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HesaiLidar_SDK_2.0

About the project

This repository includes the software development kit for Hesai LiDAR sensor manufactured by Hesai Technology

Support Lidar type

  • Pandar
  • AT128/AT128P
  • QT
  • FT120
  • XT16/XT32
  • ET25
  • OT

Environment and Dependencies

System environment requirement:Linux

Recommanded
-Ubuntu 16.04
-Ubuntu 18.04
-Ubuntu 20.04
-Ubuntu 22.04

Compiler vresion requirement

Cmake version requirement:Cmake 3.8.0 or above
G++ version requirement:G++ 7.5 or above

Library Dependencies: libpcl-dev + libpcap-dev + libyaml-cpp-dev + libboost-dev

$ sudo apt install libpcl-dev libpcap-dev libyaml-cpp-dev libboost-dev

Clone

$ git clone https://github.com/HesaiTechnology/HesaiLidar_SDK_2.0.git

Build

1.$ cd HesaiLidar_SDK_2.0
2.$ mkdir build
3.$ cd build
4.$ cmake ..
5.$ make

Run a sample

Set the parameters in param in main.cc or main.cu

// Reciving data from pcap file

param.input_param.source_type = DATA_FROM_PCAP;
param.input_param.pcap_path = "path/to/pcap";
param.input_param.correction_file_path = "/path/to/correction.csv";
param.input_param.firetimes_path = "path/to/firetimes.csv";
param.decoder_param.distance_correction_lidar_type = "";   // Configure the corresponding radar model when optical centre correction needs to be turned on
param.lidar_type = ""; // When you need to enable XT point cloud S hierarchical correction, configure the corresponding model

// Reciving data from connected Lidar

param.input_param.source_type = DATA_FROM_LIDAR;
param.input_param.device_ip_address = '192.168.1.201'; // 192.168.1.201 is the lidar ip address
param.input_param.ptc_port = 9347; // 9347 is the lidar ptc port
param.input_param.udp_port = 2368; // 2368 is the lidar udp port
param.input_param.host_ip_address = "192.168.1.100"; // 192.168.1.100 is the pc ip address
param.input_param.multicast_ip_address = "239.0.0.1"; // 239.0.0.1 is the lidar multcast ip address, set this parameter to "" when lidar do not support muticast
param.decoder_param.distance_correction_lidar_type = "";   //Configure the corresponding radar model when optical centre correction needs to be turned on
param.lidar_type = ""; // When you need to enable XT point cloud S hierarchical correction, configure the corresponding model


$ make 
// run a cpu sample
$ ./sample
// run a gpu sample
$ ./sample_gpu