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}");
        }
    }
}