Introduction
LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data.
LidarView currently supports a variety of LiDAR models from multiple manufacturers, including:
Velodyne: VLP-16, VLP-32, HDL-32, HDL-64, Puck LITE, Puck Hi-Res and Alpha Prime (VLS-128).Ouster: OS0, OS1, OS2 and OSDomeHesai: Pandar40P, Pandar40M, Pandar64, Pandar20A, Pandar20B, PandarQT, PandarXT-16, PandarXT-32, PandarXTM, Pandar128, OT128 and QT128.Robosense: RS16, RS32, BPerl, Airy, Helios (16 & 32), Ruby (48, 80 & 128), Ruby Plus (48, 80 & 128), M1, M2, M3, MX and E1.Livox: Mid-40, Tele-15, Horizon, Mid-70, Avia, Mid-360 and HAP.Leishen: C16, C32 and MS_C16.
Additional sensor models may be supported upon request, provided that the drivers or specifications are publicly available.
This open-source codebase, developed by Kitware, is widely adopted by many LiDAR vendors, often rebranded under different names, to display their live LiDAR data.
Many of these LiDAR sensors sweep an array of lasers (often 8 to 128) 360°
with a vertical field of view of tens of degrees at a 5-20Hz spinning frequency,
capturing about a million points per second.
LidarView can display live sensors' streams or playback pre-recorded data stored in .pcap files.
LidarView displays the distance measurements from the LiDAR as point cloud
data and custom color maps for multiple variables such as
intensity-of-return, time, distance, azimuth, and laser id.
The processed data can be exported in multiple file formats (CSV, PLY, LAS, ...),
and screenshots of the currently displayed point cloud can be easily exported with the help of a button.
As a Paraview based application, LidarView can effortlessly offer Paraview's features and plugins.
Lidar data processed by Kitware's SLAM within LidarView
Features
- Input from live sensor stream or recorded
.pcap file
- Visualization of timestamped LiDAR returns in 3D
- Spreadsheet inspector for LiDAR attributes (timestamp, azimuth, laser id, etc)
- Record to
.pcap from sensor
- Export to CSV, PLY, PCD, LAS or VTK formats
- Grid and Ruler tools
- Show or hide lasers subsets
- Show multiple frames of data simultaneously and aggregate them
- Apply 3D transforms to pointclouds
- Run SLAM to estimate the trajectory of the LiDAR in the scene and build a 3D map of the environment
Many other features can be added using Plugins, some can be found on this page.
Feel free to reach out at [email protected] for support or new features development.
How to install
See associated download links in the Release page of this repository.
Nightly (master) packages are available here. (click on Download artifacts)
More detailed installation instructions are available on the LVCore/Documentation/INSTALLATION.md page.
Build from source
Detailed Instructions to build and package LidarView are available under LidarView-superbuild README.
How to use
Sensor streaming
Specific network configuration is required for sensor livestream.
The ethernet adapter connected to the sensor has to be switched from dynamic IP address assignment to static IP address selection and correct IP adress and gateway must be specified.
For example:
- Velodyne HDL-32E
- IP address: 192.168.1.70 (70 as example, any number except 201 works)
- Gateway: 255.255.255.0
- Velodyne HDL-64E
- IP address: 192.168.3.70 (70 as example, any number except 43 works)
- Gateway: 192.168.3.255
In order for sensor streaming to work properly, it is important to
disable firewall restrictions for the chosen ethernet port and allow inbound traffic.
Alternatively, completely disable the firewall for the ethernet device connected to the sensor (including both public and private networks).
When opening pre-recorded data or live sensor streaming data,
one is prompted to choose a calibration file.
This calibration can either be directly embedded in LidarView,
or may be loaded from a custom location.
SLAM documentation
More instructions can be found on the LidarSlam repository.
Have a look also at the How to SLAM with LidarView webinar.
Sample data
LiDAR data samples for LidarView can be obtained from:
- MIDAS in the Velodyne LiDAR collection
- Kitware's demos shared drive
Questions / Reporting Bugs
You found a bug:
- If you have a patch, please read the CONTRIBUTING.md document.
- Otherwise you can also open an entry in the LidarView Issue Tracker.
Note that we also have a LidarView / SLAM section in ParaView Discourse forum where you ask the community about a functionality / issue.
For Github users
Github is a mirror of the
official repository.
We do not actively monitor issues or pull request on Github. Please use the
official repository to report issues or contributes fixes.
License
The source code for LidarView is made available under the Apache 2.0 license.
See LICENSE.
/LidarView