---
name: "velodyne-view"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/velodyne-view"
---

# velodyne-view(1)

Demo for grabbing and visualizing data from a Velodyne sensor

## NAME

velodyne-view - Demo for grabbing and visualizing data from a Velodyne sensor

## SYNOPSIS

velodyne-view  \[-v\] \[-n\] \[-m \<\`VLP16\`,\`HDL32\`,\`HDL64\`,\>\] \[-c\
  \<calib.xml\>\] \[--ip-filter \<192.168.1.201\>\] \[--out-pcap\
  \<out\>\] \[-i \<in\_dataset.pcap\>\] \[-o \<out.rawlog\>\] \[--\]\
  \[--version\] \[-h\]

## USAGE EXAMPLES

**Run with all default parameters and show live VLP16 LIDAR scans**

velodyne-view

**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

## DESCRIPTION

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

Arguments:

```
   -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
     values
   -c <calib.xml>,  --calib <calib.xml>
     Optionally, select the calibration XML file for the LIDAR
   --ip-filter <192.168.1.201>
     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.
   --version
     Displays version information and exits.
   -h,  --help
     Displays usage information and exits.
```

## BUGS

Please report bugs at https://github.com/MRPT/mrpt/issues

## SEE ALSO

The application webpage at https://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/

## AUTHORS

**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 \<joseluisblancoc@gmail.com\>.

## COPYRIGHT

This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.

On Debian GNU/Linux systems, the complete text of the BSD License can be  found in \`/usr/share/common-licenses/BSD'.