Support has been added for the Velodyne LiDAR® sensor. You can connect to and stream point clouds from the following Velodyne LiDAR models:
VLS-128 Alpha Puck sensor
VLP-32C Ultra Puck sensor
VLP-16 Puck Hi-Res sensor
VLP-16 Puck LITE sensor
VLP-16 Puck sensor
The lidar support is available through the Lidar Toolbox™ Support Package for Velodyne LiDAR Sensors. You must install the support package to use this feature.
Before you use the toolbox functionality, make sure that your Velodyne LiDAR hardware is functioning properly outside of MATLAB®.
You can run the application that came with your hardware, VeloView, and verify that you can receive live data.
Be sure to close VeloView before trying to create the
Use the Velodyne® web interface to make sure that the IP address and port are correct.
Make sure that there is no other application or hardware using the same UDP port that is being used by the Velodyne LiDAR.
To use the support package, you need to create a
object. For information on that process, see Create a velodynelidar Object and Use Object Properties.
You should provide a calibration file to use for acquiring accurate point clouds. You
can set the
CalibrationFile property to assign a calibration file to use
when you create the
velodynelidar object. The property is the name of the
XML file containing Velodyne LiDAR laser calibration data. If you do not specify a calibration file, a default
calibration file with data obtained from Velodyne device manuals is chosen.
If an incorrect calibration file for the Velodyne sensor is used, you do not get an error, but an improperly calibrated point cloud is generated. For information about setting the property, see Create a velodynelidar Object and Use Object Properties.