Introduction

inno-lidar-sdk is the software development kit to help application developers easily interact with lidar. the development documentation(HOW_TO_USE_CLIENT_SDK.md) and sample code(demo.cpp) are provided to allow developers to get quickly started. Besides, there are some useful execution files and scripts in apps directory. For detailed information, please refer to the corresponding documents in each directory.

Supported Lidar

• Falcon-K1
• Falcon-K2
• Falcon-k24
• Robin-W
• Robin-E
• Robin-ELITE(Robin-E1X)

Supported Platforms

• MacOs
• Windows
• linux
• qnx

Quick Compile

for Linux and MacOS

• Prerequisites
  • gcc
  • cmake

cd build && ./build_unix.sh

for windows

• Prerequisites
  • Visual studio
  • cmake

• Generate the Visual Studio Project

mkdir build_win
cd build_win
cmake ..

• Open the Visual Studio Solution and compile

Quick Start

inno-lidar-sdk offers two demo programs in ./apps/example directory

• demo.cpp

connects to online lidar, and callback by xyz frame.

• sphere2xyz.cpp

connects to online lidar, and callback by sphere packet, upper-layer implements frame assembly logic and coordinate conversion.

Directory Structure

• apps: Source files to generate applications
  • example: Demo about how to get pointcloud. Please press here to see detailed information.
  • tools All kinds of scripts and excutive file
    • check_net Tool for network check. Please press here to see detailed information.
    • get_pcd Tool for obtaining pointcloud and converting file format. Please press here to see detailed information.
    • innovusion_wireshark_plugin Lua script for wireshark. Please press here to see detailed information.
    • innovusion_lidar_util lidar configuration tools.
• docs Documents help compile and use client SDK
• build All kinds of build script
• lib Library files
• CMakeLists.txt Compile script by CMake
• Makefile Compile script by Make
• README.md Introduction of Client SDK
• src Source files to generate library files
  • sdk_client Source files to build sdk_client library
  • sdk_common Source files to build sdk_common library
  • utils Source files to build utility library

├── apps
│   ├── example
│   └── tools
│       ├── check_net
│       ├── get_pcd
│       ├── innovusion_wireshark_plugin
│       ├── lidar_util
├── build
├── docs
├── CMakeLists.txt
├── lib
├── Makefile
├── README.md
└── src
    ├── sdk_client
    ├── sdk_common
    └── utils