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05_cmake_macros_intro.md

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5 Introduction to rs_driver's CMake macros

5.1 CMakeList.txt

A group of macros can be used to determine what and how to compile rs_driver. Please find them in CMakeLists.txt of the project.

5.2 What to compile

The targets of compilation includes:

  • Demo apps, including demo_online, demo_online_multi_lidars, demo_pcap, etc.
  • Tools, including rs_driver_viewer, rs_driver_pcdsaver, etc.
  • Test cases

5.2.1 COMPILE_DEMOS

COMPILE_DEMOS determines whether to compile Demo apps.

  • COMPILE_DEMOS=OFF means No。This is the default.
  • COMPILE_DEMOS=ON means Yes。
option(COMPILE_DEMOS "Build rs_driver demos" OFF)

5.2.2 COMPILE_TOOLS

COMPILE_TOOLS determines whether to compile tools.

  • COMPILE_TOOLS=OFF. Whether to compile rs_driver_viewer/rs_driver_pcdsaver, is determined by COMPILE_TOOLS_VIEWER/COMPILE_TOOLS_PCDSAVER. This is the default.
  • COMPILE_TOOLS=ON. Compile both rs_driver_viewer and rs_driver_pcdsaver, no matter what COMPILE_TOOLS_VIEWER and COMPILE_TOOLS_PCDSAVER are.
option(COMPILE_TOOLS "Build rs_driver tools" OFF)

5.2.3 COMPILE_TOOLS_VIEWER

COMPILE_TOOLS_VIEWER determines whether to compile rs_driver_viewer, in case of COMPILE_TOOLS=OFF.

  • COMPILE_TOOLS_VIEWER=OFF means No. This is the default.
  • COMPILE_TOOLS_VIEWER=ON means Yes.
option(COMPILE_TOOL_VIEWER "Build point cloud visualization tool" OFF)

5.2.4 COMPILE_TOOLS_PCDSAVER

COMPILE_TOOL_PCDSAVER determines whether to compile rs_driver_pcdsaver, in case of COMPILE_TOOLS=OFF.

  • COMPILE_TOOLS_PCDSAVER=OFF means No. This is the default.
  • COMPILE_TOOLS_PCDSAVER=ON means Yes.
option(COMPILE_TOOL_PCDSAVER "Build point cloud pcd saver tool" OFF)

5.2.5 COMPILE_TESTS

COMPILE_TESTS determines whether to compile test cases.

  • COMPILE_TESTS=OFF means No. This is the default.
  • COMPILE_TESTS=ON means Yes.
option(COMPILE_TESTS "Build rs_driver unit tests" OFF)

5.3 How to compile

5.3.1 DISABLE_PCAP_PARSE

DISALBE_PCAP_PARSE determines whether to support the PCAP source, that's to say, whether to parse MSOP/DIFOP packets from a PCAP file.

  • DISABLE_PCAP_PARSE=OFF means Yes, This is the default.
  • DISABLE_PCAP_PARSE=ON means No. On embedded Linux, PCAP source is not needed, so enable this macro to avoid porting the libpcap library.
option(DISABLE_PCAP_PARSE         "Disable PCAP file parse" OFF)

5.3.2 ENABLE_TRANSFORM

ENABLE_TRANSFORM determines whether to support coordinate transformation.

  • ENABLE_TRANSFORM=OFF means No. This is the default.
  • ENABLE_TRANSFORM=ON means Yes, Enable this costs much CPU resource, so please don't do so in released products.
option(ENABLE_TRANSFORM           "Enable transform functions" OFF)

5.3.3 ENABLE_MODIFY_RECVBUF

ENABLE_MODIFY_RECVBUF determines whether to change the receiving buffer of the MSOP/DIFOP sockets.

On some platforms (such as embedded Linux, Windows, etc), the default size of the buffer is small. This may cause loss of MSOP/DIFOP packets, so enable this macro to enlarge the buffer.

  • ENABLE_MODIFY_RECVBUF=OFF means No. This is the default.
  • ENABLE_MODIFY_RECVBUF=ON means Yes. Modify the receive cache based on the size passed in by the user
option(ENABLE_MODIFY_RECVBUF       "Enable modify size of RCVBUF" OFF)

5.3.4 ENABLE_WAIT_IF_QUEUE_EMPTY

ENABLE_WAIT_IF_QUEUE_EMPTY determines what the handling thread do if the MSOP/DIFOP packet queue is empty.

  • ENABLE_WAIT_IF_QUEUE_EMPTY=OFF means to wait for condition variable. This is the default.
  • ENABLE_WAIT_IF_QUEUE_EMPTY=ON means to call usleep(). This can decrease CPU usage, however increase the delay of point cloud frames.

You should weigh up the pros and cons based on your cases.

option(ENABLE_WAIT_IF_QUEUE_EMPTY "Enable waiting for a while in handle thread if the queue is empty" OFF)

5.3.5 ENABLE_EPOLL_RECEIVE

ENABLE_EPOLL_RECEIVE determines how to recieve MSOP/DIFOP packets.

  • ENABLE_EPOLL_RECEIVE=OFF means to use select(). This is the default.
  • ENABLE_EPOLL_RECEIVE=ON means to use epoll().
option(ENABLE_EPOLL_RECEIVE       "Receive packets with epoll() instead of select()" OFF)

5.3.6 ENABLE_STAMP_WITH_LOCAL

ENABLE_STAMP_WITH_LOCAL determines whether to convert the timestamp of point cloud to local time.

  • ENABLE_STAMP_WITH_LOCAL=OFF means No, and to use UTC time. This is the default.
  • ENABLE_STAMP_WITH_LOCAL=ON means Yes, and to convert the timestamp to local time。
option(ENABLE_STAMP_WITH_LOCAL    "Enable stamp point cloud with local time" OFF)

5.3.7 ENABLE_PCL_POINTCLOUD

ENABLE_PCL_POINTCLOUD determines the format of point cloud in the Demo Apps.

  • ENABLE_PCL_POINTCLOUD=OFF means to use the RoboSense defined format. This is the default.
  • ENABLE_PCL_POINTCLOUD=ON means to use the PCL format. The PCL library is needed to enable this.
option(ENABLE_PCL_POINTCLOUD      "Enable PCL Point Cloud" OFF)

5.3.8 ENABLE_CRC32_CHECK

ENABLE_CRC32_CHECK determines whether to apply CRC32 check on MSOP/DIFOP Packet.

  • ENABLE_CRC32_CHECK=OFF means no CRC32 check. This is the default.
  • ENABLE_CRC32_CHECK=ON means CRC32 check. The LiDAR should support this feature to enable this.
option(ENABLE_CRC32_CHECK      "Enable CRC32 Check on MSOP Packet" OFF)

5.3.9 ENABLE_DIFOP_PARSE

ENABLE_DIFOP_PARSE determins whether to parse DIFOP Packet, to get the configuratioin data and status data.

  • ENABLE_DIFOP_PARSE=OFF means not to parse. This is the default.
  • ENABLE_DIFOP_PARSE=ON means to parse. Note rs_driver parses only a few fields as an example. Please refer to how to parse difop packet
option(ENABLE_DIFOP_PARSE      "Enable Parsing DIFOP Packet" OFF)