Raspberry Pi Lidar Scanner

Summary

PiLiDAR - DIY 360° 3D Panorama Scanner WORK IN PROGRESS Core Features: LiDAR : custom serial driver for LDRobot LD06 , LD19 or STL27L CRC package integrity check Hardware PWM calibrated using curve fitting 2D live visualization and export (numpy or CSV) Panorama : 6K 360° spherical map stitched from fisheye photos using Hugin Panorama photo stitcher constant camera exposure by reading EXIF data of automatic constant white balance by iterative optimization of color gains 3D Scene : assembly of 3D scenes from 2D planes based on angle and offsets sampling vertex colors from panorama Open3D visualization and export (PCD, PLY or e57) aligning multiple scenes using global registration and ICP fine-tuning Poisson Surface Meshing (very slow on Pi4, recommended to run on PC) preliminary results single scans, no registration, no post processing. klick the images to open the pointclouds in Sketchfab. Exterior Scan (colormapped Intensity) Interior Scan (Vertex Colors) Hardware Specs: LDRobot LD06, LD19 or STL27L LiDAR Raspberry Pi HQ Camera with ArduCam M12 Lens (M25156H18, p.7) Raspberry Pi 4 NEMA17 42-23 stepper with A4988 driver Power Supply: v1: 2x 18650 Batteries (7.2V) with step-down converter v2: 10.000 mAh USB Powerbank with step-up converter Rev. 1 using 2x 18650 Batteries and Buck Converter Rev. 2 using 10.000 mAh Powerbank and Boost Converter stepper driver, motor and gearbox A4988 bipolar stepper driver (tutorial) NEMA17 42x42x23 bipolar stepper (17HE08-1004S, 17 Ncm torque) 3D-printed planetary reduction gearbox (see FDM / 3D printing) LDRobot LiDAR Specs angular resolution of LD06 (left) vs. STL27L (right) LD06: STL27L: sampling frequency: 21600 Hz baudrate 921600 datasheet wiki ROS2 driver git Scan duration: 12s initialisation 17s shooting 4x photos 1:24m scanning 0.167° x 0.18° 37s stitching, cleanup wiring Breadboard Rev. 2 LD06 / STL27L: UART Tx (yellow) PWM (white) GND (black) VCC 5V (red) Raspberry Pi: LD06 UART0 Rx: GP15 LD06 PWM0: GP18 Power Button: GP03 S...