Where is the ./lidar_ext folder?

Hello NV team,

I installed Drive-Software 9.0 on the Host machine, but couldn’t find ./lidar_ext folder under /usr/local/driveworks/samples/src/sensors/plugins/

The only two sub-folders under the plugins path are ./common and ./imu

Could you please let me know how to get the ./lidar_ext folder? or sample program for lidar sensors?

Thanks.

Dear leowang,

DriveWorks Lidar related to sample is in /usr/local/driveworks-2.0/samples/src/lidar_accumulator.
For using custom sensors with DriveWorks, please refer to https://info.nvidia.com/using-custom-sensors-with-driveworks.html? Thanks.

Dear SteveNV,

Thanks for your reply, you are correct, my question was about using custom sensors.

By referring to the same link as you posted: https://info.nvidia.com/using-custom-sensors-with-driveworks.html? they used the source codes under /usr/local/driveworks/samples/src/sensors/plugins/lidar_ext/ folder as example to generate out a plugin file (libsample_lidar_plugin_ext.so).

In my host installation there is no such a folder: /usr/local/driveworks/samples/src/sensors/plugins/lidar_ext/
Could you please help to clarify where I can find the example source codes to generate out a plugin file?

If I understand correctly, the source code to generate out the plugin is different than the codes in /usr/local/driveworks-2.0/samples/src/lidar_accumulator/

Thanks.

Dear leowang,

Unfortunately, the folder lidar_Ext which was presented in the webinar is something we built for the webinar.
We have an app note which helps with it though. Could you please refer to the following link?
Integrating LIDAR and radar with the DriveWorks SDK - https://developer.nvidia.com/drive/earlyaccess/docs/secure/NVIDIA_Driveworks_Lidar_Radar_Integration_Guide_v2.0.pdf

Hi SteveNV,

Thanks for sharing the above link. Is it means to compile the lidar customize plugin shared library, we have to compile both self-written SensorCommonPlugin and LidarDecoder into one .so file?

Thanks

Dear j5207,

Yes, could you please also refer to the link below for more info? Thanks.
https://info.nvidia.com/using-custom-sensors-with-driveworks.html

Hi,

Thanks for reply and sharing the link. The sample code within above webinar doesn’t seems to contain the lidardecoder sample code. Would you mind inform me what’s the difference between _dwLidarDecoder_decodePacket and _dwSensorLidarPlugin_parseDataBuffer. Seems both of them are aims at convert the raw uint8 buffer to nvidia dwLidarDecodedPacket.

Thanks

Dear j5207,

Could you please help to check “dwLidarDecodedPacket” and “dwSensorLidarPlugin_parseDataBuffer” DriveWorks API doc? Thanks.