typho22 / pcl_lidarvisualization

Example how to visualize the sensor data of YLidars-Lidarsensors and visualize it with the PCL-Library

PCL_Lidarvisualization

Project for visualization of lidar data with a YDLIDAR X4 lidarsensor from YDLIDAR (www.ydlidar.com) and the pointcloudlibrary(https://pointclouds.org/) The X4 is a belt-driven 360° rangefinder. It has range frequency of 5K, and detection radius of 10m. The project is developed under Ubuntu 20.04.

Build Instruction:

Install:
The pcl lib is mandatory does not matter if you build YDLidar from source or use the prebuilt library. (If you are using a mac-computer keep in mind that there are some issues with pcl visualization on mac)

sudo apt install libpcl-dev

Option 1: Build YDLidar from source Get YLidar sdk frome them https://github.com/YDLIDAR/YDLidar-SDK
in YLidar folder:

mkdir build   
cmake ..
make -j 
sudo make install 

In PCL_Lidarvisualization root CMakeLists.txt set(UseLidarInstall ON) In PCL_Lidarvisualization root folder:

mkdir build 
cmake ..
make -j 

Option 2: Use prebuilt static library (was built with Ubuntu 20.04) In PCL_Lidarvisualization CMakeLists.txt set "UseLidarInstall off"

mkdir build 
cmake ..
make -j 
sudo make install 

Starting the Lidar Go to PCL_Lidarvisualization build folder and execute with root-privilegs (thats mandatory):

sudo ./LidarVisu 

Baudrate: 128000

one-way communication: no

set scan frequency to 8 (others value in range are also working)

With PCLVISUALIZER: With RANGE points which are nearer than others become more redish With no visualization in main.cpp set visuMode_ to visualization::IVisualizationHandler::visuMode::NONE