Velodyne Lidar BIN to PCD and Timestamp


I can record the Velodyne VLP-16 data using the recorder-qt tool in /driveworks-0.3/tools.
How can I extract point cloud and timestamp for each scan. Thanks in advance.


Hello Umer,

Could you please see “Sensor Data Timestamping” part in NVIDIA_DriveWorks_DevGuide.pdf? Thanks.


I did. But it does not say anything about point cloud data. How can I extract point cloud for each scan?


Dear Umer,

We have sample lidar replay source code available at /usr/local/driveworks/src/sensors/lidar/lidar_replay/ on the host machine.

This shows a way in which you can extract the timestamp.
Hope this helps.

Hi Umer,

How were you able to make the DPX2 recognize the LIDAR? Can you provide me a step by step process. I am able to get the LIDAR recognized for a few seconds before it gets disconnected automatically, I don’t know what the problem might be.