masszhou/lidarviewer

a pointcloud visualization tool, when data is not rosbag, and rviz is not abailable. I like rviz.

C++MIT

1. Overview

derived from https://github.com/heremaps/pptk
modifed for own usage
only cmake build tested
test environment, qt 5.15.0, python 3.8

my changes:

rewrite with opengl 2.0, pptk used opengl 1.0

2.Install

$ cd ${project_dir}
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make -j8

// install python interface (optional)
$ cp lidarviewer_exec ../lidarviewer // copy qt gui app to package folder
$ cd ..
$ python setup.py bdist_wheel  // compile pip package 
$ pip install dist/{package_name}.whl  // under your virtual env

3. usage

use Qt app directly

$ cd ${project_dir}
$ ./build/bin/example_lidarviewer {socket_port}

with python api

from lidarviewer import LidarViewer
test = LidarViewer()  # use random socket port
test.load_np_file("/media/zzhou/data-KITTI/object/training/velodyne/000050.bin")

4. working as debug tools

some initial results on KITTI data