About This Module
The Lidar module provides a common interface to read decoded packets from NVIDIA® DriveWorks supported lidar sensors.
- Note
- Custom software for the OUSTER_OS2_128 Lidar is required for DriveWorks support. Please contact your NVIDIA representative for more information.
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.
- Ouster OS1 64.
- Ouster OS2 128.
- Luminar H3.
Ouster OS1 64 and Ouster OS2 128 sensors are deprecated, they will be discontinued in the next release.
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 Ouster sensor models).
- Horizontal resolution (for Ouster sensor models).
- Horizontal field of view start (for Ouster OS2 128 sensor models).
- Horizontal field of view end (for Ouster OS2 128 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
