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https://github.com/Kitware/VeloView

VeloView performs real-time visualization and easy processing of live captured 3D LiDAR data from Velodyne sensors (Alpha Prime™, Puck™, Ultra Puck™, Puck Hi-Res™, Alpha Puck™, Puck LITE™, HDL-32, HDL-64E). Runs on Windows, Linux and MacOS. This repository is a mirror of https://gitlab.kitware.com/LidarView/VeloView-Velodyne.
https://github.com/Kitware/VeloView

hdl lidar lidar-camera-calibration lidar-data-manipulation lidar-measurements sensor-data sensor-streaming velodyne velodyne-hdl-sensors velodyne-sensor

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VeloView performs real-time visualization and easy processing of live captured 3D LiDAR data from Velodyne sensors (Alpha Prime™, Puck™, Ultra Puck™, Puck Hi-Res™, Alpha Puck™, Puck LITE™, HDL-32, HDL-64E). Runs on Windows, Linux and MacOS. This repository is a mirror of https://gitlab.kitware.com/LidarView/VeloView-Velodyne.

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README 

        
# Introduction



LidarView performs real-time visualization of live captured 3D LiDAR data

from Velodyne's HDL sensors (HDL-32E and HDL-64E).



LidarView can playback pre-recorded data stored in .pcap files. The HDL

sensor sweeps an array of lasers (32 or 64) 360° and a vertical field of

view of 40°/26° with 5-20Hz and captures about a million points per

second (HDL-32E: ~700,000pt/sec; HDL-64E: ~1.3Million pt/sec).

LidarView displays the distance measurements from the HDL as point cloud

data and supports custom color maps of multiple variables such as

intensity-of-return, time, distance, azimuth, and laser id. The data can

be exported as XYZ data in CSV format or screenshots of the currently

displayed point cloud can be exported with the touch of a button.



# Features



-   Input from live sensor stream or recorded .pcap file

-   Visualization of LiDAR returns in 3D + time including 3d position

    and attribute data such as timestamp, azimuth, laser id, etc

-   Spreadsheet inspector for LiDAR attributes

-   Record to .pcap from sensor

-   Export to CSV or VTK formats

-   Record and export GPS and IMU data (*New in 2.0*)

-   Ruler tool (*New in 2.0*)

-   Visualize path of GPS data (*New in 2.0*)

-   Show multiple frames of data simultaneously (*New in 2.0*)

-   Show or hide a subset of lasers (*New in 2.0*)



# How to Get



Binary installers for VeloView are available on this page: [https://gitlab.kitware.com/LidarView/VeloView-Velodyne/-/releases](https://gitlab.kitware.com/LidarView/VeloView-Velodyne/-/releases)



VeloView has the same runtime requirements as LidarView, see [INSTALLATION.md](https://gitlab.kitware.com/LidarView/lidarview-core/-/blob/master/Documentation/INSTALLATION.md)



# How to Build



VeloView compilation follows the same steps as LidarView, see [Developper Guide](https://gitlab.kitware.com/LidarView/lidarview-core/-/blob/master/Documentation/LidarView_Developer_Guide.md)



The source code for VeloView is made available under the Apache 2.0

license.



# How to Use



Take a look at: [VeloView User Guide](https://gitlab.kitware.com/LidarView/VeloView-Velodyne/-/blob/master/Documentation/VeloView_User_Guide.pdf)



Get started with SLAM using this Guide : [How to SLAM](https://gitlab.kitware.com/keu-computervision/slam/-/blob/master/paraview_wrapping/doc/How_to_SLAM_with_LidarView.md)



See LidarView & SLAM in action in the [LidarView 2021 Webinar Video](https://vimeo.com/524848891)



Sample data for VeloView can be obtained from

[MIDAS](http://www.midasplatform.org/) in the

[Velodyne LiDAR

collection](http://midas3.kitware.com/midas/community/29).



# Configuration Tips



For "sensor streaming" (live display of sensor data) it

is important to change the network settings of the Ethernet adapter

connected to the sensor from automatic IP address to manual IP address

selection and choose:



* HDL-32E

  * IP address: 192.168.1.70 (70 as example, any number except 201 works)

  * Gateway: 255.255.255.0

* 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 Ethernet port. Disable the

firewall completely for the ethernet device connected to the sensor or

explicitly allow data from that Ethernet port of (including both public

and private networks).



When opening pre-recorded data or live sensor streaming data one is

prompted to choose a calibration file.



* For HDL-32E data no calibration

file is needed (the HDL-32E calibration values are already incorporated

in LidarView) therefore select "NONE".

* For HDL-64E data the correct

calibration file for that sensor needs to be chosen. The calibration

file can be found on the individual product CD that was sent with the

HDL-64E sensor.



# For Github users



[Github](https://github.com/Kitware/VeloView) is a mirror of the

[official repository](https://gitlab.kitware.com/LidarView/VeloView-Velodyne).

We do not actively monitor issues or pull request on Github. Please use the

[official repository](https://gitlab.kitware.com/LidarView/VeloView-Velodyne) to report issues or contributes fixes.