[TOC]

1 Introduction

Livox SDK2 is the software development kit designed for all Livox products. It is developed based on C/C++ following Livox SDK2 Communication Protocol, and provides easy-to-use C style API. With Livox SDK2, users can quickly connect to Livox products and receive point cloud data.

Livox SDK2 consists of Livox SDK2 communication protocol, Livox SDK2 core, Livox SDK2 API(livox_lidar_sdk.h), Linux sample(livox_lidar_quick_start)

Prerequisites

• x86

  • Ubuntu 20.04 /Ubuntu 18.04/Ubuntu 16.04

• ARM (Nvidia TX2)

  • Ubuntu 18.04

• Windows 10, Visual Studio 2019

• C++11 compiler

2 Livox SDK2 API

Livox SDK2 API provides a set of C style functions which can be conveniently integrated in C/C++ programs.

Please refer the below documents for further information :

HAP(TX/T1): Please refer sdk_core\include\livox_lidar_sdk.h

2.1 Installation

The installation procedures in Ubuntu 20.04 /Ubuntu 18.04/Ubuntu 16.04 LTS and Windows 10 are shown here as examples.

2.1.1 Ubuntu 20.04/18.04/16.04 LTS

Dependencies

Livox SDK2 requires CMake 3.0.0+ as dependencies. You can install these packages using apt:

sudo apt install cmake

Compile Livox SDK2

In the Livox SDK2 directory, run the following commands to compile the project:

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cmake .. && make -j
sudo make install

2.1.2 Windows 10

Dependencies

Livox SDK2 supports Visual Studio 2019 and requires install CMake 3.0.0+ as dependencies.

In the Livox SDK2 directory, run the following commands to create the Visual Studio solution file.

For Viusal Studio 2019:

cd Livox-SDK2/build

Generate the 32-bit project:

cmake .. -G "Visual Studio 16 2019" -A Win32

Generate the 64-bit project:

cmake .. -G "Visual Studio 16 2019" -A x64

Compile Livox SDK2

You can now compile the Livox SDK2 in Visual Studio.

2.1.3 ARM-Linux Cross Compile

The procedure of cross compile Livox-SDK2 in ARM-Linux are shown below.

Dependencies

Host machine requires install CMake 3.0.0+ . You can install these packages using apt:

sudo apt install cmake

Cross Compile Livox-SDK2

In the Livox SDK2 directory，run the following commands to cross compile the project:

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cmake .. && make -j
sudo make install

Note:

• gcc cross compiler need to support C ++11 standard

3 Run Livox SDK Sample

3.1 Ubuntu 20.04/18.04/16.04LTS

For Ubuntun 20.04/18.04/16.04 LTS, run the livox_lidar_quick_start if connect with the LiDAR unit(s):

cd sample/livox_lidar_quick_start && ./livox_lidar_quick_start ../../sample/livox_lidar_quick_start/config.json

For how to configure the config.json file, pealse refer to config.json

3.2 Windows 10

After compiling the Livox SDK2 as shown in section 2.1.2, you can findlivox_lidar_quick_start.exe in the Debug\sample folder, respectively, which can be run directly.

Then you can see the information as below:

For how to configure the config.json file, pealse refer to config.json

3.3 ARM-Linux Cross Compile

For ARM-Linux 18.04, run the livox_lidar_quick_start if connect with the LiDAR unit(s):

cd sample/livox_lidar_quick_start && ./livox_lidar_quick_start ../../sample/livox_lidar_quick_start/config.json

For how to configure the config.json file, pealse refer to config.json

4 Support

You can get support from Livox with the following methods:

• Send email to cs@livoxtech.com with a clear description of your problem and your setup
• Github Issues