Mary is a library of drivers for a variety of sensors and controlers related to GIS. Please get in touch if you have a particular hardware you want to add su solupport to.

Supported LiDAR Sensors:

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

Supported GPS:

Manufacture	Device
*	All deviced supported by Gpsd

Supported Magnetometers:

Manufacture	Device
OzzMaker	BerryIMU
OzzMaker	BerryGPS-IMU

Dependencies

• CMake, Swig and Python3
• GLM required

Compile and install Mary

1. Before compiling install dependencies:

// In linux
sudo apt install libglm-dev cmake swig python3-numpy

// In MacOS
brew install glm cmake swig

2. Then compile

mkdir build
cd build
cmake ..
make
sudo make install 

Note: to install inside anaconda do:

swig -c++ -python mary.i
/anaconda3/bin/./python3.7 setup.py build_ext --inplace
/anaconda3/bin/./python3.7 setup.py install 

Mary as C++ lib

Alternatively to installing mary on your system you can easily copy the content of include/ and src/ folder to your project, just make sure you

Mary as Python module

First you need to create the package and install it

sudo apt install swig
make install

Then you can use it as follow:

License

Mery is open source. You may use, extend, and redistribute without charge under the terms of the BSD license.

Copyright (c) 2020, Patricio Gonzalez Vivo
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, 
are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or other
materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 
IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
THE POSSIBILITY OF SUCH DAMAGE.