Slamtec RPLIDAR User manual
RPLIDAR Interactive Toolkit
(Framegrabber.NET)
Instruction Manual
Version Beta 1.2.3-EN Date 2023-08-25
I. How this works
RPLIDARs are usually used for mapping and piloting, while the RPLIDAR itself is to scanning and
digitalizing the scene, providing data for computers understanding the real world. As there are
enough data for building larger world (80m diameter for RPLIDAR-S3), it takes no effort to localizing
your hand on any surface. Connect your RPLIDAR to any PC, it will digitalize real world data to point
cloud and transfer to this software. With SLAMTEC Fusion Reality Algorithm embedded in this
software, you can operate as fast as the speed of light and as precise as the way of laser. You can
catch as many points as your RPLIDAR can, and carry it in your pocket at the back of your jeans.
Since there is no need for an actual surface for interactive using RPLIDAR, you can even use it to
interactive with hologram like what you seen in the movie. We can neither confirm nor deny that Tony
Stark is using our tech in his warehouse.
II. Introduction to the software
SLAMTEC FrameGrabber.NET is an interactive tool configuration software developed by
SLAMTEC that allows users to easily and quickly adjust the size of the touch area and correct the
coordinates with the display system. The configuration software not only supports the emulation of
mouse clicks and drag-and-drop movements, but also integrates the industry-standard TUIO
multi-touch communication protocol, which makes it easy to integrate with mainstream software
systems on the market. Such as UNITY3D, FLASH, VENTUZ, COOLUX and so on.
III. Software Advantages
(1) Support ALL SLAMTEC LIDARs, including A-series, S-series and T1, of which the S2 P LIDAR
can reach a scanning range of 50m.
(2) Easy to calibrate.
(3) Supports both Serial and Ethernet communication.
(4) The touch range can be selected from different models of LIDAR depending on the radius.
(5) Simple installation and calibration, suitable for beginners to get started quickly.
IV. Instructions for use
4.1 Opening the software
Unzip the software package and click on the "Framegrabber.NET" application as shown below.
4.2 Interactive screen setup
In order to ensure the interactive effect of the LIDAR, the LIDAR is usually installed in the
interactive screen area directly above or directly below the position of about 50cm, support
customized settings.
First of all, according to the LIDAR interactive area (interactive wall, floor or screen) of the actual
size to set Size (Width, Height), the unit is mm, for example, the actual size of the interactive wall for
1.92m * 1.08m, then Size Width = 1920, Height = 1080.
Next, according to the actual installation location of the LIDAR Bias parameter settings, if the
LIDAR is installed in the interactive area of the lower position, usually Bias Width is set to -1/2 *
Size.Width = -960, Bias Height is set to the center of the LIDAR distance from the bottom of the
interactive area of the actual distance of the 200, as shown in the following schematic diagram 1.
Depending on the installation angle of the LIDAR, the LIDAR coordinate system is supported to
be adjusted and flipped as shown in the figure below.
4.3 LIDAR communication parameter setting
4.3.1 Serial communication LIDAR settings
Refer to the user manual of the LIDAR product, install the USB serial port driver and select the
corresponding port number, and also select the corresponding communication baud rate according
to the LIDAR model. As shown in the figure below.
NOTE:
The driver can be found in the provided SDK
package or downloaded from Silicon Labs’official website:
CP210x USB to UART Bridge VCP Drivers - Silicon Labs (silabs.com)
Model
A1
A2
A3
S1
S2
S3
baud
115200
256000
256000
256000
1000000
1000000
4.3.2 Ethernet Communication LIDAR Setting
Enter the IP address and port number corresponding to the LIDAR and select TCP mode.
4.4 Mouse Emulation
LIDAR Interactive can emulate mouse movements, mainly consisting of clicking and dragging.
As shown in the figure below.
4.5 Multi-touch
The software supports multi-touch and TUIO data output. It is recommended to use TUIO data
output with MMERGING and TUIO checkbox configuration, where the TUIO port is configured as
3333, as shown in the following figure.
You can change the port to any number you need, but the port setting will only be effective after restating
this software since you will not want to messing up with other software. The lifetime option decides how
many frames a cursor could live after an object has left the tracking area. Max speed is the largest distance in
pixels one cursor could move between two frames, that if it moves larger than this number, it will be taken as
two different frames. Merge distance decide the minimum distance in mm between two objects if they need
to be considered as different cursors. This number should be larger than 30.
4.6 LIDAR control
After completing the screen setup, LIDAR communication configuration, and mouse emulation
and TUIO mode configuration, remember click Save Configuration. LIDAR scanning can then be
turned on as shown below.
4.7 Map adjustments
Map Tweak allows you to adjust the extent of the map in the viewing area and rotate the map as
shown below. This will only affect display. So if you found cursors moving opposite to your
movements, use flip settings in screen setting.
4.8 Motor speed
This could change the rotation speed of your Lidar. For S series, this number is in RPM (rotation per
minute). For earlier model, please refer to their user manual. FPS shows the refreshing rate of point
cloud map. This is not strictly equals to the actual speed of Lidar motor.
4.9 Filter options
Filter is only available for multi-touch TUIO mode. Point will move smoother with filter on at the cost
of latency. The Q and R value are used to balancing smoothing and jelly. Higher Q and lower R
allows you move faster. While these lags are usually acceptable since it’s much smaller than the
latency of your display.
4.10 Installation example
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