Crate velodyne_lidar

source ·
Expand description

Packet data parsing and conversion for Velodyne LiDARs.

Example

use velodyne_lidar::{types::measurements::Measurement, Config};

let config = Config::new_vlp_32c_strongest();
let frame_iter =
    velodyne_lidar::iter::frame_xyz_iter_from_file(config, "tests/velodyne_vlp32.pcap")?;

for frame in frame_iter {
    let frame = frame?;

    for firing in frame.firing_iter() {
        for point in firing.point_iter() {
            let point = point.as_single().unwrap();
            let Measurement {
                distance,
                intensity,
                xyz: [x, y, z],
            } = point.measurement;
            print!("dist: {distance}\t");
            print!("int: {distance}\t");
            println!("xyz: {x} {y} {z}");
        }
    }
}

Re-exports

Modules

  • Group consecutive elements.
  • Defines a set of Velodyne LiDAR configurations.
  • Useful constants for Velodyne data structures and calculations.
  • Iterator combinators.
  • Defines Velodyne packet data structures.
  • Parallel iterator combinators.
  • Trait definitions.