NuScenes Lidar Visualized in PCL Visualizer
Quick and simple visualizer of NuScenes LIDAR_TOP sweeps in C++ with PCL.
Dependencies
Tested on Ubuntu 18.04.
Required system libs:
- JsonCpp
- YamlCpp
- PCL
Build
CMake based:
mkdir build
cd build
cmake ..
make
Run
Edit config.yaml to point to your NuScenes dataset. (WARNING: It's definitely slow for full NuScenes dataset but works good for v1.0-mini sizes).
./nuscenes_pcl_viz ../config.yaml
Press n to switch between scenes. And default h key for help (PCLVisualizer).
