Livox SDK Avia

atifplus

I can see that there are 96 sample points per.
how can i advance to read the next data point
What is the size of LivoxExtendRawPoint?
I can advance the pointer i guess by that size.

Regards,
AK

atifplus

printf(" size of livoxRawPoint: %d",sizeof(LivoxRawPoint));
13 bytes.

atifplus

How exactly these idX are generated?
They are not fixed correct?

AK

Livox Support

The point cloud is sent in the form of a UDP packet. The number and size of the points in each UDP packet are related to the data type. For details, refer to Chapter 3.3 of the SDK communication protocol.
For example, datatype2, there are 96 points in each UDP packet, and the size of each point of type is 14 bytes.
Idx is the serial number of each point in all the points sampled. In the spreadsheet tool, if you select all the point clouds area, then idx will correspond to the serial number of the first column. If only a part of the points are selected,  the first The serial number of a column will not correspond to idx.

atifplus

Livox Support Posted at 2021-6-23 21:56
The point cloud is sent in the form of a UDP packet. The number and size of the points in each UDP p ...

How do you access that Idx. I don't see that in the definition of extended point struct
/** 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;

Livox Support

atifplus Posted at 2021-6-24 07:07
How do you access that Idx. I don't see that in the definition of extended point struct
/** Extend ...

There is no “idx” field in the point cloud rawdata, just the point sorting in the livox viewer.

atifplus

Livox Support Posted at 2021-6-24 10:57
There is no “idx” field in the point cloud rawdata, just the point sorting in the livox viewer. ...

Thank you. I got it.

momei

I have successfully parsed the point cloud data in *.lvx format into PLY and PCD formats (expandable to various common formats you need). Contact me if necessary, email: www.fxw66697@gmail.com