LiDAR Studio 2D is a high-performance desktop survey and real-time 360° 2D mapping platform. Built around a dual-ESP32 wireless architecture streaming over Bluetooth Low Energy (BLE), it features a responsive PyQt6/PyQtGraph dashboard implementing real-time SLAM spatial occupancy, dynamic ray-clearing (free-space carving), and Dietmayer Adaptive Breakpoint Detection (ABD) for intelligent obstacle isolation and CAD surveying.
Active Dynamic Cone Tracking (Closed-Loop Servo Tracking): Automatically switches from a 360° panoramic scan to a reactive oscillating sector cone (±15° to ±22°) centered on moving or static targets. Boosts target telemetry update rates from 0.033 Hz up to 0.75 Hz (over 20x faster) with smooth kinematic sweeps, directional deadbands (≥ 4.5°), and automatic 360° return when toggled off.
Universal Hardware & Firmware Ecosystem: Seamlessly shares the exact same physical hardware and ESP32 firmware with 3D LiDAR Scanner. In 2D mode, the system automatically commands the pitch gimbal to lock into a level horizon (135°) and handles continuous planar SLAM mapping.
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| Complete Base & Gimbal Assembly | Stepper Rotary Base (Enclosed) | Internal Drive & Controller Board |
|---|---|---|
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 |
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| Pitch Gimbal & Sensor Rig | Gimbal Elevation Mechanism |
|---|---|
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- Decoupled Perimeter Mapping & Target Isolation: Decouples persistent structural walls (cyan points) from dynamic foreground objects (yellow target bounds). Obstacles do not corrupt the floor plan and vanish instantaneously on the next sweep upon removal.
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Dietmayer Adaptive Breakpoint Detection (ABD + PCA): Real-time polar clustering with adaptive distance thresholds:
$$D_{\text{thresh}} = r_{\text{min}} \cdot \frac{\sin(\Delta\theta)}{\sin(\gamma - \Delta\theta)} + C_0$$ Includes Principal Component Analysis (PCA viaeigvalsh) to discard flat wall segments and accurately isolate compact obstacles (people, furniture, columns). - Dynamic Ray-Clearing (Free-Space Carving): Traces line-of-sight laser rays across a 3 cm spatial grid, instantly removing ghost artifacts and cleared obstacles.
- Dedicated Scan Toggle & Safe State Transitions: Independent Start / Stop Scan GUI control. Connecting via BLE keeps the stepper at rest until commanded, preventing motor stalling, high-frequency buzzing, or communication stalls.
- Fast Cold Calibration (30–60s): Automatically locks the perimeter geometry in 1–2 initial rotations (with a 6:1 mechanical reduction, 1 full 360° plate rotation takes 30s @ 12 RPM).
- Interactive Ruler Tool (Click & Measure): Point-to-point Euclidean canvas measurements with instant distance tags in meters/centimeters, real-time rubberband previews, and quick clear controls.
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Bidirectional BLE Link: Real-time speed adjustments (4–16 RPM), software-defined zero-point angular calibration, and non-blocking command dispatching (
PROPERTY_WRITE_NR). - CAD & Metric Data Export: 1:1 scale DXF vector export (compatible with AutoCAD, Fusion 360, Revit, QCAD) and tabular CSV scan logging.
- Diagnostic Telemetry: Polar sweep radar animation, live coordinates under cursor (X, Y, R, θ), and real-time dual-node RSSI signal monitoring (dBm).
┌─────────────────────────────────────────────────────────┐
│ DESKTOP HOST │
│ │
│ PyQt6 GUI <───> SLAMEngine (3cm Ray-Clear Grid) │
│ ▲ ▲ │
│ │ │ │
│ MapCanvas TargetDetector (ABD + PCA) │
│ ▲ ▲ │
│ └───────────────┬───────────────┘ │
│ │ │
│ BLEManager (Bleak) │
└───────────────────────┬─────────────────────────────────┘
│
Bluetooth Low Energy (GATT Notifications)
│
┌───────────────────────┴───────────────────────┐
│ │
▼ ▼
┌─────────────────────────────┐ ┌─────────────────────────────┐
│ ESP32-Stepper-Base │ │ ESP32-LiDAR-Tilt │
│ (28BYJ-48 Stepper 6:1) │ │ (TF-Luna ToF + SG90 Servo) │
├─────────────────────────────┤ ├─────────────────────────────┤
│ • GPIO: 25, 27, 14, 26 │ │ • UART2: GPIO 27 (RX), 26(TX)│
│ • Big-Endian Angle Stream │ │ • PWM: GPIO 13 (Servo locked│
│ • Remote RPM & Zero Calib │ │ at 135° Planar Horizon) │
│ • Non-blocking Step Timing │ │ • Continuous UART Ring-Flush│
└─────────────────────────────┘ └─────────────────────────────┘