VeloView: Difference between revisions

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Sample data for VeloView can be obtained from [http://www.midasplatform.org/ MIDAS] in the [http://midas3.kitware.com/midas/community/29 Velodyne LiDAR collection].
Sample data for VeloView can be obtained from [http://www.midasplatform.org/ MIDAS] in the [http://midas3.kitware.com/midas/community/29 Velodyne LiDAR collection].
== How to use ==
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:
*IP address: 192.168.1.70  (70 as example, any number except 201 works)
*Gateway: 255.255.255.0
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.
*For HDL-32E data no calibration file is needed (the HDL-32E calibration values are already incorporated in VeloView) therefore select “NONE”.
*For HDL-64E data the correct calibration file for that sensor needs to be chosen. The calibration file can be found on the individual product CD that was send with the HDL-64E sensor.


== How to build ==
== How to build ==


Detailed instructions for building and packaging are available in [http://public.kitware.com/gitweb?p=VeloView.git;a=blob_plain;f=Documentation/VeloView_Developer_Guide.pdf;h=53a6b93bd34e453f17303f1d48476492a8284596;hb=HEAD developers guide] the source code checkout under the Documentation folder.
Detailed instructions for building and packaging are available in [http://public.kitware.com/gitweb?p=VeloView.git;a=blob_plain;f=Documentation/VeloView_Developer_Guide.pdf;h=53a6b93bd34e453f17303f1d48476492a8284596;hb=HEAD developers guide] the source code checkout under the Documentation folder.

Revision as of 02:10, 18 November 2013

Introduction

VeloView performs real-time visualization of live captured 3D LiDAR data from Velodyne's HDL sensors (HDL-32E and HDL-64E). An introduction to features of VeloView is available as a video:

VeloView can playback pre-recorded data stored in .pcap files. The HDL sensor sweeps an array of lasers (32 or 64) 360º and a vertical field of view of 40º/26º with 5-20Hz and captures about a million points per second (HDL-32E: ~700,000pt/sec; HDL-64E: ~1.3Million pt/sec). VeloView 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.

How to Obtain

Binary installers for VeloView are available as community contributed applications:

The source code for VeloView is made available under the Apache 2.0 license. Source code is available as a .tgz file for version 1.0.8. To obtain the latest version clone the git repository as shown below:

$ git clone git://public.kitware.com/VeloView.git

Sample data for VeloView can be obtained from MIDAS in the Velodyne LiDAR collection.

How to use

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:

  • IP address: 192.168.1.70 (70 as example, any number except 201 works)
  • Gateway: 255.255.255.0

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.

  • For HDL-32E data no calibration file is needed (the HDL-32E calibration values are already incorporated in VeloView) therefore select “NONE”.
  • For HDL-64E data the correct calibration file for that sensor needs to be chosen. The calibration file can be found on the individual product CD that was send with the HDL-64E sensor.

How to build

Detailed instructions for building and packaging are available in developers guide the source code checkout under the Documentation folder.