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 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 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

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