lidar-tools

This repository is a part of a bigger lidar project and contains some tools which allow to control our lidar setup.

Programs

sync

The main program which synchronizes lidar and AVR controlling accelerometer with gyroscope and servo. Computed point clouds are sent via stdout.

Output:

...
X Y Z
X Y Z
...

where X, Y, Z are floating point numbers representing single cartesian points of scanned point cloud.

servoctl

Controls servo rotating the axis on which lidar is mounted.

$ ./servoctl --port /dev/tty.usbserial-14220

receiver

Enables transmitting data from lidar-scan over the network using UDP.

$ ./receiver --port /dev/ttyUSB0 | lidar-tx --address 192.168.1.1 --port 8080

transmitter

Enables receiving data from lidar-scan over the network using UDP.

`$ ./transmitter --port 8080 | lidar-vis -s`

scan-dummy

Genereate dummy data to imitate the original lidar-scan output.

$ ./scan-dummy

Time differences are represended as milliseconds (like the original one). stout is used for data output. More detaled info in lidar-scan repository.

Example output structure:

# a comment
! 0 0
120  100
240  100
360  100
! 1 500
120  200
240  200
360  200
! 2 500
120  300
240  300
360  300
! 3 500