- 'ouster_viz/' contains a basic visualizer that can be used to display point clouds and range/intensity/ambient images
- can be built both with and without ROS. See the instructions in
ouster_rosfor building in a ROS environment
- The visualizer has been tested on: Ubuntu 16.04, 17.1, and 18.04, as well as Fedora 28, and Raspbian Jessie
- Windows and Mac support is in progress
- The sample visualizer requires a compiler supporting C++11 or newer and CMake 3.1 or newer
- Requires VTK6 and Eigen3 libraries
- Using Ubuntu: sudo apt-get install libvtk6-dev libeigen3-dev
- Using Fedora: sudo apt-get update yum install vtk-devel.x86_64 eigen3-devel.noarch
- Build with 'cd /path/to/ouster_example/ouster_viz && mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make'
- An executable called "viz" is generated in the build directory
- Note: if compiling in an environment with ROS, the location of the executable will be different
- To run:
./viz <flags> <os1_hostname> <udp_data_dest_ip> - For help, run ./viz -h
<os1_hostname>the hostname or IP address of the OS-1 sensor<udp_data_dest_ip>the IP to which the sensor should send data-m <512x10 | 512x20 | 1024x10 | 1024x20 | 2048x10>flag to set the lidar mode (horizontal resolution and rate). Defaults to 1024x10.
| key | what it does |
|---|---|
o |
Increase point size |
p |
Decrease point size |
m |
Cycle point cloud coloring by z-height / intensity / z-height plus intensity / range |
c |
Cycle color scheme for range image |
shift c |
Cycle color scheme for point cloud |
v |
Toggle color cycling in range image |
n |
Display ambient image from the sensor |
r |
Reset camera position |
0 (zero) |
Toggle parallel projection and reset camera |
d |
Cycle through fraction of the window height used for displaying range and intensity image |
- Click and drag rotates the view
- Middle click and drag pans the view
- Scroll adjusts how far away the camera is from the vehicle