Point Cloud Visualizer

The Ouster visualization toolkit is written in C++ with Python bindings for Python functionality. It consists of the following:

• simple-viz (viz.SimpleViz): the default Python application visualizer, which can also be used as an entrypoint for more sophisticated custom point cloud visualizations

• ouster_viz: the core C++ library

• :mod:ouster.sdk.viz: the Python module for the bindings

Using ouster-cli is a fastest way to visualize data from a connected sensor, recorded pcap or OSF files with SLAM poses:

Ouster SDK CLI ouster-cli source OS-1-128.pcap viz visualization of OS1 128 sample data

How to use ouster-cli for visualizations you can learn in Running the Ouster visualizer

For custom visualizations you can explore a programmatically accessible viz.PointViz API below:

PointViz with Image, Label and masks applied

• PointViz Tutorial & API Usage
  • Environment and General Setup
  • Creating an empty PointViz window
  • Images and Labels
    • The Image object
    • Window-aligned Images
    • LidarScan Fields as Images
    • 2D Label object
  • Point Clouds: the Cloud object
    • Structured Point Cloud
    • Unstructured Point Clouds
      • Example: 3D Axes Helper as Unstructured Points
    • LidarScanViz for point cloud with fields images
    • 3D Label object
      • Example: Overlay 2D Images and 2D Labels
  • Event Handlers
    • Keyboard handlers

• Visualize SLAM Poses using SimpleViz - accumulates track, point clouds and map views
  • Overview
    • Available view modes
    • Key bindings
  • Use in Ouster SDK CLI
    • Dense accumulated clouds view (with every point of a scan)
    • Overall map view (with poses)
  • Programmatic use