#utilities #pcap #lidar #distance #config

velodyne-lidar

Velodyne lidar data processing algorithms and utilities

3 releases (breaking)

0.3.0 Oct 31, 2024
0.2.0 Aug 19, 2023
0.1.0 Nov 8, 2022

#1347 in Algorithms

Download history 48/week @ 2025-01-01 288/week @ 2025-01-08 237/week @ 2025-01-15 57/week @ 2025-01-22 73/week @ 2025-01-29 129/week @ 2025-02-05 44/week @ 2025-02-12 87/week @ 2025-02-19 83/week @ 2025-02-26 39/week @ 2025-03-05 65/week @ 2025-03-12 19/week @ 2025-03-19 30/week @ 2025-03-26 47/week @ 2025-04-02 194/week @ 2025-04-09 54/week @ 2025-04-16

327 downloads per month
Used in cu-vlp16

MIT license

125KB
3.5K SLoC

velodyne-lidar

[ crates.io | docs.rs ]

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

~5–16MB
~186K SLoC