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🚗 HeLiMOS Visualizer 🏃

Dataset | Paper

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

animated

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

🔧 How to install

git clone https://github.com/url-kaist/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:

ln -s "/path/to/HeLiMOS" "$HOME/HeLiMOS"

After that, we expect the following directory layout:

${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. If your dataset lives elsewhere, pass --data /path/to/HeLiMOS/{sequence}/Deskewed_LiDAR explicitly instead of relying on the symlink.

2. Visualize moving objects

helimos_visualizer --sensor [Aeva | Avia | Velodyne | Ouster] \
                   --split  [train | val | test | all]
# e.g. helimos_visualizer --sensor Aeva --split train
  • --sensor: one of Aeva, Avia, Velodyne, Ouster. Default: Ouster.
  • --split : one of train, val, test, all. Default: all.
  • -n / --n-scans: limit the number of scans to render.
  • -j / --jump: skip the first N scans.

For details about the splits, see our dataset page.

Help

helimos_visualizer --help

Citation

If you use this visualizer for any academic work, please cite the original KISS-ICP and our HeLiMOS.