Appendix E •
VeloView
This appendix gets you started with VeloView. It shows you how to use the application to acquire, visualize, save, and
replay sensor data.
You can examine sensor data with other free tools, such as Wireshark (available from
) or tcpdump. But to
visualize the 3D data, use VeloView. It’s free and relatively easy to use.
E.3 Visualize Streaming Sensor Data
E.4 Capture Streaming Sensor Data to PCAP File
E.5 Replay Captured Sensor Data from PCAP File
E.1 Features
VeloView provides real-time visualization of 3D LiDAR data from Velodyne LiDAR sensors. VeloView can also playback
pre-recorded data stored in “pcap” (Packet Capture) files.
Note: VeloView does not support .pcapng files.
VeloView displays distance measurements from a Velodyne LiDAR sensor as point data. It supports custom-colored dis-
play of variables such as intensity-of-return (i.e. calibrated reflectivity), time, distance, azimuth, and laser ID. The data can
be exported as XYZ data in CSV format.
Functionality and features include:
Visualize live streaming sensor data over Ethernet
Record live sensor data in pcap files
Visualize sensor data from a recording (pcap file)
Interprets point data such as distance timestamp, azimuth, laser ID, etc.
Tabular point data inspector
Export to CSV format
Record and export GPS data
Ruler tool
Display multiple frames of data simultaneously (Trailing Frames)
Display or hide subsets of lasers
Crop views
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VLS-128 User Manual
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