Start streaming point clouds from Velodyne LiDAR sensor
Start Streaming Point Clouds from Velodyne LiDAR
After creating a
velodynelidar object, you can start streaming point cloud data from your
sensor and add this data to the object buffer. You do not have to start streaming to use
velodynelidar object for an HDL-32E sensor.
v = velodynelidar('HDL32E')
v = velodynelidar with properties: Model: 'HDL32E' IPAddress: '127.0.0.1' Port: 2368 NumPointCloudsAvailable: 0 Timeout: 10 Streaming: 0 CalibrationFile: 'C:\Program Files\MATLAB\R2019a\toolbox\shared\pointclouds\utilities\velodyneFileReaderConfiguration\HDL32E.xml'
Streaming property is 0, indicating that the sensor is not
yet streaming data to the object buffer.
Start streaming point clouds. Once the
start function is
called, streaming continues in the background. You can view the
Streaming property. The value should be 1, indicating that the
sensor has started streaming.
ans = logical 1
View the number of point clouds currently in the buffer. This value increases while point clouds are streaming.
ans = 17
Stop streaming when you are finished.
The point clouds that are in the buffer when
is called remain available. They are not deleted until
called again. Use
to access the available point cloud data.
lidarobj — Velodyne LiDAR sensor connection
Velodyne LiDAR sensor connection created by using
velodynelidar, specified as a
Introduced in R2020b