Velodyne Acoustics HDL-64E S2 APPendix c diGitaL sensor recorder dsr, Click the Record button

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aPPendix c: diGitaL sensor recorder (dsr)

HDL-64E S2 and S2.1 User’s Manual

Record Data

1.Confirm the input of streaming data through the live playback feature.

2.Click the Record button.

RECORD button =

5.Enter the name and location for the pcap file to be created.

6.Recording begins immediately once the file information has been entered.

7.Click Record again to discontinue the capture.

8.String multiple recordings together on the same file by performing the Record function repeatedly. A new file name isn’t requested until after the session has been aborted.

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

Playback of Recorded Files

1.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.

2.Press the Play button to render the file. The Play button toggles to a Pause button when in playback mode.

PLAY button =

PAUSE button =

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

FORWARD button =

REVERSE button =

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 are different than those on your CD..

Figure 6. 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-64E S2 and S2.1Box Front/Back Mounting Side Mounting Top Mounting WiringReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage Introduction S2.1Box HDL-64E S2 design overview PrinciPLes of oPerationFront/Back Mounting InstaLLation oVerVieWSide HDL mounting illustration Side MountingTop HDL mounting illustration Top MountingUsaGe WiringUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerEstablish communication with the sensor Db.xml Calibration ParametersParameter Unit Description Values Change Run-Time Parameters Sample Batch File .batSample SERCMD.txt file Command Description Parameters Available commandsLimit Horizontal FOV Data Collected Control Spin RateDestination Define Sensor Memory IP Source and Destination AddressesUpload Calibration Data External GPS Time SynchronizationGPS Equipment Time Stamping Accuracy Rules Packet Format and Status Byte for GPS Time StampingGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingHDL software update screen capture FirMWare uPdateAPPendix a MechanicaL draWinGs Isometric ViewAPPendix B WirinG diaGraM Install APPendix c diGitaL sensor recorder dsrDigital Sensor Recorder DSR Click the Record button APPendix c diGitaL sensor recorder dsrAxis Rotation ZoomShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling Data Packet Format APPendix e 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 #7658 Packet #7657APPendix f duaL tWo Point caLiBration MethodoLoGy Dual Two Point Calibration Methodology and Code SamplesCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Compensation vs Distance Calibration WindowIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy HDL-64E Ethernet Timing Table Overview APPendix G ethernet transit tiMinG taBLeLaser Numbers 0-7 & 32-39 Lower,Upper How to use this table The table represents a sensorAPPendix h Laser and detector arranGeMent RPM RPS APPendix i anGuLar resoLutionTrouBLeshootinG Problem ResolutionSerVice and Maintenance 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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