From the Nvidia Driveworks documentation I saw the command ./sample_lidar_replay which can replay live streaming from sensor or a recorded one.
I have problems in both cases:
In first I acquired a Point Cloud using Veloview tool from Velodyne (a .pcap file). After that I go to src/sensors/lidar/lidar_replay directory and I’ve introduced : ./sample_lidar_replay --protocol=lidar.virtual --params=device=VELO_VLP16 file=/home/user/file.pcap and the result was DW_FAILURE: LidarVirtual: unknown lidar type.
With --params=device=VELO_VLP16 file= …/file.pcap, the system said: LidarVirtual: expected file=.bin parameter missing. DW_INVALID_ARGUMENT: file parameter
I tried with a conversion from .pcap to .bin with WireShark, but no much progress.
The second problem :
I think “maybe is a problem with the file, let’s try a livestream” so I’ve introduced
./sample_lidar_replay --protocol=“lidar.socket” --params=device=VELO_VLP16,ip=192.168.0.102,port=16000,scan-frequency=10 but the reply from system was: LidarSocket: no response from Lidar after 500ms. DW_SAL_CANNOT_INITIALIZE: LidarSocket: not connected. But the lidar was connected and the web interface from Velodyne(where I can change sensor parameters) was accessible.
How can I solve these two problems? Any suggestions ?