About This Module
The Lidar module provides a common interface to read decoded packets from NVIDIA® DriveWorks supported lidar sensors.
Supported Lidar Sensors
The Lidar module currently supports the following sensor models:
- Velodyne VLP16.
- Velodyne VLP16 High Resolution.
- Velodyne HDL32E.
- Velodyne VLP32C.
- Velodyne HDL64.
- Velodyne VLS128.
- Luminar H3.
- Hesai P128.
- Hesai P128V4P5.
Lidar Sensor Inputs
To read data from a live lidar sensor, the Lidar module expects the following inputs:
- IP address.
- Port number.
- Device type.
- Scanning frequency.
- Destination IP address (for Hesai sensor models).
- Return mode (for Velodyne and Hesai sensor models)
- Horizontal resolution (for Hesai sensor models).
- Horizontal field of view start (for Hesai sensor models).
- Horizontal field of view end (for Hesai sensor models).
Playback from Lidar Recordings
The Lidar module also supports data readings from recorded binary files using the DriveWorks supported lidar sensors.
Decoded Lidar Packets
The Lidar module provides two options to receive decoded lidar packets:
- Reading decoded lidar packets directly from lidar sensors.
- Processing raw lidar packets previously read, and returning a pointer to the decoded packets.
These lidar packets can include the following data:
- Lidar Cartesian coordinates.
- Lidar Polar coordinates.
- Intensity.
- Host time-stamp and sensor time-stamp.
- Current number of points.
- Maximum number of points.
- Time span.
Relevant Tutorials
APIs
