This repository provides the CAD files (with suffix “*.SLDPRT and *.SLDASM”) for our handheld device, which can be opened and edited with Solidworks. All of the modules are suitable for printing with FDM (Fused Deposition Modeling). In addition, we have also open-sourced our hardware synchronization scheme, as well as the STM32 source code and hardware wiring configuration instructions.
Contributors: Sheng Hong and Chunran Zheng
├── My_handhold/ - CAD source files
│ ├── ...
├── livox_ros_driver/ - Livox LiDAR ROS driver
│ ├── ...
├── livox_sdk/ - Livox LiDAR SDK
│ ├── ...
├── mvs_ros_pkg/ - Camera driver
│ ├── ...
└── stm32_timersync-open/ - Embedded engineering folder
│ ├── USER/ - Main functionality folder
│ ├── ...
└── README.md - Project homepage document
└── ...
The assembly instructions are demonstrated in the GIFs below. Each module is clearly labeled corresponding to the name of its STL file.
The guide for the electronic connections is presented as follows:
| Livox AVIA LiDAR M12 | Peripheral Function | Diagram |
|---|---|---|
| PIN 1 | Power: + |
 AVIA 12-Pin Interface, top: female bottom: male |
| PIN 2 | Power: - | |
| PIN 7 | Ethernet: right PIN3 | |
| PIN 6 | Ethernet: left PIN3 | |
| PIN 5 | Ethernet: green PIN2 | |
| PIN 4 | Ethernet: green / white | |
| PIN 11 | STM32 PWM- GND | |
| PIN 12 | STM32 PWM+ PB5 |
| MVS Camera 6PIN | Name | I/O Type | Description | Peripheral Function | Diagram |
|---|---|---|---|---|---|
| PIN 1 | DC_PWR | -- | Power Supply |
 MVS Camera 6-Pin Interface |
|
| PIN 2 | OPTO_IN | Line 0+ | Optical Isolation Input | STM32 PA1 | |
| PIN 3 | GPIO | Line 2+ | General Purpose Input/Output | ||
| PIN 4 | OPTO_OUT | Line 1+ | Optical Isolation Output | ||
| PIN 5 | OPTO_GND | Line 0- / 1- | Optical Isolation Ground | STM32 GND | |
| PIN 6 | GND | Line 2- | Ground |
| Item | Pics | Purchasing list |
|---|---|---|
| Livox Avia LiDAR |  |
Livox Avia |
| CMOS |  |
MV-CA013-21UC |
| Camera Len |  |
Len 6mm |
| STM32 |  |
STM32F103C8T6 |
| Screen |  |
IPS Screen 14'' |
| Battery |  |
4800mah |
The source code is released under GPLv2 license.
If you use any code of this repo in your academic research, it will be very appreciated if you can cite any of our following papers:
[1] Zheng, Chunran, et al. "FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry."
[2] Hong, Sheng, et al. "Rollvox: real-time and high-quality LiDAR colorization with rolling shutter camera."