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 .