修改GS5点云顺序

YDLIDAR · Jan 2, 2024 · 4d464fb · 4d464fb
1 parent 7c0a232
commit 4d464fb
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Showing 8 changed files with 5,452 additions and 5,442 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,9 +66,9 @@ option( BUILD_TEST "Build Test." OFF)
 
 ############################################################################
 # find package
-FIND_PACKAGE(SWIG)
+find_package(SWIG)
 find_package(PythonInterp)
-FIND_PACKAGE(PythonLibs)
+find_package(PythonLibs)
 find_package(GTest)
 
 ############################################################################

diff --git a/core/common/DriverInterface.h b/core/common/DriverInterface.h
@@ -522,9 +522,11 @@ namespace ydlidar
 
           YDLIDAR_TEA = 110, //TEA雷达
 
-          YDLIDAR_TSA = 130,      /**< TSA LiDAR Model. */
-          YDLIDAR_Tmini = 140,    /**< Tmini LiDAR Model. */
-          YDLIDAR_TminiPRO = 150, /**< Tmini PRO LiDAR Model. */
+          YDLIDAR_TSA = 130, /**< TSA LiDAR Model. */
+          YDLIDAR_TSAPro = 131, /**< TSA Pro LiDAR Model. */
+          YDLIDAR_Tmini = 140, /**< Tmini LiDAR Model. */
+          YDLIDAR_TminiPro = 150, /**< Tmini Pro LiDAR Model. */
+          YDLIDAR_TminiPlus = 151, /**< Tmini Plus LiDAR Model. */
 
           YDLIDAR_SDM15 = 160, // SDM15单点雷达
 

diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
@@ -155,11 +155,17 @@ inline std::string lidarModelToString(int model)
   case DriverInterface::YDLIDAR_TSA:
     name = "TSA";
     break;
+  case DriverInterface::YDLIDAR_TSAPro:
+    name = "TSA Pro";
+    break;
   case DriverInterface::YDLIDAR_Tmini:
-    name = "T-mini";
+    name = "Tmini";
+    break;
+  case DriverInterface::YDLIDAR_TminiPro:
+    name = "Tmini Pro";
     break;
-  case DriverInterface::YDLIDAR_TminiPRO:
-    name = "T-mini Pro";
+  case DriverInterface::YDLIDAR_TminiPlus:
+    name = "Tmini Plus";
     break;
   case DriverInterface::YDLIDAR_T15:
     name = "T15";
@@ -279,11 +285,13 @@ inline bool isOctaveLidar(int model)
   return ret;
 }
 
-//根据雷达码判断是否是Tmini雷达
+//根据雷达码判断是否是Tmini系列雷达
 inline bool isTminiLidar(int model)
 {
   return (model == DriverInterface::YDLIDAR_Tmini ||
-          model == DriverInterface::YDLIDAR_TminiPRO);
+          model == DriverInterface::YDLIDAR_TminiPro ||
+          model == DriverInterface::YDLIDAR_TminiPlus ||
+          model == DriverInterface::YDLIDAR_TSAPro);
 }
 
 //根据雷达码判断是否是SCL雷达