Skip to content


Switch branches/tags

Name already in use

A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Are you sure you want to create this branch?

Latest commit


Git stats


Failed to load latest commit information.
Latest commit message
Commit time


This project goal is to support a wide variety of sensors and controlers (throught the Mary Library) so people can construct their own 3D LiDAR Scanner with off-the-shelf devices.

The general set up consist of an affordable LiDAR sensor mounted on a structure that pan it around with presicion and accuracy (we call that mount). There are other sensors that will help your scanner to have more or better data like GPS and/or Magnetometer

Supported LiDAR Sensors:

Manufacture Device Mary Driver Range Outdoors Angle Resolution
SLAMTECH RPLidar A1 lidar/RPLidar.h 12m no non applicalbe
SLAMTECH RPLidar A2 lidar/RPLidar.h 18m no 0.45° ~ 1.35°
SLAMTECH RPLidar A3 lidar/RPLidar.h 25m / 16m (in/outdoors) yes 0.3375° / 0.54°
SLAMTECH RPLidar S1 lidar/RPLidar.h 40m yes 0.391°

Supported Mounts:

Manufacture Device Mary Driver
Celestron NexStar STL Series mount/Celestron.h
Celestron NexStar STL Series mount/Celestron.h

Supported GPS:

Manufacture Device
* All deviced supported by Gpsd

Supported Magnetometers:

Manufacture Device
OzzMaker BerryIMU
OzzMaker BerryGPS-IMU

Hardware Setups

Celestron/RPLidarA1 (March 2020)

Because hardware is not really one of my strengths I decide to reuse existing hardware as much as possible. Avoiding 3D printing moving peaces like gears was very important because they tend to introduce error. For that I based my desing on using a motorize telescope mount which robust design have been tested extensivelly while provides maximum presicion and control. As an extra if it's properly calibrated (using their own system based on stars possition) can waranty excelent alignments of your point clouds.

Software setup


Install dependencies:

sudo apt install cmake libpcl-dev libglm-dev gpsd gpsd-clients libgps-dev

Clone this repository:

git clone

Compile and Install

cd OpenLiDAR
mkdir build
cd build
cmake ..

Give your user permission to access the USB ports:

sudo usermod -a -G dialout $USER


Ecosystem of apps to scann and process LiDAR data.


Makes a 3D lidar scan. To run you need to the USB addresses of the Celestron mount (first argument) and the RPLiDAR sensor (second argument). In linux systems they are given by the order you plug them.


./3dscan --mount /dev/ttyUSB0 --lidar /dev/ttyUSB1 --speed 0.9 --degrees 270 --voxel 0.5 --normals --filename point_cloud --formats ply,pcd,png


OpenLiDAR lib/:

  • Multi thread method with callback (specially for creating UI interfaces)
  • Add support for Magnetometers
  • 360 panoramic reconstruction using camera input
    • Add support for different cameras
    • RGB and Depth callibration

Console based app/3dscan:

  • Choose different output types: PLY, PCD
  • Add PNG format as a range equirectangular projection image
  • Add LAS format (add geo-location from GPS data)
  • Figure how to geo-locate PLYs, PCDs and PNGs using GPS data
  • Add optional outliers removal

Daemon app/3dscanner:

  • HTTP server <=> client


No releases published


No packages published