LiDAR Visualizer

The LiDAR visualizer is a tool designed to display data from a LiDAR sensor in a 2-dimensional space. This visualizer provides a top-down view of the environment where each point represents a LiDAR reading. This allows users to analyze what the LiDAR sees.

Setup:

1. Ensure you are in the lidar_viewer directory.

2. Run ./process_log.sh <path_to_log_file> [--start]

   1. Where path_to_log_file is the path to the log file generated by obstacle avoidance or the lidar driver only.

   2. Add the --start flag to start the server.

3. If you did not use --start, start the server by entering the server directory, cd server, and then run node server.js.

4. Then, in a new terminal, start the visualizer by entering the visualizer directory, cd visualizer and running npm start.

   1. Ensure you have installed all packages by running npm install beforehand.

5. Open localhost:3000 on your machine to see lidar points.

Usage:

If using a lidar driver output file, you will see just the LiDAR points.

If using an obstacle avoidance logging file, you will see LiDAR points and odometry from the drone.

Coming soon: speed control, scale adjustments, how many points displayed each instance