{"id":13439081,"url":"https://github.com/Kitware/LidarView","last_synced_at":"2025-03-20T07:32:05.228Z","repository":{"id":56510386,"uuid":"190980239","full_name":"Kitware/LidarView","owner":"Kitware","description":"LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data. 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Visualization and Mission Control","Softwares and Libraries"],"sub_categories":["Point Cloud"],"readme":"![LidarView](Application/SoftwareInformation/About.png)\n\n# Introduction\n\nLidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data.\n\nLidarView's open source codebase developed by Kitware is used by many different applications to display live LiDAR data from\nVelodyne, Ouster, Opsys, Lumotive, RoboSense, Hesai, LeiShen LS Lidar, and more.\n\nThis open-source declination only supports VeloDyne's open-source interpreters: VLP-16, VLP-32, HDL-32, HDL64, Alpha Prime.\nAn Experimental branch with Hesai sensor support also exists.\n\nMany of these LiDAR sensors sweep an array of lasers (often 8 to 128) 360\u0026deg;\nwith a vertical field of view of tens of degrees at a 5-20Hz spinning frequency,\ncapturing about a million points per second.\n\nLidarView can display live sensors' streams or playback pre-recorded data stored in `.pcap` files.\n\nLidarView displays the distance measurements from the LiDAR as point cloud\ndata and custom color maps for multiple variables such as\nintensity-of-return, time, distance, azimuth, and laser id. \n\nThe processed data can be exported in multiple file formats (CSV, PLY, LAS, ...),\nand screenshots of the currently displayed point cloud can be easily exported with the help of a button.\n\nAs a [Paraview](https://www.paraview.org/) based application, LidarView can effortlessly offer Paraview's features and plugins.\n\n![LidarView](Application/SoftwareInformation/LidarViewExample.png)\n    Lidar data processed by [Kitware's SLAM](#slam) within LidarView\n\n\n# Features\n\n- Input from live sensor stream or recorded `.pcap` file\n- Visualization of timestamped LiDAR returns in 3D\n- Spreadsheet inspector for LiDAR attributes (timestamp, azimuth, laser id, etc)\n- Record to `.pcap` from sensor\n- Export to CSV, PLY, PCD, LAS or VTK formats\n- Grid and Ruler tools\n- Show or hide lasers subsets\n- Show multiple frames of data simultaneously and aggregate them\n- Apply 3D transforms to pointclouds\n- Run SLAM to estimate the trajectory of the LiDAR in the scene and build a 3D map of the environment\n\nMany other features can be added using Plugins, some can be found on [this page](https://gitlab.kitware.com/LidarView/plugins).\n\nFeel free to reach out at kitware@kitware.com for support or new features development.\n\n![LidarView](Application/SoftwareInformation/LidarViewLayout.svg)\n\n# How to get\n\nLidarview is maintained on the following platforms:\n\n* Ubuntu 18, Ubuntu 20\n* Windows x64\n* MacOS 12\n\nSee detailed general installation instructions on the [`LVCore/Documentation/INSTALLATION.md`](https://gitlab.kitware.com/LidarView/lidarview-core/-/blob/master/Documentation/INSTALLATION.md) page.\n\nSee the Detailed installation instructions for the current and older releases on the [RELEASES.md](RELEASES.md) page.\n\nSee associated download links in the [Release](https://gitlab.kitware.com/LidarView/lidarview/-/releases) page of this repository.\n\n## Build from source\n\nMost of the LidarView common codebase lies within:\n\n * [LVCore](https://gitlab.kitware.com/LidarView/lidarview-core) repository.\n * [LidarView-superbuild](https://gitlab.kitware.com/LidarView/lidarview-superbuild) repository.\n\nDetailed Instructions to build and package LidarView are available under [`LVCore/Documentation/LidarView_Developer_Guide.md`](https://gitlab.kitware.com/LidarView/lidarview-core/-/blob/master/Documentation/LidarView_Developer_Guide.md).\n\n# How to use\n\n## Sensor streaming\n\nSpecific network configuration is required for sensor livestream.\nThe 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.\n\nFor example:\n\n* Velodyne HDL-32E\n  * IP address: 192.168.1.70 (70 as example, any number except 201 works)\n  * Gateway: 255.255.255.0\n* Velodyne HDL-64E\n  * IP address: 192.168.3.70 (70 as example, any number except 43 works)\n  * Gateway: 192.168.3.255\n\nIn order for sensor streaming to work properly, it is important to\ndisable firewall restrictions for the chosen ethernet port and allow inbound traffic.\nAlternatively, completely disable the firewall for the ethernet device connected to the sensor (including both public and private networks).\n\nWhen opening pre-recorded data or live sensor streaming data,\none is prompted to choose a calibration file.\nThis calibration can either be directly embedded in LidarView,\nor may be loaded from a custom location.\n\n## SLAM documentation \u003ca name=\"slam\"\u003e\u003c/a\u003e\n\nMore [instructions](https://gitlab.kitware.com/keu-computervision/slam/-/blob/master/paraview_wrapping/doc/How_to_SLAM_with_LidarView.md) can be found on the [LidarSlam repository](https://gitlab.kitware.com/keu-computervision/slam).\n\nHave a look also at the [How to SLAM with LidarView](https://vimeo.com/524848891) webinar.\n\n# Sample data\n\nLiDAR data samples for LidarView can be obtained from:\n\n* [MIDAS](http://www.midasplatform.org/) in the [Velodyne LiDAR collection](http://midas3.kitware.com/midas/community/29)\n* Kitware's demos shared [drive](https://drive.google.com/drive/folders/1yrNUelUsjKcXdC8FH8DpXeOPTyiB_pLS?usp=sharing)\n\n# For Github users\n[Github](https://github.com/Kitware/LidarView) is a mirror of the\n[official repository](https://gitlab.kitware.com/LidarView/LidarView).\nWe do not actively monitor issues or pull request on Github. Please use the\n[official repository](https://gitlab.kitware.com/LidarView/LidarView) to report issues or contributes fixes.\n\n# License\n\nThe source code for LidarView is made available under the Apache 2.0 license.\n\nSee [LICENSE](LICENSE).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FKitware%2FLidarView","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FKitware%2FLidarView","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FKitware%2FLidarView/lists"}