Application: velodyne-view

(New in MRPT 1.4.0)
See also: Velodyne support in MRPT



velodyne-view – 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]


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


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 <>.


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’.