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OS1 Example Visualizer

Contents

  • 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_ros for building in a ROS environment

Operating System Support

  • 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

Build Dependencies

  • 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

Building the Visualizer:

  • In the following instruction steps, /path/to/ouster_example is where you've cloned the repository
  • Run the following command export CMAKE_PREFIX_PATH=/path/to/ouster_example
  • Build with cd /path/to/ouster_example/ouster_viz && mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make

Running the Visualizer

  • An executable called simple_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: ./simple_viz <flags> <os1_hostname> <udp_data_dest_ip>
  • For help, run ./simple_viz -h

Command Line Arguments

  • <os1_hostname> the hostname or IP address of the OS1 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 x rotation rate). Defaults to 1024x10.

Key bindings

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

Mouse control

  • Click and drag rotates the view
  • Middle click and drag pans the view
  • Scroll adjusts how far away the camera is from the vehicle