2 unstable releases
0.2.0 | Aug 19, 2023 |
---|---|
0.1.0 | Nov 8, 2022 |
#26 in #lidar
Used in cu-vlp16
125KB
3.5K
SLoC
velodyne-lidar
The Rust implementation of Velodyne lidar data processing algorithms and utilities.
License
MIT license.
lib.rs
:
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}");
}
}
}
Dependencies
~4–15MB
~162K SLoC