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).