_ == nullptr)
+        {
+            throw spdlog_ex("Cannot use size() on closed file " + os::filename_to_str(_filename));
+        }
+        return os::filesize(fd_);
+    }
+
+    const filename_t &filename() const
+    {
+        return _filename;
+    }
+
+    static bool file_exists(const filename_t &fname)
+    {
+        return os::file_exists(fname);
+    }
+
+    //
+    // return file path and its extension:
+    //
+    // "mylog.txt" => ("mylog", ".txt")
+    // "mylog" => ("mylog", "")
+    // "mylog." => ("mylog.", "")
+    // "/dir1/dir2/mylog.txt" => ("/dir1/dir2/mylog", ".txt")
+    //
+    // the starting dot in filenames is ignored (hidden files):
+    //
+    // ".mylog" => (".mylog". "")
+    // "my_folder/.mylog" => ("my_folder/.mylog", "")
+    // "my_folder/.mylog.txt" => ("my_folder/.mylog", ".txt")
+    static std::tuple<filename_t, filename_t> split_by_extension(const spdlog::filename_t &fname)
+    {
+        auto ext_index = fname.rfind('.');
+
+        // no valid extension found - return whole path and empty string as
+        // extension
+        if (ext_index == filename_t::npos || ext_index == 0 || ext_index == fname.size() - 1)
+        {
+            return std::make_tuple(fname, spdlog::filename_t());
+        }
+
+        // treat casese like "/etc/rc.d/somelogfile or "/abc/.hiddenfile"
+        auto folder_index = fname.rfind(details::os::folder_sep);
+        if (folder_index != filename_t::npos && folder_index >= ext_index - 1)
+        {
+            return std::make_tuple(fname, spdlog::filename_t());
+        }
+
+        // finally - return a valid base and extension tuple
+        return std::make_tuple(fname.substr(0, ext_index), fname.substr(ext_index));
+    }
+
+private:
+    std::FILE *fd_{nullptr};
+    filename_t _filename;
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/fmt_helper.h

@@ -0,0 +1,122 @@
+//
+// Created by gabi on 6/15/18.
+//
+
+#pragma once
+
+#include <chrono>
+#include <type_traits>
+#include "spdlog/fmt/fmt.h"
+
+// Some fmt helpers to efficiently format and pad ints and strings
+namespace spdlog {
+namespace details {
+namespace fmt_helper {
+
+template<size_t Buffer_Size>
+inline spdlog::string_view_t to_string_view(const fmt::basic_memory_buffer<char, Buffer_Size> &buf) SPDLOG_NOEXCEPT
+{
+    return spdlog::string_view_t(buf.data(), buf.size());
+}
+
+template<size_t Buffer_Size1, size_t Buffer_Size2>
+inline void append_buf(const fmt::basic_memory_buffer<char, Buffer_Size1> &buf, fmt::basic_memory_buffer<char, Buffer_Size2> &dest)
+{
+    auto *buf_ptr = buf.data();
+    dest.append(buf_ptr, buf_ptr + buf.size());
+}
+
+template<size_t Buffer_Size>
+inline void append_string_view(spdlog::string_view_t view, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    auto *buf_ptr = view.data();
+    if (buf_ptr != nullptr)
+    {
+        dest.append(buf_ptr, buf_ptr + view.size());
+    }
+}
+
+template<typename T, size_t Buffer_Size>
+inline void append_int(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    fmt::format_int i(n);
+    dest.append(i.data(), i.data() + i.size());
+}
+
+template<typename T>
+inline unsigned count_digits(T n)
+{
+    using count_type = typename std::conditional<(sizeof(T) > sizeof(uint32_t)), uint64_t, uint32_t>::type;
+    return static_cast<unsigned>(fmt::internal::count_digits(static_cast<count_type>(n)));
+}
+
+template<size_t Buffer_Size>
+inline void pad2(int n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    if (n > 99)
+    {
+        append_int(n, dest);
+    }
+    else if (n > 9) // 10-99
+    {
+        dest.push_back(static_cast<char>('0' + n / 10));
+        dest.push_back(static_cast<char>('0' + n % 10));
+    }
+    else if (n >= 0) // 0-9
+    {
+        dest.push_back('0');
+        dest.push_back(static_cast<char>('0' + n));
+    }
+    else // negatives (unlikely, but just in case, let fmt deal with it)
+    {
+        fmt::format_to(dest, "{:02}", n);
+    }
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad_uint(T n, unsigned int width, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    static_assert(std::is_unsigned<T>::value, "pad_uint must get unsigned T");
+    auto digits = count_digits(n);
+    if (width > digits)
+    {
+        const char *zeroes = "0000000000000000000";
+        dest.append(zeroes, zeroes + width - digits);
+    }
+    append_int(n, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad3(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 3, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad6(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 6, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad9(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 9, dest);
+}
+
+// return fraction of a second of the given time_point.
+// e.g.
+// fraction<std::milliseconds>(tp) -> will return the millis part of the second
+template<typename ToDuration>
+inline ToDuration time_fraction(const log_clock::time_point &tp)
+{
+    using std::chrono::duration_cast;
+    using std::chrono::seconds;
+    auto duration = tp.time_since_epoch();
+    auto secs = duration_cast<seconds>(duration);
+    return duration_cast<ToDuration>(duration) - duration_cast<ToDuration>(secs);
+}
+
+} // namespace fmt_helper
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/log_msg.h

@@ -0,0 +1,55 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/common.h"
+#include "spdlog/details/os.h"
+
+#include <string>
+#include <utility>
+
+namespace spdlog {
+namespace details {
+struct log_msg
+{
+
+    log_msg(source_loc loc, const std::string *loggers_name, level::level_enum lvl, string_view_t view)
+        : logger_name(loggers_name)
+        , level(lvl)
+#ifndef SPDLOG_NO_DATETIME
+        , time(os::now())
+#endif
+
+#ifndef SPDLOG_NO_THREAD_ID
+        , thread_id(os::thread_id())
+#endif
+        , source(loc)
+        , payload(view)
+    {
+    }
+
+    log_msg(const std::string *loggers_name, level::level_enum lvl, string_view_t view)
+        : log_msg(source_loc{}, loggers_name, lvl, view)
+    {
+    }
+
+    log_msg(const log_msg &other) = default;
+
+    const std::string *logger_name{nullptr};
+    level::level_enum level{level::off};
+    log_clock::time_point time;
+    size_t thread_id{0};
+    size_t msg_id{0};
+
+    // wrapping the formatted text with color (updated by pattern_formatter).
+    mutable size_t color_range_start{0};
+    mutable size_t color_range_end{0};
+
+    source_loc source;
+    const string_view_t payload;
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/logger_impl.h

@@ -0,0 +1,435 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/details/fmt_helper.h"
+
+#include <memory>
+#include <string>
+
+#define SPDLOG_CATCH_AND_HANDLE                                                                                                            \
+    catch (const std::exception &ex)                                                                                                       \
+    {                                                                                                                                      \
+        err_handler_(ex.what());                                                                                                           \
+    }                                                                                                                                      \
+    catch (...)                                                                                                                            \
+    {                                                                                                                                      \
+        err_handler_("Unknown exception in logger");                                                                                       \
+    }
+
+// create logger with given name, sinks and the default pattern formatter
+// all other ctors will call this one
+template<typename It>
+inline spdlog::logger::logger(std::string logger_name, It begin, It end)
+    : name_(std::move(logger_name))
+    , sinks_(begin, end)
+{
+}
+
+// ctor with sinks as init list
+inline spdlog::logger::logger(std::string logger_name, sinks_init_list sinks_list)
+    : logger(std::move(logger_name), sinks_list.begin(), sinks_list.end())
+{
+}
+
+// ctor with single sink
+inline spdlog::logger::logger(std::string logger_name, spdlog::sink_ptr single_sink)
+    : logger(std::move(logger_name), {std::move(single_sink)})
+{
+}
+
+inline spdlog::logger::~logger() = default;
+
+inline void spdlog::logger::set_formatter(std::unique_ptr<spdlog::formatter> f)
+{
+    for (auto &sink : sinks_)
+    {
+        sink->set_formatter(f->clone());
+    }
+}
+
+inline void spdlog::logger::set_pattern(std::string pattern, pattern_time_type time_type)
+{
+    auto new_formatter = details::make_unique<spdlog::pattern_formatter>(std::move(pattern), time_type);
+    set_formatter(std::move(new_formatter));
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const char *fmt, const Args &... args)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        using details::fmt_helper::to_string_view;
+        fmt::memory_buffer buf;
+        fmt::format_to(buf, fmt, args...);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(level::level_enum lvl, const char *fmt, const Args &... args)
+{
+    log(source_loc{}, lvl, fmt, args...);
+}
+
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const char *msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        details::log_msg log_msg(source, &name_, lvl, spdlog::string_view_t(msg));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline void spdlog::logger::log(level::level_enum lvl, const char *msg)
+{
+    log(source_loc{}, lvl, msg);
+}
+
+template<class T>
+inline void spdlog::logger::log(level::level_enum lvl, const T &msg)
+{
+    log(source_loc{}, lvl, msg);
+}
+
+template<class T, typename std::enable_if<std::is_convertible<T, spdlog::string_view_t>::value, T>::type *>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const T &msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+    try
+    {
+        details::log_msg log_msg(source, &name_, lvl, msg);
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<class T, typename std::enable_if<!std::is_convertible<T, spdlog::string_view_t>::value, T>::type *>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const T &msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+    try
+    {
+        using details::fmt_helper::to_string_view;
+        fmt::memory_buffer buf;
+        fmt::format_to(buf, "{}", msg);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::trace(const char *fmt, const Args &... args)
+{
+    log(level::trace, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::debug(const char *fmt, const Args &... args)
+{
+    log(level::debug, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::info(const char *fmt, const Args &... args)
+{
+    log(level::info, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::warn(const char *fmt, const Args &... args)
+{
+    log(level::warn, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::error(const char *fmt, const Args &... args)
+{
+    log(level::err, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::critical(const char *fmt, const Args &... args)
+{
+    log(level::critical, fmt, args...);
+}
+
+template<typename T>
+inline void spdlog::logger::trace(const T &msg)
+{
+    log(level::trace, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::debug(const T &msg)
+{
+    log(level::debug, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::info(const T &msg)
+{
+    log(level::info, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::warn(const T &msg)
+{
+    log(level::warn, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::error(const T &msg)
+{
+    log(level::err, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::critical(const T &msg)
+{
+    log(level::critical, msg);
+}
+
+#ifdef SPDLOG_WCHAR_TO_UTF8_SUPPORT
+
+inline void wbuf_to_utf8buf(const fmt::wmemory_buffer &wbuf, fmt::memory_buffer &target)
+{
+    int wbuf_size = static_cast<int>(wbuf.size());
+    if (wbuf_size == 0)
+    {
+        return;
+    }
+
+    auto result_size = ::WideCharToMultiByte(CP_UTF8, 0, wbuf.data(), wbuf_size, NULL, 0, NULL, NULL);
+
+    if (result_size > 0)
+    {
+        target.resize(result_size);
+        ::WideCharToMultiByte(CP_UTF8, 0, wbuf.data(), wbuf_size, &target.data()[0], result_size, NULL, NULL);
+    }
+    else
+    {
+        throw spdlog::spdlog_ex(fmt::format("WideCharToMultiByte failed. Last error: {}", ::GetLastError()));
+    }
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const wchar_t *fmt, const Args &... args)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        // format to wmemory_buffer and convert to utf8
+        using details::fmt_helper::to_string_view;
+        fmt::wmemory_buffer wbuf;
+        fmt::format_to(wbuf, fmt, args...);
+        fmt::memory_buffer buf;
+        wbuf_to_utf8buf(wbuf, buf);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(level::level_enum lvl, const wchar_t *fmt, const Args &... args)
+{
+    log(source_loc{}, lvl, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::trace(const wchar_t *fmt, const Args &... args)
+{
+    log(level::trace, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::debug(const wchar_t *fmt, const Args &... args)
+{
+    log(level::debug, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::info(const wchar_t *fmt, const Args &... args)
+{
+    log(level::info, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::warn(const wchar_t *fmt, const Args &... args)
+{
+    log(level::warn, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::error(const wchar_t *fmt, const Args &... args)
+{
+    log(level::err, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::critical(const wchar_t *fmt, const Args &... args)
+{
+    log(level::critical, fmt, args...);
+}
+
+#endif // SPDLOG_WCHAR_TO_UTF8_SUPPORT
+
+//
+// name and level
+//
+inline const std::string &spdlog::logger::name() const
+{
+    return name_;
+}
+
+inline void spdlog::logger::set_level(spdlog::level::level_enum log_level)
+{
+    level_.store(log_level);
+}
+
+inline void spdlog::logger::set_error_handler(spdlog::log_err_handler err_handler)
+{
+    err_handler_ = std::move(err_handler);
+}
+
+inline spdlog::log_err_handler spdlog::logger::error_handler() const
+{
+    return err_handler_;
+}
+
+inline void spdlog::logger::flush()
+{
+    try
+    {
+        flush_();
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline void spdlog::logger::flush_on(level::level_enum log_level)
+{
+    flush_level_.store(log_level);
+}
+
+inline spdlog::level::level_enum spdlog::logger::flush_level() const
+{
+    return static_cast<spdlog::level::level_enum>(flush_level_.load(std::memory_order_relaxed));
+}
+
+inline bool spdlog::logger::should_flush_(const details::log_msg &msg)
+{
+    auto flush_level = flush_level_.load(std::memory_order_relaxed);
+    return (msg.level >= flush_level) && (msg.level != level::off);
+}
+
+inline spdlog::level::level_enum spdlog::logger::default_level()
+{
+    return static_cast<spdlog::level::level_enum>(SPDLOG_ACTIVE_LEVEL);
+}
+
+inline spdlog::level::level_enum spdlog::logger::level() const
+{
+    return static_cast<spdlog::level::level_enum>(level_.load(std::memory_order_relaxed));
+}
+
+inline bool spdlog::logger::should_log(spdlog::level::level_enum msg_level) const
+{
+    return msg_level >= level_.load(std::memory_order_relaxed);
+}
+
+//
+// protected virtual called at end of each user log call (if enabled) by the
+// line_logger
+//
+inline void spdlog::logger::sink_it_(details::log_msg &msg)
+{
+#if defined(SPDLOG_ENABLE_MESSAGE_COUNTER)
+    incr_msg_counter_(msg);
+#endif
+    for (auto &sink : sinks_)
+    {
+        if (sink->should_log(msg.level))
+        {
+            sink->log(msg);
+        }
+    }
+
+    if (should_flush_(msg))
+    {
+        flush_();
+    }
+}
+
+inline void spdlog::logger::flush_()
+{
+    for (auto &sink : sinks_)
+    {
+        sink->flush();
+    }
+}
+
+inline void spdlog::logger::default_err_handler_(const std::string &msg)
+{
+    auto now = time(nullptr);
+    if (now - last_err_time_ < 60)
+    {
+        return;
+    }
+    last_err_time_ = now;
+    auto tm_time = details::os::localtime(now);
+    char date_buf[100];
+    std::strftime(date_buf, sizeof(date_buf), "%Y-%m-%d %H:%M:%S", &tm_time);
+    fmt::print(stderr, "[*** LOG ERROR ***] [{}] [{}] {}\n", date_buf, name(), msg);
+}
+
+inline void spdlog::logger::incr_msg_counter_(details::log_msg &msg)
+{
+    msg.msg_id = msg_counter_.fetch_add(1, std::memory_order_relaxed);
+}
+
+inline const std::vector<spdlog::sink_ptr> &spdlog::logger::sinks() const
+{
+    return sinks_;
+}
+
+inline std::vector<spdlog::sink_ptr> &spdlog::logger::sinks()
+{
+    return sinks_;
+}
+
+inline std::shared_ptr<spdlog::logger> spdlog::logger::clone(std::string logger_name)
+{
+    auto cloned = std::make_shared<spdlog::logger>(std::move(logger_name), sinks_.begin(), sinks_.end());
+    cloned->set_level(this->level());
+    cloned->flush_on(this->flush_level());
+    cloned->set_error_handler(this->error_handler());
+    return cloned;
+}

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/mpmc_blocking_q.h

@@ -0,0 +1,121 @@
+#pragma once
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+// multi producer-multi consumer blocking queue.
+// enqueue(..) - will block until room found to put the new message.
+// enqueue_nowait(..) - will return immediately with false if no room left in
+// the queue.
+// dequeue_for(..) - will block until the queue is not empty or timeout have
+// passed.
+
+#include "spdlog/details/circular_q.h"
+
+#include <condition_variable>
+#include <mutex>
+
+namespace spdlog {
+namespace details {
+
+template<typename T>
+class mpmc_blocking_queue
+{
+public:
+    using item_type = T;
+    explicit mpmc_blocking_queue(size_t max_items)
+        : q_(max_items)
+    {
+    }
+
+#ifndef __MINGW32__
+    // try to enqueue and block if no room left
+    void enqueue(T &&item)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            pop_cv_.wait(lock, [this] { return !this->q_.full(); });
+            q_.push_back(std::move(item));
+        }
+        push_cv_.notify_one();
+    }
+
+    // enqueue immediately. overrun oldest message in the queue if no room left.
+    void enqueue_nowait(T &&item)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            q_.push_back(std::move(item));
+        }
+        push_cv_.notify_one();
+    }
+
+    // try to dequeue item. if no item found. wait upto timeout and try again
+    // Return true, if succeeded dequeue item, false otherwise
+    bool dequeue_for(T &popped_item, std::chrono::milliseconds wait_duration)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            if (!push_cv_.wait_for(lock, wait_duration, [this] { return !this->q_.empty(); }))
+            {
+                return false;
+            }
+            q_.pop_front(popped_item);
+        }
+        pop_cv_.notify_one();
+        return true;
+    }
+
+#else
+    // apparently mingw deadlocks if the mutex is released before cv.notify_one(),
+    // so release the mutex at the very end each function.
+
+    // try to enqueue and block if no room left
+    void enqueue(T &&item)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        pop_cv_.wait(lock, [this] { return !this->q_.full(); });
+        q_.push_back(std::move(item));
+        push_cv_.notify_one();
+    }
+
+    // enqueue immediately. overrun oldest message in the queue if no room left.
+    void enqueue_nowait(T &&item)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        q_.push_back(std::move(item));
+        push_cv_.notify_one();
+    }
+
+    // try to dequeue item. if no item found. wait upto timeout and try again
+    // Return true, if succeeded dequeue item, false otherwise
+    bool dequeue_for(T &popped_item, std::chrono::milliseconds wait_duration)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        if (!push_cv_.wait_for(lock, wait_duration, [this] { return !this->q_.empty(); }))
+        {
+            return false;
+        }
+        q_.pop_front(popped_item);
+        pop_cv_.notify_one();
+        return true;
+    }
+
+#endif
+
+    size_t overrun_counter()
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        return q_.overrun_counter();
+    }
+
+private:
+    std::mutex queue_mutex_;
+    std::condition_variable push_cv_;
+    std::condition_variable pop_cv_;
+    spdlog::details::circular_q<T> q_;
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/null_mutex.h

@@ -0,0 +1,45 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include <atomic>
+// null, no cost dummy "mutex" and dummy "atomic" int
+
+namespace spdlog {
+namespace details {
+struct null_mutex
+{
+    void lock() {}
+    void unlock() {}
+    bool try_lock()
+    {
+        return true;
+    }
+};
+
+struct null_atomic_int
+{
+    int value;
+    null_atomic_int() = default;
+
+    explicit null_atomic_int(int val)
+        : value(val)
+    {
+    }
+
+    int load(std::memory_order) const
+    {
+        return value;
+    }
+
+    void store(int val)
+    {
+        value = val;
+    }
+};
+
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/os.h

@@ -0,0 +1,421 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+#pragma once
+
+#include "../common.h"
+
+#include <algorithm>
+#include <chrono>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+#include <functional>
+#include <string>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <thread>
+
+#ifdef _WIN32
+
+#ifndef NOMINMAX
+#define NOMINMAX // prevent windows redefining min/max
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+#include <io.h>      // _get_osfhandle and _isatty support
+#include <process.h> //  _get_pid support
+#include <windows.h>
+
+#ifdef __MINGW32__
+#include <share.h>
+#endif
+
+#else // unix
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#ifdef __linux__
+#include <sys/syscall.h> //Use gettid() syscall under linux to get thread id
+
+#elif __FreeBSD__
+#include <sys/thr.h> //Use thr_self() syscall under FreeBSD to get thread id
+#endif
+
+#endif // unix
+
+#ifndef __has_feature      // Clang - feature checking macros.
+#define __has_feature(x) 0 // Compatibility with non-clang compilers.
+#endif
+
+namespace spdlog {
+namespace details {
+namespace os {
+
+inline spdlog::log_clock::time_point now() SPDLOG_NOEXCEPT
+{
+
+#if defined __linux__ && defined SPDLOG_CLOCK_COARSE
+    timespec ts;
+    ::clock_gettime(CLOCK_REALTIME_COARSE, &ts);
+    return std::chrono::time_point<log_clock, typename log_clock::duration>(
+        std::chrono::duration_cast<typename log_clock::duration>(std::chrono::seconds(ts.tv_sec) + std::chrono::nanoseconds(ts.tv_nsec)));
+
+#else
+    return log_clock::now();
+#endif
+}
+inline std::tm localtime(const std::time_t &time_tt) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    std::tm tm;
+    localtime_s(&tm, &time_tt);
+#else
+    std::tm tm;
+    localtime_r(&time_tt, &tm);
+#endif
+    return tm;
+}
+
+inline std::tm localtime() SPDLOG_NOEXCEPT
+{
+    std::time_t now_t = time(nullptr);
+    return localtime(now_t);
+}
+
+inline std::tm gmtime(const std::time_t &time_tt) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    std::tm tm;
+    gmtime_s(&tm, &time_tt);
+#else
+    std::tm tm;
+    gmtime_r(&time_tt, &tm);
+#endif
+    return tm;
+}
+
+inline std::tm gmtime() SPDLOG_NOEXCEPT
+{
+    std::time_t now_t = time(nullptr);
+    return gmtime(now_t);
+}
+
+// eol definition
+#if !defined(SPDLOG_EOL)
+#ifdef _WIN32
+#define SPDLOG_EOL "\r\n"
+#else
+#define SPDLOG_EOL "\n"
+#endif
+#endif
+
+SPDLOG_CONSTEXPR static const char *default_eol = SPDLOG_EOL;
+
+// folder separator
+#ifdef _WIN32
+SPDLOG_CONSTEXPR static const char folder_sep = '\\';
+#else
+SPDLOG_CONSTEXPR static const char folder_sep = '/';
+#endif
+
+inline void prevent_child_fd(FILE *f)
+{
+
+#ifdef _WIN32
+#if !defined(__cplusplus_winrt)
+    auto file_handle = (HANDLE)_get_osfhandle(_fileno(f));
+    if (!::SetHandleInformation(file_handle, HANDLE_FLAG_INHERIT, 0))
+        throw spdlog_ex("SetHandleInformation failed", errno);
+#endif
+#else
+    auto fd = fileno(f);
+    if (fcntl(fd, F_SETFD, FD_CLOEXEC) == -1)
+    {
+        throw spdlog_ex("fcntl with FD_CLOEXEC failed", errno);
+    }
+#endif
+}
+
+// fopen_s on non windows for writing
+inline bool fopen_s(FILE **fp, const filename_t &filename, const filename_t &mode)
+{
+#ifdef _WIN32
+#ifdef SPDLOG_WCHAR_FILENAMES
+    *fp = _wfsopen((filename.c_str()), mode.c_str(), _SH_DENYNO);
+#else
+    *fp = _fsopen((filename.c_str()), mode.c_str(), _SH_DENYNO);
+#endif
+#else // unix
+    *fp = fopen((filename.c_str()), mode.c_str());
+#endif
+
+#ifdef SPDLOG_PREVENT_CHILD_FD
+    if (*fp != nullptr)
+    {
+        prevent_child_fd(*fp);
+    }
+#endif
+    return *fp == nullptr;
+}
+
+inline int remove(const filename_t &filename) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+    return _wremove(filename.c_str());
+#else
+    return std::remove(filename.c_str());
+#endif
+}
+
+inline int rename(const filename_t &filename1, const filename_t &filename2) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+    return _wrename(filename1.c_str(), filename2.c_str());
+#else
+    return std::rename(filename1.c_str(), filename2.c_str());
+#endif
+}
+
+// Return if file exists
+inline bool file_exists(const filename_t &filename) SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+#ifdef SPDLOG_WCHAR_FILENAMES
+    auto attribs = GetFileAttributesW(filename.c_str());
+#else
+    auto attribs = GetFileAttributesA(filename.c_str());
+#endif
+    return (attribs != INVALID_FILE_ATTRIBUTES && !(attribs & FILE_ATTRIBUTE_DIRECTORY));
+#else // common linux/unix all have the stat system call
+    struct stat buffer;
+    return (stat(filename.c_str(), &buffer) == 0);
+#endif
+}
+
+// Return file size according to open FILE* object
+inline size_t filesize(FILE *f)
+{
+    if (f == nullptr)
+    {
+        throw spdlog_ex("Failed getting file size. fd is null");
+    }
+#if defined(_WIN32) && !defined(__CYGWIN__)
+    int fd = _fileno(f);
+#if _WIN64 // 64 bits
+    __int64 ret = _filelengthi64(fd);
+    if (ret >= 0)
+    {
+        return static_cast<size_t>(ret);
+    }
+
+#else // windows 32 bits
+    long ret = _filelength(fd);
+    if (ret >= 0)
+    {
+        return static_cast<size_t>(ret);
+    }
+#endif
+
+#else // unix
+    int fd = fileno(f);
+// 64 bits(but not in osx or cygwin, where fstat64 is deprecated)
+#if !defined(__FreeBSD__) && !defined(__APPLE__) && (defined(__x86_64__) || defined(__ppc64__)) && !defined(__CYGWIN__)
+    struct stat64 st;
+    if (fstat64(fd, &st) == 0)
+    {
+        return static_cast<size_t>(st.st_size);
+    }
+#else // unix 32 bits or cygwin
+    struct stat st;
+
+    if (fstat(fd, &st) == 0)
+    {
+        return static_cast<size_t>(st.st_size);
+    }
+#endif
+#endif
+    throw spdlog_ex("Failed getting file size from fd", errno);
+}
+
+// Return utc offset in minutes or throw spdlog_ex on failure
+inline int utc_minutes_offset(const std::tm &tm = details::os::localtime())
+{
+
+#ifdef _WIN32
+#if _WIN32_WINNT < _WIN32_WINNT_WS08
+    TIME_ZONE_INFORMATION tzinfo;
+    auto rv = GetTimeZoneInformation(&tzinfo);
+#else
+    DYNAMIC_TIME_ZONE_INFORMATION tzinfo;
+    auto rv = GetDynamicTimeZoneInformation(&tzinfo);
+#endif
+    if (rv == TIME_ZONE_ID_INVALID)
+        throw spdlog::spdlog_ex("Failed getting timezone info. ", errno);
+
+    int offset = -tzinfo.Bias;
+    if (tm.tm_isdst)
+    {
+        offset -= tzinfo.DaylightBias;
+    }
+    else
+    {
+        offset -= tzinfo.StandardBias;
+    }
+    return offset;
+#else
+
+#if defined(sun) || defined(__sun) || defined(_AIX)
+    // 'tm_gmtoff' field is BSD extension and it's missing on SunOS/Solaris
+    struct helper
+    {
+        static long int calculate_gmt_offset(const std::tm &localtm = details::os::localtime(), const std::tm &gmtm = details::os::gmtime())
+        {
+            int local_year = localtm.tm_year + (1900 - 1);
+            int gmt_year = gmtm.tm_year + (1900 - 1);
+
+            long int days = (
+                // difference in day of year
+                localtm.tm_yday -
+                gmtm.tm_yday
+
+                // + intervening leap days
+                + ((local_year >> 2) - (gmt_year >> 2)) - (local_year / 100 - gmt_year / 100) +
+                ((local_year / 100 >> 2) - (gmt_year / 100 >> 2))
+
+                // + difference in years * 365 */
+                + (long int)(local_year - gmt_year) * 365);
+
+            long int hours = (24 * days) + (localtm.tm_hour - gmtm.tm_hour);
+            long int mins = (60 * hours) + (localtm.tm_min - gmtm.tm_min);
+            long int secs = (60 * mins) + (localtm.tm_sec - gmtm.tm_sec);
+
+            return secs;
+        }
+    };
+
+    auto offset_seconds = helper::calculate_gmt_offset(tm);
+#else
+    auto offset_seconds = tm.tm_gmtoff;
+#endif
+
+    return static_cast<int>(offset_seconds / 60);
+#endif
+}
+
+// Return current thread id as size_t
+// It exists because the std::this_thread::get_id() is much slower(especially
+// under VS 2013)
+inline size_t _thread_id() SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+    return static_cast<size_t>(::GetCurrentThreadId());
+#elif __linux__
+#if defined(__ANDROID__) && defined(__ANDROID_API__) && (__ANDROID_API__ < 21)
+#define SYS_gettid __NR_gettid
+#endif
+    return static_cast<size_t>(syscall(SYS_gettid));
+#elif __FreeBSD__
+    long tid;
+    thr_self(&tid);
+    return static_cast<size_t>(tid);
+#elif __APPLE__
+    uint64_t tid;
+    pthread_threadid_np(nullptr, &tid);
+    return static_cast<size_t>(tid);
+#else // Default to standard C++11 (other Unix)
+    return static_cast<size_t>(std::hash<std::thread::id>()(std::this_thread::get_id()));
+#endif
+}
+
+// Return current thread id as size_t (from thread local storage)
+inline size_t thread_id() SPDLOG_NOEXCEPT
+{
+#if defined(SPDLOG_NO_TLS)
+    return _thread_id();
+#else // cache thread id in tls
+    static thread_local const size_t tid = _thread_id();
+    return tid;
+#endif
+}
+
+// This is avoid msvc issue in sleep_for that happens if the clock changes.
+// See https://github.com/gabime/spdlog/issues/609
+inline void sleep_for_millis(int milliseconds) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32)
+    ::Sleep(milliseconds);
+#else
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+#endif
+}
+
+// wchar support for windows file names (SPDLOG_WCHAR_FILENAMES must be defined)
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+#define SPDLOG_FILENAME_T(s) L##s
+inline std::string filename_to_str(const filename_t &filename)
+{
+    std::wstring_convert<std::codecvt_utf8<wchar_t>, wchar_t> c;
+    return c.to_bytes(filename);
+}
+#else
+#define SPDLOG_FILENAME_T(s) s
+inline std::string filename_to_str(const filename_t &filename)
+{
+    return filename;
+}
+#endif
+
+inline int pid()
+{
+
+#ifdef _WIN32
+    return static_cast<int>(::GetCurrentProcessId());
+#else
+    return static_cast<int>(::getpid());
+#endif
+}
+
+// Determine if the terminal supports colors
+// Source: https://github.com/agauniyal/rang/
+inline bool is_color_terminal() SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+    return true;
+#else
+    static constexpr const char *Terms[] = {
+        "ansi", "color", "console", "cygwin", "gnome", "konsole", "kterm", "linux", "msys", "putty", "rxvt", "screen", "vt100", "xterm"};
+
+    const char *env_p = std::getenv("TERM");
+    if (env_p == nullptr)
+    {
+        return false;
+    }
+
+    static const bool result =
+        std::any_of(std::begin(Terms), std::end(Terms), [&](const char *term) { return std::strstr(env_p, term) != nullptr; });
+    return result;
+#endif
+}
+
+// Detrmine if the terminal attached
+// Source: https://github.com/agauniyal/rang/
+inline bool in_terminal(FILE *file) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    return _isatty(_fileno(file)) != 0;
+#else
+    return isatty(fileno(file)) != 0;
+#endif
+}
+} // namespace os
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/periodic_worker.h

@@ -0,0 +1,71 @@
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// periodic worker thread - periodically executes the given callback function.
+//
+// RAII over the owned thread:
+//    creates the thread on construction.
+//    stops and joins the thread on destruction (if the thread is executing a callback, wait for it to finish first).
+
+#include <chrono>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <thread>
+namespace spdlog {
+namespace details {
+
+class periodic_worker
+{
+public:
+    periodic_worker(const std::function<void()> &callback_fun, std::chrono::seconds interval)
+    {
+        active_ = (interval > std::chrono::seconds::zero());
+        if (!active_)
+        {
+            return;
+        }
+
+        worker_thread_ = std::thread([this, callback_fun, interval]() {
+            for (;;)
+            {
+                std::unique_lock<std::mutex> lock(this->mutex_);
+                if (this->cv_.wait_for(lock, interval, [this] { return !this->active_; }))
+                {
+                    return; // active_ == false, so exit this thread
+                }
+                callback_fun();
+            }
+        });
+    }
+
+    periodic_worker(const periodic_worker &) = delete;
+    periodic_worker &operator=(const periodic_worker &) = delete;
+
+    // stop the worker thread and join it
+    ~periodic_worker()
+    {
+        if (worker_thread_.joinable())
+        {
+            {
+                std::lock_guard<std::mutex> lock(mutex_);
+                active_ = false;
+            }
+            cv_.notify_one();
+            worker_thread_.join();
+        }
+    }
+
+private:
+    bool active_;
+    std::thread worker_thread_;
+    std::mutex mutex_;
+    std::condition_variable cv_;
+};
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/registry.h

@@ -0,0 +1,285 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Loggers registy of unique name->logger pointer
+// An attempt to create a logger with an already existing name will be ignored
+// If user requests a non existing logger, nullptr will be returned
+// This class is thread safe
+
+#include "spdlog/common.h"
+#include "spdlog/details/periodic_worker.h"
+#include "spdlog/logger.h"
+
+#ifndef SPDLOG_DISABLE_DEFAULT_LOGGER
+// support for the default stdout color logger
+#ifdef _WIN32
+#include "spdlog/sinks/wincolor_sink.h"
+#else
+#include "spdlog/sinks/ansicolor_sink.h"
+#endif
+#endif // SPDLOG_DISABLE_DEFAULT_LOGGER
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <unordered_map>
+
+namespace spdlog {
+namespace details {
+class thread_pool;
+
+class registry
+{
+public:
+    registry(const registry &) = delete;
+    registry &operator=(const registry &) = delete;
+
+    void register_logger(std::shared_ptr<logger> new_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        register_logger_(std::move(new_logger));
+    }
+
+    void initialize_logger(std::shared_ptr<logger> new_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        new_logger->set_formatter(formatter_->clone());
+
+        if (err_handler_)
+        {
+            new_logger->set_error_handler(err_handler_);
+        }
+
+        new_logger->set_level(level_);
+        new_logger->flush_on(flush_level_);
+
+        if (automatic_registration_)
+        {
+            register_logger_(std::move(new_logger));
+        }
+    }
+
+    std::shared_ptr<logger> get(const std::string &logger_name)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        auto found = loggers_.find(logger_name);
+        return found == loggers_.end() ? nullptr : found->second;
+    }
+
+    std::shared_ptr<logger> default_logger()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        return default_logger_;
+    }
+
+    // Return raw ptr to the default logger.
+    // To be used directly by the spdlog default api (e.g. spdlog::info)
+    // This make the default API faster, but cannot be used concurrently with set_default_logger().
+    // e.g do not call set_default_logger() from one thread while calling spdlog::info() from another.
+    logger *get_default_raw()
+    {
+        return default_logger_.get();
+    }
+
+    // set default logger.
+    // default logger is stored in default_logger_ (for faster retrieval) and in the loggers_ map.
+    void set_default_logger(std::shared_ptr<logger> new_default_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        // remove previous default logger from the map
+        if (default_logger_ != nullptr)
+        {
+            loggers_.erase(default_logger_->name());
+        }
+        if (new_default_logger != nullptr)
+        {
+            loggers_[new_default_logger->name()] = new_default_logger;
+        }
+        default_logger_ = std::move(new_default_logger);
+    }
+
+    void set_tp(std::shared_ptr<thread_pool> tp)
+    {
+        std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+        tp_ = std::move(tp);
+    }
+
+    std::shared_ptr<thread_pool> get_tp()
+    {
+        std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+        return tp_;
+    }
+
+    // Set global formatter. Each sink in each logger will get a clone of this object
+    void set_formatter(std::unique_ptr<formatter> formatter)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        formatter_ = std::move(formatter);
+        for (auto &l : loggers_)
+        {
+            l.second->set_formatter(formatter_->clone());
+        }
+    }
+
+    void set_level(level::level_enum log_level)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->set_level(log_level);
+        }
+        level_ = log_level;
+    }
+
+    void flush_on(level::level_enum log_level)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->flush_on(log_level);
+        }
+        flush_level_ = log_level;
+    }
+
+    void flush_every(std::chrono::seconds interval)
+    {
+        std::lock_guard<std::mutex> lock(flusher_mutex_);
+        std::function<void()> clbk = std::bind(&registry::flush_all, this);
+        periodic_flusher_ = details::make_unique<periodic_worker>(clbk, interval);
+    }
+
+    void set_error_handler(log_err_handler handler)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->set_error_handler(handler);
+        }
+        err_handler_ = handler;
+    }
+
+    void apply_all(const std::function<void(const std::shared_ptr<logger>)> &fun)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            fun(l.second);
+        }
+    }
+
+    void flush_all()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->flush();
+        }
+    }
+
+    void drop(const std::string &logger_name)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        loggers_.erase(logger_name);
+        if (default_logger_ && default_logger_->name() == logger_name)
+        {
+            default_logger_.reset();
+        }
+    }
+
+    void drop_all()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        loggers_.clear();
+        default_logger_.reset();
+    }
+
+    // clean all resources and threads started by the registry
+    void shutdown()
+    {
+        {
+            std::lock_guard<std::mutex> lock(flusher_mutex_);
+            periodic_flusher_.reset();
+        }
+
+        drop_all();
+
+        {
+            std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+            tp_.reset();
+        }
+    }
+
+    std::recursive_mutex &tp_mutex()
+    {
+        return tp_mutex_;
+    }
+
+    void set_automatic_registration(bool automatic_regsistration)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        automatic_registration_ = automatic_regsistration;
+    }
+
+    static registry &instance()
+    {
+        static registry s_instance;
+        return s_instance;
+    }
+
+private:
+    registry()
+        : formatter_(new pattern_formatter())
+    {
+
+#ifndef SPDLOG_DISABLE_DEFAULT_LOGGER
+        // create default logger (ansicolor_stdout_sink_mt or wincolor_stdout_sink_mt in windows).
+#ifdef _WIN32
+        auto color_sink = std::make_shared<sinks::wincolor_stdout_sink_mt>();
+#else
+        auto color_sink = std::make_shared<sinks::ansicolor_stdout_sink_mt>();
+#endif
+
+        const char *default_logger_name = "";
+        default_logger_ = std::make_shared<spdlog::logger>(default_logger_name, std::move(color_sink));
+        loggers_[default_logger_name] = default_logger_;
+
+#endif // SPDLOG_DISABLE_DEFAULT_LOGGER
+    }
+
+    ~registry() = default;
+
+    void throw_if_exists_(const std::string &logger_name)
+    {
+        if (loggers_.find(logger_name) != loggers_.end())
+        {
+            throw spdlog_ex("logger with name '" + logger_name + "' already exists");
+        }
+    }
+
+    void register_logger_(std::shared_ptr<logger> new_logger)
+    {
+        auto logger_name = new_logger->name();
+        throw_if_exists_(logger_name);
+        loggers_[logger_name] = std::move(new_logger);
+    }
+
+    std::mutex logger_map_mutex_, flusher_mutex_;
+    std::recursive_mutex tp_mutex_;
+    std::unordered_map<std::string, std::shared_ptr<logger>> loggers_;
+    std::unique_ptr<formatter> formatter_;
+    level::level_enum level_ = spdlog::logger::default_level();
+    level::level_enum flush_level_ = level::off;
+    log_err_handler err_handler_;
+    std::shared_ptr<thread_pool> tp_;
+    std::unique_ptr<periodic_worker> periodic_flusher_;
+    std::shared_ptr<logger> default_logger_;
+    bool automatic_registration_ = true;
+};
+
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/details/thread_pool.h

@@ -0,0 +1,238 @@
+#pragma once
+
+#include "spdlog/details/fmt_helper.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/mpmc_blocking_q.h"
+#include "spdlog/details/os.h"
+
+#include <chrono>
+#include <memory>
+#include <thread>
+#include <vector>
+
+namespace spdlog {
+namespace details {
+
+using async_logger_ptr = std::shared_ptr<spdlog::async_logger>;
+
+enum class async_msg_type
+{
+    log,
+    flush,
+    terminate
+};
+
+// Async msg to move to/from the queue
+// Movable only. should never be copied
+struct async_msg
+{
+    async_msg_type msg_type;
+    level::level_enum level;
+    log_clock::time_point time;
+    size_t thread_id;
+    fmt::basic_memory_buffer<char, 176> raw;
+
+    size_t msg_id;
+    source_loc source;
+    async_logger_ptr worker_ptr;
+
+    async_msg() = default;
+    ~async_msg() = default;
+
+    // should only be moved in or out of the queue..
+    async_msg(const async_msg &) = delete;
+
+// support for vs2013 move
+#if defined(_MSC_VER) && _MSC_VER <= 1800
+    async_msg(async_msg &&other) SPDLOG_NOEXCEPT : msg_type(other.msg_type),
+                                                   level(other.level),
+                                                   time(other.time),
+                                                   thread_id(other.thread_id),
+                                                   raw(move(other.raw)),
+                                                   msg_id(other.msg_id),
+                                                   source(other.source),
+                                                   worker_ptr(std::move(other.worker_ptr))
+    {
+    }
+
+    async_msg &operator=(async_msg &&other) SPDLOG_NOEXCEPT
+    {
+        msg_type = other.msg_type;
+        level = other.level;
+        time = other.time;
+        thread_id = other.thread_id;
+        raw = std::move(other.raw);
+        msg_id = other.msg_id;
+        source = other.source;
+        worker_ptr = std::move(other.worker_ptr);
+        return *this;
+    }
+#else // (_MSC_VER) && _MSC_VER <= 1800
+    async_msg(async_msg &&) = default;
+    async_msg &operator=(async_msg &&) = default;
+#endif
+
+    // construct from log_msg with given type
+    async_msg(async_logger_ptr &&worker, async_msg_type the_type, details::log_msg &m)
+        : msg_type(the_type)
+        , level(m.level)
+        , time(m.time)
+        , thread_id(m.thread_id)
+        , msg_id(m.msg_id)
+        , source(m.source)
+        , worker_ptr(std::move(worker))
+    {
+        fmt_helper::append_string_view(m.payload, raw);
+    }
+
+    async_msg(async_logger_ptr &&worker, async_msg_type the_type)
+        : msg_type(the_type)
+        , level(level::off)
+        , time()
+        , thread_id(0)
+        , msg_id(0)
+        , source()
+        , worker_ptr(std::move(worker))
+    {
+    }
+
+    explicit async_msg(async_msg_type the_type)
+        : async_msg(nullptr, the_type)
+    {
+    }
+
+    // copy into log_msg
+    log_msg to_log_msg()
+    {
+        log_msg msg(&worker_ptr->name(), level, string_view_t(raw.data(), raw.size()));
+        msg.time = time;
+        msg.thread_id = thread_id;
+        msg.msg_id = msg_id;
+        msg.source = source;
+        msg.color_range_start = 0;
+        msg.color_range_end = 0;
+        return msg;
+    }
+};
+
+class thread_pool
+{
+public:
+    using item_type = async_msg;
+    using q_type = details::mpmc_blocking_queue<item_type>;
+
+    thread_pool(size_t q_max_items, size_t threads_n)
+        : q_(q_max_items)
+    {
+        // std::cout << "thread_pool()  q_size_bytes: " << q_size_bytes <<
+        // "\tthreads_n: " << threads_n << std::endl;
+        if (threads_n == 0 || threads_n > 1000)
+        {
+            throw spdlog_ex("spdlog::thread_pool(): invalid threads_n param (valid "
+                            "range is 1-1000)");
+        }
+        for (size_t i = 0; i < threads_n; i++)
+        {
+            threads_.emplace_back(&thread_pool::worker_loop_, this);
+        }
+    }
+
+    // message all threads to terminate gracefully join them
+    ~thread_pool()
+    {
+        try
+        {
+            for (size_t i = 0; i < threads_.size(); i++)
+            {
+                post_async_msg_(async_msg(async_msg_type::terminate), async_overflow_policy::block);
+            }
+
+            for (auto &t : threads_)
+            {
+                t.join();
+            }
+        }
+        catch (...)
+        {
+        }
+    }
+
+    thread_pool(const thread_pool &) = delete;
+    thread_pool &operator=(thread_pool &&) = delete;
+
+    void post_log(async_logger_ptr &&worker_ptr, details::log_msg &msg, async_overflow_policy overflow_policy)
+    {
+        async_msg async_m(std::move(worker_ptr), async_msg_type::log, msg);
+        post_async_msg_(std::move(async_m), overflow_policy);
+    }
+
+    void post_flush(async_logger_ptr &&worker_ptr, async_overflow_policy overflow_policy)
+    {
+        post_async_msg_(async_msg(std::move(worker_ptr), async_msg_type::flush), overflow_policy);
+    }
+
+    size_t overrun_counter()
+    {
+        return q_.overrun_counter();
+    }
+
+private:
+    q_type q_;
+
+    std::vector<std::thread> threads_;
+
+    void post_async_msg_(async_msg &&new_msg, async_overflow_policy overflow_policy)
+    {
+        if (overflow_policy == async_overflow_policy::block)
+        {
+            q_.enqueue(std::move(new_msg));
+        }
+        else
+        {
+            q_.enqueue_nowait(std::move(new_msg));
+        }
+    }
+
+    void worker_loop_()
+    {
+        while (process_next_msg_()) {};
+    }
+
+    // process next message in the queue
+    // return true if this thread should still be active (while no terminate msg
+    // was received)
+    bool process_next_msg_()
+    {
+        async_msg incoming_async_msg;
+        bool dequeued = q_.dequeue_for(incoming_async_msg, std::chrono::seconds(10));
+        if (!dequeued)
+        {
+            return true;
+        }
+
+        switch (incoming_async_msg.msg_type)
+        {
+        case async_msg_type::log:
+        {
+            auto msg = incoming_async_msg.to_log_msg();
+            incoming_async_msg.worker_ptr->backend_log_(msg);
+            return true;
+        }
+        case async_msg_type::flush:
+        {
+            incoming_async_msg.worker_ptr->backend_flush_();
+            return true;
+        }
+
+        case async_msg_type::terminate:
+        {
+            return false;
+        }
+        }
+        assert(false && "Unexpected async_msg_type");
+        return true;
+    }
+};
+
+} // namespace details
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bin_to_hex.h

@@ -0,0 +1,172 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Support for logging binary data as hex
+// format flags:
+// {:X} - print in uppercase.
+// {:s} - don't separate each byte with space.
+// {:p} - don't print the position on each line start.
+// {:n} - don't split the output to lines.
+
+//
+// Examples:
+//
+// std::vector<char> v(200, 0x0b);
+// logger->info("Some buffer {}", spdlog::to_hex(v));
+// char buf[128];
+// logger->info("Some buffer {:X}", spdlog::to_hex(std::begin(buf), std::end(buf)));
+
+namespace spdlog {
+namespace details {
+
+template<typename It>
+class bytes_range
+{
+public:
+    bytes_range(It range_begin, It range_end)
+        : begin_(range_begin)
+        , end_(range_end)
+    {
+    }
+
+    It begin() const
+    {
+        return begin_;
+    }
+    It end() const
+    {
+        return end_;
+    }
+
+private:
+    It begin_, end_;
+};
+} // namespace details
+
+// create a bytes_range that wraps the given container
+template<typename Container>
+inline details::bytes_range<typename Container::const_iterator> to_hex(const Container &container)
+{
+    static_assert(sizeof(typename Container::value_type) == 1, "sizeof(Container::value_type) != 1");
+    using Iter = typename Container::const_iterator;
+    return details::bytes_range<Iter>(std::begin(container), std::end(container));
+}
+
+// create bytes_range from ranges
+template<typename It>
+inline details::bytes_range<It> to_hex(const It range_begin, const It range_end)
+{
+    return details::bytes_range<It>(range_begin, range_end);
+}
+
+} // namespace spdlog
+
+namespace fmt {
+
+template<typename T>
+struct formatter<spdlog::details::bytes_range<T>>
+{
+    const std::size_t line_size = 100;
+    const char delimiter = ' ';
+
+    bool put_newlines = true;
+    bool put_delimiters = true;
+    bool use_uppercase = false;
+    bool put_positions = true; // position on start of each line
+
+    // parse the format string flags
+    template<typename ParseContext>
+    auto parse(ParseContext &ctx) -> decltype(ctx.begin())
+    {
+        auto it = ctx.begin();
+        while (*it && *it != '}')
+        {
+            switch (*it)
+            {
+            case 'X':
+                use_uppercase = true;
+                break;
+            case 's':
+                put_delimiters = false;
+                break;
+            case 'p':
+                put_positions = false;
+                break;
+            case 'n':
+                put_newlines = false;
+                break;
+            }
+
+            ++it;
+        }
+        return it;
+    }
+
+    // format the given bytes range as hex
+    template<typename FormatContext, typename Container>
+    auto format(const spdlog::details::bytes_range<Container> &the_range, FormatContext &ctx) -> decltype(ctx.out())
+    {
+        SPDLOG_CONSTEXPR const char *hex_upper = "0123456789ABCDEF";
+        SPDLOG_CONSTEXPR const char *hex_lower = "0123456789abcdef";
+        const char *hex_chars = use_uppercase ? hex_upper : hex_lower;
+
+        std::size_t pos = 0;
+        std::size_t column = line_size;
+        auto inserter = ctx.begin();
+
+        for (auto &item : the_range)
+        {
+            auto ch = static_cast<unsigned char>(item);
+            pos++;
+
+            if (put_newlines && column >= line_size)
+            {
+                column = put_newline(inserter, pos);
+
+                // put first byte without delimiter in front of it
+                *inserter++ = hex_chars[(ch >> 4) & 0x0f];
+                *inserter++ = hex_chars[ch & 0x0f];
+                column += 2;
+                continue;
+            }
+
+            if (put_delimiters)
+            {
+                *inserter++ = delimiter;
+                ++column;
+            }
+
+            *inserter++ = hex_chars[(ch >> 4) & 0x0f];
+            *inserter++ = hex_chars[ch & 0x0f];
+            column += 2;
+        }
+        return inserter;
+    }
+
+    // put newline(and position header)
+    // return the next column
+    template<typename It>
+    std::size_t put_newline(It inserter, std::size_t pos)
+    {
+#ifdef _WIN32
+        *inserter++ = '\r';
+#endif
+        *inserter++ = '\n';
+
+        if (put_positions)
+        {
+            fmt::format_to(inserter, "{:<04X}: ", pos - 1);
+            return 7;
+        }
+        else
+        {
+            return 1;
+        }
+    }
+};
+} // namespace fmt

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/LICENSE.rst

@@ -0,0 +1,23 @@
+Copyright (c) 2012 - 2016, Victor Zverovich
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/chrono.h

@@ -0,0 +1,452 @@
+// Formatting library for C++ - chrono support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_CHRONO_H_
+#define FMT_CHRONO_H_
+
+#include "format.h"
+#include "locale.h"
+
+#include <chrono>
+#include <ctime>
+#include <locale>
+#include <sstream>
+
+FMT_BEGIN_NAMESPACE
+
+namespace internal{
+
+enum class numeric_system {
+  standard,
+  // Alternative numeric system, e.g. 十二 instead of 12 in ja_JP locale.
+  alternative
+};
+
+// Parses a put_time-like format string and invokes handler actions.
+template <typename Char, typename Handler>
+FMT_CONSTEXPR const Char *parse_chrono_format(
+    const Char *begin, const Char *end, Handler &&handler) {
+  auto ptr = begin;
+  while (ptr != end) {
+    auto c = *ptr;
+    if (c == '}') break;
+    if (c != '%') {
+      ++ptr;
+      continue;
+    }
+    if (begin != ptr)
+      handler.on_text(begin, ptr);
+    ++ptr; // consume '%'
+    if (ptr == end)
+      throw format_error("invalid format");
+    c = *ptr++;
+    switch (c) {
+    case '%':
+      handler.on_text(ptr - 1, ptr);
+      break;
+    case 'n': {
+      const char newline[] = "\n";
+      handler.on_text(newline, newline + 1);
+      break;
+    }
+    case 't': {
+      const char tab[] = "\t";
+      handler.on_text(tab, tab + 1);
+      break;
+    }
+    // Day of the week:
+    case 'a':
+      handler.on_abbr_weekday();
+      break;
+    case 'A':
+      handler.on_full_weekday();
+      break;
+    case 'w':
+      handler.on_dec0_weekday(numeric_system::standard);
+      break;
+    case 'u':
+      handler.on_dec1_weekday(numeric_system::standard);
+      break;
+    // Month:
+    case 'b':
+      handler.on_abbr_month();
+      break;
+    case 'B':
+      handler.on_full_month();
+      break;
+    // Hour, minute, second:
+    case 'H':
+      handler.on_24_hour(numeric_system::standard);
+      break;
+    case 'I':
+      handler.on_12_hour(numeric_system::standard);
+      break;
+    case 'M':
+      handler.on_minute(numeric_system::standard);
+      break;
+    case 'S':
+      handler.on_second(numeric_system::standard);
+      break;
+    // Other:
+    case 'c':
+      handler.on_datetime(numeric_system::standard);
+      break;
+    case 'x':
+      handler.on_loc_date(numeric_system::standard);
+      break;
+    case 'X':
+      handler.on_loc_time(numeric_system::standard);
+      break;
+    case 'D':
+      handler.on_us_date();
+      break;
+    case 'F':
+      handler.on_iso_date();
+      break;
+    case 'r':
+      handler.on_12_hour_time();
+      break;
+    case 'R':
+      handler.on_24_hour_time();
+      break;
+    case 'T':
+      handler.on_iso_time();
+      break;
+    case 'p':
+      handler.on_am_pm();
+      break;
+    case 'z':
+      handler.on_utc_offset();
+      break;
+    case 'Z':
+      handler.on_tz_name();
+      break;
+    // Alternative representation:
+    case 'E': {
+      if (ptr == end)
+        throw format_error("invalid format");
+      c = *ptr++;
+      switch (c) {
+      case 'c':
+        handler.on_datetime(numeric_system::alternative);
+        break;
+      case 'x':
+        handler.on_loc_date(numeric_system::alternative);
+        break;
+      case 'X':
+        handler.on_loc_time(numeric_system::alternative);
+        break;
+      default:
+        throw format_error("invalid format");
+      }
+      break;
+    }
+    case 'O':
+      if (ptr == end)
+        throw format_error("invalid format");
+      c = *ptr++;
+      switch (c) {
+      case 'w':
+        handler.on_dec0_weekday(numeric_system::alternative);
+        break;
+      case 'u':
+        handler.on_dec1_weekday(numeric_system::alternative);
+        break;
+      case 'H':
+        handler.on_24_hour(numeric_system::alternative);
+        break;
+      case 'I':
+        handler.on_12_hour(numeric_system::alternative);
+        break;
+      case 'M':
+        handler.on_minute(numeric_system::alternative);
+        break;
+      case 'S':
+        handler.on_second(numeric_system::alternative);
+        break;
+      default:
+        throw format_error("invalid format");
+      }
+      break;
+    default:
+      throw format_error("invalid format");
+    }
+    begin = ptr;
+  }
+  if (begin != ptr)
+    handler.on_text(begin, ptr);
+  return ptr;
+}
+
+struct chrono_format_checker {
+  void report_no_date() { throw format_error("no date"); }
+
+  template <typename Char>
+  void on_text(const Char *, const Char *) {}
+  void on_abbr_weekday() { report_no_date(); }
+  void on_full_weekday() { report_no_date(); }
+  void on_dec0_weekday(numeric_system) { report_no_date(); }
+  void on_dec1_weekday(numeric_system) { report_no_date(); }
+  void on_abbr_month() { report_no_date(); }
+  void on_full_month() { report_no_date(); }
+  void on_24_hour(numeric_system) {}
+  void on_12_hour(numeric_system) {}
+  void on_minute(numeric_system) {}
+  void on_second(numeric_system) {}
+  void on_datetime(numeric_system) { report_no_date(); }
+  void on_loc_date(numeric_system) { report_no_date(); }
+  void on_loc_time(numeric_system) { report_no_date(); }
+  void on_us_date() { report_no_date(); }
+  void on_iso_date() { report_no_date(); }
+  void on_12_hour_time() {}
+  void on_24_hour_time() {}
+  void on_iso_time() {}
+  void on_am_pm() {}
+  void on_utc_offset() { report_no_date(); }
+  void on_tz_name() { report_no_date(); }
+};
+
+template <typename Int>
+inline int to_int(Int value) {
+  FMT_ASSERT(value >= (std::numeric_limits<int>::min)() &&
+             value <= (std::numeric_limits<int>::max)(), "invalid value");
+  return static_cast<int>(value);
+}
+
+template <typename FormatContext, typename OutputIt>
+struct chrono_formatter {
+  FormatContext &context;
+  OutputIt out;
+  std::chrono::seconds s;
+  std::chrono::milliseconds ms;
+
+  typedef typename FormatContext::char_type char_type;
+
+  explicit chrono_formatter(FormatContext &ctx, OutputIt o)
+    : context(ctx), out(o) {}
+
+  int hour() const { return to_int((s.count() / 3600) % 24); }
+
+  int hour12() const {
+    auto hour = to_int((s.count() / 3600) % 12);
+    return hour > 0 ? hour : 12;
+  }
+
+  int minute() const { return to_int((s.count() / 60) % 60); }
+  int second() const { return to_int(s.count() % 60); }
+
+  std::tm time() const {
+    auto time = std::tm();
+    time.tm_hour = hour();
+    time.tm_min = minute();
+    time.tm_sec = second();
+    return time;
+  }
+
+  void write(int value, int width) {
+    typedef typename int_traits<int>::main_type main_type;
+    main_type n = to_unsigned(value);
+    int num_digits = internal::count_digits(n);
+    if (width > num_digits)
+      out = std::fill_n(out, width - num_digits, '0');
+    out = format_decimal<char_type>(out, n, num_digits);
+  }
+
+  void format_localized(const tm &time, const char *format) {
+    auto locale = context.locale().template get<std::locale>();
+    auto &facet = std::use_facet<std::time_put<char_type>>(locale);
+    std::basic_ostringstream<char_type> os;
+    os.imbue(locale);
+    facet.put(os, os, ' ', &time, format, format + std::strlen(format));
+    auto str = os.str();
+    std::copy(str.begin(), str.end(), out);
+  }
+
+  void on_text(const char_type *begin, const char_type *end) {
+    std::copy(begin, end, out);
+  }
+
+  // These are not implemented because durations don't have date information.
+  void on_abbr_weekday() {}
+  void on_full_weekday() {}
+  void on_dec0_weekday(numeric_system) {}
+  void on_dec1_weekday(numeric_system) {}
+  void on_abbr_month() {}
+  void on_full_month() {}
+  void on_datetime(numeric_system) {}
+  void on_loc_date(numeric_system) {}
+  void on_loc_time(numeric_system) {}
+  void on_us_date() {}
+  void on_iso_date() {}
+  void on_utc_offset() {}
+  void on_tz_name() {}
+
+  void on_24_hour(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(hour(), 2);
+    auto time = tm();
+    time.tm_hour = hour();
+    format_localized(time, "%OH");
+  }
+
+  void on_12_hour(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(hour12(), 2);
+    auto time = tm();
+    time.tm_hour = hour();
+    format_localized(time, "%OI");
+  }
+
+  void on_minute(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(minute(), 2);
+    auto time = tm();
+    time.tm_min = minute();
+    format_localized(time, "%OM");
+  }
+
+  void on_second(numeric_system ns) {
+    if (ns == numeric_system::standard) {
+      write(second(), 2);
+      if (ms != std::chrono::milliseconds(0)) {
+        *out++ = '.';
+        write(to_int(ms.count()), 3);
+      }
+      return;
+    }
+    auto time = tm();
+    time.tm_sec = second();
+    format_localized(time, "%OS");
+  }
+
+  void on_12_hour_time() { format_localized(time(), "%r"); }
+
+  void on_24_hour_time() {
+    write(hour(), 2);
+    *out++ = ':';
+    write(minute(), 2);
+  }
+
+  void on_iso_time() {
+    on_24_hour_time();
+    *out++ = ':';
+    write(second(), 2);
+  }
+
+  void on_am_pm() { format_localized(time(), "%p"); }
+};
+}  // namespace internal
+
+template <typename Period> FMT_CONSTEXPR const char *get_units() {
+  return FMT_NULL;
+}
+template <> FMT_CONSTEXPR const char *get_units<std::atto>() { return "as"; }
+template <> FMT_CONSTEXPR const char *get_units<std::femto>() { return "fs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::pico>() { return "ps"; }
+template <> FMT_CONSTEXPR const char *get_units<std::nano>() { return "ns"; }
+template <> FMT_CONSTEXPR const char *get_units<std::micro>() { return "µs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::milli>() { return "ms"; }
+template <> FMT_CONSTEXPR const char *get_units<std::centi>() { return "cs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::deci>() { return "ds"; }
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<1>>() { return "s"; }
+template <> FMT_CONSTEXPR const char *get_units<std::deca>() { return "das"; }
+template <> FMT_CONSTEXPR const char *get_units<std::hecto>() { return "hs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::kilo>() { return "ks"; }
+template <> FMT_CONSTEXPR const char *get_units<std::mega>() { return "Ms"; }
+template <> FMT_CONSTEXPR const char *get_units<std::giga>() { return "Gs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::tera>() { return "Ts"; }
+template <> FMT_CONSTEXPR const char *get_units<std::peta>() { return "Ps"; }
+template <> FMT_CONSTEXPR const char *get_units<std::exa>() { return "Es"; }
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<60>>() {
+  return "m";
+}
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<3600>>() {
+  return "h";
+}
+
+template <typename Rep, typename Period, typename Char>
+struct formatter<std::chrono::duration<Rep, Period>, Char> {
+ private:
+  align_spec spec;
+  internal::arg_ref<Char> width_ref;
+  mutable basic_string_view<Char> format_str;
+  typedef std::chrono::duration<Rep, Period> duration;
+
+  struct spec_handler {
+    formatter &f;
+    basic_parse_context<Char> &context;
+
+    typedef internal::arg_ref<Char> arg_ref_type;
+
+    template <typename Id>
+    FMT_CONSTEXPR arg_ref_type make_arg_ref(Id arg_id) {
+      context.check_arg_id(arg_id);
+      return arg_ref_type(arg_id);
+    }
+
+    FMT_CONSTEXPR arg_ref_type make_arg_ref(internal::auto_id) {
+      return arg_ref_type(context.next_arg_id());
+    }
+
+    void on_error(const char *msg) { throw format_error(msg); }
+    void on_fill(Char fill) { f.spec.fill_ = fill; }
+    void on_align(alignment align) { f.spec.align_ = align; }
+    void on_width(unsigned width) { f.spec.width_ = width; }
+
+    template <typename Id>
+    void on_dynamic_width(Id arg_id) {
+      f.width_ref = make_arg_ref(arg_id);
+    }
+  };
+
+ public:
+  formatter() : spec() {}
+
+  FMT_CONSTEXPR auto parse(basic_parse_context<Char> &ctx)
+      -> decltype(ctx.begin()) {
+    auto begin = ctx.begin(), end = ctx.end();
+    if (begin == end) return begin;
+    spec_handler handler{*this, ctx};
+    begin = internal::parse_align(begin, end, handler);
+    if (begin == end) return begin;
+    begin = internal::parse_width(begin, end, handler);
+    end = parse_chrono_format(begin, end, internal::chrono_format_checker());
+    format_str = basic_string_view<Char>(&*begin, internal::to_unsigned(end - begin));
+    return end;
+  }
+
+  template <typename FormatContext>
+  auto format(const duration &d, FormatContext &ctx)
+      -> decltype(ctx.out()) {
+    auto begin = format_str.begin(), end = format_str.end();
+    memory_buffer buf;
+    typedef output_range<decltype(ctx.out()), Char> range;
+    basic_writer<range> w(range(ctx.out()));
+    if (begin == end || *begin == '}') {
+      if (const char *unit = get_units<Period>())
+        format_to(buf, "{}{}", d.count(), unit);
+      else if (Period::den == 1)
+        format_to(buf, "{}[{}]s", d.count(), Period::num);
+      else
+        format_to(buf, "{}[{}/{}]s", d.count(), Period::num, Period::den);
+      internal::handle_dynamic_spec<internal::width_checker>(
+        spec.width_, width_ref, ctx);
+    } else {
+      auto out = std::back_inserter(buf);
+      internal::chrono_formatter<FormatContext, decltype(out)> f(ctx, out);
+      f.s = std::chrono::duration_cast<std::chrono::seconds>(d);
+      f.ms = std::chrono::duration_cast<std::chrono::milliseconds>(d - f.s);
+      parse_chrono_format(begin, end, f);
+    }
+    w.write(buf.data(), buf.size(), spec);
+    return w.out();
+  }
+};
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_CHRONO_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/color.h

@@ -0,0 +1,577 @@
+// Formatting library for C++ - color support
+//
+// Copyright (c) 2018 - present, Victor Zverovich and fmt contributors
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_COLOR_H_
+#define FMT_COLOR_H_
+
+#include "format.h"
+
+FMT_BEGIN_NAMESPACE
+
+#ifdef FMT_DEPRECATED_COLORS
+
+// color and (v)print_colored are deprecated.
+enum color { black, red, green, yellow, blue, magenta, cyan, white };
+FMT_API void vprint_colored(color c, string_view format, format_args args);
+FMT_API void vprint_colored(color c, wstring_view format, wformat_args args);
+template <typename... Args>
+inline void print_colored(color c, string_view format_str,
+                          const Args & ... args) {
+  vprint_colored(c, format_str, make_format_args(args...));
+}
+template <typename... Args>
+inline void print_colored(color c, wstring_view format_str,
+                          const Args & ... args) {
+  vprint_colored(c, format_str, make_format_args<wformat_context>(args...));
+}
+
+inline void vprint_colored(color c, string_view format, format_args args) {
+  char escape[] = "\x1b[30m";
+  escape[3] = static_cast<char>('0' + c);
+  std::fputs(escape, stdout);
+  vprint(format, args);
+  std::fputs(internal::data::RESET_COLOR, stdout);
+}
+
+inline void vprint_colored(color c, wstring_view format, wformat_args args) {
+  wchar_t escape[] = L"\x1b[30m";
+  escape[3] = static_cast<wchar_t>('0' + c);
+  std::fputws(escape, stdout);
+  vprint(format, args);
+  std::fputws(internal::data::WRESET_COLOR, stdout);
+}
+
+#else
+
+enum class color : uint32_t {
+  alice_blue              = 0xF0F8FF, // rgb(240,248,255)
+  antique_white           = 0xFAEBD7, // rgb(250,235,215)
+  aqua                    = 0x00FFFF, // rgb(0,255,255)
+  aquamarine              = 0x7FFFD4, // rgb(127,255,212)
+  azure                   = 0xF0FFFF, // rgb(240,255,255)
+  beige                   = 0xF5F5DC, // rgb(245,245,220)
+  bisque                  = 0xFFE4C4, // rgb(255,228,196)
+  black                   = 0x000000, // rgb(0,0,0)
+  blanched_almond         = 0xFFEBCD, // rgb(255,235,205)
+  blue                    = 0x0000FF, // rgb(0,0,255)
+  blue_violet             = 0x8A2BE2, // rgb(138,43,226)
+  brown                   = 0xA52A2A, // rgb(165,42,42)
+  burly_wood              = 0xDEB887, // rgb(222,184,135)
+  cadet_blue              = 0x5F9EA0, // rgb(95,158,160)
+  chartreuse              = 0x7FFF00, // rgb(127,255,0)
+  chocolate               = 0xD2691E, // rgb(210,105,30)
+  coral                   = 0xFF7F50, // rgb(255,127,80)
+  cornflower_blue         = 0x6495ED, // rgb(100,149,237)
+  cornsilk                = 0xFFF8DC, // rgb(255,248,220)
+  crimson                 = 0xDC143C, // rgb(220,20,60)
+  cyan                    = 0x00FFFF, // rgb(0,255,255)
+  dark_blue               = 0x00008B, // rgb(0,0,139)
+  dark_cyan               = 0x008B8B, // rgb(0,139,139)
+  dark_golden_rod         = 0xB8860B, // rgb(184,134,11)
+  dark_gray               = 0xA9A9A9, // rgb(169,169,169)
+  dark_green              = 0x006400, // rgb(0,100,0)
+  dark_khaki              = 0xBDB76B, // rgb(189,183,107)
+  dark_magenta            = 0x8B008B, // rgb(139,0,139)
+  dark_olive_green        = 0x556B2F, // rgb(85,107,47)
+  dark_orange             = 0xFF8C00, // rgb(255,140,0)
+  dark_orchid             = 0x9932CC, // rgb(153,50,204)
+  dark_red                = 0x8B0000, // rgb(139,0,0)
+  dark_salmon             = 0xE9967A, // rgb(233,150,122)
+  dark_sea_green          = 0x8FBC8F, // rgb(143,188,143)
+  dark_slate_blue         = 0x483D8B, // rgb(72,61,139)
+  dark_slate_gray         = 0x2F4F4F, // rgb(47,79,79)
+  dark_turquoise          = 0x00CED1, // rgb(0,206,209)
+  dark_violet             = 0x9400D3, // rgb(148,0,211)
+  deep_pink               = 0xFF1493, // rgb(255,20,147)
+  deep_sky_blue           = 0x00BFFF, // rgb(0,191,255)
+  dim_gray                = 0x696969, // rgb(105,105,105)
+  dodger_blue             = 0x1E90FF, // rgb(30,144,255)
+  fire_brick              = 0xB22222, // rgb(178,34,34)
+  floral_white            = 0xFFFAF0, // rgb(255,250,240)
+  forest_green            = 0x228B22, // rgb(34,139,34)
+  fuchsia                 = 0xFF00FF, // rgb(255,0,255)
+  gainsboro               = 0xDCDCDC, // rgb(220,220,220)
+  ghost_white             = 0xF8F8FF, // rgb(248,248,255)
+  gold                    = 0xFFD700, // rgb(255,215,0)
+  golden_rod              = 0xDAA520, // rgb(218,165,32)
+  gray                    = 0x808080, // rgb(128,128,128)
+  green                   = 0x008000, // rgb(0,128,0)
+  green_yellow            = 0xADFF2F, // rgb(173,255,47)
+  honey_dew               = 0xF0FFF0, // rgb(240,255,240)
+  hot_pink                = 0xFF69B4, // rgb(255,105,180)
+  indian_red              = 0xCD5C5C, // rgb(205,92,92)
+  indigo                  = 0x4B0082, // rgb(75,0,130)
+  ivory                   = 0xFFFFF0, // rgb(255,255,240)
+  khaki                   = 0xF0E68C, // rgb(240,230,140)
+  lavender                = 0xE6E6FA, // rgb(230,230,250)
+  lavender_blush          = 0xFFF0F5, // rgb(255,240,245)
+  lawn_green              = 0x7CFC00, // rgb(124,252,0)
+  lemon_chiffon           = 0xFFFACD, // rgb(255,250,205)
+  light_blue              = 0xADD8E6, // rgb(173,216,230)
+  light_coral             = 0xF08080, // rgb(240,128,128)
+  light_cyan              = 0xE0FFFF, // rgb(224,255,255)
+  light_golden_rod_yellow = 0xFAFAD2, // rgb(250,250,210)
+  light_gray              = 0xD3D3D3, // rgb(211,211,211)
+  light_green             = 0x90EE90, // rgb(144,238,144)
+  light_pink              = 0xFFB6C1, // rgb(255,182,193)
+  light_salmon            = 0xFFA07A, // rgb(255,160,122)
+  light_sea_green         = 0x20B2AA, // rgb(32,178,170)
+  light_sky_blue          = 0x87CEFA, // rgb(135,206,250)
+  light_slate_gray        = 0x778899, // rgb(119,136,153)
+  light_steel_blue        = 0xB0C4DE, // rgb(176,196,222)
+  light_yellow            = 0xFFFFE0, // rgb(255,255,224)
+  lime                    = 0x00FF00, // rgb(0,255,0)
+  lime_green              = 0x32CD32, // rgb(50,205,50)
+  linen                   = 0xFAF0E6, // rgb(250,240,230)
+  magenta                 = 0xFF00FF, // rgb(255,0,255)
+  maroon                  = 0x800000, // rgb(128,0,0)
+  medium_aquamarine       = 0x66CDAA, // rgb(102,205,170)
+  medium_blue             = 0x0000CD, // rgb(0,0,205)
+  medium_orchid           = 0xBA55D3, // rgb(186,85,211)
+  medium_purple           = 0x9370DB, // rgb(147,112,219)
+  medium_sea_green        = 0x3CB371, // rgb(60,179,113)
+  medium_slate_blue       = 0x7B68EE, // rgb(123,104,238)
+  medium_spring_green     = 0x00FA9A, // rgb(0,250,154)
+  medium_turquoise        = 0x48D1CC, // rgb(72,209,204)
+  medium_violet_red       = 0xC71585, // rgb(199,21,133)
+  midnight_blue           = 0x191970, // rgb(25,25,112)
+  mint_cream              = 0xF5FFFA, // rgb(245,255,250)
+  misty_rose              = 0xFFE4E1, // rgb(255,228,225)
+  moccasin                = 0xFFE4B5, // rgb(255,228,181)
+  navajo_white            = 0xFFDEAD, // rgb(255,222,173)
+  navy                    = 0x000080, // rgb(0,0,128)
+  old_lace                = 0xFDF5E6, // rgb(253,245,230)
+  olive                   = 0x808000, // rgb(128,128,0)
+  olive_drab              = 0x6B8E23, // rgb(107,142,35)
+  orange                  = 0xFFA500, // rgb(255,165,0)
+  orange_red              = 0xFF4500, // rgb(255,69,0)
+  orchid                  = 0xDA70D6, // rgb(218,112,214)
+  pale_golden_rod         = 0xEEE8AA, // rgb(238,232,170)
+  pale_green              = 0x98FB98, // rgb(152,251,152)
+  pale_turquoise          = 0xAFEEEE, // rgb(175,238,238)
+  pale_violet_red         = 0xDB7093, // rgb(219,112,147)
+  papaya_whip             = 0xFFEFD5, // rgb(255,239,213)
+  peach_puff              = 0xFFDAB9, // rgb(255,218,185)
+  peru                    = 0xCD853F, // rgb(205,133,63)
+  pink                    = 0xFFC0CB, // rgb(255,192,203)
+  plum                    = 0xDDA0DD, // rgb(221,160,221)
+  powder_blue             = 0xB0E0E6, // rgb(176,224,230)
+  purple                  = 0x800080, // rgb(128,0,128)
+  rebecca_purple          = 0x663399, // rgb(102,51,153)
+  red                     = 0xFF0000, // rgb(255,0,0)
+  rosy_brown              = 0xBC8F8F, // rgb(188,143,143)
+  royal_blue              = 0x4169E1, // rgb(65,105,225)
+  saddle_brown            = 0x8B4513, // rgb(139,69,19)
+  salmon                  = 0xFA8072, // rgb(250,128,114)
+  sandy_brown             = 0xF4A460, // rgb(244,164,96)
+  sea_green               = 0x2E8B57, // rgb(46,139,87)
+  sea_shell               = 0xFFF5EE, // rgb(255,245,238)
+  sienna                  = 0xA0522D, // rgb(160,82,45)
+  silver                  = 0xC0C0C0, // rgb(192,192,192)
+  sky_blue                = 0x87CEEB, // rgb(135,206,235)
+  slate_blue              = 0x6A5ACD, // rgb(106,90,205)
+  slate_gray              = 0x708090, // rgb(112,128,144)
+  snow                    = 0xFFFAFA, // rgb(255,250,250)
+  spring_green            = 0x00FF7F, // rgb(0,255,127)
+  steel_blue              = 0x4682B4, // rgb(70,130,180)
+  tan                     = 0xD2B48C, // rgb(210,180,140)
+  teal                    = 0x008080, // rgb(0,128,128)
+  thistle                 = 0xD8BFD8, // rgb(216,191,216)
+  tomato                  = 0xFF6347, // rgb(255,99,71)
+  turquoise               = 0x40E0D0, // rgb(64,224,208)
+  violet                  = 0xEE82EE, // rgb(238,130,238)
+  wheat                   = 0xF5DEB3, // rgb(245,222,179)
+  white                   = 0xFFFFFF, // rgb(255,255,255)
+  white_smoke             = 0xF5F5F5, // rgb(245,245,245)
+  yellow                  = 0xFFFF00, // rgb(255,255,0)
+  yellow_green            = 0x9ACD32  // rgb(154,205,50)
+};  // enum class color
+
+enum class terminal_color : uint8_t {
+  black = 30,
+  red,
+  green,
+  yellow,
+  blue,
+  magenta,
+  cyan,
+  white,
+  bright_black = 90,
+  bright_red,
+  bright_green,
+  bright_yellow,
+  bright_blue,
+  bright_magenta,
+  bright_cyan,
+  bright_white
+};  // enum class terminal_color
+
+enum class emphasis : uint8_t {
+  bold = 1,
+  italic = 1 << 1,
+  underline = 1 << 2,
+  strikethrough = 1 << 3
+};  // enum class emphasis
+
+// rgb is a struct for red, green and blue colors.
+// We use rgb as name because some editors will show it as color direct in the
+// editor.
+struct rgb {
+  FMT_CONSTEXPR_DECL rgb() : r(0), g(0), b(0) {}
+  FMT_CONSTEXPR_DECL rgb(uint8_t r_, uint8_t g_, uint8_t b_)
+    : r(r_), g(g_), b(b_) {}
+  FMT_CONSTEXPR_DECL rgb(uint32_t hex)
+    : r((hex >> 16) & 0xFF), g((hex >> 8) & 0xFF), b((hex) & 0xFF) {}
+  FMT_CONSTEXPR_DECL rgb(color hex)
+    : r((uint32_t(hex) >> 16) & 0xFF), g((uint32_t(hex) >> 8) & 0xFF),
+      b(uint32_t(hex) & 0xFF) {}
+  uint8_t r;
+  uint8_t g;
+  uint8_t b;
+};
+
+namespace internal {
+
+// color is a struct of either a rgb color or a terminal color.
+struct color_type {
+  FMT_CONSTEXPR color_type() FMT_NOEXCEPT
+    : is_rgb(), value{} {}
+  FMT_CONSTEXPR color_type(color rgb_color) FMT_NOEXCEPT
+    : is_rgb(true), value{} {
+    value.rgb_color = static_cast<uint32_t>(rgb_color);
+  }
+  FMT_CONSTEXPR color_type(rgb rgb_color) FMT_NOEXCEPT
+    : is_rgb(true), value{} {
+    value.rgb_color = (static_cast<uint32_t>(rgb_color.r) << 16)
+       | (static_cast<uint32_t>(rgb_color.g) << 8) | rgb_color.b;
+  }
+  FMT_CONSTEXPR color_type(terminal_color term_color) FMT_NOEXCEPT
+    : is_rgb(), value{} {
+    value.term_color = static_cast<uint8_t>(term_color);
+  }
+  bool is_rgb;
+  union color_union {
+    uint8_t term_color;
+    uint32_t rgb_color;
+  } value;
+};
+} // namespace internal
+
+// Experimental text formatting support.
+class text_style {
+ public:
+  FMT_CONSTEXPR text_style(emphasis em = emphasis()) FMT_NOEXCEPT
+      : set_foreground_color(), set_background_color(), ems(em) {}
+
+  FMT_CONSTEXPR text_style &operator|=(const text_style &rhs) {
+    if (!set_foreground_color) {
+      set_foreground_color = rhs.set_foreground_color;
+      foreground_color = rhs.foreground_color;
+    } else if (rhs.set_foreground_color) {
+      if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb)
+        throw format_error("can't OR a terminal color");
+      foreground_color.value.rgb_color |= rhs.foreground_color.value.rgb_color;
+    }
+
+    if (!set_background_color) {
+      set_background_color = rhs.set_background_color;
+      background_color = rhs.background_color;
+    } else if (rhs.set_background_color) {
+      if (!background_color.is_rgb || !rhs.background_color.is_rgb)
+        throw format_error("can't OR a terminal color");
+      background_color.value.rgb_color |= rhs.background_color.value.rgb_color;
+    }
+
+    ems = static_cast<emphasis>(static_cast<uint8_t>(ems) |
+                                static_cast<uint8_t>(rhs.ems));
+    return *this;
+  }
+
+  friend FMT_CONSTEXPR
+  text_style operator|(text_style lhs, const text_style &rhs) {
+    return lhs |= rhs;
+  }
+
+  FMT_CONSTEXPR text_style &operator&=(const text_style &rhs) {
+    if (!set_foreground_color) {
+      set_foreground_color = rhs.set_foreground_color;
+      foreground_color = rhs.foreground_color;
+    } else if (rhs.set_foreground_color) {
+      if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb)
+        throw format_error("can't AND a terminal color");
+      foreground_color.value.rgb_color &= rhs.foreground_color.value.rgb_color;
+    }
+
+    if (!set_background_color) {
+      set_background_color = rhs.set_background_color;
+      background_color = rhs.background_color;
+    } else if (rhs.set_background_color) {
+      if (!background_color.is_rgb || !rhs.background_color.is_rgb)
+        throw format_error("can't AND a terminal color");
+      background_color.value.rgb_color &= rhs.background_color.value.rgb_color;
+    }
+
+    ems = static_cast<emphasis>(static_cast<uint8_t>(ems) &
+                                static_cast<uint8_t>(rhs.ems));
+    return *this;
+  }
+
+  friend FMT_CONSTEXPR
+  text_style operator&(text_style lhs, const text_style &rhs) {
+    return lhs &= rhs;
+  }
+
+  FMT_CONSTEXPR bool has_foreground() const FMT_NOEXCEPT {
+    return set_foreground_color;
+  }
+  FMT_CONSTEXPR bool has_background() const FMT_NOEXCEPT {
+    return set_background_color;
+  }
+  FMT_CONSTEXPR bool has_emphasis() const FMT_NOEXCEPT {
+    return static_cast<uint8_t>(ems) != 0;
+  }
+  FMT_CONSTEXPR internal::color_type get_foreground() const FMT_NOEXCEPT {
+    assert(has_foreground() && "no foreground specified for this style");
+    return foreground_color;
+  }
+  FMT_CONSTEXPR internal::color_type get_background() const FMT_NOEXCEPT {
+    assert(has_background() && "no background specified for this style");
+    return background_color;
+  }
+  FMT_CONSTEXPR emphasis get_emphasis() const FMT_NOEXCEPT {
+    assert(has_emphasis() && "no emphasis specified for this style");
+    return ems;
+  }
+
+private:
+ FMT_CONSTEXPR text_style(bool is_foreground,
+                          internal::color_type text_color) FMT_NOEXCEPT
+     : set_foreground_color(),
+       set_background_color(),
+       ems() {
+   if (is_foreground) {
+     foreground_color = text_color;
+     set_foreground_color = true;
+   } else {
+     background_color = text_color;
+     set_background_color = true;
+   }
+ }
+
+  friend FMT_CONSTEXPR_DECL text_style fg(internal::color_type foreground)
+      FMT_NOEXCEPT;
+  friend FMT_CONSTEXPR_DECL text_style bg(internal::color_type background)
+      FMT_NOEXCEPT;
+
+  internal::color_type foreground_color;
+  internal::color_type background_color;
+  bool set_foreground_color;
+  bool set_background_color;
+  emphasis ems;
+};
+
+FMT_CONSTEXPR text_style fg(internal::color_type foreground) FMT_NOEXCEPT {
+  return text_style(/*is_foreground=*/true, foreground);
+}
+
+FMT_CONSTEXPR text_style bg(internal::color_type background) FMT_NOEXCEPT {
+  return text_style(/*is_foreground=*/false, background);
+}
+
+FMT_CONSTEXPR text_style operator|(emphasis lhs, emphasis rhs) FMT_NOEXCEPT {
+  return text_style(lhs) | rhs;
+}
+
+namespace internal {
+
+template <typename Char>
+struct ansi_color_escape {
+  FMT_CONSTEXPR ansi_color_escape(internal::color_type text_color,
+                                  const char * esc) FMT_NOEXCEPT {
+    // If we have a terminal color, we need to output another escape code
+    // sequence.
+    if (!text_color.is_rgb) {
+      bool is_background = esc == internal::data::BACKGROUND_COLOR;
+      uint32_t value = text_color.value.term_color;
+      // Background ASCII codes are the same as the foreground ones but with
+      // 10 more.
+      if (is_background)
+        value += 10u;
+
+      std::size_t index = 0;
+      buffer[index++] = static_cast<Char>('\x1b');
+      buffer[index++] = static_cast<Char>('[');
+
+      if (value >= 100u) {
+        buffer[index++] = static_cast<Char>('1');
+        value %= 100u;
+      }
+      buffer[index++] = static_cast<Char>('0' + value / 10u);
+      buffer[index++] = static_cast<Char>('0' + value % 10u);
+
+      buffer[index++] = static_cast<Char>('m');
+      buffer[index++] = static_cast<Char>('\0');
+      return;
+    }
+
+    for (int i = 0; i < 7; i++) {
+      buffer[i] = static_cast<Char>(esc[i]);
+    }
+    rgb color(text_color.value.rgb_color);
+    to_esc(color.r, buffer +  7, ';');
+    to_esc(color.g, buffer + 11, ';');
+    to_esc(color.b, buffer + 15, 'm');
+    buffer[19] = static_cast<Char>(0);
+  }
+  FMT_CONSTEXPR ansi_color_escape(emphasis em) FMT_NOEXCEPT {
+    uint8_t em_codes[4] = {};
+    uint8_t em_bits = static_cast<uint8_t>(em);
+    if (em_bits & static_cast<uint8_t>(emphasis::bold))
+      em_codes[0] = 1;
+    if (em_bits & static_cast<uint8_t>(emphasis::italic))
+      em_codes[1] = 3;
+    if (em_bits & static_cast<uint8_t>(emphasis::underline))
+      em_codes[2] = 4;
+    if (em_bits & static_cast<uint8_t>(emphasis::strikethrough))
+      em_codes[3] = 9;
+
+    std::size_t index = 0;
+    for (int i = 0; i < 4; ++i) {
+      if (!em_codes[i])
+        continue;
+      buffer[index++] = static_cast<Char>('\x1b');
+      buffer[index++] = static_cast<Char>('[');
+      buffer[index++] = static_cast<Char>('0' + em_codes[i]);
+      buffer[index++] = static_cast<Char>('m');
+    }
+    buffer[index++] = static_cast<Char>(0);
+  }
+  FMT_CONSTEXPR operator const Char *() const FMT_NOEXCEPT { return buffer; }
+
+private:
+  Char buffer[7u + 3u * 4u + 1u];
+
+  static FMT_CONSTEXPR void to_esc(uint8_t c, Char *out,
+                                   char delimiter) FMT_NOEXCEPT {
+    out[0] = static_cast<Char>('0' + c / 100);
+    out[1] = static_cast<Char>('0' + c / 10 % 10);
+    out[2] = static_cast<Char>('0' + c % 10);
+    out[3] = static_cast<Char>(delimiter);
+  }
+};
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_foreground_color(internal::color_type foreground) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(foreground, internal::data::FOREGROUND_COLOR);
+}
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_background_color(internal::color_type background) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(background, internal::data::BACKGROUND_COLOR);
+}
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_emphasis(emphasis em) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(em);
+}
+
+template <typename Char>
+inline void fputs(const Char *chars, FILE *stream) FMT_NOEXCEPT {
+  std::fputs(chars, stream);
+}
+
+template <>
+inline void fputs<wchar_t>(const wchar_t *chars, FILE *stream) FMT_NOEXCEPT {
+  std::fputws(chars, stream);
+}
+
+template <typename Char>
+inline void reset_color(FILE *stream) FMT_NOEXCEPT {
+  fputs(internal::data::RESET_COLOR, stream);
+}
+
+template <>
+inline void reset_color<wchar_t>(FILE *stream) FMT_NOEXCEPT {
+  fputs(internal::data::WRESET_COLOR, stream);
+}
+
+// The following specialiazation disables using std::FILE as a character type,
+// which is needed because or else
+//   fmt::print(stderr, fmt::emphasis::bold, "");
+// would take stderr (a std::FILE *) as the format string.
+template <>
+struct is_string<std::FILE *> : std::false_type {};
+template <>
+struct is_string<const std::FILE *> : std::false_type {};
+} // namespace internal
+
+template <
+  typename S, typename Char = typename internal::char_t<S>::type>
+void vprint(std::FILE *f, const text_style &ts, const S &format,
+            basic_format_args<typename buffer_context<Char>::type> args) {
+  bool has_style = false;
+  if (ts.has_emphasis()) {
+    has_style = true;
+    internal::fputs<Char>(
+          internal::make_emphasis<Char>(ts.get_emphasis()), f);
+  }
+  if (ts.has_foreground()) {
+    has_style = true;
+    internal::fputs<Char>(
+          internal::make_foreground_color<Char>(ts.get_foreground()), f);
+  }
+  if (ts.has_background()) {
+    has_style = true;
+    internal::fputs<Char>(
+        internal::make_background_color<Char>(ts.get_background()), f);
+  }
+  vprint(f, format, args);
+  if (has_style) {
+    internal::reset_color<Char>(f);
+  }
+}
+
+/**
+  Formats a string and prints it to the specified file stream using ANSI
+  escape sequences to specify text formatting.
+  Example:
+    fmt::print(fmt::emphasis::bold | fg(fmt::color::red),
+               "Elapsed time: {0:.2f} seconds", 1.23);
+ */
+template <typename String, typename... Args>
+typename std::enable_if<internal::is_string<String>::value>::type print(
+    std::FILE *f, const text_style &ts, const String &format_str,
+    const Args &... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef typename internal::char_t<String>::type char_t;
+  typedef typename buffer_context<char_t>::type context_t;
+  format_arg_store<context_t, Args...> as{args...};
+  vprint(f, ts, format_str, basic_format_args<context_t>(as));
+}
+
+/**
+  Formats a string and prints it to stdout using ANSI escape sequences to
+  specify text formatting.
+  Example:
+    fmt::print(fmt::emphasis::bold | fg(fmt::color::red),
+               "Elapsed time: {0:.2f} seconds", 1.23);
+ */
+template <typename String, typename... Args>
+typename std::enable_if<internal::is_string<String>::value>::type print(
+    const text_style &ts, const String &format_str,
+    const Args &... args) {
+  return print(stdout, ts, format_str, args...);
+}
+
+#endif
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_COLOR_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/format-inl.h

@@ -0,0 +1,972 @@
+// Formatting library for C++
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_FORMAT_INL_H_
+#define FMT_FORMAT_INL_H_
+
+#include "format.h"
+
+#include <string.h>
+
+#include <cctype>
+#include <cerrno>
+#include <climits>
+#include <cmath>
+#include <cstdarg>
+#include <cstddef>  // for std::ptrdiff_t
+#include <cstring>  // for std::memmove
+#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR)
+# include <locale>
+#endif
+
+#if FMT_USE_WINDOWS_H
+# if !defined(FMT_HEADER_ONLY) && !defined(WIN32_LEAN_AND_MEAN)
+#  define WIN32_LEAN_AND_MEAN
+# endif
+# if defined(NOMINMAX) || defined(FMT_WIN_MINMAX)
+#  include <windows.h>
+# else
+#  define NOMINMAX
+#  include <windows.h>
+#  undef NOMINMAX
+# endif
+#endif
+
+#if FMT_EXCEPTIONS
+# define FMT_TRY try
+# define FMT_CATCH(x) catch (x)
+#else
+# define FMT_TRY if (true)
+# define FMT_CATCH(x) if (false)
+#endif
+
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable: 4127)  // conditional expression is constant
+# pragma warning(disable: 4702)  // unreachable code
+// Disable deprecation warning for strerror. The latter is not called but
+// MSVC fails to detect it.
+# pragma warning(disable: 4996)
+#endif
+
+// Dummy implementations of strerror_r and strerror_s called if corresponding
+// system functions are not available.
+inline fmt::internal::null<> strerror_r(int, char *, ...) {
+  return fmt::internal::null<>();
+}
+inline fmt::internal::null<> strerror_s(char *, std::size_t, ...) {
+  return fmt::internal::null<>();
+}
+
+FMT_BEGIN_NAMESPACE
+
+namespace {
+
+#ifndef _MSC_VER
+# define FMT_SNPRINTF snprintf
+#else  // _MSC_VER
+inline int fmt_snprintf(char *buffer, size_t size, const char *format, ...) {
+  va_list args;
+  va_start(args, format);
+  int result = vsnprintf_s(buffer, size, _TRUNCATE, format, args);
+  va_end(args);
+  return result;
+}
+# define FMT_SNPRINTF fmt_snprintf
+#endif  // _MSC_VER
+
+#if defined(_WIN32) && defined(__MINGW32__) && !defined(__NO_ISOCEXT)
+# define FMT_SWPRINTF snwprintf
+#else
+# define FMT_SWPRINTF swprintf
+#endif // defined(_WIN32) && defined(__MINGW32__) && !defined(__NO_ISOCEXT)
+
+typedef void (*FormatFunc)(internal::buffer &, int, string_view);
+
+// Portable thread-safe version of strerror.
+// Sets buffer to point to a string describing the error code.
+// This can be either a pointer to a string stored in buffer,
+// or a pointer to some static immutable string.
+// Returns one of the following values:
+//   0      - success
+//   ERANGE - buffer is not large enough to store the error message
+//   other  - failure
+// Buffer should be at least of size 1.
+int safe_strerror(
+    int error_code, char *&buffer, std::size_t buffer_size) FMT_NOEXCEPT {
+  FMT_ASSERT(buffer != FMT_NULL && buffer_size != 0, "invalid buffer");
+
+  class dispatcher {
+   private:
+    int error_code_;
+    char *&buffer_;
+    std::size_t buffer_size_;
+
+    // A noop assignment operator to avoid bogus warnings.
+    void operator=(const dispatcher &) {}
+
+    // Handle the result of XSI-compliant version of strerror_r.
+    int handle(int result) {
+      // glibc versions before 2.13 return result in errno.
+      return result == -1 ? errno : result;
+    }
+
+    // Handle the result of GNU-specific version of strerror_r.
+    int handle(char *message) {
+      // If the buffer is full then the message is probably truncated.
+      if (message == buffer_ && strlen(buffer_) == buffer_size_ - 1)
+        return ERANGE;
+      buffer_ = message;
+      return 0;
+    }
+
+    // Handle the case when strerror_r is not available.
+    int handle(internal::null<>) {
+      return fallback(strerror_s(buffer_, buffer_size_, error_code_));
+    }
+
+    // Fallback to strerror_s when strerror_r is not available.
+    int fallback(int result) {
+      // If the buffer is full then the message is probably truncated.
+      return result == 0 && strlen(buffer_) == buffer_size_ - 1 ?
+            ERANGE : result;
+    }
+
+#if !FMT_MSC_VER
+    // Fallback to strerror if strerror_r and strerror_s are not available.
+    int fallback(internal::null<>) {
+      errno = 0;
+      buffer_ = strerror(error_code_);
+      return errno;
+    }
+#endif
+
+   public:
+    dispatcher(int err_code, char *&buf, std::size_t buf_size)
+      : error_code_(err_code), buffer_(buf), buffer_size_(buf_size) {}
+
+    int run() {
+      return handle(strerror_r(error_code_, buffer_, buffer_size_));
+    }
+  };
+  return dispatcher(error_code, buffer, buffer_size).run();
+}
+
+void format_error_code(internal::buffer &out, int error_code,
+                       string_view message) FMT_NOEXCEPT {
+  // Report error code making sure that the output fits into
+  // inline_buffer_size to avoid dynamic memory allocation and potential
+  // bad_alloc.
+  out.resize(0);
+  static const char SEP[] = ": ";
+  static const char ERROR_STR[] = "error ";
+  // Subtract 2 to account for terminating null characters in SEP and ERROR_STR.
+  std::size_t error_code_size = sizeof(SEP) + sizeof(ERROR_STR) - 2;
+  typedef internal::int_traits<int>::main_type main_type;
+  main_type abs_value = static_cast<main_type>(error_code);
+  if (internal::is_negative(error_code)) {
+    abs_value = 0 - abs_value;
+    ++error_code_size;
+  }
+  error_code_size += internal::to_unsigned(internal::count_digits(abs_value));
+  writer w(out);
+  if (message.size() <= inline_buffer_size - error_code_size) {
+    w.write(message);
+    w.write(SEP);
+  }
+  w.write(ERROR_STR);
+  w.write(error_code);
+  assert(out.size() <= inline_buffer_size);
+}
+
+void report_error(FormatFunc func, int error_code,
+                  string_view message) FMT_NOEXCEPT {
+  memory_buffer full_message;
+  func(full_message, error_code, message);
+  // Use Writer::data instead of Writer::c_str to avoid potential memory
+  // allocation.
+  std::fwrite(full_message.data(), full_message.size(), 1, stderr);
+  std::fputc('\n', stderr);
+}
+}  // namespace
+
+FMT_FUNC size_t internal::count_code_points(basic_string_view<char8_t> s) {
+  const char8_t *data = s.data();
+  size_t num_code_points = 0;
+  for (size_t i = 0, size = s.size(); i != size; ++i) {
+    if ((data[i] & 0xc0) != 0x80)
+      ++num_code_points;
+  }
+  return num_code_points;
+}
+
+#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR)
+namespace internal {
+
+template <typename Locale>
+locale_ref::locale_ref(const Locale &loc) : locale_(&loc) {
+  static_assert(std::is_same<Locale, std::locale>::value, "");
+}
+
+template <typename Locale>
+Locale locale_ref::get() const {
+  static_assert(std::is_same<Locale, std::locale>::value, "");
+  return locale_ ? *static_cast<const std::locale*>(locale_) : std::locale();
+}
+
+template <typename Char>
+FMT_FUNC Char thousands_sep_impl(locale_ref loc) {
+  return std::use_facet<std::numpunct<Char> >(
+    loc.get<std::locale>()).thousands_sep();
+}
+}
+#else
+template <typename Char>
+FMT_FUNC Char internal::thousands_sep_impl(locale_ref) {
+  return FMT_STATIC_THOUSANDS_SEPARATOR;
+}
+#endif
+
+FMT_FUNC void system_error::init(
+    int err_code, string_view format_str, format_args args) {
+  error_code_ = err_code;
+  memory_buffer buffer;
+  format_system_error(buffer, err_code, vformat(format_str, args));
+  std::runtime_error &base = *this;
+  base = std::runtime_error(to_string(buffer));
+}
+
+namespace internal {
+template <typename T>
+int char_traits<char>::format_float(
+    char *buf, std::size_t size, const char *format, int precision, T value) {
+  return precision < 0 ?
+      FMT_SNPRINTF(buf, size, format, value) :
+      FMT_SNPRINTF(buf, size, format, precision, value);
+}
+
+template <typename T>
+int char_traits<wchar_t>::format_float(
+    wchar_t *buf, std::size_t size, const wchar_t *format, int precision,
+    T value) {
+  return precision < 0 ?
+      FMT_SWPRINTF(buf, size, format, value) :
+      FMT_SWPRINTF(buf, size, format, precision, value);
+}
+
+template <typename T>
+const char basic_data<T>::DIGITS[] =
+    "0001020304050607080910111213141516171819"
+    "2021222324252627282930313233343536373839"
+    "4041424344454647484950515253545556575859"
+    "6061626364656667686970717273747576777879"
+    "8081828384858687888990919293949596979899";
+
+#define FMT_POWERS_OF_10(factor) \
+  factor * 10, \
+  factor * 100, \
+  factor * 1000, \
+  factor * 10000, \
+  factor * 100000, \
+  factor * 1000000, \
+  factor * 10000000, \
+  factor * 100000000, \
+  factor * 1000000000
+
+template <typename T>
+const uint32_t basic_data<T>::POWERS_OF_10_32[] = {
+  1, FMT_POWERS_OF_10(1)
+};
+
+template <typename T>
+const uint32_t basic_data<T>::ZERO_OR_POWERS_OF_10_32[] = {
+  0, FMT_POWERS_OF_10(1)
+};
+
+template <typename T>
+const uint64_t basic_data<T>::ZERO_OR_POWERS_OF_10_64[] = {
+  0,
+  FMT_POWERS_OF_10(1),
+  FMT_POWERS_OF_10(1000000000ull),
+  10000000000000000000ull
+};
+
+// Normalized 64-bit significands of pow(10, k), for k = -348, -340, ..., 340.
+// These are generated by support/compute-powers.py.
+template <typename T>
+const uint64_t basic_data<T>::POW10_SIGNIFICANDS[] = {
+  0xfa8fd5a0081c0288, 0xbaaee17fa23ebf76, 0x8b16fb203055ac76,
+  0xcf42894a5dce35ea, 0x9a6bb0aa55653b2d, 0xe61acf033d1a45df,
+  0xab70fe17c79ac6ca, 0xff77b1fcbebcdc4f, 0xbe5691ef416bd60c,
+  0x8dd01fad907ffc3c, 0xd3515c2831559a83, 0x9d71ac8fada6c9b5,
+  0xea9c227723ee8bcb, 0xaecc49914078536d, 0x823c12795db6ce57,
+  0xc21094364dfb5637, 0x9096ea6f3848984f, 0xd77485cb25823ac7,
+  0xa086cfcd97bf97f4, 0xef340a98172aace5, 0xb23867fb2a35b28e,
+  0x84c8d4dfd2c63f3b, 0xc5dd44271ad3cdba, 0x936b9fcebb25c996,
+  0xdbac6c247d62a584, 0xa3ab66580d5fdaf6, 0xf3e2f893dec3f126,
+  0xb5b5ada8aaff80b8, 0x87625f056c7c4a8b, 0xc9bcff6034c13053,
+  0x964e858c91ba2655, 0xdff9772470297ebd, 0xa6dfbd9fb8e5b88f,
+  0xf8a95fcf88747d94, 0xb94470938fa89bcf, 0x8a08f0f8bf0f156b,
+  0xcdb02555653131b6, 0x993fe2c6d07b7fac, 0xe45c10c42a2b3b06,
+  0xaa242499697392d3, 0xfd87b5f28300ca0e, 0xbce5086492111aeb,
+  0x8cbccc096f5088cc, 0xd1b71758e219652c, 0x9c40000000000000,
+  0xe8d4a51000000000, 0xad78ebc5ac620000, 0x813f3978f8940984,
+  0xc097ce7bc90715b3, 0x8f7e32ce7bea5c70, 0xd5d238a4abe98068,
+  0x9f4f2726179a2245, 0xed63a231d4c4fb27, 0xb0de65388cc8ada8,
+  0x83c7088e1aab65db, 0xc45d1df942711d9a, 0x924d692ca61be758,
+  0xda01ee641a708dea, 0xa26da3999aef774a, 0xf209787bb47d6b85,
+  0xb454e4a179dd1877, 0x865b86925b9bc5c2, 0xc83553c5c8965d3d,
+  0x952ab45cfa97a0b3, 0xde469fbd99a05fe3, 0xa59bc234db398c25,
+  0xf6c69a72a3989f5c, 0xb7dcbf5354e9bece, 0x88fcf317f22241e2,
+  0xcc20ce9bd35c78a5, 0x98165af37b2153df, 0xe2a0b5dc971f303a,
+  0xa8d9d1535ce3b396, 0xfb9b7cd9a4a7443c, 0xbb764c4ca7a44410,
+  0x8bab8eefb6409c1a, 0xd01fef10a657842c, 0x9b10a4e5e9913129,
+  0xe7109bfba19c0c9d, 0xac2820d9623bf429, 0x80444b5e7aa7cf85,
+  0xbf21e44003acdd2d, 0x8e679c2f5e44ff8f, 0xd433179d9c8cb841,
+  0x9e19db92b4e31ba9, 0xeb96bf6ebadf77d9, 0xaf87023b9bf0ee6b,
+};
+
+// Binary exponents of pow(10, k), for k = -348, -340, ..., 340, corresponding
+// to significands above.
+template <typename T>
+const int16_t basic_data<T>::POW10_EXPONENTS[] = {
+  -1220, -1193, -1166, -1140, -1113, -1087, -1060, -1034, -1007,  -980,  -954,
+   -927,  -901,  -874,  -847,  -821,  -794,  -768,  -741,  -715,  -688,  -661,
+   -635,  -608,  -582,  -555,  -529,  -502,  -475,  -449,  -422,  -396,  -369,
+   -343,  -316,  -289,  -263,  -236,  -210,  -183,  -157,  -130,  -103,   -77,
+    -50,   -24,     3,    30,    56,    83,   109,   136,   162,   189,   216,
+    242,   269,   295,   322,   348,   375,   402,   428,   455,   481,   508,
+    534,   561,   588,   614,   641,   667,   694,   720,   747,   774,   800,
+    827,   853,   880,   907,   933,   960,   986,  1013,  1039,  1066
+};
+
+template <typename T> const char basic_data<T>::FOREGROUND_COLOR[] = "\x1b[38;2;";
+template <typename T> const char basic_data<T>::BACKGROUND_COLOR[] = "\x1b[48;2;";
+template <typename T> const char basic_data<T>::RESET_COLOR[] = "\x1b[0m";
+template <typename T> const wchar_t basic_data<T>::WRESET_COLOR[] = L"\x1b[0m";
+
+// A handmade floating-point number f * pow(2, e).
+class fp {
+ private:
+  typedef uint64_t significand_type;
+
+  // All sizes are in bits.
+  static FMT_CONSTEXPR_DECL const int char_size =
+    std::numeric_limits<unsigned char>::digits;
+  // Subtract 1 to account for an implicit most significant bit in the
+  // normalized form.
+  static FMT_CONSTEXPR_DECL const int double_significand_size =
+    std::numeric_limits<double>::digits - 1;
+  static FMT_CONSTEXPR_DECL const uint64_t implicit_bit =
+    1ull << double_significand_size;
+
+ public:
+  significand_type f;
+  int e;
+
+  static FMT_CONSTEXPR_DECL const int significand_size =
+    sizeof(significand_type) * char_size;
+
+  fp(): f(0), e(0) {}
+  fp(uint64_t f_val, int e_val): f(f_val), e(e_val) {}
+
+  // Constructs fp from an IEEE754 double. It is a template to prevent compile
+  // errors on platforms where double is not IEEE754.
+  template <typename Double>
+  explicit fp(Double d) {
+    // Assume double is in the format [sign][exponent][significand].
+    typedef std::numeric_limits<Double> limits;
+    const int double_size = static_cast<int>(sizeof(Double) * char_size);
+    const int exponent_size =
+      double_size - double_significand_size - 1;  // -1 for sign
+    const uint64_t significand_mask = implicit_bit - 1;
+    const uint64_t exponent_mask = (~0ull >> 1) & ~significand_mask;
+    const int exponent_bias = (1 << exponent_size) - limits::max_exponent - 1;
+    auto u = bit_cast<uint64_t>(d);
+    auto biased_e = (u & exponent_mask) >> double_significand_size;
+    f = u & significand_mask;
+    if (biased_e != 0)
+      f += implicit_bit;
+    else
+      biased_e = 1;  // Subnormals use biased exponent 1 (min exponent).
+    e = static_cast<int>(biased_e - exponent_bias - double_significand_size);
+  }
+
+  // Normalizes the value converted from double and multiplied by (1 << SHIFT).
+  template <int SHIFT = 0>
+  void normalize() {
+    // Handle subnormals.
+    auto shifted_implicit_bit = implicit_bit << SHIFT;
+    while ((f & shifted_implicit_bit) == 0) {
+      f <<= 1;
+      --e;
+    }
+    // Subtract 1 to account for hidden bit.
+    auto offset = significand_size - double_significand_size - SHIFT - 1;
+    f <<= offset;
+    e -= offset;
+  }
+
+  // Compute lower and upper boundaries (m^- and m^+ in the Grisu paper), where
+  // a boundary is a value half way between the number and its predecessor
+  // (lower) or successor (upper). The upper boundary is normalized and lower
+  // has the same exponent but may be not normalized.
+  void compute_boundaries(fp &lower, fp &upper) const {
+    lower = f == implicit_bit ?
+          fp((f << 2) - 1, e - 2) : fp((f << 1) - 1, e - 1);
+    upper = fp((f << 1) + 1, e - 1);
+    upper.normalize<1>();  // 1 is to account for the exponent shift above.
+    lower.f <<= lower.e - upper.e;
+    lower.e = upper.e;
+  }
+};
+
+// Returns an fp number representing x - y. Result may not be normalized.
+inline fp operator-(fp x, fp y) {
+  FMT_ASSERT(x.f >= y.f && x.e == y.e, "invalid operands");
+  return fp(x.f - y.f, x.e);
+}
+
+// Computes an fp number r with r.f = x.f * y.f / pow(2, 64) rounded to nearest
+// with half-up tie breaking, r.e = x.e + y.e + 64. Result may not be normalized.
+FMT_API fp operator*(fp x, fp y);
+
+// Returns cached power (of 10) c_k = c_k.f * pow(2, c_k.e) such that its
+// (binary) exponent satisfies min_exponent <= c_k.e <= min_exponent + 3.
+FMT_API fp get_cached_power(int min_exponent, int &pow10_exponent);
+
+FMT_FUNC fp operator*(fp x, fp y) {
+  // Multiply 32-bit parts of significands.
+  uint64_t mask = (1ULL << 32) - 1;
+  uint64_t a = x.f >> 32, b = x.f & mask;
+  uint64_t c = y.f >> 32, d = y.f & mask;
+  uint64_t ac = a * c, bc = b * c, ad = a * d, bd = b * d;
+  // Compute mid 64-bit of result and round.
+  uint64_t mid = (bd >> 32) + (ad & mask) + (bc & mask) + (1U << 31);
+  return fp(ac + (ad >> 32) + (bc >> 32) + (mid >> 32), x.e + y.e + 64);
+}
+
+FMT_FUNC fp get_cached_power(int min_exponent, int &pow10_exponent) {
+  const double one_over_log2_10 = 0.30102999566398114;  // 1 / log2(10)
+  int index = static_cast<int>(std::ceil(
+        (min_exponent + fp::significand_size - 1) * one_over_log2_10));
+  // Decimal exponent of the first (smallest) cached power of 10.
+  const int first_dec_exp = -348;
+  // Difference between 2 consecutive decimal exponents in cached powers of 10.
+  const int dec_exp_step = 8;
+  index = (index - first_dec_exp - 1) / dec_exp_step + 1;
+  pow10_exponent = first_dec_exp + index * dec_exp_step;
+  return fp(data::POW10_SIGNIFICANDS[index], data::POW10_EXPONENTS[index]);
+}
+
+FMT_FUNC bool grisu2_round(
+    char *buf, int &size, int max_digits, uint64_t delta,
+    uint64_t remainder, uint64_t exp, uint64_t diff, int &exp10) {
+  while (remainder < diff && delta - remainder >= exp &&
+        (remainder + exp < diff || diff - remainder > remainder + exp - diff)) {
+    --buf[size - 1];
+    remainder += exp;
+  }
+  if (size > max_digits) {
+    --size;
+    ++exp10;
+    if (buf[size] >= '5')
+      return false;
+  }
+  return true;
+}
+
+// Generates output using Grisu2 digit-gen algorithm.
+FMT_FUNC bool grisu2_gen_digits(
+    char *buf, int &size, uint32_t hi, uint64_t lo, int &exp,
+    uint64_t delta, const fp &one, const fp &diff, int max_digits) {
+  // Generate digits for the most significant part (hi).
+  while (exp > 0) {
+    uint32_t digit = 0;
+    // This optimization by miloyip reduces the number of integer divisions by
+    // one per iteration.
+    switch (exp) {
+    case 10: digit = hi / 1000000000; hi %= 1000000000; break;
+    case  9: digit = hi /  100000000; hi %=  100000000; break;
+    case  8: digit = hi /   10000000; hi %=   10000000; break;
+    case  7: digit = hi /    1000000; hi %=    1000000; break;
+    case  6: digit = hi /     100000; hi %=     100000; break;
+    case  5: digit = hi /      10000; hi %=      10000; break;
+    case  4: digit = hi /       1000; hi %=       1000; break;
+    case  3: digit = hi /        100; hi %=        100; break;
+    case  2: digit = hi /         10; hi %=         10; break;
+    case  1: digit = hi;              hi =           0; break;
+    default:
+      FMT_ASSERT(false, "invalid number of digits");
+    }
+    if (digit != 0 || size != 0)
+      buf[size++] = static_cast<char>('0' + digit);
+    --exp;
+    uint64_t remainder = (static_cast<uint64_t>(hi) << -one.e) + lo;
+    if (remainder <= delta || size > max_digits) {
+      return grisu2_round(
+            buf, size, max_digits, delta, remainder,
+            static_cast<uint64_t>(data::POWERS_OF_10_32[exp]) << -one.e,
+            diff.f, exp);
+    }
+  }
+  // Generate digits for the least significant part (lo).
+  for (;;) {
+    lo *= 10;
+    delta *= 10;
+    char digit = static_cast<char>(lo >> -one.e);
+    if (digit != 0 || size != 0)
+      buf[size++] = static_cast<char>('0' + digit);
+    lo &= one.f - 1;
+    --exp;
+    if (lo < delta || size > max_digits) {
+      return grisu2_round(buf, size, max_digits, delta, lo, one.f,
+                          diff.f * data::POWERS_OF_10_32[-exp], exp);
+    }
+  }
+}
+
+#if FMT_CLANG_VERSION
+# define FMT_FALLTHROUGH [[clang::fallthrough]];
+#elif FMT_GCC_VERSION >= 700
+# define FMT_FALLTHROUGH [[gnu::fallthrough]];
+#else
+# define FMT_FALLTHROUGH
+#endif
+
+struct gen_digits_params {
+  int num_digits;
+  bool fixed;
+  bool upper;
+  bool trailing_zeros;
+};
+
+struct prettify_handler {
+  char *data;
+  ptrdiff_t size;
+  buffer &buf;
+
+  explicit prettify_handler(buffer &b, ptrdiff_t n)
+    : data(b.data()), size(n), buf(b) {}
+  ~prettify_handler() {
+    assert(buf.size() >= to_unsigned(size));
+    buf.resize(to_unsigned(size));
+  }
+
+  template <typename F>
+  void insert(ptrdiff_t pos, ptrdiff_t n, F f) {
+    std::memmove(data + pos + n, data + pos, to_unsigned(size - pos));
+    f(data + pos);
+    size += n;
+  }
+
+  void insert(ptrdiff_t pos, char c) {
+    std::memmove(data + pos + 1, data + pos, to_unsigned(size - pos));
+    data[pos] = c;
+    ++size;
+  }
+
+  void append(ptrdiff_t n, char c) {
+    std::uninitialized_fill_n(data + size, n, c);
+    size += n;
+  }
+
+  void append(char c) { data[size++] = c; }
+
+  void remove_trailing(char c) {
+    while (data[size - 1] == c) --size;
+  }
+};
+
+// Writes the exponent exp in the form "[+-]d{2,3}" to buffer.
+template <typename Handler>
+FMT_FUNC void write_exponent(int exp, Handler &&h) {
+  FMT_ASSERT(-1000 < exp && exp < 1000, "exponent out of range");
+  if (exp < 0) {
+    h.append('-');
+    exp = -exp;
+  } else {
+    h.append('+');
+  }
+  if (exp >= 100) {
+    h.append(static_cast<char>('0' + exp / 100));
+    exp %= 100;
+    const char *d = data::DIGITS + exp * 2;
+    h.append(d[0]);
+    h.append(d[1]);
+  } else {
+    const char *d = data::DIGITS + exp * 2;
+    h.append(d[0]);
+    h.append(d[1]);
+  }
+}
+
+struct fill {
+  size_t n;
+  void operator()(char *buf) const {
+    buf[0] = '0';
+    buf[1] = '.';
+    std::uninitialized_fill_n(buf + 2, n, '0');
+  }
+};
+
+// The number is given as v = f * pow(10, exp), where f has size digits.
+template <typename Handler>
+FMT_FUNC void grisu2_prettify(const gen_digits_params &params,
+                              int size, int exp, Handler &&handler) {
+  if (!params.fixed) {
+    // Insert a decimal point after the first digit and add an exponent.
+    handler.insert(1, '.');
+    exp += size - 1;
+    if (size < params.num_digits)
+      handler.append(params.num_digits - size, '0');
+    handler.append(params.upper ? 'E' : 'e');
+    write_exponent(exp, handler);
+    return;
+  }
+  // pow(10, full_exp - 1) <= v <= pow(10, full_exp).
+  int full_exp = size + exp;
+  const int exp_threshold = 21;
+  if (size <= full_exp && full_exp <= exp_threshold) {
+    // 1234e7 -> 12340000000[.0+]
+    handler.append(full_exp - size, '0');
+    int num_zeros = params.num_digits - full_exp;
+    if (num_zeros > 0 && params.trailing_zeros) {
+      handler.append('.');
+      handler.append(num_zeros, '0');
+    }
+  } else if (full_exp > 0) {
+    // 1234e-2 -> 12.34[0+]
+    handler.insert(full_exp, '.');
+    if (!params.trailing_zeros) {
+      // Remove trailing zeros.
+      handler.remove_trailing('0');
+    } else if (params.num_digits > size) {
+      // Add trailing zeros.
+      ptrdiff_t num_zeros = params.num_digits - size;
+      handler.append(num_zeros, '0');
+    }
+  } else {
+    // 1234e-6 -> 0.001234
+    handler.insert(0, 2 - full_exp, fill{to_unsigned(-full_exp)});
+  }
+}
+
+struct char_counter {
+  ptrdiff_t size;
+
+  template <typename F>
+  void insert(ptrdiff_t, ptrdiff_t n, F) { size += n; }
+  void insert(ptrdiff_t, char) { ++size; }
+  void append(ptrdiff_t n, char) { size += n; }
+  void append(char) { ++size; }
+  void remove_trailing(char) {}
+};
+
+// Converts format specifiers into parameters for digit generation and computes
+// output buffer size for a number in the range [pow(10, exp - 1), pow(10, exp)
+// or 0 if exp == 1.
+FMT_FUNC gen_digits_params process_specs(const core_format_specs &specs,
+                                         int exp, buffer &buf) {
+  auto params = gen_digits_params();
+  int num_digits = specs.precision >= 0 ? specs.precision : 6;
+  switch (specs.type) {
+  case 'G':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case '\0': case 'g':
+    params.trailing_zeros = (specs.flags & HASH_FLAG) != 0;
+    if (-4 <= exp && exp < num_digits + 1) {
+      params.fixed = true;
+      if (!specs.type && params.trailing_zeros && exp >= 0)
+        num_digits = exp + 1;
+    }
+    break;
+  case 'F':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case 'f': {
+    params.fixed = true;
+    params.trailing_zeros = true;
+    int adjusted_min_digits = num_digits + exp;
+    if (adjusted_min_digits > 0)
+      num_digits = adjusted_min_digits;
+    break;
+  }
+  case 'E':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case 'e':
+    ++num_digits;
+    break;
+  }
+  params.num_digits = num_digits;
+  char_counter counter{num_digits};
+  grisu2_prettify(params, params.num_digits, exp - num_digits, counter);
+  buf.resize(to_unsigned(counter.size));
+  return params;
+}
+
+template <typename Double>
+FMT_FUNC typename std::enable_if<sizeof(Double) == sizeof(uint64_t), bool>::type
+    grisu2_format(Double value, buffer &buf, core_format_specs specs) {
+  FMT_ASSERT(value >= 0, "value is negative");
+  if (value == 0) {
+    gen_digits_params params = process_specs(specs, 1, buf);
+    const size_t size = 1;
+    buf[0] = '0';
+    grisu2_prettify(params, size, 0, prettify_handler(buf, size));
+    return true;
+  }
+
+  fp fp_value(value);
+  fp lower, upper;  // w^- and w^+ in the Grisu paper.
+  fp_value.compute_boundaries(lower, upper);
+
+  // Find a cached power of 10 close to 1 / upper and use it to scale upper.
+  const int min_exp = -60;  // alpha in Grisu.
+  int cached_exp = 0;  // K in Grisu.
+  auto cached_pow = get_cached_power(  // \tilde{c}_{-k} in Grisu.
+      min_exp - (upper.e + fp::significand_size), cached_exp);
+  cached_exp = -cached_exp;
+  upper = upper * cached_pow;  // \tilde{M}^+ in Grisu.
+  --upper.f;  // \tilde{M}^+ - 1 ulp -> M^+_{\downarrow}.
+  fp one(1ull << -upper.e, upper.e);
+  // hi (p1 in Grisu) contains the most significant digits of scaled_upper.
+  // hi = floor(upper / one).
+  uint32_t hi = static_cast<uint32_t>(upper.f >> -one.e);
+  int exp = count_digits(hi);  // kappa in Grisu.
+  gen_digits_params params = process_specs(specs, cached_exp + exp, buf);
+  fp_value.normalize();
+  fp scaled_value = fp_value * cached_pow;
+  lower = lower * cached_pow;  // \tilde{M}^- in Grisu.
+  ++lower.f;  // \tilde{M}^- + 1 ulp -> M^-_{\uparrow}.
+  uint64_t delta = upper.f - lower.f;
+  fp diff = upper - scaled_value; // wp_w in Grisu.
+  // lo (p2 in Grisu) contains the least significants digits of scaled_upper.
+  // lo = supper % one.
+  uint64_t lo = upper.f & (one.f - 1);
+  int size = 0;
+  if (!grisu2_gen_digits(buf.data(), size, hi, lo, exp, delta, one, diff,
+                         params.num_digits)) {
+    buf.clear();
+    return false;
+  }
+  grisu2_prettify(params, size, cached_exp + exp, prettify_handler(buf, size));
+  return true;
+}
+
+template <typename Double>
+void sprintf_format(Double value, internal::buffer &buf,
+                    core_format_specs spec) {
+  // Buffer capacity must be non-zero, otherwise MSVC's vsnprintf_s will fail.
+  FMT_ASSERT(buf.capacity() != 0, "empty buffer");
+
+  // Build format string.
+  enum { MAX_FORMAT_SIZE = 10}; // longest format: %#-*.*Lg
+  char format[MAX_FORMAT_SIZE];
+  char *format_ptr = format;
+  *format_ptr++ = '%';
+  if (spec.has(HASH_FLAG))
+    *format_ptr++ = '#';
+  if (spec.precision >= 0) {
+    *format_ptr++ = '.';
+    *format_ptr++ = '*';
+  }
+  if (std::is_same<Double, long double>::value)
+    *format_ptr++ = 'L';
+  *format_ptr++ = spec.type;
+  *format_ptr = '\0';
+
+  // Format using snprintf.
+  char *start = FMT_NULL;
+  for (;;) {
+    std::size_t buffer_size = buf.capacity();
+    start = &buf[0];
+    int result = internal::char_traits<char>::format_float(
+        start, buffer_size, format, spec.precision, value);
+    if (result >= 0) {
+      unsigned n = internal::to_unsigned(result);
+      if (n < buf.capacity()) {
+        buf.resize(n);
+        break;  // The buffer is large enough - continue with formatting.
+      }
+      buf.reserve(n + 1);
+    } else {
+      // If result is negative we ask to increase the capacity by at least 1,
+      // but as std::vector, the buffer grows exponentially.
+      buf.reserve(buf.capacity() + 1);
+    }
+  }
+}
+}  // namespace internal
+
+#if FMT_USE_WINDOWS_H
+
+FMT_FUNC internal::utf8_to_utf16::utf8_to_utf16(string_view s) {
+  static const char ERROR_MSG[] = "cannot convert string from UTF-8 to UTF-16";
+  if (s.size() > INT_MAX)
+    FMT_THROW(windows_error(ERROR_INVALID_PARAMETER, ERROR_MSG));
+  int s_size = static_cast<int>(s.size());
+  if (s_size == 0) {
+    // MultiByteToWideChar does not support zero length, handle separately.
+    buffer_.resize(1);
+    buffer_[0] = 0;
+    return;
+  }
+
+  int length = MultiByteToWideChar(
+      CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), s_size, FMT_NULL, 0);
+  if (length == 0)
+    FMT_THROW(windows_error(GetLastError(), ERROR_MSG));
+  buffer_.resize(length + 1);
+  length = MultiByteToWideChar(
+    CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), s_size, &buffer_[0], length);
+  if (length == 0)
+    FMT_THROW(windows_error(GetLastError(), ERROR_MSG));
+  buffer_[length] = 0;
+}
+
+FMT_FUNC internal::utf16_to_utf8::utf16_to_utf8(wstring_view s) {
+  if (int error_code = convert(s)) {
+    FMT_THROW(windows_error(error_code,
+        "cannot convert string from UTF-16 to UTF-8"));
+  }
+}
+
+FMT_FUNC int internal::utf16_to_utf8::convert(wstring_view s) {
+  if (s.size() > INT_MAX)
+    return ERROR_INVALID_PARAMETER;
+  int s_size = static_cast<int>(s.size());
+  if (s_size == 0) {
+    // WideCharToMultiByte does not support zero length, handle separately.
+    buffer_.resize(1);
+    buffer_[0] = 0;
+    return 0;
+  }
+
+  int length = WideCharToMultiByte(
+        CP_UTF8, 0, s.data(), s_size, FMT_NULL, 0, FMT_NULL, FMT_NULL);
+  if (length == 0)
+    return GetLastError();
+  buffer_.resize(length + 1);
+  length = WideCharToMultiByte(
+    CP_UTF8, 0, s.data(), s_size, &buffer_[0], length, FMT_NULL, FMT_NULL);
+  if (length == 0)
+    return GetLastError();
+  buffer_[length] = 0;
+  return 0;
+}
+
+FMT_FUNC void windows_error::init(
+    int err_code, string_view format_str, format_args args) {
+  error_code_ = err_code;
+  memory_buffer buffer;
+  internal::format_windows_error(buffer, err_code, vformat(format_str, args));
+  std::runtime_error &base = *this;
+  base = std::runtime_error(to_string(buffer));
+}
+
+FMT_FUNC void internal::format_windows_error(
+    internal::buffer &out, int error_code, string_view message) FMT_NOEXCEPT {
+  FMT_TRY {
+    wmemory_buffer buf;
+    buf.resize(inline_buffer_size);
+    for (;;) {
+      wchar_t *system_message = &buf[0];
+      int result = FormatMessageW(
+          FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,
+          FMT_NULL, error_code, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+          system_message, static_cast<uint32_t>(buf.size()), FMT_NULL);
+      if (result != 0) {
+        utf16_to_utf8 utf8_message;
+        if (utf8_message.convert(system_message) == ERROR_SUCCESS) {
+          writer w(out);
+          w.write(message);
+          w.write(": ");
+          w.write(utf8_message);
+          return;
+        }
+        break;
+      }
+      if (GetLastError() != ERROR_INSUFFICIENT_BUFFER)
+        break;  // Can't get error message, report error code instead.
+      buf.resize(buf.size() * 2);
+    }
+  } FMT_CATCH(...) {}
+  format_error_code(out, error_code, message);
+}
+
+#endif  // FMT_USE_WINDOWS_H
+
+FMT_FUNC void format_system_error(
+    internal::buffer &out, int error_code, string_view message) FMT_NOEXCEPT {
+  FMT_TRY {
+    memory_buffer buf;
+    buf.resize(inline_buffer_size);
+    for (;;) {
+      char *system_message = &buf[0];
+      int result = safe_strerror(error_code, system_message, buf.size());
+      if (result == 0) {
+        writer w(out);
+        w.write(message);
+        w.write(": ");
+        w.write(system_message);
+        return;
+      }
+      if (result != ERANGE)
+        break;  // Can't get error message, report error code instead.
+      buf.resize(buf.size() * 2);
+    }
+  } FMT_CATCH(...) {}
+  format_error_code(out, error_code, message);
+}
+
+FMT_FUNC void internal::error_handler::on_error(const char *message) {
+  FMT_THROW(format_error(message));
+}
+
+FMT_FUNC void report_system_error(
+    int error_code, fmt::string_view message) FMT_NOEXCEPT {
+  report_error(format_system_error, error_code, message);
+}
+
+#if FMT_USE_WINDOWS_H
+FMT_FUNC void report_windows_error(
+    int error_code, fmt::string_view message) FMT_NOEXCEPT {
+  report_error(internal::format_windows_error, error_code, message);
+}
+#endif
+
+FMT_FUNC void vprint(std::FILE *f, string_view format_str, format_args args) {
+  memory_buffer buffer;
+  internal::vformat_to(buffer, format_str,
+                       basic_format_args<buffer_context<char>::type>(args));
+  std::fwrite(buffer.data(), 1, buffer.size(), f);
+}
+
+FMT_FUNC void vprint(std::FILE *f, wstring_view format_str, wformat_args args) {
+  wmemory_buffer buffer;
+  internal::vformat_to(buffer, format_str, args);
+  std::fwrite(buffer.data(), sizeof(wchar_t), buffer.size(), f);
+}
+
+FMT_FUNC void vprint(string_view format_str, format_args args) {
+  vprint(stdout, format_str, args);
+}
+
+FMT_FUNC void vprint(wstring_view format_str, wformat_args args) {
+  vprint(stdout, format_str, args);
+}
+
+FMT_END_NAMESPACE
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+#endif  // FMT_FORMAT_INL_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/locale.h

@@ -0,0 +1,77 @@
+// Formatting library for C++ - std::locale support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_LOCALE_H_
+#define FMT_LOCALE_H_
+
+#include "format.h"
+#include <locale>
+
+FMT_BEGIN_NAMESPACE
+
+namespace internal {
+template <typename Char>
+typename buffer_context<Char>::type::iterator vformat_to(
+    const std::locale &loc, basic_buffer<Char> &buf,
+    basic_string_view<Char> format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  typedef back_insert_range<basic_buffer<Char> > range;
+  return vformat_to<arg_formatter<range>>(
+    buf, to_string_view(format_str), args, internal::locale_ref(loc));
+}
+
+template <typename Char>
+std::basic_string<Char> vformat(
+    const std::locale &loc, basic_string_view<Char> format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  internal::vformat_to(loc, buffer, format_str, args);
+  return fmt::to_string(buffer);
+}
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline std::basic_string<Char> vformat(
+    const std::locale &loc, const S &format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  return internal::vformat(loc, to_string_view(format_str), args);
+}
+
+template <typename S, typename... Args>
+inline std::basic_string<FMT_CHAR(S)> format(
+    const std::locale &loc, const S &format_str, const Args &... args) {
+  return internal::vformat(
+    loc, to_string_view(format_str),
+    *internal::checked_args<S, Args...>(format_str, args...));
+}
+
+template <typename String, typename OutputIt, typename... Args>
+inline typename std::enable_if<internal::is_output_iterator<OutputIt>::value,
+                               OutputIt>::type
+    vformat_to(OutputIt out, const std::locale &loc, const String &format_str,
+               typename format_args_t<OutputIt, FMT_CHAR(String)>::type args) {
+  typedef output_range<OutputIt, FMT_CHAR(String)> range;
+  return vformat_to<arg_formatter<range>>(
+    range(out), to_string_view(format_str), args, internal::locale_ref(loc));
+}
+
+template <typename OutputIt, typename S, typename... Args>
+inline typename std::enable_if<
+    internal::is_string<S>::value &&
+    internal::is_output_iterator<OutputIt>::value, OutputIt>::type
+    format_to(OutputIt out, const std::locale &loc, const S &format_str,
+              const Args &... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef typename format_context_t<OutputIt, FMT_CHAR(S)>::type context;
+  format_arg_store<context, Args...> as{args...};
+  return vformat_to(out, loc, to_string_view(format_str),
+                    basic_format_args<context>(as));
+}
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_LOCALE_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/ostream.h

@@ -0,0 +1,153 @@
+// Formatting library for C++ - std::ostream support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_OSTREAM_H_
+#define FMT_OSTREAM_H_
+
+#include "format.h"
+#include <ostream>
+
+FMT_BEGIN_NAMESPACE
+namespace internal {
+
+template <class Char>
+class formatbuf : public std::basic_streambuf<Char> {
+ private:
+  typedef typename std::basic_streambuf<Char>::int_type int_type;
+  typedef typename std::basic_streambuf<Char>::traits_type traits_type;
+
+  basic_buffer<Char> &buffer_;
+
+ public:
+  formatbuf(basic_buffer<Char> &buffer) : buffer_(buffer) {}
+
+ protected:
+  // The put-area is actually always empty. This makes the implementation
+  // simpler and has the advantage that the streambuf and the buffer are always
+  // in sync and sputc never writes into uninitialized memory. The obvious
+  // disadvantage is that each call to sputc always results in a (virtual) call
+  // to overflow. There is no disadvantage here for sputn since this always
+  // results in a call to xsputn.
+
+  int_type overflow(int_type ch = traits_type::eof()) FMT_OVERRIDE {
+    if (!traits_type::eq_int_type(ch, traits_type::eof()))
+      buffer_.push_back(static_cast<Char>(ch));
+    return ch;
+  }
+
+  std::streamsize xsputn(const Char *s, std::streamsize count) FMT_OVERRIDE {
+    buffer_.append(s, s + count);
+    return count;
+  }
+};
+
+template <typename Char>
+struct test_stream : std::basic_ostream<Char> {
+ private:
+  struct null;
+  // Hide all operator<< from std::basic_ostream<Char>.
+  void operator<<(null);
+};
+
+// Checks if T has a user-defined operator<< (e.g. not a member of std::ostream).
+template <typename T, typename Char>
+class is_streamable {
+ private:
+  template <typename U>
+  static decltype(
+    internal::declval<test_stream<Char>&>()
+      << internal::declval<U>(), std::true_type()) test(int);
+
+  template <typename>
+  static std::false_type test(...);
+
+  typedef decltype(test<T>(0)) result;
+
+ public:
+  static const bool value = result::value;
+};
+
+// Write the content of buf to os.
+template <typename Char>
+void write(std::basic_ostream<Char> &os, basic_buffer<Char> &buf) {
+  const Char *data = buf.data();
+  typedef std::make_unsigned<std::streamsize>::type UnsignedStreamSize;
+  UnsignedStreamSize size = buf.size();
+  UnsignedStreamSize max_size =
+      internal::to_unsigned((std::numeric_limits<std::streamsize>::max)());
+  do {
+    UnsignedStreamSize n = size <= max_size ? size : max_size;
+    os.write(data, static_cast<std::streamsize>(n));
+    data += n;
+    size -= n;
+  } while (size != 0);
+}
+
+template <typename Char, typename T>
+void format_value(basic_buffer<Char> &buffer, const T &value) {
+  internal::formatbuf<Char> format_buf(buffer);
+  std::basic_ostream<Char> output(&format_buf);
+  output.exceptions(std::ios_base::failbit | std::ios_base::badbit);
+  output << value;
+  buffer.resize(buffer.size());
+}
+}  // namespace internal
+
+// Disable conversion to int if T has an overloaded operator<< which is a free
+// function (not a member of std::ostream).
+template <typename T, typename Char>
+struct convert_to_int<T, Char, void> {
+  static const bool value =
+    convert_to_int<T, Char, int>::value &&
+    !internal::is_streamable<T, Char>::value;
+};
+
+// Formats an object of type T that has an overloaded ostream operator<<.
+template <typename T, typename Char>
+struct formatter<T, Char,
+    typename std::enable_if<
+      internal::is_streamable<T, Char>::value &&
+      !internal::format_type<
+        typename buffer_context<Char>::type, T>::value>::type>
+    : formatter<basic_string_view<Char>, Char> {
+
+  template <typename Context>
+  auto format(const T &value, Context &ctx) -> decltype(ctx.out()) {
+    basic_memory_buffer<Char> buffer;
+    internal::format_value(buffer, value);
+    basic_string_view<Char> str(buffer.data(), buffer.size());
+    return formatter<basic_string_view<Char>, Char>::format(str, ctx);
+  }
+};
+
+template <typename Char>
+inline void vprint(std::basic_ostream<Char> &os,
+                   basic_string_view<Char> format_str,
+                   basic_format_args<typename buffer_context<Char>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  internal::vformat_to(buffer, format_str, args);
+  internal::write(os, buffer);
+}
+/**
+  \rst
+  Prints formatted data to the stream *os*.
+
+  **Example**::
+
+    fmt::print(cerr, "Don't {}!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline typename std::enable_if<internal::is_string<S>::value>::type
+print(std::basic_ostream<FMT_CHAR(S)> &os, const S &format_str,
+      const Args & ... args) {
+  internal::checked_args<S, Args...> ca(format_str, args...);
+  vprint(os, to_string_view(format_str), *ca);
+}
+FMT_END_NAMESPACE
+
+#endif  // FMT_OSTREAM_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/posix.h

@@ -0,0 +1,324 @@
+// A C++ interface to POSIX functions.
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_POSIX_H_
+#define FMT_POSIX_H_
+
+#if defined(__MINGW32__) || defined(__CYGWIN__)
+// Workaround MinGW bug https://sourceforge.net/p/mingw/bugs/2024/.
+# undef __STRICT_ANSI__
+#endif
+
+#include <errno.h>
+#include <fcntl.h>   // for O_RDONLY
+#include <locale.h>  // for locale_t
+#include <stdio.h>
+#include <stdlib.h>  // for strtod_l
+
+#include <cstddef>
+
+#if defined __APPLE__ || defined(__FreeBSD__)
+# include <xlocale.h>  // for LC_NUMERIC_MASK on OS X
+#endif
+
+#include "format.h"
+
+#ifndef FMT_POSIX
+# if defined(_WIN32) && !defined(__MINGW32__)
+// Fix warnings about deprecated symbols.
+#  define FMT_POSIX(call) _##call
+# else
+#  define FMT_POSIX(call) call
+# endif
+#endif
+
+// Calls to system functions are wrapped in FMT_SYSTEM for testability.
+#ifdef FMT_SYSTEM
+# define FMT_POSIX_CALL(call) FMT_SYSTEM(call)
+#else
+# define FMT_SYSTEM(call) call
+# ifdef _WIN32
+// Fix warnings about deprecated symbols.
+#  define FMT_POSIX_CALL(call) ::_##call
+# else
+#  define FMT_POSIX_CALL(call) ::call
+# endif
+#endif
+
+// Retries the expression while it evaluates to error_result and errno
+// equals to EINTR.
+#ifndef _WIN32
+# define FMT_RETRY_VAL(result, expression, error_result) \
+  do { \
+    result = (expression); \
+  } while (result == error_result && errno == EINTR)
+#else
+# define FMT_RETRY_VAL(result, expression, error_result) result = (expression)
+#endif
+
+#define FMT_RETRY(result, expression) FMT_RETRY_VAL(result, expression, -1)
+
+FMT_BEGIN_NAMESPACE
+
+/**
+  \rst
+  A reference to a null-terminated string. It can be constructed from a C
+  string or ``std::string``.
+
+  You can use one of the following typedefs for common character types:
+
+  +---------------+-----------------------------+
+  | Type          | Definition                  |
+  +===============+=============================+
+  | cstring_view  | basic_cstring_view<char>    |
+  +---------------+-----------------------------+
+  | wcstring_view | basic_cstring_view<wchar_t> |
+  +---------------+-----------------------------+
+
+  This class is most useful as a parameter type to allow passing
+  different types of strings to a function, for example::
+
+    template <typename... Args>
+    std::string format(cstring_view format_str, const Args & ... args);
+
+    format("{}", 42);
+    format(std::string("{}"), 42);
+  \endrst
+ */
+template <typename Char>
+class basic_cstring_view {
+ private:
+  const Char *data_;
+
+ public:
+  /** Constructs a string reference object from a C string. */
+  basic_cstring_view(const Char *s) : data_(s) {}
+
+  /**
+    \rst
+    Constructs a string reference from an ``std::string`` object.
+    \endrst
+   */
+  basic_cstring_view(const std::basic_string<Char> &s) : data_(s.c_str()) {}
+
+  /** Returns the pointer to a C string. */
+  const Char *c_str() const { return data_; }
+};
+
+typedef basic_cstring_view<char> cstring_view;
+typedef basic_cstring_view<wchar_t> wcstring_view;
+
+// An error code.
+class error_code {
+ private:
+  int value_;
+
+ public:
+  explicit error_code(int value = 0) FMT_NOEXCEPT : value_(value) {}
+
+  int get() const FMT_NOEXCEPT { return value_; }
+};
+
+// A buffered file.
+class buffered_file {
+ private:
+  FILE *file_;
+
+  friend class file;
+
+  explicit buffered_file(FILE *f) : file_(f) {}
+
+ public:
+  // Constructs a buffered_file object which doesn't represent any file.
+  buffered_file() FMT_NOEXCEPT : file_(FMT_NULL) {}
+
+  // Destroys the object closing the file it represents if any.
+  FMT_API ~buffered_file() FMT_NOEXCEPT;
+
+ private:
+  buffered_file(const buffered_file &) = delete;
+  void operator=(const buffered_file &) = delete;
+
+
+ public:
+  buffered_file(buffered_file &&other) FMT_NOEXCEPT : file_(other.file_) {
+    other.file_ = FMT_NULL;
+  }
+
+  buffered_file& operator=(buffered_file &&other) {
+    close();
+    file_ = other.file_;
+    other.file_ = FMT_NULL;
+    return *this;
+  }
+
+  // Opens a file.
+  FMT_API buffered_file(cstring_view filename, cstring_view mode);
+
+  // Closes the file.
+  FMT_API void close();
+
+  // Returns the pointer to a FILE object representing this file.
+  FILE *get() const FMT_NOEXCEPT { return file_; }
+
+  // We place parentheses around fileno to workaround a bug in some versions
+  // of MinGW that define fileno as a macro.
+  FMT_API int (fileno)() const;
+
+  void vprint(string_view format_str, format_args args) {
+    fmt::vprint(file_, format_str, args);
+  }
+
+  template <typename... Args>
+  inline void print(string_view format_str, const Args & ... args) {
+    vprint(format_str, make_format_args(args...));
+  }
+};
+
+// A file. Closed file is represented by a file object with descriptor -1.
+// Methods that are not declared with FMT_NOEXCEPT may throw
+// fmt::system_error in case of failure. Note that some errors such as
+// closing the file multiple times will cause a crash on Windows rather
+// than an exception. You can get standard behavior by overriding the
+// invalid parameter handler with _set_invalid_parameter_handler.
+class file {
+ private:
+  int fd_;  // File descriptor.
+
+  // Constructs a file object with a given descriptor.
+  explicit file(int fd) : fd_(fd) {}
+
+ public:
+  // Possible values for the oflag argument to the constructor.
+  enum {
+    RDONLY = FMT_POSIX(O_RDONLY), // Open for reading only.
+    WRONLY = FMT_POSIX(O_WRONLY), // Open for writing only.
+    RDWR   = FMT_POSIX(O_RDWR)    // Open for reading and writing.
+  };
+
+  // Constructs a file object which doesn't represent any file.
+  file() FMT_NOEXCEPT : fd_(-1) {}
+
+  // Opens a file and constructs a file object representing this file.
+  FMT_API file(cstring_view path, int oflag);
+
+ private:
+  file(const file &) = delete;
+  void operator=(const file &) = delete;
+
+ public:
+  file(file &&other) FMT_NOEXCEPT : fd_(other.fd_) {
+    other.fd_ = -1;
+  }
+
+  file& operator=(file &&other) {
+    close();
+    fd_ = other.fd_;
+    other.fd_ = -1;
+    return *this;
+  }
+
+  // Destroys the object closing the file it represents if any.
+  FMT_API ~file() FMT_NOEXCEPT;
+
+  // Returns the file descriptor.
+  int descriptor() const FMT_NOEXCEPT { return fd_; }
+
+  // Closes the file.
+  FMT_API void close();
+
+  // Returns the file size. The size has signed type for consistency with
+  // stat::st_size.
+  FMT_API long long size() const;
+
+  // Attempts to read count bytes from the file into the specified buffer.
+  FMT_API std::size_t read(void *buffer, std::size_t count);
+
+  // Attempts to write count bytes from the specified buffer to the file.
+  FMT_API std::size_t write(const void *buffer, std::size_t count);
+
+  // Duplicates a file descriptor with the dup function and returns
+  // the duplicate as a file object.
+  FMT_API static file dup(int fd);
+
+  // Makes fd be the copy of this file descriptor, closing fd first if
+  // necessary.
+  FMT_API void dup2(int fd);
+
+  // Makes fd be the copy of this file descriptor, closing fd first if
+  // necessary.
+  FMT_API void dup2(int fd, error_code &ec) FMT_NOEXCEPT;
+
+  // Creates a pipe setting up read_end and write_end file objects for reading
+  // and writing respectively.
+  FMT_API static void pipe(file &read_end, file &write_end);
+
+  // Creates a buffered_file object associated with this file and detaches
+  // this file object from the file.
+  FMT_API buffered_file fdopen(const char *mode);
+};
+
+// Returns the memory page size.
+long getpagesize();
+
+#if (defined(LC_NUMERIC_MASK) || defined(_MSC_VER)) && \
+    !defined(__ANDROID__) && !defined(__CYGWIN__) && !defined(__OpenBSD__) && \
+    !defined(__NEWLIB_H__)
+# define FMT_LOCALE
+#endif
+
+#ifdef FMT_LOCALE
+// A "C" numeric locale.
+class Locale {
+ private:
+# ifdef _MSC_VER
+  typedef _locale_t locale_t;
+
+  enum { LC_NUMERIC_MASK = LC_NUMERIC };
+
+  static locale_t newlocale(int category_mask, const char *locale, locale_t) {
+    return _create_locale(category_mask, locale);
+  }
+
+  static void freelocale(locale_t locale) {
+    _free_locale(locale);
+  }
+
+  static double strtod_l(const char *nptr, char **endptr, _locale_t locale) {
+    return _strtod_l(nptr, endptr, locale);
+  }
+# endif
+
+  locale_t locale_;
+
+  Locale(const Locale &) = delete;
+  void operator=(const Locale &) = delete;
+
+ public:
+  typedef locale_t Type;
+
+  Locale() : locale_(newlocale(LC_NUMERIC_MASK, "C", FMT_NULL)) {
+    if (!locale_)
+      FMT_THROW(system_error(errno, "cannot create locale"));
+  }
+  ~Locale() { freelocale(locale_); }
+
+  Type get() const { return locale_; }
+
+  // Converts string to floating-point number and advances str past the end
+  // of the parsed input.
+  double strtod(const char *&str) const {
+    char *end = FMT_NULL;
+    double result = strtod_l(str, &end, locale_);
+    str = end;
+    return result;
+  }
+};
+#endif  // FMT_LOCALE
+FMT_END_NAMESPACE
+
+#endif  // FMT_POSIX_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/printf.h

@@ -0,0 +1,855 @@
+// Formatting library for C++
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_PRINTF_H_
+#define FMT_PRINTF_H_
+
+#include <algorithm>  // std::fill_n
+#include <limits>     // std::numeric_limits
+
+#include "ostream.h"
+
+FMT_BEGIN_NAMESPACE
+namespace internal {
+
+// An iterator that produces a null terminator on *end. This simplifies parsing
+// and allows comparing the performance of processing a null-terminated string
+// vs string_view.
+template <typename Char>
+class null_terminating_iterator {
+ public:
+  typedef std::ptrdiff_t difference_type;
+  typedef Char value_type;
+  typedef const Char* pointer;
+  typedef const Char& reference;
+  typedef std::random_access_iterator_tag iterator_category;
+
+  null_terminating_iterator() : ptr_(0), end_(0) {}
+
+  FMT_CONSTEXPR null_terminating_iterator(const Char *ptr, const Char *end)
+    : ptr_(ptr), end_(end) {}
+
+  template <typename Range>
+  FMT_CONSTEXPR explicit null_terminating_iterator(const Range &r)
+    : ptr_(r.begin()), end_(r.end()) {}
+
+  FMT_CONSTEXPR null_terminating_iterator &operator=(const Char *ptr) {
+    assert(ptr <= end_);
+    ptr_ = ptr;
+    return *this;
+  }
+
+  FMT_CONSTEXPR Char operator*() const {
+    return ptr_ != end_ ? *ptr_ : Char();
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator++() {
+    ++ptr_;
+    return *this;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator++(int) {
+    null_terminating_iterator result(*this);
+    ++ptr_;
+    return result;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator--() {
+    --ptr_;
+    return *this;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator+(difference_type n) {
+    return null_terminating_iterator(ptr_ + n, end_);
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator-(difference_type n) {
+    return null_terminating_iterator(ptr_ - n, end_);
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator+=(difference_type n) {
+    ptr_ += n;
+    return *this;
+  }
+
+  FMT_CONSTEXPR difference_type operator-(
+      null_terminating_iterator other) const {
+    return ptr_ - other.ptr_;
+  }
+
+  FMT_CONSTEXPR bool operator!=(null_terminating_iterator other) const {
+    return ptr_ != other.ptr_;
+  }
+
+  bool operator>=(null_terminating_iterator other) const {
+    return ptr_ >= other.ptr_;
+  }
+
+  // This should be a friend specialization pointer_from<Char> but the latter
+  // doesn't compile by gcc 5.1 due to a compiler bug.
+  template <typename CharT>
+  friend FMT_CONSTEXPR_DECL const CharT *pointer_from(
+      null_terminating_iterator<CharT> it);
+
+ private:
+  const Char *ptr_;
+  const Char *end_;
+};
+
+template <typename T>
+FMT_CONSTEXPR const T *pointer_from(const T *p) { return p; }
+
+template <typename Char>
+FMT_CONSTEXPR const Char *pointer_from(null_terminating_iterator<Char> it) {
+  return it.ptr_;
+}
+
+// DEPRECATED: Parses the input as an unsigned integer. This function assumes
+// that the first character is a digit and presence of a non-digit character at
+// the end.
+// it: an iterator pointing to the beginning of the input range.
+template <typename Iterator, typename ErrorHandler>
+FMT_CONSTEXPR unsigned parse_nonnegative_int(Iterator &it, ErrorHandler &&eh) {
+  assert('0' <= *it && *it <= '9');
+  if (*it == '0') {
+    ++it;
+    return 0;
+  }
+  unsigned value = 0;
+  // Convert to unsigned to prevent a warning.
+  unsigned max_int = (std::numeric_limits<int>::max)();
+  unsigned big = max_int / 10;
+  do {
+    // Check for overflow.
+    if (value > big) {
+      value = max_int + 1;
+      break;
+    }
+    value = value * 10 + unsigned(*it - '0');
+    // Workaround for MSVC "setup_exception stack overflow" error:
+    auto next = it;
+    ++next;
+    it = next;
+  } while ('0' <= *it && *it <= '9');
+  if (value > max_int)
+    eh.on_error("number is too big");
+  return value;
+}
+
+// Checks if a value fits in int - used to avoid warnings about comparing
+// signed and unsigned integers.
+template <bool IsSigned>
+struct int_checker {
+  template <typename T>
+  static bool fits_in_int(T value) {
+    unsigned max = std::numeric_limits<int>::max();
+    return value <= max;
+  }
+  static bool fits_in_int(bool) { return true; }
+};
+
+template <>
+struct int_checker<true> {
+  template <typename T>
+  static bool fits_in_int(T value) {
+    return value >= std::numeric_limits<int>::min() &&
+           value <= std::numeric_limits<int>::max();
+  }
+  static bool fits_in_int(int) { return true; }
+};
+
+class printf_precision_handler: public function<int> {
+ public:
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, int>::type
+      operator()(T value) {
+    if (!int_checker<std::numeric_limits<T>::is_signed>::fits_in_int(value))
+      FMT_THROW(format_error("number is too big"));
+    return static_cast<int>(value);
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, int>::type operator()(T) {
+    FMT_THROW(format_error("precision is not integer"));
+    return 0;
+  }
+};
+
+// An argument visitor that returns true iff arg is a zero integer.
+class is_zero_int: public function<bool> {
+ public:
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, bool>::type
+      operator()(T value) { return value == 0; }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, bool>::type
+      operator()(T) { return false; }
+};
+
+template <typename T>
+struct make_unsigned_or_bool : std::make_unsigned<T> {};
+
+template <>
+struct make_unsigned_or_bool<bool> {
+  typedef bool type;
+};
+
+template <typename T, typename Context>
+class arg_converter: public function<void> {
+ private:
+  typedef typename Context::char_type Char;
+
+  basic_format_arg<Context> &arg_;
+  typename Context::char_type type_;
+
+ public:
+  arg_converter(basic_format_arg<Context> &arg, Char type)
+    : arg_(arg), type_(type) {}
+
+  void operator()(bool value) {
+    if (type_ != 's')
+      operator()<bool>(value);
+  }
+
+  template <typename U>
+  typename std::enable_if<std::is_integral<U>::value>::type
+      operator()(U value) {
+    bool is_signed = type_ == 'd' || type_ == 'i';
+    typedef typename std::conditional<
+        std::is_same<T, void>::value, U, T>::type TargetType;
+    if (const_check(sizeof(TargetType) <= sizeof(int))) {
+      // Extra casts are used to silence warnings.
+      if (is_signed) {
+        arg_ = internal::make_arg<Context>(
+          static_cast<int>(static_cast<TargetType>(value)));
+      } else {
+        typedef typename make_unsigned_or_bool<TargetType>::type Unsigned;
+        arg_ = internal::make_arg<Context>(
+          static_cast<unsigned>(static_cast<Unsigned>(value)));
+      }
+    } else {
+      if (is_signed) {
+        // glibc's printf doesn't sign extend arguments of smaller types:
+        //   std::printf("%lld", -42);  // prints "4294967254"
+        // but we don't have to do the same because it's a UB.
+        arg_ = internal::make_arg<Context>(static_cast<long long>(value));
+      } else {
+        arg_ = internal::make_arg<Context>(
+          static_cast<typename make_unsigned_or_bool<U>::type>(value));
+      }
+    }
+  }
+
+  template <typename U>
+  typename std::enable_if<!std::is_integral<U>::value>::type operator()(U) {
+    // No coversion needed for non-integral types.
+  }
+};
+
+// Converts an integer argument to T for printf, if T is an integral type.
+// If T is void, the argument is converted to corresponding signed or unsigned
+// type depending on the type specifier: 'd' and 'i' - signed, other -
+// unsigned).
+template <typename T, typename Context, typename Char>
+void convert_arg(basic_format_arg<Context> &arg, Char type) {
+  visit_format_arg(arg_converter<T, Context>(arg, type), arg);
+}
+
+// Converts an integer argument to char for printf.
+template <typename Context>
+class char_converter: public function<void> {
+ private:
+  basic_format_arg<Context> &arg_;
+
+ public:
+  explicit char_converter(basic_format_arg<Context> &arg) : arg_(arg) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value>::type
+      operator()(T value) {
+    typedef typename Context::char_type Char;
+    arg_ = internal::make_arg<Context>(static_cast<Char>(value));
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value>::type operator()(T) {
+    // No coversion needed for non-integral types.
+  }
+};
+
+// Checks if an argument is a valid printf width specifier and sets
+// left alignment if it is negative.
+template <typename Char>
+class printf_width_handler: public function<unsigned> {
+ private:
+  typedef basic_format_specs<Char> format_specs;
+
+  format_specs &spec_;
+
+ public:
+  explicit printf_width_handler(format_specs &spec) : spec_(spec) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, unsigned>::type
+      operator()(T value) {
+    typedef typename internal::int_traits<T>::main_type UnsignedType;
+    UnsignedType width = static_cast<UnsignedType>(value);
+    if (internal::is_negative(value)) {
+      spec_.align_ = ALIGN_LEFT;
+      width = 0 - width;
+    }
+    unsigned int_max = std::numeric_limits<int>::max();
+    if (width > int_max)
+      FMT_THROW(format_error("number is too big"));
+    return static_cast<unsigned>(width);
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, unsigned>::type
+      operator()(T) {
+    FMT_THROW(format_error("width is not integer"));
+    return 0;
+  }
+};
+
+template <typename Char, typename Context>
+void printf(basic_buffer<Char> &buf, basic_string_view<Char> format,
+            basic_format_args<Context> args) {
+  Context(std::back_inserter(buf), format, args).format();
+}
+}  // namespace internal
+
+using internal::printf;  // For printing into memory_buffer.
+
+template <typename Range>
+class printf_arg_formatter;
+
+template <
+    typename OutputIt, typename Char,
+    typename ArgFormatter =
+      printf_arg_formatter<back_insert_range<internal::basic_buffer<Char>>>>
+class basic_printf_context;
+
+/**
+  \rst
+  The ``printf`` argument formatter.
+  \endrst
+ */
+template <typename Range>
+class printf_arg_formatter:
+  public internal::function<
+    typename internal::arg_formatter_base<Range>::iterator>,
+  public internal::arg_formatter_base<Range> {
+ private:
+  typedef typename Range::value_type char_type;
+  typedef decltype(internal::declval<Range>().begin()) iterator;
+  typedef internal::arg_formatter_base<Range> base;
+  typedef basic_printf_context<iterator, char_type> context_type;
+
+  context_type &context_;
+
+  void write_null_pointer(char) {
+    this->spec()->type = 0;
+    this->write("(nil)");
+  }
+
+  void write_null_pointer(wchar_t) {
+    this->spec()->type = 0;
+    this->write(L"(nil)");
+  }
+
+ public:
+  typedef typename base::format_specs format_specs;
+
+  /**
+    \rst
+    Constructs an argument formatter object.
+    *buffer* is a reference to the output buffer and *spec* contains format
+    specifier information for standard argument types.
+    \endrst
+   */
+  printf_arg_formatter(internal::basic_buffer<char_type> &buffer,
+                       format_specs &spec, context_type &ctx)
+    : base(back_insert_range<internal::basic_buffer<char_type>>(buffer), &spec,
+           ctx.locale()),
+      context_(ctx) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, iterator>::type
+      operator()(T value) {
+    // MSVC2013 fails to compile separate overloads for bool and char_type so
+    // use std::is_same instead.
+    if (std::is_same<T, bool>::value) {
+      format_specs &fmt_spec = *this->spec();
+      if (fmt_spec.type != 's')
+        return base::operator()(value ? 1 : 0);
+      fmt_spec.type = 0;
+      this->write(value != 0);
+    } else if (std::is_same<T, char_type>::value) {
+      format_specs &fmt_spec = *this->spec();
+      if (fmt_spec.type && fmt_spec.type != 'c')
+        return (*this)(static_cast<int>(value));
+      fmt_spec.flags = 0;
+      fmt_spec.align_ = ALIGN_RIGHT;
+      return base::operator()(value);
+    } else {
+      return base::operator()(value);
+    }
+    return this->out();
+  }
+
+  template <typename T>
+  typename std::enable_if<std::is_floating_point<T>::value, iterator>::type
+      operator()(T value) {
+    return base::operator()(value);
+  }
+
+  /** Formats a null-terminated C string. */
+  iterator operator()(const char *value) {
+    if (value)
+      base::operator()(value);
+    else if (this->spec()->type == 'p')
+      write_null_pointer(char_type());
+    else
+      this->write("(null)");
+    return this->out();
+  }
+
+  /** Formats a null-terminated wide C string. */
+  iterator operator()(const wchar_t *value) {
+    if (value)
+      base::operator()(value);
+    else if (this->spec()->type == 'p')
+      write_null_pointer(char_type());
+    else
+      this->write(L"(null)");
+    return this->out();
+  }
+
+  iterator operator()(basic_string_view<char_type> value) {
+    return base::operator()(value);
+  }
+
+  iterator operator()(monostate value) {
+    return base::operator()(value);
+  }
+
+  /** Formats a pointer. */
+  iterator operator()(const void *value) {
+    if (value)
+      return base::operator()(value);
+    this->spec()->type = 0;
+    write_null_pointer(char_type());
+    return this->out();
+  }
+
+  /** Formats an argument of a custom (user-defined) type. */
+  iterator operator()(typename basic_format_arg<context_type>::handle handle) {
+    handle.format(context_);
+    return this->out();
+  }
+};
+
+template <typename T>
+struct printf_formatter {
+  template <typename ParseContext>
+  auto parse(ParseContext &ctx) -> decltype(ctx.begin()) { return ctx.begin(); }
+
+  template <typename FormatContext>
+  auto format(const T &value, FormatContext &ctx) -> decltype(ctx.out()) {
+    internal::format_value(internal::get_container(ctx.out()), value);
+    return ctx.out();
+  }
+};
+
+/** This template formats data and writes the output to a writer. */
+template <typename OutputIt, typename Char, typename ArgFormatter>
+class basic_printf_context :
+  // Inherit publicly as a workaround for the icc bug
+  // https://software.intel.com/en-us/forums/intel-c-compiler/topic/783476.
+  public internal::context_base<
+    OutputIt, basic_printf_context<OutputIt, Char, ArgFormatter>, Char> {
+ public:
+  /** The character type for the output. */
+  typedef Char char_type;
+
+  template <typename T>
+  struct formatter_type { typedef printf_formatter<T> type; };
+
+ private:
+  typedef internal::context_base<OutputIt, basic_printf_context, Char> base;
+  typedef typename base::format_arg format_arg;
+  typedef basic_format_specs<char_type> format_specs;
+  typedef internal::null_terminating_iterator<char_type> iterator;
+
+  void parse_flags(format_specs &spec, iterator &it);
+
+  // Returns the argument with specified index or, if arg_index is equal
+  // to the maximum unsigned value, the next argument.
+  format_arg get_arg(
+      iterator it,
+      unsigned arg_index = (std::numeric_limits<unsigned>::max)());
+
+  // Parses argument index, flags and width and returns the argument index.
+  unsigned parse_header(iterator &it, format_specs &spec);
+
+ public:
+  /**
+   \rst
+   Constructs a ``printf_context`` object. References to the arguments and
+   the writer are stored in the context object so make sure they have
+   appropriate lifetimes.
+   \endrst
+   */
+  basic_printf_context(OutputIt out, basic_string_view<char_type> format_str,
+                       basic_format_args<basic_printf_context> args)
+    : base(out, format_str, args) {}
+
+  using base::parse_context;
+  using base::out;
+  using base::advance_to;
+
+  /** Formats stored arguments and writes the output to the range. */
+  void format();
+};
+
+template <typename OutputIt, typename Char, typename AF>
+void basic_printf_context<OutputIt, Char, AF>::parse_flags(
+    format_specs &spec, iterator &it) {
+  for (;;) {
+    switch (*it++) {
+      case '-':
+        spec.align_ = ALIGN_LEFT;
+        break;
+      case '+':
+        spec.flags |= SIGN_FLAG | PLUS_FLAG;
+        break;
+      case '0':
+        spec.fill_ = '0';
+        break;
+      case ' ':
+        spec.flags |= SIGN_FLAG;
+        break;
+      case '#':
+        spec.flags |= HASH_FLAG;
+        break;
+      default:
+        --it;
+        return;
+    }
+  }
+}
+
+template <typename OutputIt, typename Char, typename AF>
+typename basic_printf_context<OutputIt, Char, AF>::format_arg
+  basic_printf_context<OutputIt, Char, AF>::get_arg(
+    iterator it, unsigned arg_index) {
+  (void)it;
+  if (arg_index == std::numeric_limits<unsigned>::max())
+    return this->do_get_arg(this->parse_context().next_arg_id());
+  return base::get_arg(arg_index - 1);
+}
+
+template <typename OutputIt, typename Char, typename AF>
+unsigned basic_printf_context<OutputIt, Char, AF>::parse_header(
+  iterator &it, format_specs &spec) {
+  unsigned arg_index = std::numeric_limits<unsigned>::max();
+  char_type c = *it;
+  if (c >= '0' && c <= '9') {
+    // Parse an argument index (if followed by '$') or a width possibly
+    // preceded with '0' flag(s).
+    internal::error_handler eh;
+    unsigned value = parse_nonnegative_int(it, eh);
+    if (*it == '$') {  // value is an argument index
+      ++it;
+      arg_index = value;
+    } else {
+      if (c == '0')
+        spec.fill_ = '0';
+      if (value != 0) {
+        // Nonzero value means that we parsed width and don't need to
+        // parse it or flags again, so return now.
+        spec.width_ = value;
+        return arg_index;
+      }
+    }
+  }
+  parse_flags(spec, it);
+  // Parse width.
+  if (*it >= '0' && *it <= '9') {
+    internal::error_handler eh;
+    spec.width_ = parse_nonnegative_int(it, eh);
+  } else if (*it == '*') {
+    ++it;
+    spec.width_ = visit_format_arg(
+          internal::printf_width_handler<char_type>(spec), get_arg(it));
+  }
+  return arg_index;
+}
+
+template <typename OutputIt, typename Char, typename AF>
+void basic_printf_context<OutputIt, Char, AF>::format() {
+  auto &buffer = internal::get_container(this->out());
+  auto start = iterator(this->parse_context());
+  auto it = start;
+  using internal::pointer_from;
+  while (*it) {
+    char_type c = *it++;
+    if (c != '%') continue;
+    if (*it == c) {
+      buffer.append(pointer_from(start), pointer_from(it));
+      start = ++it;
+      continue;
+    }
+    buffer.append(pointer_from(start), pointer_from(it) - 1);
+
+    format_specs spec;
+    spec.align_ = ALIGN_RIGHT;
+
+    // Parse argument index, flags and width.
+    unsigned arg_index = parse_header(it, spec);
+
+    // Parse precision.
+    if (*it == '.') {
+      ++it;
+      if ('0' <= *it && *it <= '9') {
+        internal::error_handler eh;
+        spec.precision = static_cast<int>(parse_nonnegative_int(it, eh));
+      } else if (*it == '*') {
+        ++it;
+        spec.precision =
+            visit_format_arg(internal::printf_precision_handler(), get_arg(it));
+      } else {
+        spec.precision = 0;
+      }
+    }
+
+    format_arg arg = get_arg(it, arg_index);
+    if (spec.has(HASH_FLAG) && visit_format_arg(internal::is_zero_int(), arg))
+      spec.flags = static_cast<uint_least8_t>(spec.flags & (~internal::to_unsigned<int>(HASH_FLAG)));
+    if (spec.fill_ == '0') {
+      if (arg.is_arithmetic())
+        spec.align_ = ALIGN_NUMERIC;
+      else
+        spec.fill_ = ' ';  // Ignore '0' flag for non-numeric types.
+    }
+
+    // Parse length and convert the argument to the required type.
+    using internal::convert_arg;
+    switch (*it++) {
+    case 'h':
+      if (*it == 'h')
+        convert_arg<signed char>(arg, *++it);
+      else
+        convert_arg<short>(arg, *it);
+      break;
+    case 'l':
+      if (*it == 'l')
+        convert_arg<long long>(arg, *++it);
+      else
+        convert_arg<long>(arg, *it);
+      break;
+    case 'j':
+      convert_arg<intmax_t>(arg, *it);
+      break;
+    case 'z':
+      convert_arg<std::size_t>(arg, *it);
+      break;
+    case 't':
+      convert_arg<std::ptrdiff_t>(arg, *it);
+      break;
+    case 'L':
+      // printf produces garbage when 'L' is omitted for long double, no
+      // need to do the same.
+      break;
+    default:
+      --it;
+      convert_arg<void>(arg, *it);
+    }
+
+    // Parse type.
+    if (!*it)
+      FMT_THROW(format_error("invalid format string"));
+    spec.type = static_cast<char>(*it++);
+    if (arg.is_integral()) {
+      // Normalize type.
+      switch (spec.type) {
+      case 'i': case 'u':
+        spec.type = 'd';
+        break;
+      case 'c':
+        // TODO: handle wchar_t better?
+        visit_format_arg(
+              internal::char_converter<basic_printf_context>(arg), arg);
+        break;
+      }
+    }
+
+    start = it;
+
+    // Format argument.
+    visit_format_arg(AF(buffer, spec, *this), arg);
+  }
+  buffer.append(pointer_from(start), pointer_from(it));
+}
+
+template <typename Buffer>
+struct basic_printf_context_t {
+  typedef basic_printf_context<
+    std::back_insert_iterator<Buffer>, typename Buffer::value_type> type;
+};
+
+typedef basic_printf_context_t<internal::buffer>::type printf_context;
+typedef basic_printf_context_t<internal::wbuffer>::type wprintf_context;
+
+typedef basic_format_args<printf_context> printf_args;
+typedef basic_format_args<wprintf_context> wprintf_args;
+
+/**
+  \rst
+  Constructs an `~fmt::format_arg_store` object that contains references to
+  arguments and can be implicitly converted to `~fmt::printf_args`. 
+  \endrst
+ */
+template<typename... Args>
+inline format_arg_store<printf_context, Args...>
+  make_printf_args(const Args &... args) { return {args...}; }
+
+/**
+  \rst
+  Constructs an `~fmt::format_arg_store` object that contains references to
+  arguments and can be implicitly converted to `~fmt::wprintf_args`. 
+  \endrst
+ */
+template<typename... Args>
+inline format_arg_store<wprintf_context, Args...>
+  make_wprintf_args(const Args &... args) { return {args...}; }
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline std::basic_string<Char>
+vsprintf(const S &format,
+         basic_format_args<typename basic_printf_context_t<
+           internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  return to_string(buffer);
+}
+
+/**
+  \rst
+  Formats arguments and returns the result as a string.
+
+  **Example**::
+
+    std::string message = fmt::sprintf("The answer is %d", 42);
+  \endrst
+*/
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(
+    internal::is_string<S>::value, std::basic_string<FMT_CHAR(S)>)
+    sprintf(const S &format, const Args & ... args) {
+  internal::check_format_string<Args...>(format);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vsprintf(to_string_view(format),
+                  basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vfprintf(std::FILE *f, const S &format,
+                    basic_format_args<typename basic_printf_context_t<
+                      internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  std::size_t size = buffer.size();
+  return std::fwrite(
+    buffer.data(), sizeof(Char), size, f) < size ? -1 : static_cast<int>(size);
+}
+
+/**
+  \rst
+  Prints formatted data to the file *f*.
+
+  **Example**::
+
+    fmt::fprintf(stderr, "Don't %s!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    fprintf(std::FILE *f, const S &format, const Args & ... args) {
+  internal::check_format_string<Args...>(format);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vfprintf(f, to_string_view(format),
+                  basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vprintf(const S &format,
+                   basic_format_args<typename basic_printf_context_t<
+                    internal::basic_buffer<Char>>::type> args) {
+  return vfprintf(stdout, to_string_view(format), args);
+}
+
+/**
+  \rst
+  Prints formatted data to ``stdout``.
+
+  **Example**::
+
+    fmt::printf("Elapsed time: %.2f seconds", 1.23);
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    printf(const S &format_str, const Args & ... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vprintf(to_string_view(format_str),
+                 basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vfprintf(std::basic_ostream<Char> &os,
+                    const S &format,
+                    basic_format_args<typename basic_printf_context_t<
+                      internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  internal::write(os, buffer);
+  return static_cast<int>(buffer.size());
+}
+
+/**
+  \rst
+  Prints formatted data to the stream *os*.
+
+  **Example**::
+
+    fmt::fprintf(cerr, "Don't %s!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    fprintf(std::basic_ostream<FMT_CHAR(S)> &os,
+            const S &format_str, const Args & ... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vfprintf(os, to_string_view(format_str),
+                  basic_format_args<context>(as));
+}
+FMT_END_NAMESPACE
+
+#endif  // FMT_PRINTF_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/ranges.h

@@ -0,0 +1,308 @@
+// Formatting library for C++ - the core API
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+//
+// Copyright (c) 2018 - present, Remotion (Igor Schulz)
+// All Rights Reserved
+// {fmt} support for ranges, containers and types tuple interface.
+
+#ifndef FMT_RANGES_H_
+#define FMT_RANGES_H_
+
+#include "format.h"
+#include <type_traits>
+
+// output only up to N items from the range.
+#ifndef FMT_RANGE_OUTPUT_LENGTH_LIMIT
+# define FMT_RANGE_OUTPUT_LENGTH_LIMIT 256
+#endif
+
+FMT_BEGIN_NAMESPACE
+
+template <typename Char>
+struct formatting_base {
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return ctx.begin();
+  }
+};
+
+template <typename Char, typename Enable = void>
+struct formatting_range : formatting_base<Char> {
+  static FMT_CONSTEXPR_DECL const std::size_t range_length_limit =
+      FMT_RANGE_OUTPUT_LENGTH_LIMIT; // output only up to N items from the range.
+  Char prefix;
+  Char delimiter;
+  Char postfix;
+  formatting_range() : prefix('{'), delimiter(','), postfix('}') {}
+  static FMT_CONSTEXPR_DECL const bool add_delimiter_spaces = true;
+  static FMT_CONSTEXPR_DECL const bool add_prepostfix_space = false;
+};
+
+template <typename Char, typename Enable = void>
+struct formatting_tuple : formatting_base<Char> {
+  Char prefix;
+  Char delimiter;
+  Char postfix;
+  formatting_tuple() : prefix('('), delimiter(','), postfix(')') {}
+  static FMT_CONSTEXPR_DECL const bool add_delimiter_spaces = true;
+  static FMT_CONSTEXPR_DECL const bool add_prepostfix_space = false;
+};
+
+namespace internal {
+
+template <typename RangeT, typename OutputIterator>
+void copy(const RangeT &range, OutputIterator out) {
+  for (auto it = range.begin(), end = range.end(); it != end; ++it)
+    *out++ = *it;
+}
+
+template <typename OutputIterator>
+void copy(const char *str, OutputIterator out) {
+  const char *p_curr = str;
+  while (*p_curr) {
+    *out++ = *p_curr++;
+  }
+}
+
+template <typename OutputIterator>
+void copy(char ch, OutputIterator out) {
+  *out++ = ch;
+}
+
+/// Return true value if T has std::string interface, like std::string_view.
+template <typename T>
+class is_like_std_string {
+  template <typename U>
+  static auto check(U *p) ->
+    decltype(p->find('a'), p->length(), p->data(), int());
+  template <typename>
+  static void check(...);
+
+ public:
+  static FMT_CONSTEXPR_DECL const bool value =
+    !std::is_void<decltype(check<T>(FMT_NULL))>::value;
+};
+
+template <typename Char>
+struct is_like_std_string<fmt::basic_string_view<Char>> : std::true_type {};
+
+template <typename... Ts>
+struct conditional_helper {};
+
+template <typename T, typename _ = void>
+struct is_range_ : std::false_type {};
+
+#if !FMT_MSC_VER || FMT_MSC_VER > 1800
+template <typename T>
+struct is_range_<T, typename std::conditional<
+                    false,
+                    conditional_helper<decltype(internal::declval<T>().begin()),
+                                       decltype(internal::declval<T>().end())>,
+                    void>::type> : std::true_type {};
+#endif
+
+/// tuple_size and tuple_element check.
+template <typename T>
+class is_tuple_like_ {
+  template <typename U>
+  static auto check(U *p) ->
+    decltype(std::tuple_size<U>::value,
+      internal::declval<typename std::tuple_element<0, U>::type>(), int());
+  template <typename>
+  static void check(...);
+
+ public:
+  static FMT_CONSTEXPR_DECL const bool value =
+    !std::is_void<decltype(check<T>(FMT_NULL))>::value;
+};
+
+// Check for integer_sequence
+#if defined(__cpp_lib_integer_sequence) || FMT_MSC_VER >= 1900
+template <typename T, T... N>
+using integer_sequence = std::integer_sequence<T, N...>;
+template <std::size_t... N>
+using index_sequence = std::index_sequence<N...>;
+template <std::size_t N>
+using make_index_sequence = std::make_index_sequence<N>;
+#else
+template <typename T, T... N>
+struct integer_sequence {
+  typedef T value_type;
+
+  static FMT_CONSTEXPR std::size_t size() {
+    return sizeof...(N);
+  }
+};
+
+template <std::size_t... N>
+using index_sequence = integer_sequence<std::size_t, N...>;
+
+template <typename T, std::size_t N, T... Ns>
+struct make_integer_sequence : make_integer_sequence<T, N - 1, N - 1, Ns...> {};
+template <typename T, T... Ns>
+struct make_integer_sequence<T, 0, Ns...> : integer_sequence<T, Ns...> {};
+
+template <std::size_t N>
+using make_index_sequence = make_integer_sequence<std::size_t, N>;
+#endif
+
+template <class Tuple, class F, size_t... Is>
+void for_each(index_sequence<Is...>, Tuple &&tup, F &&f) FMT_NOEXCEPT {
+  using std::get;
+  // using free function get<I>(T) now.
+  const int _[] = {0, ((void)f(get<Is>(tup)), 0)...};
+  (void)_;  // blocks warnings
+}
+
+template <class T>
+FMT_CONSTEXPR make_index_sequence<std::tuple_size<T>::value> 
+get_indexes(T const &) { return {}; }
+
+template <class Tuple, class F>
+void for_each(Tuple &&tup, F &&f) {
+  const auto indexes = get_indexes(tup);
+  for_each(indexes, std::forward<Tuple>(tup), std::forward<F>(f));
+}
+
+template<typename Arg>
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const Arg&, 
+  typename std::enable_if<
+    !is_like_std_string<typename std::decay<Arg>::type>::value>::type* = nullptr) {
+  return add_space ? " {}" : "{}";
+}
+
+template<typename Arg>
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const Arg&, 
+  typename std::enable_if<
+    is_like_std_string<typename std::decay<Arg>::type>::value>::type* = nullptr) {
+  return add_space ? " \"{}\"" : "\"{}\"";
+}
+
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const char*) {
+  return add_space ? " \"{}\"" : "\"{}\"";
+}
+FMT_CONSTEXPR const wchar_t* format_str_quoted(bool add_space, const wchar_t*) {
+    return add_space ? L" \"{}\"" : L"\"{}\"";
+}
+
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const char) {
+    return add_space ? " '{}'" : "'{}'";
+}
+FMT_CONSTEXPR const wchar_t* format_str_quoted(bool add_space, const wchar_t) {
+    return add_space ? L" '{}'" : L"'{}'";
+}
+
+}  // namespace internal
+
+template <typename T>
+struct is_tuple_like {
+  static FMT_CONSTEXPR_DECL const bool value =
+    internal::is_tuple_like_<T>::value && !internal::is_range_<T>::value;
+};
+
+template <typename TupleT, typename Char>
+struct formatter<TupleT, Char, 
+    typename std::enable_if<fmt::is_tuple_like<TupleT>::value>::type> {
+private:
+  // C++11 generic lambda for format()
+  template <typename FormatContext>
+  struct format_each {
+    template <typename T>
+    void operator()(const T& v) {
+      if (i > 0) {
+        if (formatting.add_prepostfix_space) {
+          *out++ = ' ';
+        }
+        internal::copy(formatting.delimiter, out);
+      }
+      format_to(out,
+                internal::format_str_quoted(
+                    (formatting.add_delimiter_spaces && i > 0), v),
+                v);
+      ++i;
+    }
+
+    formatting_tuple<Char>& formatting;
+    std::size_t& i;
+    typename std::add_lvalue_reference<decltype(std::declval<FormatContext>().out())>::type out;
+  };
+
+public:
+  formatting_tuple<Char> formatting;
+
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return formatting.parse(ctx);
+  }
+
+  template <typename FormatContext = format_context>
+  auto format(const TupleT &values, FormatContext &ctx) -> decltype(ctx.out()) {
+    auto out = ctx.out();
+    std::size_t i = 0;
+    internal::copy(formatting.prefix, out);
+
+    internal::for_each(values, format_each<FormatContext>{formatting, i, out});
+    if (formatting.add_prepostfix_space) {
+      *out++ = ' ';
+    }
+    internal::copy(formatting.postfix, out);
+
+    return ctx.out();
+  }
+};
+
+template <typename T>
+struct is_range {
+  static FMT_CONSTEXPR_DECL const bool value =
+    internal::is_range_<T>::value && !internal::is_like_std_string<T>::value;
+};
+
+template <typename RangeT, typename Char>
+struct formatter<RangeT, Char,
+    typename std::enable_if<fmt::is_range<RangeT>::value>::type> {
+
+  formatting_range<Char> formatting;
+
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return formatting.parse(ctx);
+  }
+
+  template <typename FormatContext>
+  typename FormatContext::iterator format(
+      const RangeT &values, FormatContext &ctx) {
+    auto out = ctx.out();
+    internal::copy(formatting.prefix, out);
+    std::size_t i = 0;
+    for (auto it = values.begin(), end = values.end(); it != end; ++it) {
+      if (i > 0) {
+        if (formatting.add_prepostfix_space) {
+          *out++ = ' ';
+        }
+        internal::copy(formatting.delimiter, out);
+      }
+      format_to(out,
+                internal::format_str_quoted(
+                    (formatting.add_delimiter_spaces && i > 0), *it),
+                *it);
+      if (++i > formatting.range_length_limit) {
+        format_to(out, " ... <other elements>");
+        break;
+      }
+    }
+    if (formatting.add_prepostfix_space) {
+      *out++ = ' ';
+    }
+    internal::copy(formatting.postfix, out);
+    return ctx.out();
+  }
+};
+
+FMT_END_NAMESPACE
+
+#endif // FMT_RANGES_H_
+

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/bundled/time.h

@@ -0,0 +1,160 @@
+// Formatting library for C++ - time formatting
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_TIME_H_
+#define FMT_TIME_H_
+
+#include "format.h"
+#include <ctime>
+#include <locale>
+
+FMT_BEGIN_NAMESPACE
+
+// Prevents expansion of a preceding token as a function-style macro.
+// Usage: f FMT_NOMACRO()
+#define FMT_NOMACRO
+
+namespace internal{
+inline null<> localtime_r FMT_NOMACRO(...) { return null<>(); }
+inline null<> localtime_s(...) { return null<>(); }
+inline null<> gmtime_r(...) { return null<>(); }
+inline null<> gmtime_s(...) { return null<>(); }
+}  // namespace internal
+
+// Thread-safe replacement for std::localtime
+inline std::tm localtime(std::time_t time) {
+  struct dispatcher {
+    std::time_t time_;
+    std::tm tm_;
+
+    dispatcher(std::time_t t): time_(t) {}
+
+    bool run() {
+      using namespace fmt::internal;
+      return handle(localtime_r(&time_, &tm_));
+    }
+
+    bool handle(std::tm *tm) { return tm != FMT_NULL; }
+
+    bool handle(internal::null<>) {
+      using namespace fmt::internal;
+      return fallback(localtime_s(&tm_, &time_));
+    }
+
+    bool fallback(int res) { return res == 0; }
+
+#if !FMT_MSC_VER
+    bool fallback(internal::null<>) {
+      using namespace fmt::internal;
+      std::tm *tm = std::localtime(&time_);
+      if (tm) tm_ = *tm;
+      return tm != FMT_NULL;
+    }
+#endif
+  };
+  dispatcher lt(time);
+  // Too big time values may be unsupported.
+  if (!lt.run())
+    FMT_THROW(format_error("time_t value out of range"));
+  return lt.tm_;
+}
+
+// Thread-safe replacement for std::gmtime
+inline std::tm gmtime(std::time_t time) {
+  struct dispatcher {
+    std::time_t time_;
+    std::tm tm_;
+
+    dispatcher(std::time_t t): time_(t) {}
+
+    bool run() {
+      using namespace fmt::internal;
+      return handle(gmtime_r(&time_, &tm_));
+    }
+
+    bool handle(std::tm *tm) { return tm != FMT_NULL; }
+
+    bool handle(internal::null<>) {
+      using namespace fmt::internal;
+      return fallback(gmtime_s(&tm_, &time_));
+    }
+
+    bool fallback(int res) { return res == 0; }
+
+#if !FMT_MSC_VER
+    bool fallback(internal::null<>) {
+      std::tm *tm = std::gmtime(&time_);
+      if (tm) tm_ = *tm;
+      return tm != FMT_NULL;
+    }
+#endif
+  };
+  dispatcher gt(time);
+  // Too big time values may be unsupported.
+  if (!gt.run())
+    FMT_THROW(format_error("time_t value out of range"));
+  return gt.tm_;
+}
+
+namespace internal {
+inline std::size_t strftime(char *str, std::size_t count, const char *format,
+                            const std::tm *time) {
+  return std::strftime(str, count, format, time);
+}
+
+inline std::size_t strftime(wchar_t *str, std::size_t count,
+                            const wchar_t *format, const std::tm *time) {
+  return std::wcsftime(str, count, format, time);
+}
+}
+
+template <typename Char>
+struct formatter<std::tm, Char> {
+  template <typename ParseContext>
+  auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    auto it = ctx.begin();
+    if (it != ctx.end() && *it == ':')
+      ++it;
+    auto end = it;
+    while (end != ctx.end() && *end != '}')
+      ++end;
+    tm_format.reserve(internal::to_unsigned(end - it + 1));
+    tm_format.append(it, end);
+    tm_format.push_back('\0');
+    return end;
+  }
+
+  template <typename FormatContext>
+  auto format(const std::tm &tm, FormatContext &ctx) -> decltype(ctx.out()) {
+    basic_memory_buffer<Char> buf;
+    std::size_t start = buf.size();
+    for (;;) {
+      std::size_t size = buf.capacity() - start;
+      std::size_t count =
+        internal::strftime(&buf[start], size, &tm_format[0], &tm);
+      if (count != 0) {
+        buf.resize(start + count);
+        break;
+      }
+      if (size >= tm_format.size() * 256) {
+        // If the buffer is 256 times larger than the format string, assume
+        // that `strftime` gives an empty result. There doesn't seem to be a
+        // better way to distinguish the two cases:
+        // https://github.com/fmtlib/fmt/issues/367
+        break;
+      }
+      const std::size_t MIN_GROWTH = 10;
+      buf.reserve(buf.capacity() + (size > MIN_GROWTH ? size : MIN_GROWTH));
+    }
+    return std::copy(buf.begin(), buf.end(), ctx.out());
+  }
+
+  basic_memory_buffer<Char> tm_format;
+};
+FMT_END_NAMESPACE
+
+#endif  // FMT_TIME_H_

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/fmt.h

@@ -0,0 +1,25 @@
+//
+// Copyright(c) 2016-2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Include a bundled header-only copy of fmtlib or an external one.
+// By default spdlog include its own copy.
+//
+
+#if !defined(SPDLOG_FMT_EXTERNAL)
+#ifndef FMT_HEADER_ONLY
+#define FMT_HEADER_ONLY
+#endif
+#ifndef FMT_USE_WINDOWS_H
+#define FMT_USE_WINDOWS_H 0
+#endif
+#include "bundled/core.h"
+#include "bundled/format.h"
+#else // external fmtlib
+#include <fmt/core.h>
+#include <fmt/format.h>
+#endif

lidar_driver/include/Livox/third_party/spdlog/spdlog/fmt/ostr.h

@@ -0,0 +1,18 @@
+//
+// Copyright(c) 2016 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+//
+// include bundled or external copy of fmtlib's ostream support
+//
+#if !defined(SPDLOG_FMT_EXTERNAL)
+#ifndef FMT_HEADER_ONLY
+#define FMT_HEADER_ONLY
+#endif
+#include "bundled/ostream.h"
+#include "fmt.h"
+#else
+#include <fmt/ostream.h>
+#endif

lidar_driver/include/Livox/third_party/spdlog/spdlog/formatter.h

@@ -0,0 +1,20 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "fmt/fmt.h"
+#include "spdlog/details/log_msg.h"
+
+namespace spdlog {
+
+class formatter
+{
+public:
+    virtual ~formatter() = default;
+    virtual void format(const details::log_msg &msg, fmt::memory_buffer &dest) = 0;
+    virtual std::unique_ptr<formatter> clone() const = 0;
+};
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/logger.h

@@ -0,0 +1,183 @@
+//
+// Copyright(c) 2015-2108 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Thread safe logger (except for set_pattern(..), set_formatter(..) and
+// set_error_handler())
+// Has name, log level, vector of std::shared sink pointers and formatter
+// Upon each log write the logger:
+// 1. Checks if its log level is enough to log the message and if yes:
+// 2. Call the underlying sinks to do the job.
+// 3. Each sink use its own private copy of a formatter to format the message
+// and send to its destination.
+//
+// The use of private formatter per sink provides the opportunity to cache some
+// formatted data,
+// and support customize format per each sink.
+
+#include "spdlog/common.h"
+#include "spdlog/formatter.h"
+#include "spdlog/sinks/sink.h"
+
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace spdlog {
+
+class logger
+{
+public:
+    logger(std::string name, sink_ptr single_sink);
+    logger(std::string name, sinks_init_list sinks);
+
+    template<typename It>
+    logger(std::string name, It begin, It end);
+
+    virtual ~logger();
+
+    logger(const logger &) = delete;
+    logger &operator=(const logger &) = delete;
+
+    template<typename... Args>
+    void log(level::level_enum lvl, const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void log(source_loc loc, level::level_enum lvl, const char *fmt, const Args &... args);
+
+    void log(level::level_enum lvl, const char *msg);
+
+    void log(source_loc loc, level::level_enum lvl, const char *msg);
+
+    template<typename... Args>
+    void trace(const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void debug(const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void info(const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void warn(const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void error(const char *fmt, const Args &... args);
+
+    template<typename... Args>
+    void critical(const char *fmt, const Args &... args);
+
+#ifdef SPDLOG_WCHAR_TO_UTF8_SUPPORT
+#ifndef _WIN32
+#error SPDLOG_WCHAR_TO_UTF8_SUPPORT only supported on windows
+#else
+    template<typename... Args>
+    void log(level::level_enum lvl, const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void log(source_loc source, level::level_enum lvl, const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void trace(const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void debug(const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void info(const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void warn(const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void error(const wchar_t *fmt, const Args &... args);
+
+    template<typename... Args>
+    void critical(const wchar_t *fmt, const Args &... args);
+#endif // _WIN32
+#endif // SPDLOG_WCHAR_TO_UTF8_SUPPORT
+
+    template<class T>
+    void log(level::level_enum lvl, const T &);
+
+    // T can be statically converted to string_view
+    template<class T, typename std::enable_if<std::is_convertible<T, spdlog::string_view_t>::value, T>::type * = nullptr>
+    void log(source_loc loc, level::level_enum lvl, const T &);
+
+    // T cannot be statically converted to string_view
+    template<class T, typename std::enable_if<!std::is_convertible<T, spdlog::string_view_t>::value, T>::type * = nullptr>
+    void log(source_loc loc, level::level_enum lvl, const T &);
+
+    template<typename T>
+    void trace(const T &msg);
+
+    template<typename T>
+    void debug(const T &msg);
+
+    template<typename T>
+    void info(const T &msg);
+
+    template<typename T>
+    void warn(const T &msg);
+
+    template<typename T>
+    void error(const T &msg);
+
+    template<typename T>
+    void critical(const T &msg);
+
+    bool should_log(level::level_enum msg_level) const;
+    void set_level(level::level_enum log_level);
+
+    static level::level_enum default_level();
+    level::level_enum level() const;
+    const std::string &name() const;
+
+    // set formatting for the sinks in this logger.
+    // each sink will get a seperate instance of the formatter object.
+    void set_formatter(std::unique_ptr<formatter> formatter);
+    void set_pattern(std::string pattern, pattern_time_type time_type = pattern_time_type::local);
+
+    // flush functions
+    void flush();
+    void flush_on(level::level_enum log_level);
+    level::level_enum flush_level() const;
+
+    // sinks
+    const std::vector<sink_ptr> &sinks() const;
+    std::vector<sink_ptr> &sinks();
+
+    // error handler
+    void set_error_handler(log_err_handler err_handler);
+    log_err_handler error_handler() const;
+
+    // create new logger with same sinks and configuration.
+    virtual std::shared_ptr<logger> clone(std::string logger_name);
+
+protected:
+    virtual void sink_it_(details::log_msg &msg);
+    virtual void flush_();
+
+    bool should_flush_(const details::log_msg &msg);
+
+    // default error handler.
+    // print the error to stderr with the max rate of 1 message/minute.
+    void default_err_handler_(const std::string &msg);
+
+    // increment the message count (only if defined(SPDLOG_ENABLE_MESSAGE_COUNTER))
+    void incr_msg_counter_(details::log_msg &msg);
+
+    const std::string name_;
+    std::vector<sink_ptr> sinks_;
+    spdlog::level_t level_{spdlog::logger::default_level()};
+    spdlog::level_t flush_level_{level::off};
+    log_err_handler err_handler_{[this](const std::string &msg) { this->default_err_handler_(msg); }};
+    std::atomic<time_t> last_err_time_{0};
+    std::atomic<size_t> msg_counter_{1};
+};
+} // namespace spdlog
+
+#include "details/logger_impl.h"

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/android_sink.h

@@ -0,0 +1,121 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/fmt_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/details/os.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <android/log.h>
+#include <chrono>
+#include <mutex>
+#include <string>
+#include <thread>
+
+#if !defined(SPDLOG_ANDROID_RETRIES)
+#define SPDLOG_ANDROID_RETRIES 2
+#endif
+
+namespace spdlog {
+namespace sinks {
+
+/*
+ * Android sink (logging using __android_log_write)
+ */
+template<typename Mutex>
+class android_sink final : public base_sink<Mutex>
+{
+public:
+    explicit android_sink(std::string tag = "spdlog", bool use_raw_msg = false)
+        : tag_(std::move(tag))
+        , use_raw_msg_(use_raw_msg)
+    {
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        const android_LogPriority priority = convert_to_android_(msg.level);
+        fmt::memory_buffer formatted;
+        if (use_raw_msg_)
+        {
+            details::fmt_helper::append_string_view(msg.payload, formatted);
+        }
+        else
+        {
+            sink::formatter_->format(msg, formatted);
+        }
+        formatted.push_back('\0');
+        const char *msg_output = formatted.data();
+
+        // See system/core/liblog/logger_write.c for explanation of return value
+        int ret = __android_log_write(priority, tag_.c_str(), msg_output);
+        int retry_count = 0;
+        while ((ret == -11 /*EAGAIN*/) && (retry_count < SPDLOG_ANDROID_RETRIES))
+        {
+            details::os::sleep_for_millis(5);
+            ret = __android_log_write(priority, tag_.c_str(), msg_output);
+            retry_count++;
+        }
+
+        if (ret < 0)
+        {
+            throw spdlog_ex("__android_log_write() failed", ret);
+        }
+    }
+
+    void flush_() override {}
+
+private:
+    static android_LogPriority convert_to_android_(spdlog::level::level_enum level)
+    {
+        switch (level)
+        {
+        case spdlog::level::trace:
+            return ANDROID_LOG_VERBOSE;
+        case spdlog::level::debug:
+            return ANDROID_LOG_DEBUG;
+        case spdlog::level::info:
+            return ANDROID_LOG_INFO;
+        case spdlog::level::warn:
+            return ANDROID_LOG_WARN;
+        case spdlog::level::err:
+            return ANDROID_LOG_ERROR;
+        case spdlog::level::critical:
+            return ANDROID_LOG_FATAL;
+        default:
+            return ANDROID_LOG_DEFAULT;
+        }
+    }
+
+    std::string tag_;
+    bool use_raw_msg_;
+};
+
+using android_sink_mt = android_sink<std::mutex>;
+using android_sink_st = android_sink<details::null_mutex>;
+} // namespace sinks
+
+// Create and register android syslog logger
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> android_logger_mt(const std::string &logger_name, const std::string &tag = "spdlog")
+{
+    return Factory::template create<sinks::android_sink_mt>(logger_name, tag);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> android_logger_st(const std::string &logger_name, const std::string &tag = "spdlog")
+{
+    return Factory::template create<sinks::android_sink_st>(logger_name, tag);
+}
+
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/ansicolor_sink.h

@@ -0,0 +1,166 @@
+//
+// Copyright(c) 2017 spdlog authors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/console_globals.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/details/os.h"
+#include "spdlog/sinks/sink.h"
+
+#include <memory>
+#include <mutex>
+#include <string>
+#include <unordered_map>
+
+namespace spdlog {
+namespace sinks {
+
+/**
+ * This sink prefixes the output with an ANSI escape sequence color code
+ * depending on the severity
+ * of the message.
+ * If no color terminal detected, omit the escape codes.
+ */
+template<typename TargetStream, class ConsoleMutex>
+class ansicolor_sink final : public sink
+{
+public:
+    using mutex_t = typename ConsoleMutex::mutex_t;
+    ansicolor_sink()
+        : target_file_(TargetStream::stream())
+        , mutex_(ConsoleMutex::mutex())
+
+    {
+        should_do_colors_ = details::os::in_terminal(target_file_) && details::os::is_color_terminal();
+        colors_[level::trace] = white;
+        colors_[level::debug] = cyan;
+        colors_[level::info] = green;
+        colors_[level::warn] = yellow + bold;
+        colors_[level::err] = red + bold;
+        colors_[level::critical] = bold + on_red;
+        colors_[level::off] = reset;
+    }
+
+    ~ansicolor_sink() override = default;
+
+    ansicolor_sink(const ansicolor_sink &other) = delete;
+    ansicolor_sink &operator=(const ansicolor_sink &other) = delete;
+
+    void set_color(level::level_enum color_level, const std::string &color)
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        colors_[color_level] = color;
+    }
+
+    /// Formatting codes
+    const std::string reset = "\033[m";
+    const std::string bold = "\033[1m";
+    const std::string dark = "\033[2m";
+    const std::string underline = "\033[4m";
+    const std::string blink = "\033[5m";
+    const std::string reverse = "\033[7m";
+    const std::string concealed = "\033[8m";
+    const std::string clear_line = "\033[K";
+
+    // Foreground colors
+    const std::string black = "\033[30m";
+    const std::string red = "\033[31m";
+    const std::string green = "\033[32m";
+    const std::string yellow = "\033[33m";
+    const std::string blue = "\033[34m";
+    const std::string magenta = "\033[35m";
+    const std::string cyan = "\033[36m";
+    const std::string white = "\033[37m";
+
+    /// Background colors
+    const std::string on_black = "\033[40m";
+    const std::string on_red = "\033[41m";
+    const std::string on_green = "\033[42m";
+    const std::string on_yellow = "\033[43m";
+    const std::string on_blue = "\033[44m";
+    const std::string on_magenta = "\033[45m";
+    const std::string on_cyan = "\033[46m";
+    const std::string on_white = "\033[47m";
+
+    void log(const details::log_msg &msg) override
+    {
+        // Wrap the originally formatted message in color codes.
+        // If color is not supported in the terminal, log as is instead.
+        std::lock_guard<mutex_t> lock(mutex_);
+
+        fmt::memory_buffer formatted;
+        formatter_->format(msg, formatted);
+        if (should_do_colors_ && msg.color_range_end > msg.color_range_start)
+        {
+            // before color range
+            print_range_(formatted, 0, msg.color_range_start);
+            // in color range
+            print_ccode_(colors_[msg.level]);
+            print_range_(formatted, msg.color_range_start, msg.color_range_end);
+            print_ccode_(reset);
+            // after color range
+            print_range_(formatted, msg.color_range_end, formatted.size());
+        }
+        else // no color
+        {
+            print_range_(formatted, 0, formatted.size());
+        }
+        fflush(target_file_);
+    }
+
+    void flush() override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fflush(target_file_);
+    }
+
+    void set_pattern(const std::string &pattern) final
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::unique_ptr<spdlog::formatter>(new pattern_formatter(pattern));
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::move(sink_formatter);
+    }
+
+    bool should_color()
+    {
+        return should_do_colors_;
+    }
+
+private:
+    void print_ccode_(const std::string &color_code)
+    {
+        fwrite(color_code.data(), sizeof(char), color_code.size(), target_file_);
+    }
+    void print_range_(const fmt::memory_buffer &formatted, size_t start, size_t end)
+    {
+        fwrite(formatted.data() + start, sizeof(char), end - start, target_file_);
+    }
+
+    FILE *target_file_;
+    mutex_t &mutex_;
+
+    bool should_do_colors_;
+    std::unordered_map<level::level_enum, std::string, level::level_hasher> colors_;
+};
+
+using ansicolor_stdout_sink_mt = ansicolor_sink<details::console_stdout, details::console_mutex>;
+using ansicolor_stdout_sink_st = ansicolor_sink<details::console_stdout, details::console_nullmutex>;
+
+using ansicolor_stderr_sink_mt = ansicolor_sink<details::console_stderr, details::console_mutex>;
+using ansicolor_stderr_sink_st = ansicolor_sink<details::console_stderr, details::console_nullmutex>;
+
+} // namespace sinks
+
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/base_sink.h

@@ -0,0 +1,69 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+//
+// base sink templated over a mutex (either dummy or real)
+// concrete implementation should override the sink_it_() and flush_()  methods.
+// locking is taken care of in this class - no locking needed by the
+// implementers..
+//
+
+#include "spdlog/common.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/formatter.h"
+#include "spdlog/sinks/sink.h"
+
+namespace spdlog {
+namespace sinks {
+template<typename Mutex>
+class base_sink : public sink
+{
+public:
+    base_sink() = default;
+    base_sink(const base_sink &) = delete;
+    base_sink &operator=(const base_sink &) = delete;
+
+    void log(const details::log_msg &msg) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        sink_it_(msg);
+    }
+
+    void flush() final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        flush_();
+    }
+
+    void set_pattern(const std::string &pattern) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        set_pattern_(pattern);
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        set_formatter_(std::move(sink_formatter));
+    }
+
+protected:
+    virtual void sink_it_(const details::log_msg &msg) = 0;
+    virtual void flush_() = 0;
+
+    virtual void set_pattern_(const std::string &pattern)
+    {
+        set_formatter_(details::make_unique<spdlog::pattern_formatter>(pattern));
+    }
+
+    virtual void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter)
+    {
+        formatter_ = std::move(sink_formatter);
+    }
+    Mutex mutex_;
+};
+} // namespace sinks
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/basic_file_sink.h

@@ -0,0 +1,75 @@
+//
+// Copyright(c) 2015-2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+/*
+ * Trivial file sink with single file as target
+ */
+template<typename Mutex>
+class basic_file_sink final : public base_sink<Mutex>
+{
+public:
+    explicit basic_file_sink(const filename_t &filename, bool truncate = false)
+    {
+        file_helper_.open(filename, truncate);
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    details::file_helper file_helper_;
+};
+
+using basic_file_sink_mt = basic_file_sink<std::mutex>;
+using basic_file_sink_st = basic_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> basic_logger_mt(const std::string &logger_name, const filename_t &filename, bool truncate = false)
+{
+    return Factory::template create<sinks::basic_file_sink_mt>(logger_name, filename, truncate);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> basic_logger_st(const std::string &logger_name, const filename_t &filename, bool truncate = false)
+{
+    return Factory::template create<sinks::basic_file_sink_st>(logger_name, filename, truncate);
+}
+
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/daily_file_sink.h

@@ -0,0 +1,141 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/fmt/fmt.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <chrono>
+#include <cstdio>
+#include <ctime>
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+
+/*
+ * Generator of daily log file names in format basename.YYYY-MM-DD.ext
+ */
+struct daily_filename_calculator
+{
+    // Create filename for the form basename.YYYY-MM-DD
+    static filename_t calc_filename(const filename_t &filename, const tm &now_tm)
+    {
+        filename_t basename, ext;
+        std::tie(basename, ext) = details::file_helper::split_by_extension(filename);
+        std::conditional<std::is_same<filename_t::value_type, char>::value, fmt::memory_buffer, fmt::wmemory_buffer>::type w;
+        fmt::format_to(
+            w, SPDLOG_FILENAME_T("{}_{:04d}-{:02d}-{:02d}{}"), basename, now_tm.tm_year + 1900, now_tm.tm_mon + 1, now_tm.tm_mday, ext);
+        return fmt::to_string(w);
+    }
+};
+
+/*
+ * Rotating file sink based on date. rotates at midnight
+ */
+template<typename Mutex, typename FileNameCalc = daily_filename_calculator>
+class daily_file_sink final : public base_sink<Mutex>
+{
+public:
+    // create daily file sink which rotates on given time
+    daily_file_sink(filename_t base_filename, int rotation_hour, int rotation_minute, bool truncate = false)
+        : base_filename_(std::move(base_filename))
+        , rotation_h_(rotation_hour)
+        , rotation_m_(rotation_minute)
+        , truncate_(truncate)
+    {
+        if (rotation_hour < 0 || rotation_hour > 23 || rotation_minute < 0 || rotation_minute > 59)
+        {
+            throw spdlog_ex("daily_file_sink: Invalid rotation time in ctor");
+        }
+        auto now = log_clock::now();
+        file_helper_.open(FileNameCalc::calc_filename(base_filename_, now_tm(now)), truncate_);
+        rotation_tp_ = next_rotation_tp_();
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        if (msg.time >= rotation_tp_)
+        {
+            file_helper_.open(FileNameCalc::calc_filename(base_filename_, now_tm(msg.time)), truncate_);
+            rotation_tp_ = next_rotation_tp_();
+        }
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    tm now_tm(log_clock::time_point tp)
+    {
+        time_t tnow = log_clock::to_time_t(tp);
+        return spdlog::details::os::localtime(tnow);
+    }
+
+    log_clock::time_point next_rotation_tp_()
+    {
+        auto now = log_clock::now();
+        tm date = now_tm(now);
+        date.tm_hour = rotation_h_;
+        date.tm_min = rotation_m_;
+        date.tm_sec = 0;
+        auto rotation_time = log_clock::from_time_t(std::mktime(&date));
+        if (rotation_time > now)
+        {
+            return rotation_time;
+        }
+        return {rotation_time + std::chrono::hours(24)};
+    }
+
+    filename_t base_filename_;
+    int rotation_h_;
+    int rotation_m_;
+    log_clock::time_point rotation_tp_;
+    details::file_helper file_helper_;
+    bool truncate_;
+};
+
+using daily_file_sink_mt = daily_file_sink<std::mutex>;
+using daily_file_sink_st = daily_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> daily_logger_mt(
+    const std::string &logger_name, const filename_t &filename, int hour = 0, int minute = 0, bool truncate = false)
+{
+    return Factory::template create<sinks::daily_file_sink_mt>(logger_name, filename, hour, minute, truncate);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> daily_logger_st(
+    const std::string &logger_name, const filename_t &filename, int hour = 0, int minute = 0, bool truncate = false)
+{
+    return Factory::template create<sinks::daily_file_sink_st>(logger_name, filename, hour, minute, truncate);
+}
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/dist_sink.h

@@ -0,0 +1,94 @@
+//
+// Copyright (c) 2015 David Schury, Gabi Melman
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "base_sink.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/null_mutex.h"
+
+#include <algorithm>
+#include <memory>
+#include <mutex>
+#include <vector>
+
+// Distribution sink (mux). Stores a vector of sinks which get called when log
+// is called
+
+namespace spdlog {
+namespace sinks {
+
+template<typename Mutex>
+class dist_sink : public base_sink<Mutex>
+{
+public:
+    dist_sink() = default;
+    dist_sink(const dist_sink &) = delete;
+    dist_sink &operator=(const dist_sink &) = delete;
+
+    void add_sink(std::shared_ptr<sink> sink)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_.push_back(sink);
+    }
+
+    void remove_sink(std::shared_ptr<sink> sink)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_.erase(std::remove(sinks_.begin(), sinks_.end(), sink), sinks_.end());
+    }
+
+    void set_sinks(std::vector<std::shared_ptr<sink>> sinks)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_ = std::move(sinks);
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        for (auto &sink : sinks_)
+        {
+            if (sink->should_log(msg.level))
+            {
+                sink->log(msg);
+            }
+        }
+    }
+
+    void flush_() override
+    {
+        for (auto &sink : sinks_)
+        {
+            sink->flush();
+        }
+    }
+
+    void set_pattern_(const std::string &pattern) override
+    {
+        set_formatter_(details::make_unique<spdlog::pattern_formatter>(pattern));
+    }
+
+    void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        base_sink<Mutex>::formatter_ = std::move(sink_formatter);
+        for (auto &sink : sinks_)
+        {
+            sink->set_formatter(base_sink<Mutex>::formatter_->clone());
+        }
+    }
+    std::vector<std::shared_ptr<sink>> sinks_;
+};
+
+using dist_sink_mt = dist_sink<std::mutex>;
+using dist_sink_st = dist_sink<details::null_mutex>;
+
+} // namespace sinks
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/msvc_sink.h

@@ -0,0 +1,54 @@
+//
+// Copyright(c) 2016 Alexander Dalshov.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#if defined(_WIN32)
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <winbase.h>
+
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+/*
+ * MSVC sink (logging using OutputDebugStringA)
+ */
+template<typename Mutex>
+class msvc_sink : public base_sink<Mutex>
+{
+public:
+    explicit msvc_sink() {}
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        OutputDebugStringA(fmt::to_string(formatted).c_str());
+    }
+
+    void flush_() override {}
+};
+
+using msvc_sink_mt = msvc_sink<std::mutex>;
+using msvc_sink_st = msvc_sink<details::null_mutex>;
+
+using windebug_sink_mt = msvc_sink_mt;
+using windebug_sink_st = msvc_sink_st;
+
+} // namespace sinks
+} // namespace spdlog
+
+#endif

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/null_sink.h

@@ -0,0 +1,49 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+
+namespace spdlog {
+namespace sinks {
+
+template<typename Mutex>
+class null_sink : public base_sink<Mutex>
+{
+protected:
+    void sink_it_(const details::log_msg &) override {}
+    void flush_() override {}
+};
+
+using null_sink_mt = null_sink<std::mutex>;
+using null_sink_st = null_sink<details::null_mutex>;
+
+} // namespace sinks
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> null_logger_mt(const std::string &logger_name)
+{
+    auto null_logger = Factory::template create<sinks::null_sink_mt>(logger_name);
+    null_logger->set_level(level::off);
+    return null_logger;
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> null_logger_st(const std::string &logger_name)
+{
+    auto null_logger = Factory::template create<sinks::null_sink_st>(logger_name);
+    null_logger->set_level(level::off);
+    return null_logger;
+}
+
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/ostream_sink.h

@@ -0,0 +1,57 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+#include <ostream>
+
+namespace spdlog {
+namespace sinks {
+template<typename Mutex>
+class ostream_sink final : public base_sink<Mutex>
+{
+public:
+    explicit ostream_sink(std::ostream &os, bool force_flush = false)
+        : ostream_(os)
+        , force_flush_(force_flush)
+    {
+    }
+    ostream_sink(const ostream_sink &) = delete;
+    ostream_sink &operator=(const ostream_sink &) = delete;
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        ostream_.write(formatted.data(), static_cast<std::streamsize>(formatted.size()));
+        if (force_flush_)
+        {
+            ostream_.flush();
+        }
+    }
+
+    void flush_() override
+    {
+        ostream_.flush();
+    }
+
+    std::ostream &ostream_;
+    bool force_flush_;
+};
+
+using ostream_sink_mt = ostream_sink<std::mutex>;
+using ostream_sink_st = ostream_sink<details::null_mutex>;
+
+} // namespace sinks
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/rotating_file_sink.h

@@ -0,0 +1,164 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/fmt/fmt.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <cerrno>
+#include <chrono>
+#include <ctime>
+#include <mutex>
+#include <string>
+#include <tuple>
+
+namespace spdlog {
+namespace sinks {
+
+//
+// Rotating file sink based on size
+//
+template<typename Mutex>
+class rotating_file_sink final : public base_sink<Mutex>
+{
+public:
+    rotating_file_sink(filename_t base_filename, std::size_t max_size, std::size_t max_files, bool rotate_on_open=false)
+        : base_filename_(std::move(base_filename))
+        , max_size_(max_size)
+        , max_files_(max_files)
+    {
+        file_helper_.open(calc_filename(base_filename_, 0));
+        current_size_ = file_helper_.size(); // expensive. called only once
+        if (rotate_on_open && current_size_ > 0)
+        {
+            rotate_();
+        }
+    }
+
+    // calc filename according to index and file extension if exists.
+    // e.g. calc_filename("logs/mylog.txt, 3) => "logs/mylog.3.txt".
+    static filename_t calc_filename(const filename_t &filename, std::size_t index)
+    {
+        typename std::conditional<std::is_same<filename_t::value_type, char>::value, fmt::memory_buffer, fmt::wmemory_buffer>::type w;
+        if (index != 0u)
+        {
+            filename_t basename, ext;
+            std::tie(basename, ext) = details::file_helper::split_by_extension(filename);
+            fmt::format_to(w, SPDLOG_FILENAME_T("{}.{}{}"), basename, index, ext);
+        }
+        else
+        {
+            fmt::format_to(w, SPDLOG_FILENAME_T("{}"), filename);
+        }
+        return fmt::to_string(w);
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        current_size_ += formatted.size();
+        if (current_size_ > max_size_)
+        {
+            rotate_();
+            current_size_ = formatted.size();
+        }
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    // Rotate files:
+    // log.txt -> log.1.txt
+    // log.1.txt -> log.2.txt
+    // log.2.txt -> log.3.txt
+    // log.3.txt -> delete
+    void rotate_()
+    {
+        using details::os::filename_to_str;
+        file_helper_.close();
+        for (auto i = max_files_; i > 0; --i)
+        {
+            filename_t src = calc_filename(base_filename_, i - 1);
+            if (!details::file_helper::file_exists(src))
+            {
+                continue;
+            }
+            filename_t target = calc_filename(base_filename_, i);
+
+            if (!rename_file(src, target))
+            {
+                // if failed try again after a small delay.
+                // this is a workaround to a windows issue, where very high rotation
+                // rates can cause the rename to fail with permission denied (because of antivirus?).
+                details::os::sleep_for_millis(100);
+                if (!rename_file(src, target))
+                {
+                    file_helper_.reopen(true); // truncate the log file anyway to prevent it to grow beyond its limit!
+                    current_size_ = 0;
+                    throw spdlog_ex(
+                        "rotating_file_sink: failed renaming " + filename_to_str(src) + " to " + filename_to_str(target), errno);
+                }
+            }
+        }
+        file_helper_.reopen(true);
+    }
+
+    // delete the target if exists, and rename the src file  to target
+    // return true on success, false otherwise.
+    bool rename_file(const filename_t &src_filename, const filename_t &target_filename)
+    {
+        // try to delete the target file in case it already exists.
+        (void)details::os::remove(target_filename);
+        return details::os::rename(src_filename, target_filename) == 0;
+    }
+
+    filename_t base_filename_;
+    std::size_t max_size_;
+    std::size_t max_files_;
+    std::size_t current_size_;
+    details::file_helper file_helper_;
+};
+
+using rotating_file_sink_mt = rotating_file_sink<std::mutex>;
+using rotating_file_sink_st = rotating_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> rotating_logger_mt(
+    const std::string &logger_name, const filename_t &filename, size_t max_file_size, size_t max_files, bool rotate_on_open=false)
+{
+    return Factory::template create<sinks::rotating_file_sink_mt>(logger_name, filename, max_file_size, max_files, rotate_on_open);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> rotating_logger_st(
+    const std::string &logger_name, const filename_t &filename, size_t max_file_size, size_t max_files, bool rotate_on_open = false)
+{
+    return Factory::template create<sinks::rotating_file_sink_st>(logger_name, filename, max_file_size, max_files, rotate_on_open);
+}
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/sink.h

@@ -0,0 +1,54 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/pattern_formatter.h"
+#include "spdlog/formatter.h"
+
+namespace spdlog {
+namespace sinks {
+class sink
+{
+public:
+    sink() = default;
+
+    explicit sink(std::unique_ptr<spdlog::formatter> formatter)
+        : formatter_{std::move(formatter)}
+    {
+    }
+
+    virtual ~sink() = default;
+    virtual void log(const details::log_msg &msg) = 0;
+    virtual void flush() = 0;
+    virtual void set_pattern(const std::string &pattern) = 0;
+    virtual void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) = 0;
+
+    bool should_log(level::level_enum msg_level) const
+    {
+        return msg_level >= level_.load(std::memory_order_relaxed);
+    }
+
+    void set_level(level::level_enum log_level)
+    {
+        level_.store(log_level);
+    }
+
+    level::level_enum level() const
+    {
+        return static_cast<spdlog::level::level_enum>(level_.load(std::memory_order_relaxed));
+    }
+
+protected:
+    // sink log level - default is all
+    level_t level_{level::trace};
+
+    // sink formatter - default is full format
+    std::unique_ptr<spdlog::formatter> formatter_{details::make_unique<spdlog::pattern_formatter>()};
+};
+
+} // namespace sinks
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/stdout_color_sinks.h

@@ -0,0 +1,56 @@
+//
+// Copyright(c) 2018 spdlog
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#ifdef _WIN32
+#include "spdlog/sinks/wincolor_sink.h"
+#else
+#include "spdlog/sinks/ansicolor_sink.h"
+#endif
+
+namespace spdlog {
+namespace sinks {
+#ifdef _WIN32
+using stdout_color_sink_mt = wincolor_stdout_sink_mt;
+using stdout_color_sink_st = wincolor_stdout_sink_st;
+using stderr_color_sink_mt = wincolor_stderr_sink_mt;
+using stderr_color_sink_st = wincolor_stderr_sink_st;
+#else
+using stdout_color_sink_mt = ansicolor_stdout_sink_mt;
+using stdout_color_sink_st = ansicolor_stdout_sink_st;
+using stderr_color_sink_mt = ansicolor_stderr_sink_mt;
+using stderr_color_sink_st = ansicolor_stderr_sink_st;
+#endif
+} // namespace sinks
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_color_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_color_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_color_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_color_sink_st>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_color_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_color_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_color_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_color_sink_st>(logger_name);
+}
+} // namespace spdlog

lidar_driver/include/Livox/third_party/spdlog/spdlog/sinks/stdout_sinks.h

@@ -0,0 +1,102 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/console_globals.h"
+#include "spdlog/details/null_mutex.h"
+
+#include <cstdio>
+#include <memory>
+#include <mutex>
+
+namespace spdlog {
+
+namespace sinks {
+
+template<typename TargetStream, typename ConsoleMutex>
+class stdout_sink final : public sink
+{
+public:
+    using mutex_t = typename ConsoleMutex::mutex_t;
+    stdout_sink()
+        : mutex_(ConsoleMutex::mutex())
+        , file_(TargetStream::stream())
+    {
+    }
+    ~stdout_sink() override = default;
+
+    stdout_sink(const stdout_sink &other) = delete;
+    stdout_sink &operator=(const stdout_sink &other) = delete;
+
+    void log(const details::log_msg &msg) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fmt::memory_buffer formatted;
+        formatter_->format(msg, formatted);
+        fwrite(formatted.data(), sizeof(char), formatted.size(), file_);
+        fflush(TargetStream::stream());
+    }
+
+    void flush() override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fflush(file_);
+    }
+
+    void set_pattern(const std::string &pattern) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::unique_ptr<spdlog::formatter>(new pattern_formatter(pattern));
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::move(sink_formatter);
+    }
+
+private:
+    mutex_t &mutex_;
+    FILE *file_;
+};
+
+using stdout_sink_mt = stdout_sink<details::console_stdout, details::console_mutex>;
+using stdout_sink_st = stdout_sink<details::console_stdout, details::console_nullmutex>;
+
+using stderr_sink_mt = stdout_sink<details::console_stderr, details::console_mutex>;
+using stderr_sink_st = stdout_sink<details::console_stderr, details::console_nullmutex>;
+
+} // namespace sinks
+
+// factory methods
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_logger_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_logger_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_sink_st>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_logger_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_logger_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_sink_st>(logger_name);
+}
+} // namespace spdlog