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