DIY 360° LiDAR Scanner on a Raspberry Pi

This project details the creation of PiLiDAR, a DIY 360° LiDAR scanner built on a Raspberry Pi 4. Using an LDRobot LD06/LD19/STL27L LiDAR, a Raspberry Pi HQ camera, and a stepper motor, this project leverages custom serial drivers, hardware PWM calibration, and image stitching techniques to achieve 360° panoramic scanning and 3D scene reconstruction. The project also covers GPIO configuration, I2C communication, software installation, and provides detailed steps and code examples. The resulting 3D point cloud data can be visualized and exported using Open3D.