www.gusucode.com > IPCV_Eval_Kit_R2019a_0ce6858工具箱matlab程序源码 > IPCV_Eval_Kit_R2019a_0ce6858/code/demo_files/I4_11_5_velodynelidar.m

    %% Velodyne LiDAR(R)僨僶僀僗偐傜揰孮偺庢摼

%% velodynelidar僆僽僕僃僋僩偺掕媊
lidar = velodynelidar('VLP16');

% 億乕僩巜掕偺応崌
% v = velodynelidar('HDL32E','Port',3000) 

% 僉儍儕僽儗乕僔儑儞僼傽僀儖巜掕偺応崌
% v = velodynelidar('HDL32E','CalibrationFile','C:\utilities\velodyneFileReaderConfiguration\VLP32C.xml)'

% Model Value	Velodyne Model
% 'HDL32E'	HDL-32E sensor
% 'VLP32C'	VLP-32C Ultra Puck sensor
% 'VLP16'	VLP-16 Puck sensor
% 'PuckLITE'	VLP-16 Puck Lite sensor
% 'PuckHiRes'	VLP-16 Puck Hi-Res sensor

%% 揰孮偺僾儗價儏乕
preview(lidar)
pause(10)
closePreview(lidar)

%% 揰孮偺僗僩儕乕儈儞僌庢摼奐巒
start(lidar)

%% 嵟怴偺揰孮傪庢摼
[pcloud, timestamp] = read(lidar, 'latest');
pcshow(pcloud);

%% 揰孮偺僗僩儕乕儈儞僌傪掆巭
stop(v)

%%
% Copyright 2019 The MathWorks, Inc.