title: Velodyne Lidar decoding in real time
body: <p>I am new to LiDAR data processing. 
  My goal is to convert the raw Velodyne packet(UDP packet) into XYZ format for visualization in unity. 
  I found some libraries(pypcl), but it is not applied in real-time. 
  Theoretically, it should be possible to decode each packet and deliver decoded data to virtual reality application(unity). But it is not easy to implement it from the scratch.</p>
  
  <p>Can you please give me an advice on this issue?
  I have searched for several weeks, but I could not find a proper method. </p>
  
  <p>Best regards
  Seongsu</p>