velodyne-view - Man Page

Demo for grabbing and visualizing data from a Velodyne sensor


velodyne-view  [-v] [-n] [-m <`VLP16`,`HDL32`,`HDL64`,>] [-c
<calib.xml>] [--ip-filter <>] [--out-pcap
<out>] [-i <in_dataset.pcap>] [-o <out.rawlog>] [--]
[--version] [-h]

Usage Examples

Run with all default parameters and show live VLP16 LIDAR scans


Parses a PCAP file with a LIDAR dump (default params)

velodyne-view --in-pcap DATASET.pcap

Parses a PCAP file with a LIDAR dump (custom calibration file)

velodyne-view --in-pcap DATASET.pcap --calib CALIB.xml

Grab RawLog and PCAP log files from a live VLP16 LIDAR

velodyne-view --out-pcap out --out-rawlog out.rawlog

Grab RawLog and PCAP log files from a live LIDAR with calibration file

velodyne-view --out-pcap out --out-rawlog out.rawlog --calib CALIB.xml


velodyne-view is a simple application that continuously grabs scans from a Velodyne sensor and displays the 3D point cloud live.


   -v,  --verbose
     Verbose debug output

   -n,  --nologo
     Skip the logo at startup

   -m <`VLP16`,`HDL32`,`HDL64`,>,  --model <`VLP16`,`HDL32`,`HDL64`,>
     If no calibration file is specified, set the model to load default

   -c <calib.xml>,  --calib <calib.xml>
     Optionally, select the calibration XML file for the LIDAR

   --ip-filter <>
     Only listen to a LIDAR emitting commands from a given IP

   --out-pcap <out>
     If set, grab all packets to a PCAP log file. Set name prefix only.

   -i <in_dataset.pcap>,  --in-pcap <in_dataset.pcap>
     Instead of listening to a live sensor, read data from a PCAP file

   -o <out.rawlog>,  --out-rawlog <out.rawlog>
     If set, grab dataset in rawlog format

   --,  --ignore_rest
     Ignores the rest of the labeled arguments following this flag.

     Displays version information and exits.

   -h,  --help
     Displays usage information and exits.


Please report bugs at

See Also

The application webpage at


velodyne-view is part of the Mobile Robot Programming Toolkit (MRPT), and was originally  written by Jose Luis Blanco (University of Almeria).

This manual page was written by Jose Luis Blanco <>.


2023-06-12 perl v5.36.1 Mobile Robot Programming Toolkit - MRPT