patriciogonzalezvivo / Openlidar
OpenLiDAR
This project goal is to support a wide variety of sensors and controlers (throught the Mary Library) so people can construct their own 3D LiDAR Scanner with off-the-shelf devices.
The general set up consist of an affordable LiDAR sensor mounted on a structure that pan it around with presicion and accuracy (we call that mount). There are other sensors that will help your scanner to have more or better data like GPS and/or Magnetometer
Supported LiDAR Sensors:
| Manufacture | Device | Mary Driver | Range | Outdoors | Angle Resolution |
|---|---|---|---|---|---|
| SLAMTECH | RPLidar A1 | lidar/RPLidar.h |
12m | no | non applicalbe |
| SLAMTECH | RPLidar A2 | lidar/RPLidar.h |
18m | no | 0.45° ~ 1.35° |
| SLAMTECH | RPLidar A3 | lidar/RPLidar.h |
25m / 16m (in/outdoors) | yes | 0.3375° / 0.54° |
| SLAMTECH | RPLidar S1 | lidar/RPLidar.h |
40m | yes | 0.391° |
Supported Mounts:
| Manufacture | Device | Mary Driver |
|---|---|---|
| Celestron | NexStar STL Series | mount/Celestron.h |
| Celestron | NexStar STL Series | mount/Celestron.h |
| TBD | TBD | TBD |
Supported GPS:
| Manufacture | Device |
|---|---|
| * | All deviced supported by Gpsd |
Supported Magnetometers:
| Manufacture | Device |
|---|---|
| OzzMaker | BerryIMU |
| OzzMaker | BerryGPS-IMU |
Hardware Setups
Celestron/RPLidarA1 (March 2020)
Because hardware is not really one of my strengths I decide to reuse existing hardware as much as possible. Avoiding 3D printing moving peaces like gears was very important because they tend to introduce error. For that I based my desing on using a motorize telescope mount which robust design have been tested extensivelly while provides maximum presicion and control. As an extra if it's properly calibrated (using their own system based on stars possition) can waranty excelent alignments of your point clouds.
- RPLiDAR A1 I decide to go with the cheaper to see what the floor was how I can build it up from their
- Celestron NexStar GoTo Mount to spin the RPLiDAR around in 360 degrees with precision (~200 U$D).
- Celestron compatible dovetail mount. Non-permanent solution to attach the LiDAR sensor to the Celestron mount. (~12 U$D)
- Design and 3D Print the model
models/celestron_mount/rplidar_A1.stl. This mount attach to the celestron mount through the dovetail rail, and to the RPLidar A1 and it's driver through screws. - RaspberryPi to control both the sensor and the mount running OpenLiDAR. I modify my Celestron mount following this directions in order to derive power from it (35 U$D)
Software setup
Installation
Install dependencies:
sudo apt install cmake libpcl-dev libglm-dev gpsd gpsd-clients libgps-dev
Clone this repository:
git clone https://github.com/patriciogonzalezvivo/OpenLiDAR.git
Compile and Install
cd OpenLiDAR
mkdir build
cd build
cmake ..
make
Give your user permission to access the USB ports:
sudo usermod -a -G dialout $USER
Apps
Ecosystem of apps to scann and process LiDAR data.
3dscan
Makes a 3D lidar scan. To run you need to the USB addresses of the Celestron mount (first argument) and the RPLiDAR sensor (second argument). In linux systems they are given by the order you plug them.
TODO: - ADD ARGUMENTS DESCRIPTIONS
./3dscan --mount /dev/ttyUSB0 --lidar /dev/ttyUSB1 --speed 0.9 --degrees 270 --voxel 0.5 --normals --filename point_cloud --formats ply,pcd,png
ROADMAP
OpenLiDAR lib/:
- Multi thread method with callback (specially for creating UI interfaces)
- Add support for Magnetometers
- 360 panoramic reconstruction using camera input
- Add support for different cameras
- RGB and Depth callibration
Console based app/3dscan:
- Choose different output types: PLY, PCD
- Add PNG format as a range equirectangular projection image
- Add LAS format (add geo-location from GPS data)
- Figure how to geo-locate PLYs, PCDs and PNGs using GPS data
- Add optional outliers removal
Daemon app/3dscanner:
- HTTP server <=> client