🚗 HeLiMOS Visualizer 🏃

Dataset | Paper

Forked from the original repository: https://github.com/PRBonn/lidar-visualizer.git

HeLiMOS-visualizer is a tool that visualizes moving objects from heterogeneous LiDAR data.

🔧 How to install

git clone https://github.com/OREOCHIZ/helimos-visualizer.git
cd helimos-visualizer

make install

💡 Usage

1. Set the symbolic link

Download the HeLiMOS dataset and create a symbolic link to it at ${HOME}/HeLiMOS

sudo ln -s "/path/to/HeLiMOS/{sequence}" "$HOME/HeLiMOS"
# e.g. sudo ln -s "/path/to/HeLiMOS/KAIST05" "$HOME/HeLiMOS"

After that, we expect the following directory:

${HOME}/HeLiMOS/{sequence}
├──Deskewed_LiDAR
    ├── train.txt
    ├── val.txt
    ├── test.txt
    ├── Aeva
    │   ├── calib.txt
    │   ├── velodyne
    │   ├── labels
    ├── Avia
    │   ├── calib.txt
    │   ├── velodyne
    │   ├── labels
    ├── Ouster
    │   ├── calib.txt
    │   ├── velodyne
    │   ├── labels
    └── Velodyne
        ├── calib.txt
        ├── velodyne
        └── labels

In HeLiMOS, we are currently using only the sequence KAIST05.

2. Visualize Moving objects

If you want to visualize specific sensor,

helimos_visualizer --sensor [Aeva / Avia / Velodyne / Ouster] \
                   --split [train / val / test / all]
# e.g. helimos_visualizer --sensor Aeva --split train

• Set the --sensor flag to one of the following: Avia, Aeva, Velodyne, or Ouster. The default value is Ouster.
• Also, set the --split flag to train, val, test or all. The default value is all.

If you would like more detailed information about the --split, please refer to our dataset page.

Help

If you need more information, just type:

helimos_visualizer --help

Citation

If you use this visualizer for any academic work, please cite original kiss-icp and our HeLiMOS.