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.travis.yml (159, 2021-08-03)
LICENSE (1066, 2021-08-03)
Makefile (1285, 2021-08-03)
Slamtec-RPLIDAR-A1.png (250259, 2021-08-03)
bin (0, 2021-08-03)
bin\lidar (117632, 2021-08-03)
build.sh (1295, 2021-08-03)
clean.sh (110, 2021-08-03)
demo.png (80709, 2021-08-03)
include (0, 2021-08-03)
include\LICENSE (1409, 2021-08-03)
include\hal (0, 2021-08-03)
include\hal\abs_rxtx.h (2741, 2021-08-03)
include\hal\assert.h (313, 2021-08-03)
include\hal\byteops.h (2130, 2021-08-03)
include\hal\event.h (5143, 2021-08-03)
include\hal\locker.h (4220, 2021-08-03)
include\hal\socket.h (3922, 2021-08-03)
include\hal\thread.cpp (1804, 2021-08-03)
include\hal\thread.h (2789, 2021-08-03)
include\hal\types.h (2787, 2021-08-03)
include\hal\util.h (2268, 2021-08-03)
include\rplidar.h (1693, 2021-08-03)
include\rplidar_cmd.h (11669, 2021-08-03)
include\rplidar_driver.h (18066, 2021-08-03)
include\rplidar_protocol.h (2424, 2021-08-03)
include\rptypes.h (3455, 2021-08-03)
lib (0, 2021-08-03)
lib\LICENSE (1409, 2021-08-03)
lib\librplidar_sdk.a (118752, 2021-08-03)
lidar.cpp (8084, 2021-08-03)

# OpenGL-LIDAR-Display [](https://travis-ci.com/jasonacox/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](https://www.slamtec.com/en/Lidar/A1).  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](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. ```cpp // 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: ```bash 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](https://www.slamtec.com/en/Lidar/A1) [Amazon](https://www.amazon.com/Slamtec-RPLIDAR-Scanning-Avoidance-Navigation/dp/B07TJW5SXF) ### Device Setup The device requires the Silicon Labs CP210x USB to UART Bridge Virtual COM Port (VCP) driver. See [here](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers) for downloading this driver if you do not have it already installed.

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