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Customizable LIDAR v.1.2 (example mc)

Main features and characteristics

• Supports any monitor size
• Can work with 1 or up to 16 sensors
• Refresh rate, modes: 2x2, 4x4, 8x8 - 15 fps, 3.7 fps, 0.9 fps
• Custom colors!
• FOV range: 90* - 2.8*
• Low performance impact

• Build an array of sensors, with dimensions from 1x1 up to 4x4
• Place mc, connect all the sensors. For help look at the example #2, Orange
• Place and connect monitor, 3 keypads or levers for the FOV and range change, and a toggle button


You can build any rectangular shape array, from 1x1 up to 4x4. You can build 1x3, 2x4, 4x3, basically any combination. Sensors can be toggled infrared to hide lasers. It is important to keep arrow directions of all sensors pointing the same way, with little arrow pointing upwards. Each sensor will create 2x2, 4x4 or 8x8 "segment", the more sensors you'll have, the higher total resolution you'll get. Lower resolution higher refresh rate, i.e. you can have 1 sensor rendering 8x8 segment at 1 fps, or 16 sensors rendering 2x2 segments but same total resolution at 15 fps


The mc treats sensor array as a 2 dimensional matrix, X labeled by numbers from 1 to 4, left to right. Y labeled with letters from A to D, up to down. When connecting it is important to start from A1, and go to D4. For example, 2x3 or 3x2 array must be connected to A1; A2; B1; B3; C1; C2 or A1; A2; A3; B1; B2; B3 and not like A1; A2; A3; A4; B1; B2 or C1; C2; C3; D1; D2; D3 etc. See examples #2, 3, 7, 8 , 10 and 11.


As I said, you can pick whatever size monitor you desire, yes, that's right, 1x1 array will work with 5x9 monitor and 4x4 array will work with 1x1 monitor. More to that, even weird arrays like 1x4 will work with 1x3 monitors! It's not the most practical thing to do tho, best picture can be achieved by matching array and monitor aspect ratios. It doesn't matter if the array is even and monitor are not and vice versa. You can connect a couple of monitors to the same controller, however, they all must be the same type of monitor.


You'll need to connect minimal, maximal distance and zoom (FOV) via 3 channel encoder. Max distance is channel 17, minimal 19 and zoom is 18. Zoom is optional, by default set to 90* wide fov. On/Off is toggling whole controller so it won't load anything when off, even though it barely affects performance at max resolution.


In the controller properties, you'll find a few options:
• Number of sensors, X and Number of sensors, Y: This is dimensions of your array, 1x1 by default, 4x4 maximum
• Resolution (segment): Basically how much pixels one sensor will render. Higher resolutions result in lower refresh rate. 4x4 by default
• Monitor resolution, X and Monitor resolution, Y: Resolution of your monitor. If you don't remember resolution of a monitor, simply multiply it's dimensions by 32. 64x64 or 2x2 monitor by default
• Color start, Color middle, Color end: First color is the nearest distances, second is the middle distances, third is the furthest distances
• Color A: Alpha channel. 255 by default. I found it useless only worsening image quality, but it still here if you want to experiment with that, or it could be useful for HUD displays


In short, it works just like real LiDaR would work. Scan area, create depth map

Whole system runs of a clock, and each clock step lua sends position where laser should go, at the same time reading laser's output and placing pixel on a screen. Clock runs at game tick speed or 60 ticks per second, this is fundamental limitation of how fast you can read and draw from one sensor, thus this controller focused on running multiple distance sensors in parallel. Pixels placed in screen coordinates, and do not have any world data. In other words, this is mapping tool and not projection

Also, probably should say that in the beginning: This is rather proof of concept/hobby project and it might need some optimization. I'm planning to use this thing in my future projects, I'll update this mc. Perhaps
Anyway, this can be used as a platform for your own builds, like adding radar to that or some UI, touchscreen whatever you might think off. It's basically built to be customizable.

If you have any suggestions feel free to leave a comment!
If you want to publish it in your creation or publish modified version credit is welcome
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Fix - Gamma correction
Fix - Added minimal distance feature

Rework - Moved range and fov inputs to composite
Rework - Added 3 point gradient instead of single color with black fade
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Peace \/