A flexible, easy-to-use, LiDAR (or any point cloud) visualizer for Linux, Windows, and macOS.

If you also need to obtain poses from your dataset, consider checking out KISS-ICP.

pip install lidar-visualizer

(*) This package relies on the power of Open3D but does not list it as a dependency. If you haven't installed open3d then pip install open3d or check the official instructions

Depending on the dataloaders you plan to use you might need to install optional dependencies. The tool will prompt which tools is the one you are requesting and is not accessible, but if you want to go for brute force and install all of it just run:

pip install lidar-visualizer[all]

lidar_visualizer --help

If you use this visualizer for any academic work, please cite our original paper.

@article{vizzo2023ral,
  author    = {Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},
  title     = {{KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way}},
  journal   = {IEEE Robotics and Automation Letters (RA-L)},
  pages     = {1029--1036},
  doi       = {10.1109/LRA.2023.3236571},
  volume    = {8},
  number    = {2},
  year      = {2023},
  codeurl   = {https://github.com/PRBonn/kiss-icp},
}