DriveWorks SDK Reference
4.0.0 Release
For Test and Development only
Get Decoded Data
Get decoded lidar packet from live lidar sensor
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"
;
dwSAL_createSensor
(&lidarSensor, params, sal);
dwSensor_start
(...);
// query lidar properties
dwLidarProperties
lidarProperties;
dwSensorLidar_getProperties
(&lidarProperties, lidarSensor);
while
(loop) {
dwSensorLidar_readPacket
(...);
// CODE: use the lidar packets for other tasks
dwSensorLidar_returnPacket
(...);
}
dwSensor_stop
(...);
dwSAL_releaseSensor
(&lidarSensor);
Get decoded lidar packet from lidar recordings
dwSAL_initialize
(&sal, sdk);
dwSensorHandle_t
lidarSensor =
DW_NULL_HANDLE
;
dwSensorParams
params;
params.
parameters
=
"file=lidar_recording.bin"
;
params.
protocol
=
"lidar.virtual"
;
dwSAL_createSensor
(&lidarSensor, params, sal);
dwSensor_start
(...);
// query lidar properties
dwLidarProperties
lidarProperties;
dwSensorLidar_getProperties
(&lidarProperties, lidarSensor);
while
(loop) {
dwSensorLidar_readPacket
(...);
// CODE: use the lidar packets for other tasks
dwSensorLidar_returnPacket
(...);
}
dwSensor_stop
(...);
dwSAL_releaseSensor
(&lidarSensor);
For more details see
Lidar Replay Sample
Advance Information | Subject to Change | Prepared and Provided under NDA | Generated by NVIDIA | PR-08397-V5.0