A simple OpenGl based Rendering library for visualizing Lidar Point Clouds & Depth Maps.
pip install DepthVisualizer
- Converting depth maps to point clouds
- Converting point clouds to voxel maps
- Visualizing 3D & 2D Bounding boxes
- Keyboard Controls
- Extracting rendered frame as numpy array
- Updating point cloud data real-time
- Methods for working with Kitti Dataset
Please refer to following repository for usage examples https://github.com/ErenBalatkan/DepthVisualizer-Examples
| Key | Action |
|---|---|
| W | Move Forward |
| A | Move Left |
| S | Move Right |
| D | Move Back |
| Left-Shift | Move Up (+z) |
| Left-Control | Move Down (-z) |
| Arrow Up | Turn Up |
| Arrow Left | Turn Left |
| Arrow Right | Turn Right |
| Arrow Down | Turn Down |
| 1 | Enable Point Rendering |
| 2 | Disable Point Rendering |
| 3 | Enable Line Rendering |
| 4 | Disable Line Rendering |
| 5 | Enable Voxel Rendering |
| 6 | Disable Voxel Rendering |