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Kitware / repository
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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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.
Binary installers for VeloView are available on this page: https://gitlab.kitware.com/LidarView/VeloView-Velodyne/-/releases
VeloView has the same runtime requirements as LidarView, see INSTALLATION.md
VeloView compilation follows the same steps as LidarView, see Developper Guide
The source code for VeloView is made available under the Apache 2.0 license.
Take a look at: VeloView User Guide
Get started with SLAM using this Guide : How to SLAM
See LidarView & SLAM in action in the LidarView 2021 Webinar Video
Sample data for VeloView can be obtained from MIDAS in the Velodyne LiDAR collection.
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:
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.
Github is a mirror of the official repository. We do not actively monitor issues or pull request on Github. Please use the official repository to report issues or contributes fixes.