02_directories_and_files.md

2 Directory Structure

2.1 Directories

Below are the directories of rs_driver.

• src Source code to build the rs_driver library.
• demo Demo apps based on the rs_driver library. It includes:
  • demo_online.cpp demo app to connect to an online LiDAR
  • demo_online_muti_lidars.cpp demo app to connect to multiple liDARs
  • demo_pcap.cpp demo app to parse PCAP file
• tool Tool apps based on the rs_driver library.
  • rs_driver_viewer.cpp the point cloud visualization tool based on the PCL library.
  • rs_driver_pcdsaver.cpp A tool to save point cloud as PCD format. On embedded Linux platform, the PCL library is unavailable, so rs_driver_viewer is unavailable either. rs_driver_pcdsaver is used instead.
• test Unit test app based on Google Test.
• doc Help documents
  • howto Answers some frequently asked questions about rs_driver. For example, illustrations to demo_online/demo_pcap, and rs_driver_viewer, network configuration options, how to transform point cloud, how to port from v1.3.x to v15.x, how to split frames, how to handle packet loss and out of order, how to stamp point cloud, layout of points in point cloud, etc.
  • intro descriptions to rs_driver's interface, such as parameters, error code, CMake macros.
  • src_intro documents to analysis rs_driver's source code, such as design consideration of rs_driver, and some important implement details.
• win MSVC project files with compilation options ready to compile demo_online/demo_pcap/rs_driver_viewer。

├── src
│   └── rs_driver
├── demo
│   ├── demo_online.cpp
│   ├── demo_online_multi_lidars.cpp
│   └── demo_pcap.cpp
├── tool
│   ├── rs_driver_pcdsaver.cpp
│   └── rs_driver_viewer.cpp
├── test
├── doc
│   ├── howto
│   ├── intro
│   └── src_intro
├── win
├── CMakeLists.txt
├── README_CN.md
├── README.md
├── CHANGELOG.md
├── LICENSE