Velodyne Acoustics HDL-64E S2.1 user manual Velodyne LiDAR, Inc

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Velodyne LiDAR, Inc.

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Morgan Hill, CA 95037

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63HDL64E S2 Rev D MAY11

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Contents

E R ’ S M a N U a L a N D HDL-64E S2 and S2.1Last Six Bytes Examples Front/Back Mounting Side Mounting Top Mounting WiringBox Reading Calibration and Sensor Parameter DataPage S2.1 IntroductionBox HDL-64E S2 design overview PrinciPLes of oPerationFront/Back Mounting InstaLLation oVerVieWSide HDL mounting illustration Side MountingTop HDL mounting illustration Top MountingDevelop Your Own Application-specific Point-cloud Viewer WiringUsaGe Use the Included Point-cloud ViewerDb.xml Calibration Parameters Establish communication with the sensorParameter Unit Description Values Sample Batch File .bat Change Run-Time ParametersSample SERCMD.txt file Command Description Parameters Available commandsLimit Horizontal FOV Data Collected Control Spin RateExternal GPS Time Synchronization Define Sensor Memory IP Source and Destination AddressesDestination Upload Calibration DataGPS Equipment Laser Firing Sequence and Timing Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules GPS Connection Timestamp Info AccuracyHDL software update screen capture FirMWare uPdateAPPendix a MechanicaL draWinGs Isometric ViewAPPendix B WirinG diaGraM APPendix c diGitaL sensor recorder dsr InstallDigital Sensor Recorder DSR Click the Record button APPendix c diGitaL sensor recorder dsrRotational ZoomAxis Rotation ShiftAPPendix 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 #7657Dual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGyCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Calibration Window Intensity Compensation vs DistanceIntensity 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 sensor APPendix h Laser and detector arranGeMent RPM RPS APPendix i anGuLar resoLutionProblem Resolution TrouBLeshootinGSerVice and Maintenance SPecifications Velodyne LiDAR, Inc