sensors/lidar/docs/usecase2.md

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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page lidar_usecase2 Decode Raw Data

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

#### Decode lidar packet from raw data

```{.cpp}
dwSAL_initialize(&sal, sdk);

dwSensorHandle_t lidarSensor = DW_NULL_HANDLE;
dwSensorParams params;

params.parameters = "ip=192.168.3.43,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
dwSensorLidar_disableDecoding(lidarSensor);
dwSensor_start(...);
while(loop) {
    dwSensor_readRawData(...);
    dwSensorLidar_processRawData(...);

    // CODE: use the lidar packets for other tasks

    dwSensor_returnRawData(...);
}
dwSensor_stop(...);

dwSAL_releaseSensor(&lidarSensor);

```

For more details see @ref dwx_record_sample .