livox.proto

浏览该文件的文档.

syntax = "proto2";
 
package apollo.drivers.livox;
 
import "modules/drivers/lidar/common/proto/lidar_config_base.proto";
 
message CustomIntegral {
  required double integral_time = 1;
  optional double min_x = 2;
  optional double max_x = 3;
  optional double min_y = 4;
  optional double max_y = 5;
}
 
message Config {
  required apollo.drivers.lidar.LidarConfigBase config_base = 1;
  required string lidar_ip = 2;
  optional string lidar_config_file_path = 3;
  optional double integral_time = 4 [default = 0.1];
  optional bool enable_sdk_console_log = 5 [default = false];
  optional bool use_lidar_clock = 6 [default = false];
  optional CustomIntegral custom_integral = 7;
}
 
message LivoxScan {
  optional uint64 timestamp = 1;
  optional int32 data_type = 2;
  optional bytes data = 3;
  optional int32 point_size = 4;
  optional int32 time_interval = 5;
}