OpenGL-LIDAR-Display

Description

This project provides a realtime OpenGL based display for LIDAR point cloud imaging. It is based on the Slamtec RPLIDAR A1 device.

Requires: OpenGL, GLUT and the Slamtec RPLIDAR SDK. MacOS is the target platform but it should be easy to port to any OpenGL platform (Linux, RPi, Windows).

Get Started

To build this project, follow the steps below. If you are on macOS, you can jump to step 2 below.

Step 1 - Build RPLIDAR SDK

You can run the build.sh script included to download and build the SDK for RPLIDAR. This will copy the new headers and libraries into the ./lib and ./include folders.

Step 2 - Build the lidar binary

The lidar binary is built by using the included Makefile. If you are not using a Mac or have a different UART serial port you want to use, edit the lidar.cpp code to update the PORT value in Settings. Depending upon your applications, you can also adjust the SCALE, windows SCREEN size and window location START points.

// Settings 
#define PORT "/dev/tty.SLAB_USBtoUART"   // macOS UART for RPLIDAR
#define SCALE 0.1   // Distance scale for screen
#define SCREENX 500 // Size of Display window
#define SCREENY 500 
#define STARTX 100  // Coordinates to place window
#define STARTY 100

To build, run make:

make

Step 3 - Run the Display

Plug in your RPLIDAR A1 device and run the lidar executable. Use Ctrl-C to stop.

$ ./bin/lidar               
LIDAR OpenGL Display for Slamtec RPLIDAR Device
Using RPLIDAR SDK Version: 1.12.0
Setting serial port baudrate...
Connected via /dev/tty.SLAB_USBtoUART at 115200 baud
RPLIDAR S/N: CC8F9A86C0E09CC7A2E09DF75E5D3077
Firmware Ver: 1.28
Hardware Rev: 5
RPLidar health status : 0
Launching OpenGL Window
^C Received - Stopping - Shutting down LIDAR

$

Device

This project uses the Slamtec RPLIDAR A1M8 LIDAR Sensor. It provides a 2D 360 degree, 12m scanning radius and is useful for obstacle avoidance and navigation for robots.

• Measurement frequency up to 8000 times/s
• Weight: 0.37kg
• Size: 13cm x 10cm x 8cm
• Range: 0.15 - 6m
• Resolution: < 0.5mm @ ≤ 1 Degree
• Technology: OPTMAG wireless power and optical communication
• Links: Slamtec Amazon

Device Setup

The device requires the Silicon Labs CP210x USB to UART Bridge Virtual COM Port (VCP) driver. See here for downloading this driver if you do not have it already installed.