The New 'CygLiDAR D2' Released

• Implement the Amplitude Image data
  
• New 3D Data Filtering Added (Kalman / Median / Average / Edge Filtering)
  
• Each Measurement(2D/3D) payload data provide TimeStamp/Temperature
  

cyglidar_d2(ROS2)

cyglidar_d2 is a ROS package, which is designed to visualize 2D/3D distance dataset in real-time.

For more details in CygLiDAR, please visit http://www.cygbot.com

How to use this package

Preparation

mkdir -p ~/d2_ws/src/
cd ~/d2_ws/src/
git clone https://github.com/CygLiDAR-ROS/cyglidar_d2.git
cd ..
colcon build --symlink-install
source install/setup.bash

• When CMake Error Occured as below

pcl_conversionsConfig.cmake / pcl_conversions-config.cmake

sudo apt install ros-${ROS2 Distro}-pcl-conversions
# ex) sudo apt install ros-foxy-pcl-conversions

Installation Udev

Install the udev rule

cd ~/d2_ws/src/cyglidar_d2/scripts
chmod +x create_udev_rules.sh
./create_udev_rules.sh

Run cyglidar_d2_publisher and View in the Rviz

ros2 launch cyglidar_d2_ros2 cyglidar.launch.py
ros2 launch cyglidar_d2_ros2 view_cyglidar.launch.py  (Run with Rviz)

#1 When CyglidarNode Error Occured

[Error] : An exception was thrown [open : Permission denied] Please check 'Installation Udev' Or use following command.

sudo chmod 777 /dev/ttyUSB0

ROS2 Launch Parameter

Frame ID

/laser_frame

Fixed Frame

/map

CygLiDAR Topic List

/scan               (LaserScan)
/scan_2D            (PointCloud XYZRGBA)
/scan_3D            (PointCloud XYZRGBA)
/scan_image         (Image)
/sensor_temperature (Float32)

Depth Image / Amplitude Image

From CygLiDAR D2, Provide Amplitude Data as well as Depth Data

• Camera Image

• (Left) Depth Image / (Right) Amplitude Image

None / Median / Average / Edge Filter

• None Filtering Depth Image

• Median Filtering Depth Image

• Average Filtering Depth Image

Raw Amplitude Image & CLAHE applied Amplitude Image

In case of grayscale, CALHE(Contrast Limited Adaptive Histogram Equalization) algorithm can be used to improve image contrast.

• (Left) Raw Amplitude Image / (Right) CLAHE Applied Amplitude Image(clip limit : 40, tile grid size : 8)