Lidar-based-Mapping

Programming a LIDAR onto your computer's mouse pointer to help it map-out an unstructured environment

To setup:

You can use a code editor of your choice, but I personally find PyCharm very user friendly and easy to use.

Steps to install PyCharm (Ubuntu):

1. Download the tarball .tar.gz from Here
2. Extract the tarball to a directory that supports file execution.For example, if the downloaded version is 1.17.7391, you can extract it to the recommended /opt directory using the following command:
   • sudo tar -xzf jetbrains-toolbox-1.17.7391.tar.gz -C /
3. Switch to the bin subdirectory:
   • cd /opt/pycharm-*/bin
4. Run pycharm.sh from the bin subdirectory:
   • ./pycharm.sh

Clone the Repository files:

1. Go to your workspace (any folder where you which to maintain this code)
2. Open terminal at that location (Right-Click -> Open in Terminal)
3. Clone the repostory by pasting the following into the opened terminal:
   • git clone "https://github.com/PulkitRustagi/Lidar-based-Mapping.git"

How to operate it:

1. Open terminal (using Ctrl+Alt+T)
2. start PyCharm:
   • ~<path_to_PyCharm_folder>/bin/pycharm.sh
3. Open main.py script and run to obtain the following output (default map1.png):

 

Use your own custom map

1. Draw your own map in paint or photoshopor simply download an image that has a white background with black lines on it.
2. Save it as a .png file in the maps folder in the workspace.
3. Go to env.py script and change the map name to your newly added map on line 9 as shown:
4. Change the dimensions of the map to the dimennsions of your map image, for example if image is 1200 x 600 pixels, then go in main.py to line 8 and change accrodingle as shown(in the order (width,height)) as shown:
5. Now you should be able to do this for your own custom map when you run main.py script