VeloView drops frames
I am attempting to replicate the decoding process performed by VeloView using the VelodynePlugin.
Decoding the same pcap file in both VeloView and my custom application utilizing the VelodynePlugin, I have observed that VeloView skips certain frames that are present in the pcap.
In particular with my test pcap, I noticed that VeloView skips the second frame, as evidenced by the significant time gap between frame 0 and frame 1 in the images below.
However, in my custom application using the vtkVelodyneLegacyPacketInterpreter
, I am able to view all the frames. In this case, frame 0 corresponds to the frame 0 in VeloView, while frame 2 corresponds to the frame 1 in VeloView.
Another proof that VeloView skips frames is that the pcap lasts about 119 seconds and my application decodes 1119 frames, while VeloView decodes 1115. Since the sensor frequency is 10Hz there should be 1119 frames.
Is there a specific frame dropping policy that I am unaware of? Alternatively, is there a configurable parameter that enables the display of all frames within the pcap or enable my application to replicate the exact behavior of the VeloView decoder? Or could this possibly be a bug within VeloView?
VeloView Frame 0:
Custom App Frame 0:
Custom App Frame 1 (skipped by VeloView):
VeloView Frame 1 (equals to Custom App Frame 2):
Custom App Frame 2 (equals to VeloView Frame 1):
Details:
Sensor -> HDL-32E
OS -> Ubuntu 22.04 x64
Version -> VeloView 5.1.0 Ubuntu 18.04-x86_64