urg3d_2.x.x_en

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Usage Instructions

This page explains how to use urg3d_library-2.x.x.

Visual Studio Solution for (vs2019 and vs2022) (Windows)

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Build urg3d_library-X.X.X/vs20**/urg3d.sln.
(Projects are compatible with Visual Studio 2019 and Visual Studio 2022.)

This will generate the static library urg3d.lib and the executable files for each sample.

Sample projects for Visual Studio are located under urg3d_library-2.X.X/vs20**/.
To run a sample, either execute the output binary directly, or set the desired project as the startup project in Visual Studio and run it.

Visual C++ project settings required to use the library:

To use the generated urg3d.lib and the urg3d_library-*.*.*/include/ directory, make the following three settings in your project:

1. In Project Properties > "Configuration Properties" > "C/C++" > "General", add the path to urg3d_library-*.*.*/include/ to "Additional Include Directories".
2. In Project Properties > "Linker" > "General", add the directory where urg3d.lib was copied to "Additional Library Directories".
3. In Project Properties > "Linker" > "Input", add urg3d.lib;ws2_32.lib;setupapi.lib to "Additional Dependencies".

Sample projects are already configured with these settings, so feel free to refer to them.

gcc (Linux, MinGW)

If needed, you can change the installation path by editing the PREFIX at the top of urg3d_library-2.X.X/Makefile.
The default settings are as follows:

PREFIX = /usr/local
#PREFIX = /mingw

To compile and install:

make
make install

Data Format

The data segmentation acquired by scanning is defined as follows:

Name	Meaning
echo	A single measurement in a specific direction
spot	All echoes for a particular direction (a collection of echoes)
line	A set of spots for one cycle of ReM*1 scanning
field	A set of spots for one cycle of motor scanning
frame	A collection of multiple fields via interlacing

*1 Resonant Mirror

Scanning directions differ depending on the 3D LiDAR model.
The following table lists the scanning directions for each model:

Sensor	Motor Scanning Direction	ReM Scanning Direction
YVT Series	Horizontal	Vertical
YHT Series	Vertical	Horizontal

Sample Programs

There are multiple sample programs, all of which connect to a sensor with IP address 192.168.0.10.

High1FieldDataFile

Continuously acquires distance and intensity per field without interlacing,
and outputs the coordinate-converted data to a CSV file (output.csv).

High1FieldAugmentedDataFile

Continuously acquires distance, intensity, and judgment results per field without interlacing,
and outputs the coordinate-converted data to a CSV file (output.csv).
This is a sample for LA sensors.

High1Frame4FieldDataFile

Continuously acquires distance and intensity per frame, with motor interlace set to 4,
and outputs the coordinate-converted data to a CSV file (output.csv).

High1Frame4MotorField2RemFieldDataFile

Continuously acquires distance and intensity per frame,
with motor interlace set to 2 and ReM interlace set to 4,
and outputs the coordinate-converted data to a CSV file (output.csv).

High1LineDataFile

Continuously acquires distance and intensity per line,
and outputs the coordinate-converted data to a CSV file (output.csv).

HighGetAuxiliary

Continuously acquires auxiliary sensor data (angular velocity, acceleration, geomagnetism, temperature),
and outputs the results to a CSV file (auxiliary_log.csv).

HighGetInformation

Acquires sensor information and outputs it to the console.

HighGetSpotData

Continuously acquires distance and intensity data for the specified spot, and outputs it to the console.
The target spot and number of frames to acquire can be set in lines 11–21 of the code.

LowUserRequest

Sends the command specified in the command-line argument and outputs the received data to the console.