Appendix C RSView
This appendix gets you started with RSView. It shows you how to use RSView to acquire, visualize,
save, and replay RS-Helios-16P data. You can also use other free tools, such as Wireshark or tcp-
dump. But for data visualization, RSView a more convenient and easier to use. The version used
here is RSView3.1.7.
C.1 Software Features
RSView provides real-time visualization of 3D LiDAR data from RS-Helios-16P. RSView can also
review pre-recorded data stored in .pcap (Packet Capture) files, but RSView still does not support
playing .pcapng files.
RSView displays distance measurements of RS-Helios-16P as point cloud data. It supports custom-
colored display of variables such as intensity-of-return, time, distance, azimuth, and laser ID. The
data can be exported in CSV format. The RSView 3.1.3 or later version supports generating LAS
format point cloud files, while the previous versions of RSView do not support generating point
cloud files in LAS, XYZ, or PLY formats.
Functionality and features of RSView include:
Visualize live streaming sensor data over Ethernet
Record live sensor data to pcap files
Visualize sensor data from a recorded pcap file
Different types of visualization modes, such as distance, time, azimuth, etc.
Display point data in a spreadsheet
Export point cloud data in CSV format
Distance measurement tool
Display multiple frames of data simultaneously (Trailing Frames)
Display or hide subsets of lasers
Crop views
C.2 Install RSView
Installer for RSView is provided for Windows 64-bit system and there is no need for other
dependencies. You can download the latest installer from RoboSense website
(http://www.robosense.ai/resource). Launch the downloaded installer and follow the instructions
to finish the installation. After installation is completed, a shortcut will be generated on the desktop.
Make sure the installation path only contains English characters.
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