584 lines
20 KiB
C++
584 lines
20 KiB
C++
#ifndef _WIN32
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include "livox_sdk.h"
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#include "open3d/Open3D.h"
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#include <fstream>
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#include <sstream>
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#include <iostream>
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#include <iomanip>
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using namespace open3d;
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typedef enum {
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kDeviceStateDisconnect = 0,
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kDeviceStateConnect = 1,
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kDeviceStateSampling = 2,
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} DeviceState;
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typedef struct {
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uint8_t handle;
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DeviceState device_state;
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DeviceInfo info;
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} DeviceItem;
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DeviceItem devices[kMaxLidarCount];
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int lidar_count = 0;
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/** 回调函数声明 */
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void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage *message);
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void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
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void MyGetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
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void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data);
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void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void *data);
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void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data);
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void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type);
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void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
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/** 用于Python的回调函数指针 */
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void (*python_data_callback)(uint8_t, uint32_t *, uint32_t) = NULL;
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void (*python_error_callback)(livox_status, uint8_t, ErrorMessage*) = NULL;
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void (*python_device_change_callback)(const DeviceInfo*, DeviceEvent) = NULL;
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void (*python_device_broadcast_callback)(const BroadcastDeviceInfo*) = NULL;
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void (*python_common_command_callback)(livox_status, uint8_t, uint8_t) = NULL;
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extern "C" {
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/** 初始化Livox SDK */
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bool init_sdk() {
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printf("Livox SDK initializing.\n");
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if (!Init()) {
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return false;
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}
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printf("Livox SDK has been initialized.\n");
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LivoxSdkVersion _sdkversion;
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GetLivoxSdkVersion(&_sdkversion);
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printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
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memset(devices, 0, sizeof(devices));
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return true;
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}
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/** 启动设备扫描 */
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bool start_discovery() {
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SetBroadcastCallback(OnDeviceBroadcast);
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SetDeviceStateUpdateCallback(OnDeviceInfoChange);
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if (!Start()) {
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printf("Failed to start device discovery.\n");
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Uninit();
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return false;
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}
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printf("Started device discovery.\n");
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return true;
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}
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/** 停止SDK并清理 */
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void stop_sdk() {
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printf("Stopping Livox SDK.\n");
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for (int i = 0; i < kMaxLidarCount; ++i) {
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if (devices[i].device_state == kDeviceStateSampling) {
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LidarStopSampling(devices[i].handle, OnStopSampleCallback, NULL);
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}
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}
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Uninit();
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}
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int connect(const char *broadcast_code) {
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uint8_t handle = 0;
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livox_status result = AddLidarToConnect(broadcast_code, &handle);
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if (result == kStatusSuccess) {
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/** Set the point cloud data for a specific Livox LiDAR. */
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// SetDataCallback(handle, GetLidarData, NULL);
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SetDataCallback(handle, MyGetLidarData, NULL);
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}
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return result;
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}
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int start_sampling(uint8_t handle) {
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livox_status result = LidarStartSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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return result;
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}
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int stop_sampling(uint8_t handle) {
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livox_status result = LidarStopSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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return result;
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}
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int set_mode(LidarMode mode) {
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return LidarSetMode(devices[0].handle, mode, OnCommonCommandCallback, NULL);
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}
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/** 注册数据回调函数给Python调用 */
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void register_data_callback(void (*data_callback)(uint8_t handle, uint32_t *data, uint32_t data_num)) {
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python_data_callback = data_callback;
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}
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/** 注册错误回调函数给Python调用 */
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void register_error_callback(void (*error_callback)(livox_status status, uint8_t handle, ErrorMessage *message)) {
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python_error_callback = error_callback;
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}
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/** 注册设备状态变化回调给Python调用 */
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void register_device_change_callback(void (*device_change_callback)(const DeviceInfo* info, DeviceEvent type)) {
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python_device_change_callback = device_change_callback;
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}
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/** 注册设备广播回调给Python调用 */
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void register_device_broadcast_callback(void (*device_broadcast_callback)(const BroadcastDeviceInfo *info)) {
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python_device_broadcast_callback = device_broadcast_callback;
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}
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/** 注册设备广播回调给Python调用 */
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void register_common_command_callback(void (*common_command_callback)(livox_status status, uint8_t handle, uint8_t response)) {
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python_common_command_callback = common_command_callback;
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}
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}
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/** 回调函数的定义 */
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void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage *message) {
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if (python_error_callback) {
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python_error_callback(status, handle, message);
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}
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}
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void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void *data) {
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if (python_common_command_callback) {
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python_common_command_callback(status, handle, response);
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}
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}
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void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
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if (data) {
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/** Parsing the timestamp and the point cloud data. */
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uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
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if(data ->data_type == kCartesian) {
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LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
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}else if ( data ->data_type == kSpherical) {
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LivoxSpherPoint *p_point_data = (LivoxSpherPoint *)data->data;
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}else if ( data ->data_type == kExtendCartesian) {
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LivoxExtendRawPoint *p_point_data = (LivoxExtendRawPoint *)data->data;
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LivoxExtendRawPoint point_array[data_num];
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uint32_t *converted_data = (uint32_t *)malloc(data_num * 4 * sizeof(uint32_t));
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for (uint32_t i = 0; i < data_num; ++i) {
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LivoxExtendRawPoint *point = &p_point_data[i];
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// 将结构体的 x, y, z 放入 uint32_t 数组中
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converted_data[i * 4] = point->x;
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converted_data[i * 4 + 1] = point->y;
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converted_data[i * 4 + 2] = point->z;
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// 将 reflectivity 和 tag 合并成一个 uint32_t（高16位和低16位）
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converted_data[i * 4 + 3] = (uint32_t)(point->reflectivity << 8 | point->tag);
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}
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// 调用 Python 回调函数
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if (python_data_callback) {
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python_data_callback(handle, converted_data, data_num);
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}
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}else if ( data ->data_type == kExtendSpherical) {
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LivoxExtendSpherPoint *p_point_data = (LivoxExtendSpherPoint *)data->data;
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}else if ( data ->data_type == kDualExtendCartesian) {
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LivoxDualExtendRawPoint *p_point_data = (LivoxDualExtendRawPoint *)data->data;
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}else if ( data ->data_type == kDualExtendSpherical) {
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LivoxDualExtendSpherPoint *p_point_data = (LivoxDualExtendSpherPoint *)data->data;
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}else if ( data ->data_type == kImu) {
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LivoxImuPoint *p_point_data = (LivoxImuPoint *)data->data;
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}else if ( data ->data_type == kTripleExtendCartesian) {
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LivoxTripleExtendRawPoint *p_point_data = (LivoxTripleExtendRawPoint *)data->data;
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}else if ( data ->data_type == kTripleExtendSpherical) {
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LivoxTripleExtendSpherPoint *p_point_data = (LivoxTripleExtendSpherPoint *)data->data;
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}
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// printf("data_type %d\n", data->data_type);
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}
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}
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void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) {
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if (status == kStatusSuccess && response != 0) {
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devices[handle].device_state = kDeviceStateConnect;
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} else if (status == kStatusTimeout) {
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devices[handle].device_state = kDeviceStateConnect;
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}
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}
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void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) {
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// 停止采样时的回调处理
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}
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/** Query the firmware version of Livox LiDAR. */
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void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse *ack, void *data) {
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if (status != kStatusSuccess) {
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printf("Device Query Informations Failed %d\n", status);
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}
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if (ack) {
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printf("firm ver: %d.%d.%d.%d\n",
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ack->firmware_version[0],
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ack->firmware_version[1],
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ack->firmware_version[2],
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ack->firmware_version[3]);
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}
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}
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void LidarConnect(const DeviceInfo *info) {
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uint8_t handle = info->handle;
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QueryDeviceInformation(handle, OnDeviceInformation, NULL);
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if (devices[handle].device_state == kDeviceStateDisconnect) {
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devices[handle].device_state = kDeviceStateConnect;
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devices[handle].info = *info;
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}
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}
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void LidarDisConnect(const DeviceInfo *info) {
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uint8_t handle = info->handle;
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devices[handle].device_state = kDeviceStateDisconnect;
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}
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void LidarStateChange(const DeviceInfo *info) {
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uint8_t handle = info->handle;
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devices[handle].info = *info;
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}
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void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type) {
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if (info == NULL) {
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return;
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}
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uint8_t handle = info->handle;
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if (handle >= kMaxLidarCount) {
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return;
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}
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if (type == kEventConnect) {
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LidarConnect(info);
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printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code);
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} else if (type == kEventDisconnect) {
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LidarDisConnect(info);
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printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code);
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} else if (type == kEventStateChange) {
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LidarStateChange(info);
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printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code);
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}
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printf("Device Working State %d\n", devices[handle].info.state);
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if (devices[handle].device_state == kDeviceStateConnect) {
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if (devices[handle].info.state == kLidarStateInit) {
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printf("Device State Change Progress %u\n", devices[handle].info.status.progress);
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} else {
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printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code);
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}
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printf("Device feature %d\n", devices[handle].info.feature);
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SetErrorMessageCallback(handle, OnLidarErrorStatusCallback);
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if (devices[handle].info.state == kLidarStateNormal) {
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LidarStartSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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}
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}
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if (python_device_change_callback) {
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python_device_change_callback(info, type);
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}
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}
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void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
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// if (python_device_broadcast_callback) {
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// python_device_broadcast_callback(info);
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// }
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printf("connect to device %d \n", info->broadcast_code);
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connect(info->broadcast_code);
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}
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static void delay_second(double second)
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{
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clock_t start_time;
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start_time = clock();
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for (; (clock() - start_time) < second * CLOCKS_PER_SEC;);
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}
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#ifndef _WIN32
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static bool bCouldIsRecv = false;
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static bool bCouldIsGet = false;
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static uint32_t need_points_size = 120 * 10000;
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static float points_data[240 * 10000 * 4];
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static uint8_t points_param_data[240 * 10000 * 4];
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static std::atomic<uint32_t> cur_point_num(0);
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void MyGetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data)
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{
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if (data) {
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/** Parsing the timestamp and the point cloud data. */ uint64_t cur_timestamp = *((uint64_t*)(data->timestamp));
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if (data->data_type == kCartesian) {
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LivoxRawPoint* p_point_data = (LivoxRawPoint*)data->data;
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}
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else if (data->data_type == kSpherical) {
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LivoxSpherPoint* p_point_data = (LivoxSpherPoint*)data->data;
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}
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else if (data->data_type == kExtendCartesian) {
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LivoxExtendRawPoint* p_point_data = (LivoxExtendRawPoint*)data->data;
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#ifdef _WIN32
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LivoxExtendRawPoint point_array[10 * 10000];
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#else
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LivoxExtendRawPoint point_array[data_num];
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#endif
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//uint32_t* converted_data = (uint32_t*)malloc(data_num * 4 * sizeof(uint32_t));
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if (!bCouldIsRecv)
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{
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// memory_order_seq_cst
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// memory_order_relaxed
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uint32_t _cur_point_num = cur_point_num.fetch_add(1, std::memory_order_seq_cst);
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_cur_point_num = _cur_point_num * data_num;
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// need_points_size = G(cloud_need_points_size);
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uint32_t _offset = _cur_point_num * 4;
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for (uint32_t i = 0; i < data_num; ++i)
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{
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_offset = _offset + i * 4;
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points_data[_offset] = p_point_data[i].x / 1000.0;
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points_data[_offset + 1] = p_point_data[i].y / 1000.0;
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points_data[_offset + 2] = p_point_data[i].z / 1000.0;
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// points_data[_offset + 3] = (uint32_t)(p_point_data[i].reflectivity << 8 | p_point_data[i].tag);
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points_param_data[_offset] = p_point_data[i].reflectivity;
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points_param_data[_offset + 1] = p_point_data[i].tag;
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}
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uint32_t _cur_count = _cur_point_num + data_num;
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if ((_cur_count % 100000) <= 100)
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std::cout << _cur_count << " need data size : " << need_points_size << std::endl;
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if (_cur_count < need_points_size)
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return;
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else
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bCouldIsRecv = true;
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}
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else
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return;
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// 等待点云拷贝结束
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//__p_point_data = p_point_data;
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//__data_num = data_num;
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while (true)
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{
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if (!bCouldIsGet)
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{
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delay_second(0.01);
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continue;
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}
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cur_point_num = 0;
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uint32_t* p = (uint32_t*)points_data;
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memset(p , 0, need_points_size * 4);
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bCouldIsGet = false;
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break;
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}
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}
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else if (data->data_type == kExtendSpherical) {
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LivoxExtendSpherPoint* p_point_data = (LivoxExtendSpherPoint*)data->data;
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}
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else if (data->data_type == kDualExtendCartesian) {
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LivoxDualExtendRawPoint* p_point_data = (LivoxDualExtendRawPoint*)data->data;
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}
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else if (data->data_type == kDualExtendSpherical) {
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LivoxDualExtendSpherPoint* p_point_data = (LivoxDualExtendSpherPoint*)data->data;
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}
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else if (data->data_type == kImu) {
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LivoxImuPoint* p_point_data = (LivoxImuPoint*)data->data;
|
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}
|
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else if (data->data_type == kTripleExtendCartesian) {
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LivoxTripleExtendRawPoint* p_point_data = (LivoxTripleExtendRawPoint*)data->data;
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}
|
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else if (data->data_type == kTripleExtendSpherical) {
|
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LivoxTripleExtendSpherPoint* p_point_data = (LivoxTripleExtendSpherPoint*)data->data;
|
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}
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// printf("data_type %d\n", data->data_type);
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}
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}
|
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#else
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/** Extend cartesian coordinate format. */
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typedef struct {
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int32_t x; /**< X axis, Unit:mm */
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int32_t y; /**< Y axis, Unit:mm */
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int32_t z; /**< Z axis, Unit:mm */
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uint8_t reflectivity; /**< Reflectivity */
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uint8_t tag; /**< Tag */
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} LivoxExtendRawPoint;
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typedef struct {
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uint8_t version; /**< Packet protocol version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t rsvd; /**< Reserved. */
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uint32_t err_code; /**< Device error status indicator information. */
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uint8_t timestamp_type; /**< Timestamp type. */
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/** Point cloud coordinate format, refer to \ref PointDataType . */
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uint8_t data_type;
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uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
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uint8_t data[1]; /**< Point cloud data. */
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} LivoxEthPacket;
|
||
static bool bCouldIsRecv = false;
|
||
static bool bCouldIsGet = false;
|
||
static uint32_t need_points_size = 200 * 10000;
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||
static float points_data[240 * 10000 * 4];
|
||
//static uint32_t cur_data_num = 0;
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static std::atomic<uint32_t> cur_point_num(0);
|
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typedef void (*FuncGetLidarData)(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
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FuncGetLidarData GetLidarData;
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#endif // !_WIN32
|
||
|
||
// 定义一个结构体来保存每个点的信息，包括位置和自定义属性
|
||
struct CustomPoint {
|
||
Eigen::Vector3d position;
|
||
uint32_t reflectivity;
|
||
};
|
||
|
||
static void WriteCustomPLY(const std::string& filename, const std::vector<CustomPoint>& points) {
|
||
std::ofstream file(filename);
|
||
if (!file.is_open()) {
|
||
utility::LogError("Failed to open file: {}", filename);
|
||
return;
|
||
}
|
||
|
||
// 写入 PLY 文件头
|
||
file << "ply\n";
|
||
file << "format ascii 1.0\n";
|
||
file << "element vertex " << points.size() << "\n";
|
||
file << "property float x\n";
|
||
file << "property float y\n";
|
||
file << "property float z\n";
|
||
file << "property int reflectivity\n"; // 自定义属性
|
||
// file << "property float custom_float_attribute\n"; // 声明为 float 类型
|
||
file << "end_header\n";
|
||
|
||
// 设置输出精度为6个小数位（适合 float 类型）
|
||
// file << std::fixed << std::setprecision(4);
|
||
|
||
// 写入点的数据
|
||
for (const auto& point : points) {
|
||
file << point.position[0] << " "
|
||
<< point.position[1] << " "
|
||
<< point.position[2] << " "
|
||
<< point.reflectivity << "\n";
|
||
}
|
||
|
||
file.close();
|
||
}
|
||
|
||
int main(int argc, char *argv[])
|
||
{
|
||
if (argc == 0)
|
||
{
|
||
printf("argc == 0 [%d]\n", -1);
|
||
}
|
||
int cloud_points_count = atoi(argv[1]);
|
||
if (cloud_points_count < 30 * 10000)
|
||
{
|
||
printf("cloud_points_count is too small == [%d]\n", cloud_points_count);
|
||
return -1;
|
||
}
|
||
if (cloud_points_count > 200 * 10000)
|
||
{
|
||
printf("cloud_points_count is too big == [%d]\n", cloud_points_count);
|
||
return -1;
|
||
}
|
||
printf("cloud_points_count == [%d]\n", cloud_points_count);
|
||
need_points_size = cloud_points_count;
|
||
|
||
int ret = 0;
|
||
bool succ = init_sdk();
|
||
if (!succ)
|
||
{
|
||
printf("start_discovery init_sdk is %d \n", -1);
|
||
return -1;
|
||
}
|
||
|
||
succ = start_discovery();
|
||
if (!succ)
|
||
{
|
||
printf("start_discovery error is %d \n", -1);
|
||
return -1;
|
||
}
|
||
|
||
delay_second(2);
|
||
|
||
ret = start_sampling(0);
|
||
if (ret != 0)
|
||
{
|
||
printf("start_sampling error is %d \n", ret);
|
||
return -1;
|
||
}
|
||
|
||
|
||
// 写入点云对象
|
||
geometry::PointCloud* pCloud = new geometry::PointCloud();
|
||
geometry::PointCloud* pCloud_data = new geometry::PointCloud();
|
||
|
||
while (true)
|
||
{
|
||
if (!bCouldIsRecv)
|
||
{
|
||
delay_second(0.05);
|
||
continue;
|
||
}
|
||
delay_second(0.01);
|
||
break;
|
||
}
|
||
|
||
// pCloud->points_.resize(need_points_size);
|
||
// pCloud_data->points_.resize(need_points_size);
|
||
// uint32_t effect_cnt = 0;
|
||
// for (uint32_t i = 0; i < need_points_size; ++i) {
|
||
// char tag = points_param_data[i * 4 + 1];
|
||
// if (tag & 0x03 != 0 ||
|
||
// tag >> 2 & 0x03 != 0 ||
|
||
// tag >> 4 & 0x03 == 0 ||
|
||
// tag >> 6 & 0x03 != 0)
|
||
// continue;
|
||
|
||
// pCloud->points_[i][0] = points_data[i * 4];
|
||
// pCloud->points_[i][1] = points_data[i * 4 + 1];
|
||
// pCloud->points_[i][2] = points_data[i * 4 + 2];
|
||
// //pCloud->points_.push_back({ (float)point[0], (float)point[1], (float)point[2] });
|
||
// memcpy(&pCloud_data->points_[i][0], (char*)&points_param_data[i * 4], 1);
|
||
// memcpy(&pCloud_data->points_[i][1], (char*)&points_param_data[i * 4 + 1], 1);
|
||
// pCloud_data->points_[i][2] = 0.0;
|
||
|
||
// effect_cnt++;
|
||
// }
|
||
|
||
// io::WritePointCloud("output.ply", *pCloud);
|
||
// io::WritePointCloud("output_data.ply", *pCloud_data);
|
||
// printf("effect points is %d \n", effect_cnt);
|
||
|
||
std::vector<CustomPoint> points;
|
||
CustomPoint curPt;
|
||
uint32_t effect_cnt = 0;
|
||
for (uint32_t i = 0; i < need_points_size; ++i) {
|
||
char tag = points_param_data[i * 4 + 1];
|
||
if (tag & 0x03 != 0 ||
|
||
tag >> 2 & 0x03 != 0 ||
|
||
tag >> 4 & 0x03 == 0 ||
|
||
tag >> 6 & 0x03 != 0 ||
|
||
(points_data[i * 4] == 0.0 &&
|
||
points_data[i * 4 + 1] == 0.0 &&
|
||
points_data[i * 4 + 2] == 0.0 ))
|
||
continue;
|
||
|
||
curPt.position[0] = (float)points_data[i * 4];
|
||
curPt.position[1] = (float)points_data[i * 4 + 1];
|
||
curPt.position[2] = (float)points_data[i * 4 + 2];
|
||
curPt.reflectivity = points_param_data[i * 4];
|
||
// curPt.tag = points_param_data[i * 4 + 1];
|
||
points.push_back(curPt);
|
||
effect_cnt++;
|
||
}
|
||
printf("effect points is %d \n", effect_cnt);
|
||
WriteCustomPLY("output.ply", points);
|
||
|
||
bCouldIsGet = true;
|
||
delay_second(0.01);
|
||
bCouldIsRecv = false; //开始接收数据
|
||
|
||
ret = stop_sampling(0);
|
||
if (ret != 0)
|
||
{
|
||
printf("stop_sampling error is %d \n", ret);
|
||
return ret;
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
#endif |