DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

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

Get decoded lidar packet from live lidar sensor

dwSAL_initialize(&sal, sdk);
params.parameters = "ip=192.168.3.43,port=2368,device=VELO_HDL64E,scan-frequency=10.0";
params.protocol = "lidar.socket";
dwSAL_createSensor(&lidarSensor, params, sal);
// query lidar properties
dwLidarProperties lidarProperties;
dwSensorLidar_getProperties(&lidarProperties, lidarSensor);
while(loop) {
// CODE: use the lidar packets for other tasks
}
dwSAL_releaseSensor(&lidarSensor);

Get decoded lidar packet from lidar recordings

dwSAL_initialize(&sal, sdk);
params.parameters = "file=lidar_recording.bin";
params.protocol = "lidar.virtual";
dwSAL_createSensor(&lidarSensor, params, sal);
// query lidar properties
dwLidarProperties lidarProperties;
dwSensorLidar_getProperties(&lidarProperties, lidarSensor);
while(loop) {
// CODE: use the lidar packets for other tasks
}
dwSAL_releaseSensor(&lidarSensor);

For more details see Lidar Replay Sample