This is a tool for realtime LiDAR visualization over the air from a microcomputer interfacing with a LiDAR sensor. It uses the TCP protocol to send data between the server (microcomputer/raspberry pi) and the client (the rendering computer).
See client.py for isolated example of retrieving data.
The client expects data sent over the socket connection to be formatted in a certain way:
- Each packet starts with a 2 byte unsigned short (0 to 65,535) H that denotes the number of values the packet contains, consider a value to be one x or y coordinate.
- The remaining H * 2 bytes of data are alternating x and y coonrdiates.
- Each coordinate is a 2 byte float.
- Thus, for each packet you receive H/2 points to be plotted.
- read and replay data from the log
- set up interfacing with the pi