Velodyne Acoustics HDL-32E user manual APPendix a, Playback of Recorded files

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aPPendix a

HDL-32E User’s Manual

Once the input of streaming data has been confirmed through the live playback feature, click on the Record button and the program will request the name and location for the pcap file to be created. Recording will begin immediately once the file information has been entered. Click on the Record button again to discontinue the capture. One can string multiple recordings together on the same file by performing the Record function repeatedly. A new file name will not be requested until after the session has been aborted.

note: An Ethernet capture utility such as Wireshark can also be used as a pcap capture utility.

Playback of Recorded files:

Use the File › Open command to open a previously captured pcap file for playback. The DSR playback controls are similar to any DVD/VCR control features.

PLAY button =

PAUSE button =

Press the Play button to render the file. The Play button will alternate to Pause when in playback mode.

FORWARD button =

REVERSE button =

Use the Forward and Reverse buttons to change the direction of playback.

note: The X, Y, Z and distance figures at the bottom of the image represent the distance of the x, y, z crosshairs with respect to the origin point indicated by the small white circle. The concentric gray circles and grid lines represent 10 meter increments from the sensor.

Following is an example image of the calibration values as seen in DSR/File/Properties screen. Values will be different than those on your CD.

Figure 3. Calibration values as seen in DSR/File/Properties

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Contents E R ’ S M a N U a L a N D HDL-32EHDL-32E Sample Data Packets Digital Sensor Recorder DSRCoordinate Calculation Algorithm Sample Code Calibration and OrientationPage Introduction Principles of Operation PrinciPLes of oPerationMount Base SetuPCase Contents Wiring Connect Power and ComputerOperate WeatherIP Address UsaGeHDL-32 MAC ID and IP address format Mac ID UsaGe GPS Receiver Option 2 Customer’s GPS Receiver External GPS Time SynchronizationGPS Receiver Option 1 Velodyne Supplied GPS Receiver Images below show the GPS receiver included with the HDL-32E Laser Timing Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules Vertical angle Laser Firing SequenceFiring order SerVice and Maintenance TrouBLesHootinGProblem Resolution SPecifications APPendix a diGitaL sensor recorder dsr InstallCalibrate Live PlaybackPlayback of Recorded files APPendix aAxis Rotation ZoomShift RotationalData Packet Format APPendix B HdL-32e saMPLe data PacKetsAPPendix B Figure B2 Positioning PacketFigure B3 Nmea Sentence Time StampEthernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code Calibration and Orientation APPendix d caLiBration and orientationLaser Spot Size Distance CalibrationAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc
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