DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Decode Raw Data
SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Decode lidar packet from raw data

dwSAL_initialize(&sal, sdk);
params.parameters = "ip=,port=2368,device=VELO_HDL64E,scan-frequency=10.0";
params.protocol = "lidar.socket";
// use the followings if decode lidar packet from lidar recording
// params.parameters = "file=lidar_recording.bin";
// params.protocol = "lidar.virtual";
dwSAL_createSensor(&lidarSensor, params, sal);
// disable decoding before sensor starts
while(loop) {
// CODE: use the lidar packets for other tasks

For more details see Simple Sensor Recording Sample .