点云流 Point Cloud Stream

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GetStreamingPointCloud

bool GetStreamingPointCloud(const char *ip, unsigned short port, unsigned short infoPort, SimOne_Streaming_Point_Cloud *pPointCloud)

获得物理级激光雷达点云数据.
Retrieve point cloud data from streaming based lidar.

参数:

名称	类型	说明
ip	const char *	物理级激光雷达UDP输出IP地址 UDP IP which the streaming point cloud send to
port	unsigned short	物理级激光雷达UDP输出端口号 UDP Port which the streaming point cloud send to
infoPort	unsigned short	物理级激光雷达UDP输出设备信息端口号 UDP Port which the device information send to
pPointCloud	SimOne_Streaming_Point_Cloud *	仿真点云数据 Point cloud data

返回值:

类型	说明
bool	如果成功获取到仿真点云数据，则返回true，否则返回false Returns true if the point cloud data is successfully retrieved, false otherwise

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SetStreamingPointCloudUpdateCB

bool SetStreamingPointCloudUpdateCB(const char *ip, unsigned short port, unsigned short infoPort, void(*cb)(SimOne_Streaming_Point_Cloud *pPointCloud))

获得物理级激光雷达点云数据更新回调.
Callback for Updates on point cloud data from streaming based lidar.

参数:

名称	类型	说明
ip	const char *	物理级激光雷达UDP输出IP地址 UDP IP which the streaming point cloud send to
port	unsigned short	物理级激光雷达UDP输出端口号 UDP Port which the streaming point cloud send to
infoPort	unsigned short	物理级激光雷达UDP输出设备信息端口号 UDP Port which the device information send to
cb	void(*)(SimOne_Streaming_Point_Cloud *pPointCloud)	获取物理级激光雷达仿真点云数据的回调 Callback function for getting point cloud data from streaming based lidar.

返回值:

类型	说明
bool	如果注册回调函数成功，则返回true，否则返回false Returns true if the callback registration is successful, false otherwise.

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