Lidar SDK Quickstart - Linux#
Verify that you can access the Lidar device from Linux:
For specific instructions on verifying Lidar connection, please see the “Quickstart (Linux only)” section of the DEMO-07 SyMPL 3D LiDAR User Guide .
Install CMake if necessary. It is used to build the library and applications
$ sudo apt-get install cmake
Install OpenCV (OpenCV is used for application windowing)
$ sudo apt-get install libopencv-dev
The Mirrorcle LiDAR Software Suite is typically provided as a USB flash drive or FTP download link and contains a folder with all applications and SDKs. It is recommended to extract this to the ~/MirrorcleTech/ directory.
./MirrorcleLiDAR/ contains the MirrorcleLiDAR application
./MirrorcleCloud/ contains the MirrorcleCloud point cloud visualization application.
- ./SDK-MTILidar-Cpp/ contains the C++ MTILidar Linux SDK with example projects
Source files of the MTILidar-Demo example can be can be found in demo_source/ within the SDK-MTILidar-Cpp directory
Header files may be found in the include/ directory
Shared library may be found in the lib/ directory
./Documentation/ contains all documentation, including the DEMO-07 SyMPL 3D LiDAR User Guide as well as links to the online documentation
Running the Provided Demos#
For immediate/convenient testing, MTILidar-Demo comes pre-compiled in ./SDK-MTILidar-Cpp/demo_exe/
As the application in the demo_exe folder was compiled on another system with specific linking to Mirrorcle’s shared libs, linking to the libraries must be explicitly provided when running.
For detailed instructions on linking to libraries at runtime, please see page 11 of the DEMO-07 SyMPL 3D LiDAR User Guide .
Below is an example of adjusting the library search path at runtime in one line:
$ LD_LIBRARY_PATH=. ./MTILidar-Demo
Adjusting library search paths is not necessary when compiling the SDK examples as demonstrated in the next section!
Users should try to preserve the applications delivered by Mirrorcle in the ~/SDK-MTILidar-Cpp/demo_exe/ directory in original form.
Compiling the SDK Examples#
Compile the source using the CMakeLists.txt provided in ./SDK-MTILidar-Cpp/demo_source/
$ mkdir Debug
$ cd Debug
$ cmake -DCMAKE_BUILD_TYPE=Debug ..
After the build completes, the MTILidar-Demo application can be executed using