Point viewer
This is a standalone project to make viewing massive point clouds easy and convenient. It was build to serve the needs of the Cartographer project, but is useful in its own right.
Building
The project consist of a root crate that can build and read octrees on disk and viewer binaries to visualize the data. For Mac OS X, we assume below that you've installed Homebrew.
- Install Rust:
curl https://sh.rustup.rs -sSf | sh. See https://rustup.rs for details. - Initialize all submodules:
git submodule update --init --recursive.
Creating Octrees
In the root of the repo, run cargo build --release.
Then use target/release/build_octree to generate an octree out of a PLY file.
SDL client
This is a native client using SDL2.
- Install SDL2. For example, on Mac
brew install sdl2. - Change to the sdl viewer's directory:
cd sdl_viewer/. - Build with
cargo build --release. - Run with
../target/release/sdl_viewer <octree directory>.
In the point cloud viewer, navigate with the keyboard or with the mouse or touchpad. Dragging while pressing the left mouse button rotates, dragging while pressing the right mouse button pans the view. The following keys are bound:
| Key | Action |
|---|---|
| T | Toggle the view to CT mode |
| W | Move forward |
| A | Move left |
| S | Move backwards |
| D | Move right |
| Q | Move up |
| Z | Move down |
| Up | Turn up |
| Left | Turn left |
| Down | Turn down |
| Right | Move right |
| 0 | Increase points size |
| 9 | Decrease points size |
| 8 | Brighten scene |
| 7 | Darken scene |
| O | Show octree nodes |
| Shift + Ctrl + 0-9 | Save current camera position. |
| Ctrl + 0-9 | Load saved camera position. |
Saved camera positions are persisted in the octree directory and will therefore live through restarts of the program.
Web Viewer
The octree_web_viewer consists of TypeScript code running in the browser and a web server binary.
To build and run the octree_web_viewer please look into the octree_web_viewer README file
Prior art
This work was inspired by the following projects.