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We just have added support of Velodyne Puck (VLP-16) to velodyne-to-csv utility.

Simply run velodyne-to-csv --puck with all other options specified as usual.

For example, suppose your VLP-16 publishes its data over UDP on port 2368.

Then you could get the individual points, e.g. as:

> udp-client 2368 --timestamp | velodyne-to-csv --puck | head
20160609T072201.492662,1,1275,0,0,0,7.40179190377,-3.05843657996,0.139793775563,1.96263183445,8.01,1,1
20160609T072201.492664,2,3060,0,0,0,1.02118837253,-0.421968133996,-0.255094495626,1.96264092504,1.134,1,1
20160609T072201.492666,3,2040,0,0,0,7.02538984034,-2.90305596431,-0.398381298921,1.96265001562,7.612,1,1
20160609T072201.492669,4,5355,0,0,0,1.017899836,-0.420630935204,-0.214087692812,1.96265910621,1.122,1,1
20160609T072201.492671,5,2295,0,0,0,7.03951111896,-2.90904104991,0.666392809049,1.96266819679,7.646,1,1
20160609T072201.492673,6,5610,0,0,0,1.04425917459,-0.431545741181,-0.178961028006,1.96267728738,1.144,1,1
20160609T072201.492676,7,2805,0,0,0,7.01734553007,-2.90003060883,0.932300477049,1.96268637796,7.65,1,1
20160609T072201.492678,8,6885,0,0,0,1.01819925165,-0.420798011051,-0.13527497118,1.96269546855,1.11,1,1
20160609T072201.492680,9,2550,0,0,0,7.05049559242,-2.91388048404,1.20829980797,1.96270455914,7.724,1,1
20160609T072201.492683,10,7905,0,0,0,1.02009309536,-0.421602406843,-0.0965685629644,1.96271364972,1.108,1,1

...or view data as:

> udp-client 2368 --timestamp | velodyne-to-csv --puck --fields x,y,z,id,scan | view-points --fields x,y,z,id,block

with the output like:

Of course, ASCII CSV is too slow, thus, as before, use binary data to keep up with Velodyne data in realtime,  e.g:

> udp-client 2368 --timestamp | velodyne-to-csv --puck --fields x,y,z,id,scan --binary | view-points --fields x,y,z,id,block --binary 3d,2ui
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