Velodyne Acoustics HDL-64E S2.1 user manual APPendix c diGitaL sensor recorder dsr, Install

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aPPendix c: diGitaL sensor recorder (dsr)

HDL-64E S2 and S2.1 User’s Manual

Digital Sensor Recorder (DSR)

DSR is a 3D point-cloud visualization software program designed for use with the sensor. This software is an “out of the box” tool for the rendering and recording of point cloud data from the HDL unit.

You can develop visualization software using the DSR as a reference platform. A code snippet is provided on the CD to aid in understanding the methods at which DSR parses the data points generated by the HDL sensor. See page 20 for more information.

Install

To install the DSR on your computer:

1.Locate the DSR executable program on the provided CD.

2.Double-click this DSR executable file to begin the installation onto a computer connected to the sensor. We recommend that you use the default settings during the installation.

3.Copy the db.xml file supplied with the sensor into the same directory as the DSR executable (defaults to c:\program files\ Digital Sensor Recorder). You may want to rename the existing default db.xml that comes with the DSR install.

Failure to use the calibration db.xml file supplied with your sensor will result in an inaccurate point cloud rendering in DSR.

Calibrate

The db.xml file provided with the sensor contains correction factors for the proper alignment of the point cloud information gathered for each laser. When implemented properly, the image viewable from the DSR is calibrated to provide an accurate visual representation of the environment in which the sensor is being used. Also use these calibration factors and equations in any program using the data generated by the unit.

Live Playback

For live playback:

1.Secure and power up the sensor so that it is spinning.

2.Connect the RJ45 Ethernet connector to your host computer’s network connection. You may wish to use auto DNS settings for your computers network configuration.

3.Open DSR from your desktop icon created during the installation.

DSR desktop icon =

4.Select Options from the menu.

5.Select the proper input device.

6.Go to Options again.

7.Deselect the Show Ground Plane option. (Leave this feature off for the time being or until the ground plane has been properly adjusted).

8.(Optional) Go to Options > Properties to change the individual settings for each LASER channel.

9.Provided that your computer is now receiving data packets, click the Refresh button to start live viewing of a point cloud. The initial image is of a directly overhead perspective. See page 19 for mouse and key commands used to manipulate the 3D image within the viewer.

REFRESH button =

The image can be manipulated in all directions and become disorienting. If you lose perspective, simply press F1 to return to the original view.

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Contents HDL-64E S2 and S2.1 E R ’ S M a N U a L a N DFront/Back Mounting Side Mounting Top Mounting Wiring BoxReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage Box IntroductionS2.1 PrinciPLes of oPeration HDL-64E S2 design overviewInstaLLation oVerVieW Front/Back MountingSide Mounting Side HDL mounting illustrationTop Mounting Top HDL mounting illustrationWiring UsaGeUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerParameter Unit Description Values Establish communication with the sensorDb.xml Calibration Parameters Sample SERCMD.txt file Change Run-Time ParametersSample Batch File .bat Available commands Command Description ParametersControl Spin Rate Limit Horizontal FOV Data CollectedDefine Sensor Memory IP Source and Destination Addresses DestinationUpload Calibration Data External GPS Time SynchronizationGPS Equipment Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingFirMWare uPdate HDL software update screen captureIsometric View APPendix a MechanicaL draWinGsAPPendix B WirinG diaGraM Digital Sensor Recorder DSR InstallAPPendix c diGitaL sensor recorder dsr APPendix c diGitaL sensor recorder dsr Click the Record buttonZoom Axis RotationShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling APPendix e data PacKet forMat Data Packet FormatFirmware version 4.07 sheet 1 Firmware version 4.07 sheet 2 Firmware version 4.07 sheet 3 Last Six Bytes Examples 40 = Ver Packet #7657 Packet #7658Coordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGyDual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Value Corrected by Distance Code Intensity Compensation vs DistanceCalibration Window APPendix f duaL tWo Point caLiBration MethodoLoGy APPendix G ethernet transit tiMinG taBLe HDL-64E Ethernet Timing Table OverviewHow to use this table The table represents a sensor Laser Numbers 0-7 & 32-39 Lower,UpperAPPendix h Laser and detector arranGeMent APPendix i anGuLar resoLution RPM RPSSerVice and Maintenance TrouBLeshootinGProblem Resolution SPecifications Velodyne LiDAR, Inc

HDL-64E S2, HDL-64E S2.1 specifications

The Velodyne Acoustics HDL-64E S2.1 and HDL-64E S2 represent cutting-edge advancements in Lidar technology, specifically designed for autonomous vehicle navigation and mapping applications. These high-definition lidar sensors are acclaimed for their precision, reliability, and robustness, making them indispensable tools in various industries, from robotics to transportation.

One of the defining features of the HDL-64E series is its 64 laser channels, which allow for high-resolution 3D mapping of the environment. This multi-channel design significantly improves the sensor's ability to capture fine details in the surrounding area, providing a complete spatial representation necessary for autonomous driving. The HDL-64E S2.1 and S2 can generate dense point clouds with over 1.3 million points per second, facilitating real-time data acquisition and processing capabilities.

The HDL-64E series employs advanced technologies for optimal performance. Its 360-degree horizontal field of view and a vertical field of view ranging from -15 to +15 degrees allow the sensors to detect and classify objects in a comprehensive manner. This feature is crucial for ensuring the safety and efficacy of autonomous vehicles, as it enables them to perceive their surroundings from multiple angles.

In terms of accuracy, the HDL-64E models boast a measurement range of up to 120 meters, with an accuracy of ±2 centimeters. This level of precision ensures that autonomous systems can make informed decisions based on reliable data, essential for avoiding obstacles and navigating complex environments.

The sensors are designed to operate effectively in a range of environmental conditions. With IP67-rated waterproofing and robustness against dust and debris, the HDL-64E S2.1 and S2 are built to withstand challenging operating environments, thus ensuring continuous, dependable performance.

Integration of the HDL-64E series into existing systems is streamlined, thanks to its advanced Ethernet interface. This functionality makes it easier for developers to incorporate the Lidar data into existing software frameworks, enhancing the usability of the sensor in various applications.

In summary, the Velodyne Acoustics HDL-64E S2.1 and HDL-64E S2 represent a significant leap forward in Lidar technology, featuring high-resolution mapping, advanced detection capabilities, and rugged design. These characteristics make them an ideal choice for companies looking to implement reliable and precise sensing solutions in their autonomous systems.
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