How to use visualization tool

1 Introduction

This document will show you how to use the visualization tool to watch point cloud from LiDAR.

If user install the rs_driver in the previous step, the tool can be start by the following command:

rs_driver_viewer

Otherwise, the tool need to be start with the absolute path:

./rs_driver/build/tool/rs_driver_viewer

-h/--help

print the argument menu
-msop

Msop port number of LiDAR, the default value is 6699
-difop

Difop port number of LiDAR, the default value is 7788
-type

Typer of LiDAR, the default value is RS16
-x

Transformation parameter, default is 0, unit: m
-y

Transformation parameter, default is 0, unit: m
-z

Transformation parameter, default is 0, unit: m
-roll

Transformation parameter, default is 0, unit: radian
-pitch

Transformation parameter, default is 0, unit: radian
-yaw

Transformation parameter, default is 0, unit: radian
-pcap

The absolute path of pcap file. If this argument is set, the driver will work in off-line mode and the pcap file. Otherwise the driver work in online mode.

The point cloud transformation function can only be used when the cmake option ENABLE_TRANSFORM is set to ON.

Online decode a RS128 LiDAR, which msop port is 9966 and difop port is 8877
```
rs_driver_viewer -msop 9966 -difop 8877 -type RS128 
```

Offline decode a RSHELIOS LiDAR with a pcap file.

rs_driver_viewer -pcap /home/robosense/helios.pcap -type RSHELIOS

Online decode a RS16 LiDAR with the coordinate transformation parameter x=1.5, y=2, z=0, roll=1.57, pitch=0, yaw=0
```
rs_driver_viewer -type RS16 -x 1.5 -y 2 -roll 1.57 
```