Visualization tool for processed LiDAR data

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.

High-level code

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.

Location

Input: list of points whose coordinates are in LiDAR basis.

Output: list of points/groups of points in the map coordinates.

Mapping

Input: list of points whose coordinates are in LiDAR coordinates.

Output: list of points whose coordinates are in a fix basis.

Filtering, prediction, smoothing

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.

Web interface

• handles connections,
• displays points in polar or cartesian coordinates
• displays groups of points

Web interface components

Connection to low-level

• Fields: IP address, port
• Buttons: connect, disconnect

Connection to high-level

• Fields: IP address, port
• Buttons: connect, disconnect

Visualisation configuration

• Fields: number of updates per second

Coordinates

• Fields: polar or cartesian

Background

• Showing a map
• Showing the environment of the robot