Actually, when I think about it, it might be quite trivial for nanotubes... Obviously the system has to be metallic, so we're talking about (n,n) tubes. In this case, there is a "universal" Fermi point at kz=2pi/3a, "a" being the period length, at least in the simplest tight-binding model. Around that point the E(k) relation can easily be expanded an approximated by a linear dispersion, and from this you immediately obtain the Fermi velocity, that is,
vF = (m/hbar) * (dE/dk)
It should be quite straightforward to do the same thing for the DFT results.
For a more general structure, in particular in 3D, it would not be as easy...