DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

Replayer Tool


The Replayer tool replays sensor data captured with the Recording Tools, and visualizes all recorded data in the rig configuration file. The visualization settings for each individual sensor is specified in the command line.

SW Release Applicability: This tool is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.


This tool is available on the x86 Host System and NVIDIA DRIVE OS Linux.

On DRIVE platforms it is only supported on iGPU. To specify the iGPU, you must prepend CUDA_VISIBLE_DEVICES=1 before the tool command.

Running the Tool

Playing Sensors Listed in Rig File

Run the tool by executing:

./replayer --rig=<pathToRigConfigurationFile> [motion-compensation=1]

Playing Individual Sensors

Run the tool by executing:

./replayer --camera=[path to video]
                 --timestamp=[path to timestamp]
             --can=[path to CAN data]
             --candbc=[path to DBC file]
           --imu=[path to IMU data]
             --gps=[path to GPS data]
             --lidar=[path to Lidar data]
           --radar=[path to Radar data]


    Description: Enables or disables motion compensation to lidar points with the IMU motion model.


Replayer Tool