Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/Kitware/LidarView
LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data. This repository is a mirror of https://gitlab.kitware.com/LidarView/lidarview.
https://github.com/Kitware/LidarView
Last synced: 12 days ago
JSON representation
LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data. This repository is a mirror of https://gitlab.kitware.com/LidarView/lidarview.
- Host: GitHub
- URL: https://github.com/Kitware/LidarView
- Owner: Kitware
- License: apache-2.0
- Created: 2019-06-09T08:07:39.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2022-05-30T15:48:37.000Z (over 2 years ago)
- Last Synced: 2024-08-01T03:28:36.008Z (3 months ago)
- Language: C++
- Homepage: https://www.paraview.org/lidarview/
- Size: 27.3 MB
- Stars: 256
- Watchers: 18
- Forks: 64
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotic-tooling - LidarView - Performs real-time visualization and easy processing of live captured 3D LiDAR data from Lidar sensors. (Data Visualization and Mission Control / Point Cloud)
README
![LidarView](Application/SoftwareInformation/About.png)
# Introduction
LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data.
LidarView's open source codebase developed by Kitware is used by many different applications to display live LiDAR data from
Velodyne, Ouster, Opsys, Lumotive, RoboSense, Hesai, LeiShen LS Lidar, and more.This open-source declination only supports VeloDyne's open-source interpreters: VLP-16, VLP-32, HDL-32, HDL64, Alpha Prime.
An Experimental branch with Hesai sensor support also exists.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](https://www.paraview.org/) based application, LidarView can effortlessly offer Paraview's features and plugins.
![LidarView](Application/SoftwareInformation/LidarViewExample.png)
Lidar data processed by [Kitware's SLAM](#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 environmentMany other features can be added using Plugins, some can be found on [this page](https://gitlab.kitware.com/LidarView/plugins).
Feel free to reach out at [email protected] for support or new features development.
![LidarView](Application/SoftwareInformation/LidarViewLayout.svg)
# How to get
Lidarview is maintained on the following platforms:
* Ubuntu 18, Ubuntu 20
* Windows x64
* MacOS 12See detailed general installation instructions on the [`LVCore/Documentation/INSTALLATION.md`](https://gitlab.kitware.com/LidarView/lidarview-core/-/blob/master/Documentation/INSTALLATION.md) page.
See the Detailed installation instructions for the current and older releases on the [RELEASES.md](RELEASES.md) page.
See associated download links in the [Release](https://gitlab.kitware.com/LidarView/lidarview/-/releases) page of this repository.
## Build from source
Most of the LidarView common codebase lies within:
* [LVCore](https://gitlab.kitware.com/LidarView/lidarview-core) repository.
* [LidarView-superbuild](https://gitlab.kitware.com/LidarView/lidarview-superbuild) repository.Detailed 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).
# 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: 192.168.3.255In 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.More [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).
Have a look also at the [How to SLAM with LidarView](https://vimeo.com/524848891) webinar.
# Sample data
LiDAR data samples for LidarView can be obtained from:
* [MIDAS](http://www.midasplatform.org/) in the [Velodyne LiDAR collection](http://midas3.kitware.com/midas/community/29)
* Kitware's demos shared [drive](https://drive.google.com/drive/folders/1yrNUelUsjKcXdC8FH8DpXeOPTyiB_pLS?usp=sharing)# For Github users
[Github](https://github.com/Kitware/LidarView) is a mirror of the
[official repository](https://gitlab.kitware.com/LidarView/LidarView).
We do not actively monitor issues or pull request on Github. Please use the
[official repository](https://gitlab.kitware.com/LidarView/LidarView) to report issues or contributes fixes.# License
The source code for LidarView is made available under the Apache 2.0 license.
See [LICENSE](LICENSE).