LidarTest.py

import threading
import PyLidar3
import matplotlib.pyplot as plt
import math    
import time

def draw():
    global is_plot
    while is_plot:
        plt.figure(1)
        plt.cla()
        plt.ylim(-9000,9000)
        plt.xlim(-9000,9000)
        plt.scatter(x,y,c='r',s=8)
        plt.pause(0.001)
    plt.close("all")
    
                
is_plot = True
x=[]
y=[]
for _ in range(360):
    x.append(0)
    y.append(0)

port =  input("Enter port name which lidar is connected:") #windows
Obj = PyLidar3.YdLidarX4(port)  #PyLidar3.your_version_of_lidar(port,chunk_size)
threading.Thread(target=draw).start()
if(Obj.Connect()):
    print(Obj.GetDeviceInfo())
    gen = Obj.StartScanning()
    t = time.time() # start time 
    while (time.time() - t) < 300: #scan for 30 seconds
        data = next(gen)
        for angle in range(0,360):
            if(data[angle]>1000):
                x[angle] = data[angle] * math.cos(math.radians(angle))
                y[angle] = data[angle] * math.sin(math.radians(angle))
    is_plot = False
    Obj.StopScanning()
    Obj.Disconnect()
else:
    print("Error connecting to device")