RoboSense RS-Ruby Lite, User Manual, Page: 40 / 104

RS-Ruby Lite Users’ Manual
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Appendix C RSView
In this appendix, the record, visualization, save and review of the data from RS-Ruby Lite will
be interpreted with using RSView. The original sensor data can be also captured and
examined by using other free tools, such as Wireshark or TCP-Dump. But visualization of the
3D data through using RSView is easy to realize. RS-Ruby Lite is used with RSView vision
3.1.5. or above
C.1 Software Features
RSView can provide real-time visualization of 3D coordinate data from RS-Ruby Lite. RSView
can also review the pre-recorded data stored in “pcap” (Packet Capture) files, but RSView still
doesn’t support directly importing “pcapng” files.
RSView displays directly the point cloud that is exchanged from the measured distance from
RS-Ruby Lite. It supports changing the display mode of point cloud as user wishes, according
to Reflectivity, timestamp, distance, azimuth, and laser channel. The data can be exported as
XYZ coordinate data in CSV format or LAS format. RSView does not support generating point
cloud files in XYZ, or PLY formats.
Function and features of RSView are shown as follow:

Online visualization of sensor data over Ethernet

Record of real-time data into pcap files

Review of the collected point cloud from pcap files

Different visualization mode based on distance, timestamp, azimuth, laser ID, etc.

Tabular inspection of point cloud data

Exporting the point cloud data into CSV format

Tool for measuring distance from visualized cloud point

Simultaneously display of multiple continuous frames (Trailing frames)

Display or hide subsets of lasers

Crop tool to show partial point cloud
C.2 Installation of RSView
Installation packet of RSView is suited for Windows 64-bit system and it has no need for other
dependent software packets. The latest version of RSView can be downloaded from
RoboSense website (http://www.robosense.ai/resource). Launch the installation packet and
follow the instructions to complete the installation. The installation path should not contain any
Chinese characters.
C.3 Network Setup
As mentioned in Chapter 5, the default IP address of the computer should be set as
192.168.1.102, sub-net mask should be 255.255.255.0. You should make sure RSView not be
blocked by firewall in PC.