It is assumed python 3.6 with pip 3.6 are installed as well as Node JS with NPM.
Procedure to install the tool:
$ cd lidar-server-flask-vue
$ pip install -r requirements
$ cd flaskvue/frontend
$ npm install
$ npm run start
Tested on Python 3.6.
The first aim is to bind:
- a low level code https://github.com/gobgob/rplidar_a3,
- a high level code https://github.com/gobgob/lidar-processor,
- this project for visualization.
The second aim is:
- to be generic enough to be compatible with other LiDAR devices ,
- to have a clear and precise protocol to visualize outputs of several methods for displaying forms, tracking, etc.
It processes data sent by low-level:
- directly, if there is a direct connection,
- indirectly, if this is the web interface which resends data.
It can display real-time measures as well as recorded measures.
It can locate, map, predict, smooth, filter trajectories.
Input: list of points whose coordinates are in LiDAR basis.
Output: list of points/groups of points in the map coordinates.
Input: list of points whose coordinates are in LiDAR coordinates.
Output: list of points whose coordinates are in a fix basis.
Input: list of points whose coordinates are in LiDAR coordinates.
Output: filtered, smoothed or predicted coordinates according to a model which depends on how the robot moves, the quality of the LiDAR, environment and measure rate.
- handles connections,
- displays points in polar or cartesian coordinates
- displays groups of points
- Fields: IP address, port
- Buttons: connect, disconnect
- Fields: IP address, port
- Buttons: connect, disconnect
- Fields: number of updates per second
- Fields: polar or cartesian
- Showing a map
- Showing the environment of the robot