LakiBeam-Python

Overview

LakiBeam-Python is an open-source SDK for the LakiBeam LiDAR sensor developed by RichBeam. It provides a low-level interface for receiving and processing LiDAR data over UDP. The SDK includes a C implementation with a thread-safe double-buffering mechanism, as well as a Python wrapper for seamless integration.

RichBeam LakiBeam LiDAR

For more details, please visit the RichBeam official website.

Features

• Efficient UDP Data Reception: Captures LiDAR packets using a dedicated listener thread.
• Double Buffering: Ensures real-time processing of LiDAR frames.
• Python Wrapper: Allows easy integration with Python-based applications.
• Multi-Threaded Processing: Uses pthreads to handle data reception and processing in parallel.
• Configurable Callback Mechanism: Supports user-defined callback functions for real-time data handling.

Repository Structure

LakiBeam-Python/
├── Makefile        # Build script for compiling the shared library
├── rb_lidar.h      # C header file defining the LiDAR API and structures
├── rb_lidar.c      # C source file implementing UDP listener and data processing
├── rblidar.py      # Python wrapper for the C SDK

Dependencies

• C Compiler: GCC (for building the shared library)
• POSIX Threads: Used for multi-threaded data handling
• Python 3 (for the Python wrapper)

Hardware Requirements

• LakiBeam 1
• Ethernet cable
• PC or any microcontroller with an Ethernet port (e.g., Raspberry Pi)

Compilation & Installation

1. Clean the Build

make clean

2. Compile the Shared Library

Run the following command to build rb_lidar.so:

make

This will generate rb_lidar.so, which is required for both C and Python usage.

3. Run

First, set your device's Ethernet IP address to 192.168.198.1. Then run:

python rblidar.py

Usage

C API

Initialize LiDAR

#include "rb_lidar.h"

void my_callback(const char* data, int length) {
    // Handle incoming LiDAR data
}

int main() {
    RBLidar* lidar = rblidar_create("192.168.198.1", 2368, my_callback);
    // Run indefinitely or handle signal interruptions
    return 0;
}

Free Resources

rblidar_destroy(lidar);

Python API

Install Python Dependencies

pip install numpy

Run LiDAR Data Capture

from rblidar import RBLidar

def my_frame_callback(points):
    print(points)  # Process LiDAR points

lidar = RBLidar("192.168.198.1", 2368, frame_callback=my_frame_callback)

Data Format

Each LiDAR frame consists of multiple sub-packets containing:

• azimuth: Angle of the LiDAR scan
• dist: Distance of the detected point
• rssi: Intensity (signal strength) of the point
• timestamp: Time when the point was captured

Contributing

Contributions are welcome! Feel free to submit pull requests or report issues.

License

This project is licensed under the MIT License.