Appendix C RSView
This appendix gets you started with RSView. It shows you how to use the application to acquire,
visualize, save, and replay your RS-Helios-1615 data. You can also use other free tools, such as
Wireshark or tcp-dump. But RSView is free and relatively easy to use. The version used here is
RSView3.1.7.
C.1 Software Features
RSView provides real-time visualization of any RoboSense LiDAR data. 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 from a RoboSense LiDAR as point 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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