VueFlow PCD Calibration Guide
About this guide
This guide may be distributed to the employees and agents of the Customer as a reference and for internal training purposes. All other reproductions of this document are prohibited without the written permission of Vueron Technology.
VueFlow PCD Calibration Guide
Interface Overview
V — Switch views (Perspective / XY / XZ / YZ)| Option | Description |
|---|---|
| Lidar | Displays the location of the LiDAR sensor with a red pole |
| Grid | Visualizes the detection range and distance of the LiDAR sensor |
| Option | Description |
|---|---|
| X, Y, Z | Position of the sensors in the coordinate system (1m per grid cell) |
| Roll | Rotation angle of the sensor with respect to the X-axis |
| Pitch | Rotation angle of the sensor with respect to the Y-axis |
| Yaw | Rotation angle of the sensor with respect to the Z-axis |
Steps
1. Run Oslo
2. Access VueFlow
3. Open File Browser
4. Load PCD Files
.pcd files or folders.4-1. Recent Files
Files will only be displayed if they have been previously opened in VueFlow.
4-2. Explorer
Files can be loaded from the file explorer.
The file must exist inside a folder namedvueron-data > recordingto be accessible.
vueron-data folder is automatically created in the following location depending on your operating system:| OS | Path |
|---|---|
| Windows | c:/{users}/vueron-data |
| macOS / Linux (Ubuntu) | ~/vueron-data |
5. Open Calibration Panel
6. Select LiDAR
The number of items displayed corresponds to the number of LiDAR cameras available.
7. Set Adjustment Unit
8. Change PCD Color
9. Adjust Calibration Values
10. Align to Ground Plane
V to cycle through views and adjust the X/Y/Yaw, Z, Roll, and Pitch parameters one by one until the point cloud data is horizontally aligned with the gridline.V button to switch the view to 2D(Top view).V to switch views(Y-Z), then adjust the Z parameter to align the center point of the point cloud with the ground plane.V to switch views(X-Z), adjust the Pitch parameters until the point cloud data is aligned with the ground.V to switch to the view(Top view) for adjusting X, Y, and Yaw.V key to switch views, then adjust the Z, Roll, and Pitch values as you did for the first LiDAR. Perform calibration based on the ground grid and the first calibrated sensor.V to switch views and adjust Roll, then press V again to adjust Pitch.11. Focus & Hide
12. Save and Reset Calibration
13. Export / Import Calibration
Select the PCD folder, then perform Import from the Calibration menu. After applying, click Save to store the changes.
14. Playback Controls
15. Export Calibrated Files
16. Configure Export Settings
17. Confirm Export
18. Verify Output
vueron-data > recording folder.Notes
1. Multi-LiDAR PCD Data Structure
FolderA
├── playable (0-byte file)
├── Sensor1Folder (alphanumeric filename)
│ ├── 000001.pcd
│ └── 000002.pcd
└── Sensor2Folder (alphanumeric filename)
├── 000001.pcd
└── 000002.pcdplayable must be created inside FolderA, and only subfolders containing PCD files (Sensor1Folder, Sensor2Folder) should exist within it.A cache.jsonfile may be generated during calibration — this can be ignored.
Sensor1Folder and Sensor2Folder can be set freely.FolderA becomes selectable, and upon selection, Sensor1Folder and Sensor2Folder are recognized as two separate LiDARs.Since these are PCD files, calibration may appear temporarily misaligned during the process — this is a timing issue. The final calibration settings will be applied to all PCD files at once.
Modified at 2026-06-24 07:18:10