lvx file creation

[darrel...@ncl.ac.uk]

Dear all,

Please note that I am a "casual" programmer (I do not do this for a living) and usually everything I do is in a hurry :)

I managed to get the SDK samples running with my Mid-40 and the setup looks fine (using VS  - I will try in linux later).  I guess being lazy I expected the sample code to include some example of file handling i.e. saving data to the lvx format.  A quick scan of the API reference did not throw up anything obvious. I suspect we are expected to do this ourselves but I thought I would ask if there was any source code available for this purpose already? I am just looking to be able to save the data to lvx so that I can use the lvx-las converter to get me back into my comfort zone.

A quick second question relates to the spreadsheet save in livox viewer - has anyone recovered the reflectivity value. Despite being ticked it never saves to the csv file (perhaps this is fixed in the latest viewer - I will download it later today when I have more time).

Apologies if I have missed anything obvious.

Darrel

[Kevin]

Hi Darrel,

I have noted the same that with the CSV export you don't save the reflectivities. However when you save as lvx and use the lvx to las converter tool in the latest version of the viewer, the reflectivities are in the las file and you can use another program (e.g. Cloudcompare) to do a bit more with the data.

[darrel...@ncl.ac.uk]

Thanks Kevin, I will check that our later in QTModeller.

Darrel

[darrel...@ncl.ac.uk]

Just giving this a bump in the hope that someone at Livox will respond.

The easiest way to do this would be to release the viewer code as the record routine is what I (and presumably others) seek.  I just need to be able to start and stop recording to an lvx file. Nothing fancy. As the viewer is not available for linux this is a problem even at a basic level. My Mid-40 will be UAV mounted and connected to an on-board processor (this will also handle input from my ublox F9P and the IMUs ). I have an RPi3B+ which talks to the Livox (via the SDK example) but currently does little else. I see the ROS examples are a little more developed but again I did not see the save options and I would like to avoid ros if possible.

Is the lvx format documented somewhere?

Thanks in anticipation of your help. 

Darrel 

[asma...@gmail.com]

Hi Darrel,

If you don’t want to use ROS your best option is to dump the tcp stream to a pcap file and use the documentation to parse it and then to package in the lvx format. If you’re trying to get a las file then I wouldn’t deal with packaging it to lvx, and just package the parsed raw data straight to las!

https://www.livoxtech.com/3296f540ecf5458a8829e01cf429798e/downloads/20190225/Livox%20SDK%20Protocol_EN_20190225_02.pdf
AND
https://www.livoxtech.com/3296f540ecf5458a8829e01cf429798e/downloads/20190225/Lvx%20Specifications_EN.pdf

Good luck!
AM

[darrel...@ncl.ac.uk]

Thanks AM,

Not sure how I missed that lvx specification document :(

OK that strategy looks possible but I will need some time to work on it. I guess I was just hoping that as this is a pretty standard thing to want to do that Livox might be able to help us out by releasing the viewer code - I know this is lazy but as I said before programming is not my day job and working out the moving sensor requirements is a pressing need  while simple I/O seems less interesting :)

[asma...@gmail.com]

Right. Perhaps they will release a linux version..?

Unrelated: I see you're going with the f9p. Any reason why you're not waiting for the f9t?

AM

[Livox Dev Team]

Hi all, 

thank you all for feedback of Livox LiDARs. The Livox Viewer for Ubuntu is coming soon. We will announce the info here when Livox Viewer for Ubuntu is released. And more examples of SDK will be added e.g. saving data, sync data .

Livox Dev Team

[Noli Sicad]

Hi Livox Dev Team,

This is good news that we will be getting a linux version of Livox Viewer in Ubuntu.

Looking forward to see some examples in SDK  for saving Livox Lidar sensor data, producing of *.lvx file, sync sensor data with the gpsd data. etc.

Thanks a lot.

Noli

 

[darrel...@ncl.ac.uk]

Looks like good news on the SDK and viewer :) 

I had not seen the F9T but it certainly looks great -  any products available? I have my F9P Ardusimple set on order but will go for the enhanced timing chipset  if the price is similar next time around.

D

[darrel...@ncl.ac.uk]

Hi Dev Team,

I would like to second that response from Noli. Very good news indeed!

D

[Noli Sicad]

Hi Livox Dev Team,

>>And more examples of SDK will be added e.g. saving data, sync data .

>>Livox Dev Team

Any news / update on this "more examples of SDK will be added e.g. saving data, sync data" .

A simple example how to save data (i.e. writing .lvx file) will do.

Thanks.

Noli

[Livox Dev Team]

Dear Noli:

We are working on these new features in SDK which will be released in April. 

Livox Dev Team

[darrel...@ncl.ac.uk]

The latest SDK release does not appear to have this code - am I missing something? The only thing I can see logging is running the sample with -l which creates a txt log that seems to simply mirror what is on screen. 

Please correct me if I am wrong,.

[Livox Dev Team]

Dear darrel：

The sample code of saving lvx file is not released in the latest SDK release. This sample code will come out in next version.

Thanks.  

[maisa...@gmail.com]

Hi Livox Dev Team, 

Does the latest SDK release now can save the log file in lvx format instead of txt file? Can we extract the packet number into x,y, x value for cartesian instead of the packet number. 

[maisa...@gmail.com]

Can the file be saved as csv or other file format that is readable where we can see the x, y,z value (cartesian)