DriveWorks SDK Reference
4.0.0 Release
For Test and Development only
Decode Raw Data
Decode lidar packet from raw data
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
Simple Sensor Recording Sample
.
Advance Information | Subject to Change | Prepared and Provided under NDA | Generated by NVIDIA | PR-08397-V5.0