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Velodyne

A python driver for Velodyne lidar.

Velodyne Class

__init__ Method

Class constructor.

begin Method

Starts a thread that continuously reads lidar readings and stores them. This method might be merged with the constructor in future.

close Method

Closes the connection with the hardware.

scene Property

Holds a float ndarray of raw readings scaled to match the environment.

scene_raw Property

Holds a integer type ndarray of unscaled raw readings.

xyz Property

Holds a tuple of (x,y,z) values of the readings.

plot_2d Method

Shows the most recent readings in an imshow fashion.

plot_3d Method

Shows the most recent readings in a 3-D scattered fashion.

live_2d Method

Shows and continuously updates the readings in an imshow fashion.

Args

  • refresh_rate: The update frequency of the figure.
  • fig_size: The size of the figure, similar to matplotlib convention.

live_3d Method

Shows and continuously updates the readings in a 3-D scattered fashion.

Args

  • refresh_rate: The update frequency of the figure.
  • fig_size: The size of the figure, similar to matplotlib convention.