Ingenium project for scanning and 3D visualization with the Velodyne VLP-32c LiDAR "Ultra-Puck" sensor. Ingenium's goal is to use a Raspberry Pi 3 for recording data via Ethernet, then 3D-reconstruct excavation sites with SLAM algorithm's mapping.
The small Raspberry Pi 3 will be used for the main purpose of recording sensor data in the field, since data visualization will be done on a more powerful computer. Install git on your device and clone this repository:
sudo apt-get install git
sudo apt-get update
sudo apt-get upgrade
git clone https://github.com/etanx/ingenium-lidar.git
To navigate to the folder in terminal, change directory with:
cd /home/pi/ingenium-lidar
Install needed Python packages for our scripts: pycurl, urllib, urllib2, json. Our script uses tcpdump to capture data packets over the Ethernet connection to the sensor, so make sure to install that as well.
We currently use Python scripts in operations. To run a script, type sudo python scriptname.py in the command line.
initialize.py: This script resets the sensor and defines motor and laser settings. You can also access the web interface by typing 192.168.1.201 (default sensor IP) in a browser.
read.py: This initiates tcpdump to capture data packets coming in fromt the eth0 (ethernet) port. Stopping the Python script does tnot stop the tcpdump process, so the script uses a method to specifically kill the tcpdump process.
lidar-gui.py: A GUI script to run the LiDAR Sensor based on initialize.py and read.py. Display screen needed.
We are looking into using Veloview and ROS for SLAM and georeferencing. Please see Veloview's Documentation on how to install software and SLAM laser data.
geo_funcs.py: takes a .las file and uses the transformation matrix to map all incoming points to their transformed points