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valgur / velodyne_decoder

Fully-featured C++/Python Velodyne packet decoder
BSD 3-Clause "New" or "Revised" License
39 stars 12 forks source link

Inconsistent frame sizes #11

Closed scottike closed 1 year ago

scottike commented 1 year ago

When processing a VLP-16 .PCAP file, the output frames are inconsistent in size. One frame will contain ~32,000 points and the next ~8,000 points. There is a consistent pattern of large, then small frames.

Using VeloView on the same data file, and exporting .CSV files produce frames of ~19,000 points in all frames.

valgur commented 1 year ago

Hmm, thanks for mentioning this.

  1. Which version or branch of velodyne_decoder are you using?
  2. Can you share a snippet of a relevant .pcap file?
scottike commented 1 year ago

Well, it was still on 2.3.0, so my mistake. 3.0.0 appears to provide consistent frame size output. I was processing data that included dual returns, so perhaps that was the issue.