velodyne-view1

Usage

Usage examples

Run with all default parameters and show live VLP16 LIDAR scans

velodyne-view

Parses a PCAP file with a LIDAR dump (default params)

velodyne-view --in-pcap DATASET.pcap

Parses a PCAP file with a LIDAR dump (custom calibration file)

velodyne-view --in-pcap DATASET.pcap --calib CALIB.xml

Grab RawLog and PCAP log files from a live VLP16 LIDAR

velodyne-view --out-pcap out --out-rawlog out.rawlog

Grab RawLog and PCAP log files from a live LIDAR with calibration file

velodyne-view --out-pcap out --out-rawlog out.rawlog --calib CALIB.xml

Overview

velodyne-view is a simple application that continuously grabs scans from a Velodyne sensor and displays the 3D point cloud live.

Arguments:

   -v,  --verbose
     Verbose debug output
   -n,  --nologo
     Skip the logo at startup
   -m <`VLP16`,`HDL32`,`HDL64`,>,  --model <`VLP16`,`HDL32`,`HDL64`,>
     If no calibration file is specified, set the model to load default
     values
   -c <calib.xml>,  --calib <calib.xml>
     Optionally, select the calibration XML file for the LIDAR
   --ip-filter <192.168.1.201>
     Only listen to a LIDAR emitting commands from a given IP
   --out-pcap <out>
     If set, grab all packets to a PCAP log file. Set name prefix only.
   -i <in_dataset.pcap>,  --in-pcap <in_dataset.pcap>
     Instead of listening to a live sensor, read data from a PCAP file
   -o <out.rawlog>,  --out-rawlog <out.rawlog>
     If set, grab dataset in rawlog format
   --,  --ignore_rest
     Ignores the rest of the labeled arguments following this flag.
   --version
     Displays version information and exits.
   -h,  --help
     Displays usage information and exits.