Purpose

The LiDAR viewer has 3 main purposes

Visualizing a dataset, to make sure everything looks OK
Exporting a dataset as .ply frames for more in depth investigation
Replaying a SLAM session to see if everything looks OK

Command line options

Dataset option

For launching the SLAM on your own dataset, read Supported dataset inputs

Hesai PCAP	`--hesai-pcap`	-	Path to a PCAP file from a Hesai sensor. If set, the `--hesai-model` should also be set
Hesai model	`--hesai-model`	-	Hesai model, among `Pandar64`, `Pandar40P`, `Pandar40M`, `Pandar20A`, `Pandar20B`, `PandarQT`, `PandarXT-16`, `PandarXT-32`, `PandarXTM` (XT32 M2X)
Ouster PCAP	`--ouster-pcap`	-	Path to a PCAP file from a Ouster sensor
Ouster JSON	`--ouster-json`	-	JSON configuration file of the Ouster sensor. If no json is set, by default a .json file with the same name as the pcap is searched.
Livox LVX	`--lvx`	-	Livox raw data format LVX or LVX2 file
Livox PCAP	`--lvx-pcap`	-	Livox raw data captured in `.pcap` (HAP or Mid360)
Velodyne PCAP	`--velodyne-pcap`	-	Path to a PCAP file from a Velodyne sensor. Supported models : VLP16, HDL32, VLP32C, HDL64, VL128
Robosense PCAP (since 1.1.0)	`--rs-pcap`	-	Path to a PCAP file from a Robosense sensor. PCAP should contain both MSOP and DIFOP packets. Supported models : Airy 96
Velodyne hour	`--velodyne-hour`	-	[optional] Start hour of the velodyne dataset
PLY files directory	`--ply`	-	Path to a directory containing `.ply` frames
ROS bag	`--bag`	-	Path to either a rosbag file or directory that contains multiple rosbags. Supports .bag, .db3 and .mcap formats.
Hesai packets topic name	`--bag-hesai`	-	Name of the ROS topic in which the Hesai packet are recorded. If provided, you need to provide also `--hesai-model`.
PointCloud2 topic name	`--bag-lidar`	first PointCloud2 topic found	Name of the PointCloud2 topic for the SLAM
Livox CustomMsg topic name	`--bag-livox`	-	Name of the ROS topic in which the Livox CustomMsg messages are recorded.
Velodyne packets topic name (since 1.1.0)	`--bag-velodyne`	-	Name of the ROS topic in which either the VelodyneScan or ExwayzPacket custom messages are recorded.
Ouster packets topic name	`--bag-ouster`	-	Name of the ROS topic in which the Ouster packet are recorded. If provided, you need to provide also `--ouster-json` .
Allow rosbag topics not found	`--bag-allow-not-found`	-	Don't return on error in case queried topic is not found in rosbag index. This is usefull for mcap format for which there is a known bug on the index building.

Additional options

Export frames in PLY	`--export-ply`	./frames	If set, the LiDAR frames will be written in `.ply` format in the directory specified in the option.
Input trajectory	`--trajectory`	-	If the path to a trajectory is provided through this option AND the dataset input is a PLY directory, the LiDAR viewer will accumulate frames along the trajectory using the indices in it and the frames name. This can be used to replay a SLAM session, inputing the traj_odometry.ply, but can also be used with traj_loop_closure.ply or traj_fusion_gps.ply for instance.