Velodyne LiDAR Sensors Support

Support has been added for the Velodyne LiDAR sensor. You can connect to and stream point clouds from the following Velodyne LiDAR models:

  • HDL-32E sensor

  • VLP-32C Ultra Puck sensor

  • VLP-16 Puck sensor

  • VLP-16 Puck Lite sensor

  • VLP-16 Puck Hi-Res sensor

The lidar support is available through the Image Acquisition Toolbox™ Support Package for Velodyne LiDAR® Sensors. You must install the support package to use this feature.

You access the point cloud data using the velodynelidar object. When you create the object, you must indicate your hardware model using the model argument in the object constructor function, as shown here:

v = velodynelidar(model)

Possible values for model include:

Model ValueVelodyne Model
'HDL32E'HDL-32E sensor
'VLP32C'VLP-32C Ultra Puck sensor
'VLP16'VLP-16 Puck sensor
'PuckLITE'VLP-16 Puck Lite sensor
'PuckHiRes'VLP-16 Puck Hi-Res sensor

The model property is a required argument to create the object. You can also assign other properties to the object using name-value pairs, including: CalibrationFile, Port, and Timeout.

For more information on the object and its properties, see the help in MATLAB:

help velodynelidar

You can preview and read point clouds from the supported lidar sensors using the preview and read functions. You can read all available point clouds or read a subset that you select. You can specify number of point clouds to read and specify them as the latest or the oldest point clouds in the buffer using arguments of the read command.

For information about using the lidar support, see the Image Acquisition Toolbox Support Package for Velodyne LiDAR Sensors documentation that is included in the support package.

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