修改GS点云缓存由N组改为1组

YDLIDAR · Nov 22, 2024 · 78f9528 · 78f9528
1 parent c8faaca
commit 78f9528
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -31,6 +31,7 @@ ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows")
 	#MSVC compiler
 	add_compile_options("/utf-8")
 	add_definitions(-DWIN32_LEAN_AND_MEAN)
+    add_definitions(-DNOMINMAX)
 	ELSEIF (CMAKE_CXX_COMPILER_ID MATCHES "GNU")
 	#MinGW compiler
 	ENDIF (CMAKE_CXX_COMPILER_ID MATCHES "MSVC")

diff --git a/src/GSLidarDriver.cpp b/src/GSLidarDriver.cpp
@@ -1111,8 +1111,8 @@ result_t GSLidarDriver::grabScanData(
             if (datas.size())
             {
                 //从数组中取出点云数据
-                gs_module_nodes ns = datas.front();
-                datas.pop_front();
+                gs_module_nodes ns = datas.back();
+                datas.clear();
                 size_t size = min(int(count), ns.pointCount);
                 memcpy(nodes, ns.points, size * SDKNODESIZE);
                 count = size;