63-Hdl64es2g Hdl-64e s2 CD Hdl-64e s2 Users Manual Low Res

7/31/2019 63-Hdl64es2g Hdl-64e s2 CD Hdl-64e s2 Users Manual Low Res

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U S E R S M A N U A L A N D

P R O G R A M M I N G G U I D E

Firmware Version 4.07

HDL-64ES2

and S2.1

High Definition LiDAR Sensor


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i SAFETY NOTICES

1 INTRODUCTION

InTheBox

2 PRINCIPLES OF OPERATION

3 INSTALLATION OVERVIEW

3 FrontlBackMounting

4 SideMounting

5 TopMounting

6 Wiring

6 USAGE

6 UsetheIncludedPoint-cloud Viewer

6 DevelopYourOwnApplication-specific

Point-cloud Viewer

7 db.xmlCalibrationParameters

8 ChangeRun-TimeParameters

1O ControlSpinRate

ChangeSpinRateinFlashMemory

ChangeSpinRateinRAMOnly

1O LimitHorizontalFOVdataCollected

11 DefineSensorMemoryIPSource

andDestinationAddresses

11 UploadCalibrationData

11 ExternalGPSTimeSynchronization

GPSReceiverOption1:VelodyneSuppliedGPSReceiver

GPSReceiverOption2:

CustomerSuppliedGPSReceiver

13 PacketFormatandStatusBytefor GPSTimeStamping

13 TimeStampingAccuracyRules

13 LaserFiringSequenceandTiming

14 FIRMWARE UPDATE

15 APPENDIX A: MechanicalDrawings

16 APPENDIX B: WiringDiagram

17 APPENDIX C: DigitalSensorRecorder(DSR)

17 Install

17 Calibrate

17 LivePlayback

18 RecordData

18 PlaybackofRecordedFiles

19 DSRKeyControls

19 DSRMouseControls

2O APPENDIX D: MatlabSampleCode

22 ReadingCalibrationandSensorParameterData

23 APPENDIX E: DataPacketFormat

27 LastSixBytesExamples

3O APPENDIX F: DualTwoPoint CalibrationMethodology

34 APPENDIX G: EthernetTransmitTimingTable

36 APPENDIX H: LaserandDetectorArrangement

37 APPENDIX I: AngularResolution

38 TROUBLESHOOTING

38 SERVICE AND MAINTENANCE

39 SPECIFICATIONS


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CAUTION SAFETY NOTICE

[i]

Caution

Toreducetheriskofelectricshockandtoavoidviolatingthewarranty,donotopensensorbody.Referservicingtoqualifiedservicepersonnel.

The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulateddangerousvoltagewithintheproductsenclosurethatmaybeofsufficientmagnitudetoconstituteariskofelectricshocktopersons.

The exclamation point symbol is intended to alert the user to the presence of important operating andmaintenance(servicing)instructionsintheliteratureaccompanyingtheproduct.

1. ReadInstructions Allsafetyandoperatinginstructionsshouldbereadbeforetheproductisoperated.2. RetainInstructions Thesafetyandoperatinginstructionsshouldberetainedforfuturereference.3. HeedWarningsAllwarningsontheproductandintheoperatinginstructionsshouldbeadheredto.4. FollowInstructions Alloperatinganduseinstructionsshouldbefollowed.5. ServicingTheusershouldnotattempttoservicetheproductbeyondwhatisdescribedintheoperating

instructions.AllotherservicingshouldbereferredtoVelodyne.

1


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INTRODUCTION HDL-64E S2 and S2.1 Users Manual

[ 1]

CongratulationsonyourpurchaseofaVelodyneHDL-64ES2orS2.1HighDefinitionLiDARSensor.Thesesensorsrepresenta

breakthroughinsensingtechnologybyprovidingmoreinformationaboutthesurroundingenvironmentthanpreviouslypossible.

TheHDL-64ES2orS2.1HighDefinitionLiDARsensorsarereferredtoasthesensorthroughoutthismanual.

Thismanualandprogrammingguidecovers:

InstallationandwiringHDL-64-ADAPT(GPSAdaptorBox)

Thedatapacketformat

Theserialinterface

Softwareupdates

GPSinstallationnotes

Viewingthedata

Programminginformation

ThismanualappliestothetwoversionsoftheHDL-64Esensor,theS2andS2.1,unlessotherwiseindicated.Thetablebelowcomparesthe

laserlayout,verticalfieldofview(VFOV)andprimaryapplicationofthetwoversions.

HDL-64EVersion LowerLaserBlock UpperLaserBlock VerticalFieldofView(VFOV) PrimaryApplication

S2 32lasersseparatedby

%verticalspacing

32lasersseparatedby

1/3verticalspacing

+2to-24.8 Autonomousnavigation

S2.1

(duallowerblock)

32lasersseparatedby

%verticalspacing

32lasersseparatedby

%verticalspacing

31.5 3Dmapping

Forthelatestupdatestothismanual checkwww.velodynelidar.com.

In the Box

Eachshipmentcontains:

Sensor

HDL-64-ADAPT(GPSAdaptorBox)

Wiringharness

CDwithusermanual,calibrationfile(db.xml),timingtablecalculationfile(.xls)andDSRviewer
http://www.velodynelidar.com/http://www.velodynelidar.com/


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PRINCIPLES OF OPERATION HDL-64E S2 and S2.1 User

[ 2]

s ManuaI

Thesensoroperates,insteadofasinglelaserfiringthrougharotatingmirror,with64lasersfixedmountedonupperandlowerlaserblocks,

eachhousing32lasers.Bothlaserblocksrotateasasingleunit.Withthisdesigneachofthelasersfirestensofthousandsoftimesper

second,providingexponentiallymoredatapoints/secondandamoredata-intensivepointcloudthanarotatingmirrordesign.Thesensor

deliversa360horizontalFieldofView(HFOV)anda26.8verticalFOV(31.5VFOVfortheS2.1).

Additionally,state-of-the-artdigitalsignalprocessingandwaveformanalysisareemployedtoprovidehighaccuracy,extendeddistance

sensingandintensitydata.Thesensorisratedtoprovideusablereturnsupto120meters.Thesensoremploysadirectdrivemotor

systemwithnobeltsorchainsinthedrivetrain.

Seethespecificationsattheendofthismanualformoreinformationaboutsensoroperatingconditions.

Laser

Emitters(Groupsof16)

Laser

Receivers(Groupsof32)

Motor

Housing

Housing(Entireunitspins

at5-20Hz)

Figure1.HDL-64ES2designoverview.


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[ 3]

INSTALLATION OVERVIEW HDL-64E S2 and S2.1 Users Manual

Thesensorbaseprovidesthefollowingmountingoptions:

Front/Backmount(Figure2)

Sidemount(Figure3)

Topmount(Figure4)

Thesensorcanbemountedatanyanglefrom0to90withrespecttoitsbase.RefertoAppendixAforcompletedimensions.Forall

mountingoptions,mountthesensortowithstandvibrationandshockwithoutriskofdetachment.Althoughhelpfulforlongerlife,theunit

doesntneedtobeshockproofedasitsdesignedtowithstandstandardautomotiveG-forces.

Thesensorisweatherproofedtowithstandwind,rainandotheradverseweatherconditions.Thespinningofthesensorhelpsitshedexcess

waterfromthefrontwindowthatcouldhamperperformance.

Front/Back Mounting

[152.4mm

]6.00

TwoM8-1.25mmx12mmdeepmountingpoints. (Twoperside,foratotalof8.)

[203.2mm]

8.00[21mm]

.83

[25.4mm]

1.00 Mounting

Base

Figure2.FrontandbackHDLmountingillustration.


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INS

[ 4]

TALLATION OVERVIEW HDL-64E S2 and S2.1 Users Manual

Side Mounting

Mounting

Base

[152.4mm]

6.00

[21mm]

.83[25.4mm]

1.00

[203.2mm]

8.00

Figure3.SideHDLmountingillustration.


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INSTALLATION OVERVIEW HDL-64E

[ 5]

S2 and S2.1 Users Manual

Top Mounting

Four 0.41 [10.3mm] throughholes for top mount option tosecuretheHDLtothevehicle.

[33.8mm]

1.33

[177.8mm]7.00

[177.8mm]

7.00

[12.7mm]

.50 [12.7mm].50

Figure4.TopHDLmountingillustration.


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INS

[ 6]

TALLATION OVERVIEW HDL-64E S2 and S2.1 Users Manual

Wiring

Thesensorcomeswithapre-wiredconnector,wiredwithpower,DB9serialandstandardRJ45Ethernetconnectors.Theconnectorwiresare

approximately10[3meters]inlength.

Power.Connecttheredandblackwirestovehiclepower.Besureredispositivepolarity.THESENSORISRATEDONLYFOR12-16

VOLTS.Anyvoltageappliedover16voltscoulddamagethesensor.Thesensordraws4-6AMPSduringnormalusage.

Thesensordoesnthaveapowerswitch.Itspinswheneverpowerisapplied.

LockoutCircuit.Thesensorhasalockoutcircuitthatpreventsitslasersfromfiringuntilitachievesapproximately300RPMs.

Ethernet.ThisstandardEthernetconnectorisdesignedtoconnecttoastandardPC.

ThesensorisonlycompatiblewithnetworkcardsthathaveeitherMDIorAUTOMDIXcapability.

SerialInterfaceRS-232DB9.Thisstandardconnectorallowsforafirmwareupdatetobeappliedtothesensor.Velodynemayrelease

firmwareupdatesfromtimetotime.ItalsoacceptscommandstochangetheRPMoftheunit,controlHFOV,changetheunitsIPaddress,andotherfunctionsdescribedlaterinthismanual.

WiringDiagram.Ifyouneedtowireyourownconnectorforyourinstallation,refertothewiringdiagraminAppendixB.

USAGEThesensorneedsnoconfiguration,calibration,orothersetuptobeginproducingusabledata.Oncetheunitismountedandwired,supplying

itpowercausesittostartscanningandproducingdatapackets.

Use the Included Point-cloudViewer

ThequickestwaytoviewthedatacollectedasanimageistousetheincludedDigitalSensorRecorder(DSR).DSRisVelodynespoint-cloudprocessingdataviewersoftware.DSRreadsinthepacketsfromthesensoroverEthernet,performsthenecessarycalculationstodetermine

pointlocationsandthenplotsthepointsin3DonyourPCmonitor.YoucanobservebothdistanceandintensitydatathroughDSR. Ifyou

haveneverusedthesensorbefore,thisistherecommendedstartingpoint.FormoreoninstallingandusingDSR,seeAppendixC.

Develop Your Own Application-specificPoint-cloudViewer

Manyuserselecttodeveloptheirownapplication-specificpointcloudtrackingandplottingand/orstoragescheme,whichrequiresthese

fundamentalsteps:

1.Establishcommunicationwiththesensor.

2.Createacalibrationtableeitherfromthecalibrationdataincludedin-streamfromthesensororfromtheincludeddb.xmldatafile.

3.Parsethepacketsforrotation,block,distanceandintensitydata

4.Applythecalibrationfactorstothedata.5.Plotorstorethedataasneeded.


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[ 7]

USAGE HDL-64E S2 and S2.1 Users Manual

Thefollowingprovidesmoredetailoneachoftheabovesteps.

1.Establishcommunicationwiththesensor.

ThesensorbroadcastsUDPpackets.Byusinganetworkmonitoringtool,suchasWireshark,youcancaptureandobservethe

packetsastheyaregeneratedbythesensor.SeeAppendixEfortheUDPpacketformat.ThedefaultsourceIPaddressforthe

sensoris192.168.3.043,andthedestinationIPaddressis192.168.3.255.TochangetheseIPaddresses,seepage11.

2.Createaninternalcalibrationtableeitherfromthecalibrationdataincludedin-streamfromthesensororfromtheincluded

db.xmldatafile.

Thistablemustbebuiltandstoredinternaltothepoint-cloudprocessingsoftware.Theeasiestandmostreliablewaytobuildthe

calibrationtableisbyreadingthecalibrationdatadirectlyfromtheUDPdatapackets.AMatLabexampleofreadingandbuilding

suchatablecanbefoundinAppendixDandontheCDincludedwiththesensornamedCALTABLEBUILD.m.

Alternatively, the calibration datacanbe found in the included db.xml file foundon theCD includedwith thesensor.Adescriptionof the

calibrationdataisshowninthefollowingtable.

db.xml Calibration Parameters

Parameter Unit Description Values

rotCorrection degree Therotationalcorrectionangleforeachlaser,asviewedfromthebackoftheunit.

Positivefactorsrotatetotheleft.

Negativevaluesrotateto

theright.

vertCorrection degree Theverticalcorrectionangleforeachlaser,asviewedfromthebackoftheunit.

Positivevalueshavethelaser

pointingup.

Negativevalueshavethelaser

pointingdown.

distCorrection cm Fardistancecorrectionofeachlaserdistanceduetominorlaserpartsvariances.

Adddirectlytothedistancevalue

readinthepacket.

distCorrectionX cm ClosedistancecorrectioninXofeachlaserdueto

minorlaserpartsvariancesinterpolatedwithfardistancecorrectionthenappliedtomeasurementinX.

distCorrectionY cm ClosedistancecorrectioninYofeachlaserduetominorlaserpartsvariancesinterpolatedwithfar

distancecorrectionthenappliedtomeasurementinY.

vertOffsetCorrection cm Theheightofeachlaserasmeasuredfromthebottomofthebase.

Onefixedvalueforallupper

blocklasers.

Anotherfixedvalueforalllower

blocklasers.

horizOffsetCorrection cm Thehorizontaloffsetofeachlaserasviewedfromthebackofthelaser.

Fixedpositiveornegativevalue

foralllasers.

MaximumIntensity Valuefrom0to255.Usually255.

MinimumIntensity Valuefrom0to255.Usually0.

FocalDistance Maximumintensitydistance.

FocalSlope Thecontrolintensityamount.

Thecalibrationtable,onceassembled,contains64instancesofthecalibrationvaluesshowninthetableabovetointerpretthepacketdatato

calculateeachpointspositionin3Dspace.Usethefirst32pointsfortheupperblockandthesecond32pointsforthelowerblock.The

rotationalinfofoundinthepacketheaderisusedtodeterminethepacketspositionwithrespecttothe360horizontalfieldofview.


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[ 8]


3.Parsethepacketsfor rotation,block,distanceandintensitydata. EachsensorsLIFOdatapackethasa1206bytepayloadconsisting

of12blocksof100bytefiringdatafollowedby6bytesofcalibrationandotherinformationpertainingtothesensor.

Each100byterecordcontainsablockidentifier,thenarotationalvaluefollowedby323-bytecombinationsthatreportoneachlaserfired

fortheblock.Twobytesreportdistancetothenearest0.2cm,andtheremainingbytereportsintensityonascaleof0-255.12100byte

recordsexist,therefore,6recordsexistforeachblockineachpacket.Formoreonpacketconstruction,seeAppendixE.

4.Applythecalibrationfactorstothedata.Eachofthesensorslasersisfixedwithrespecttoverticalangleandoffsettotherotational

indexdataprovidedineachpacket.Foreachdatapointissuedbythesensor,rotationalandhorizontalcorrectionfactorsmustbeappliedto

determinethepointslocationin3Dspacereferredtobythereturn.Intensityanddistanceoffsetsmustalsobeapplied.Eachsensorcomes

fromVelodynesfactorycalibratedusingadual-pointcalibrationmethodology,explainedfurtherinAppendixF.

Theminimumreturndistanceforthesensorisapproximately3feet(0.9meters).Ignorereturnscloserthanthis.

AfileontheCDcalledHDLSourceExampleshowsthecalculationsusingtheabovecorrectionfactors.ThisDSRusesthiscodeto

determine3Dlocationsofsensordatapoints.

5.Plotor storethedataasneeded. ForDSR,thepoint-clouddata,oncedetermined,isplottedonscreen.Thesourcetodothiscanbe

foundontheCDandisentitledHDLPlottingExample.DSRusesOpenGLtodoitsplotting.

Youmayalsowanttostorethedata.Ifso,itmaybeusefultotimestampthedatasoitcanbereferencedandcoordinatedwithothersensor

datalater.ThesensorhasthecapabilitytosynchronizeitsdatawithGPSprecisiontime.Formoreinthiscapability,seepage11.

Change Run-TimeParameters

Thesensorhasseveralrun-timeparametersthatcanbechangedusingtheRS-232serialport.Forallcommands,usethefollowing

serialparameters:

Baud9600Parity:None

Databits:8

Stopbits:1

Allserialcommands,exceptoneversionofthespinratecommand,storedatainthesensorsflashmemory.Datastoredinflashmemory

throughserialcommandsisretainedduringfirmwareupdatesorpowercycles.

Thesensorhasnoechobackfeature,sonoserialdataisreturnedfromthesensor.Commandscanbesentusingaterminalprogramorby

usingbatchfiles(e.g..bat).Asample.batfileisshownbelow.

SampleBatchFile(.bat)MODE COM3: 9600,N,8,1 COPY SERCMD.txt COM3 Pause

SampleSERCMD.txtfile

Thiscommandsetsthespinrateto300RPMandstoresthenewvalueintheunitsflashmemory.

#HDLRPM0300$


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[ 9]


Availablecommands

Thefollowingrun-timecommandsareavailablewiththesensor:

Command Description Parameters

#HDLRPMnnnn$ Setspinratefrom300to1200RPM

nflashmemory(defaultis600RPM)

nnnnisanintegerbetween0300and1200

#HDLRPNnnnn$ Setspinratefrom300to1200RPM

inRAM(defaultis600RPM)

nnnnisanintegerbetween0300and1200

#HDLIPAssssssssssssdddddddddddd$ Changesourceand/ordestination

IPaddress

ssssssssssssisthesource12-digitIPaddress

ddddddddddddisthedestination12-digit

IPaddress

#HDLFOVsssnnn$ ChangehorizontalFieldofView(HFOV) sss=startingangleindegrees;sssisaninteger

between000and360

nnn=endingangleindegrees;nnnisan

integerbetween000and360

Youcanalsouploadcalibrationdatafromdb.xmlintoflashmemoryanduseGPStimesynchronization.

.


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[ 11]


DefineSensor Memory IPSource and DestinationAddresses

TheHDL-64EcomeswiththefollowingdefaultIPaddresses:

Source:192.168.3.043

Destination:192.168.3.255

TochangeeitheroftheaboveIPaddresses,issueaserialcommandofthecasesensitiveformat#HDLIPAssssssssssssdddddddddddd$

where,

ssssssssssssisthesource12-digitIPaddress

ddddddddddddisthedestination12-digitIPaddress

Useall12digitstosetanIPaddress.Use0(zeros)whereadigitwouldbeabsent.Forexample,192168003043isthecorrectsyntaxforIP

address192.168.3.43.

TheunitmustbepowercycledtoadoptthenewIPaddresses.

Upload CalibrationData

Sensorsusethedb.xmlfileexclusivelyforcalibrationdata.Thecalibrationdatafoundindb.xmlcanbeuploadedandsavedtotheunits

flashmemorybyfollowingthestepsoutlinedbelow.

1.LocatethefilesHDLCAL.bat,loadcal.exe,anddb.xmlontheCDandcopythemtothesamedirectoryonyourPC

connectedtothesensor.

2.EditHDLCAL.battoensurethecopycommandliststherightCOMportforRS-232communicationwiththesensor.

3.RunHDLCAL.batandensuresuccessfulcompletion.

4.Thesensorreceivedandsavedthecalibrationdata.

Toverifysuccessfulloadofthecalibrationdata,ensurethedateandtimeoftheuploadhavebeenupdated. RefertoAppendixEforwherein

thedatapacketsthisdatacanbelocated.

ExternalGPS Time Synchronization

ThesensorcansynchronizeitsdatawithprecisionGPS-suppliedtimepulsessoyoucanascertaintheexactfiringtimeofeachlaserinany

particularpacket.Thefiringtimeofthefirstlaserinaparticularpacketisreportedintheformofmicrosecondssincethetopofthehour,and

fromthattimeeachsubsequentlasersfiringtimecanbederivedviathetablepublishedinAppendixHandincludedontheCD.

CalculatingtheexactfiringtimerequiresaGPSreceivergeneratingasyncpulseandthe$GPRMCNMEArecordoveradedicatedRS-232

serialport.TheoutputfromtheGPSreceiverisconnectedtoanexternalGPSadaptorboxsuppliedbyVelodynethatconditionsthesignal

andpassesittothesensor.TheGPSreceivercaneitherbesuppliedbyVelodyneorthecustomercanadapttheirGPSreceivertoprovide

therequiredsyncpulseandNMEArecord.

GPSReceiverOption1:VelodyneSuppliedGPSReceiver

Velodyneprovidesanoptionalpre-programmedGPSreceiver(HDL-64-GPS)Thisreceiverispre-wiredwithanRS-232connectorthat

plugsintotheGPSadapterbox.Toobtainapre-programmedGPSreceiver,contactVelodynesalesorservice.

GPSReceiverOption2:CustomerSuppliedGPSReceiver

YoucansupplyandconfigureyourownGPSdevice.IfusingyourownGPSdevice:

Issueaonce-a-secondsynchronizationpulse,typicallyoutputoveradedicatedwire.

ConfigureanavailableRS-232serialporttoissueaonce-a-second$GPRMCNMEArecord.Nootheroutputcanbeaccepted

fromtheGPSdevice.

IssuethesyncpulseandNMEArecordsequentially.

Thesyncpulselengthisnotcritical(typicallengthsarebetween20msand200ms)

Startthe$GPRMCrecordbetween50msand500msaftertheendofthesyncpulse.

Configurethe$GPRMCrecordeitherinthehhmmssorhhmmss.sformat.


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USAGE HDL-64E S2 and S2.1 User s Manual

TheimagesbelowshowtheGPSadaptorbox,includedwiththeHDL-64E,andoptionalGPSreceiver.

GPS EQUIPMENT

GPS Adaptor Box

Model No.

HDL-64-ADAPT

(Included)

GPS Receiver

Model No.

HDL-64-GPS

(Optional)

GPS Adaptor Box Front & Back View

DB-9 F

Connect toHost

ComputerSerial Port

DB-9 M

Connect to Interface

Cable from

HDL-64E Unit

# COLOR SIGNAL NAME

1 Red +12V DC Power

2 Black Power Ground

3 Yellow 1 PPS (positive edge only)

4 Red Vin (+5V)

5 Black Ground

6 White Transmit Data

7 Brown Ground (Drain Wire)

8 Green Receive Data

[12]


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[13]

Packet Format and Status Byte for GPS Time Stamping

The6bytesattheendofthedatapacketreportGPStimingandsynchronizationdata.Foreverypacket,thelast6bytesareformatted

asfollows:

TimestampBytesinReverseOrderinMicroseconds

Bytes Description Notes

4 GPStimestamp 32bitunsignedintegertimestamp.Thisvaluerepresentsmicrosecondsfromthetop

ofthehourtothefirstlaserfiringinthepacket.

1 StatusType 8bitASCIIstatuscharacterasdescribedinAppendixE.Thestatusbyterotates

throughmanykindsofsensorinformation.

1 StatusValue 8bitdataasdescribedinAppendixE.

WithintheGPSstatusbyte,thereare4GPSstatusindicators:

0:noGPSconnection.

A:bothPPSandGPScommandhavesignal.

V:onlyGPScommandsignal,noPPS.

P:onlyPPSsignal,noGPStimecommand.

Time StampingAccuracy Rules

ThefollowingrulesandsubsequentaccuracyapplyforGPStimestamps:

GPSConnection TimestampInfo Accuracy Notes

GPSisntconnected

(GPSStatus0)

Thesensorstartsrunningon

itsownclockstartingatmidnight

Jan12000.Thisdateandtimedata

isreflectedintheH,M,S,D,N,

andYdatavalues.

Expectadriftofabout5

seconds/day

Thesensorclockdoesnotcorrect

forleapyears.SeeAppendixEfor

moreinformation.

GPSisconnected TheH,M,S,D,N,andYdatavaluesareobtainedfromthe$GPRMC

NMEArecord.

GPStimesynchingrunsinoneoftwomodes:

TheGPShasaninternalclock

thatrunsforseveralweeksthat

isusedfirst.Theaccuracyisthat

oftheGPSdeviceemployed.

WhentheGPSachieveslock,

thesensorclockisthenwithin

+/-50jsofthecorrecttimeat

alltimes.

GPSisdisconnected

afterbeingconnected

Thesensorcontinuestorunon

itsownclock.

Expectdriftofabout5seconds/day

Laser Firing Sequence and Timing

IftheGPStimestampfeatureisused,itcanbeusefultodeterminetheexactfiringtimeforeachlasersoastoproperlytime-alignthesensor

pointcloudwithotherdatasources.

Theupperblockandlowerblockcollectdistancepointssimultaneously,witheachblockissuingonelaserpulseatatime.Thatis,eachupper

blocklaserfiresinsequenceandinunisonwithalaserfromthelowerblock.


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Lasersarenumberedsequentiallystartingwith0forthefirstlowerblocklaserto31forthelastlowerblocklaser;and32forthefirstupperblocklaser

to63forthelastupperblocklaser.Forexample,laser32firessimultaneouslywithlaser0,laser33fireswithlaser1,andsoon.

Thesensorhasanequalnumberofupperandlowerblockreturns.Hence,wheninterpretingthedelaytable,eachsequentialpairofdatablocks

representstheupperandlowerblockrespectively.EachupperandlowerblockdatapairintheEthernetpackethasthesamedelayvalue.

Thefirstfiringofalaserpairoccurs419.3psaftertheissuanceofthefirecommand.Sixfiringsofeachblocktakes139psandthenthecollected

dataistransmitted.Ittakes100pstotransmittheentire1248byteEthernetpacket.Thisisequalto12.48Bytes/psand

0.080128ps/Byte.SeeAppendixEformoreinformation.

Atimingtable,showninAppendixG,showshowmuchtimeelapsesbetweentheactualcapturingofadistancepointandwhenthatpointisoutput

fromthedevice.ByregisteringtheeventoftheEthernetdatacapture,youcancalculatebackintimetheexacttimeatwhichanyparticulardistance

pointwascaptured.

FIRMWARE UPDATEFromtimetotimeVelodyneissuesfirmwareupdates.Toupdatethesensorsfirmware:

1.ObtaintheupdatefilefromVelodyne.

2.ConnectthewiringharnessRS-232cabletoastandardWindowscompatiblePCorlaptopserialport.

3.Powerupthesensor.

4.Executetheupdatefile;thescreenbelowappears.

Figure5.HDLsoftwareupdatescreencapture.

5.SelecttheappropriateCOMport.

6. ClickUpdate.

7.Thefirmwareisuploadedandchecksummedbeforeitisappliedtotheflashmemoryinsidethesensor.Ifthechecksumiscorrupted,no

updateoccurs.Thisprotectsthesensorintheeventofpowerordatalossduringtheupdate.

Iftheupdateissuccessful,thesensorbeginstospindownforafewsecondsandthenpowersbackupwiththenewfirmware

running.

Iftheupdateisnotsuccessful,trytheupdateseveraltimesbeforeseekingassistancefromVelodyne.

[14]


18/43


19/43

APPENDIX B: WIRING DIAGRAM HDL-64E S2 and S2.1 Users ManuaI

Hartin

gTec

hno

logy

Group

Me

tal

Vers

ion

,Stan

dard

Stra

ightStyle

Mo

de

lNo

.10

-12

-005

-2001

[16]


20/43

APPEND

[17]

IX C: DIGITAL SENSOR RECORDER (DSR) HDL-64E S2 and S2.I Users Manual

DigitalSensorRecorder(DSR)DigitalSensorRecorder(DSR)

DSRisa3Dpoint-cloudvisualizationsoftwareprogramdesignedforusewiththesensor.Thissoftwareisanoutoftheboxtoolforthe

renderingandrecordingofpointclouddatafromtheHDLunit.

DSRisa3Dpoint-cloudvisualizationsoftwareprogramdesignedforusewiththesensor.Thissoftwareisanoutoftheboxtoolforthe

renderingandrecordingofpointclouddatafromtheHDLunit.

YoucandevelopvisualizationsoftwareusingtheDSRasareferenceplatform.AcodesnippetisprovidedontheCDtoaidinunderstanding

themethodsatwhichDSRparsesthedatapointsgeneratedbytheHDLsensor. Seepage20formoreinformation.

YoucandevelopvisualizationsoftwareusingtheDSRasareferenceplatform.AcodesnippetisprovidedontheCDtoaidinunderstanding

themethodsatwhichDSRparsesthedatapointsgeneratedbytheHDLsensor. Seepage20formoreinformation.

InstallInstall

ToinstalltheDSRonyourcomputer:ToinstalltheDSRonyourcomputer:

1.LocatetheDSRexecutableprogramontheprovidedCD.1.LocatetheDSRexecutableprogramontheprovidedCD.

2.Double-clickthisDSRexecutablefiletobegintheinstallationontoacomputerconnectedtothesensor.Werecommendthatyouuse

thedefaultsettingsduringtheinstallation.

2.Double-clickthisDSRexecutablefiletobegintheinstallationontoacomputerconnectedtothesensor.Werecommendthatyouuse

thedefaultsettingsduringtheinstallation.

3.Copythedb.xmlfilesuppliedwiththesensorintothesamedirectoryastheDSRexecutable(defaultstoc:\programfiles\Digital3.Copythedb.xmlfilesuppliedwiththesensorintothesamedirectoryastheDSRexecutable(defaultstoc:\programfiles\Digital

SensorRecorder).Youmaywanttorenametheexistingdefaultdb.xmlthatcomeswiththeDSRinstall.SensorRecorder).Youmaywanttorenametheexistingdefaultdb.xmlthatcomeswiththeDSRinstall.

Failuretousethecalibrationdb.xmlfilesuppliedwithyoursensorwillresultinaninaccuratepointcloudrenderinginDSR.

Calibrate

Thedb.xmlfileprovidedwiththesensorcontainscorrectionfactorsfortheproperalignmentofthepointcloudinformationgatheredforeach

laser.Whenimplementedproperly,theimageviewablefromtheDSRiscalibratedtoprovideanaccuratevisualrepresentationofthe

environmentinwhichthesensorisbeingused.Alsousethesecalibrationfactorsandequationsinanyprogramusingthedatageneratedby

theunit.

LivePlayback

Forliveplayback:

1.Secureandpowerupthesensorsothatitisspinning.

2.ConnecttheRJ45Ethernetconnectortoyourhostcomputersnetworkconnection.YoumaywishtouseautoDNSsettingsforyourcomputersnetworkconfiguration.

3.OpenDSRfromyourdesktopiconcreatedduringtheinstallation.

=DSRdesktopicon

4.SelectOptionsfromthemenu.

5.Selecttheproperinputdevice.

6.GotoOptionsagain.

7.DeselecttheShowGroundPlaneoption.(Leavethisfeatureoffforthetimebeingoruntilthegroundplane

hasbeenproperlyadjusted).

8.(Optional)GotoOptions>Properties tochangetheindividualsettingsforeachLASERchannel.9.Providedthatyourcomputerisnowreceivingdatapackets,clicktheRefreshbuttontostartliveviewingofapointcloud.Theinitialimage

isofadirectlyoverheadperspective.Seepage19formouseandkeycommandsusedtomanipulatethe3Dimagewithintheviewer.

REFRESHbutton=

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

originalview.


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APPEND

[18]


RecordData

1.Confirmtheinputofstreamingdatathroughtheliveplaybackfeature.

2.ClicktheRecordbutton.

RECORDbutton=

5.Enterthenameandlocationforthepcapfiletobecreated.

6.Recordingbeginsimmediatelyoncethefileinformationhasbeenentered.

7.ClickRecordagaintodiscontinuethecapture.

8.StringmultiplerecordingstogetheronthesamefilebyperformingtheRecordfunctionrepeatedly.Anewfilenameisnt

requesteduntilafterthesessionhasbeenaborted.

AnEthernetcaptureutility,suchasWireshark,canalsobeusedasapcapcaptureutility.

PlaybackofRecordedFiles

1.UsetheFile>Opencommandtoopenapreviouslycapturedpcapfileforplayback.TheDSRplaybackcontrolsaresimilar

toanyDVD/VCRcontrolfeatures.

2.PressthePlaybuttontorenderthefile.ThePlaybuttontogglestoaPausebuttonwheninplaybackmode.

PLAYbutton= PAUSEbutton=

UsetheForwardandReversebuttonstochangethedirectionofplayback..

FORWARDbutton= REVERSEbutton=

TheX,Y,Zanddistancefiguresatthebottomoftheimagerepresentthedistanceofthex,y,zcrosshairswithrespecttotheoriginpoint

indicatedbythesmallwhitecircle.Theconcentricgraycirclesandgridlinesrepresent10meterincrementsfromthesensor.Followingisan

exampleimageofthecalibrationvaluesasseeninDSR>File>Propertiesscreen.ValuesaredifferentthanthoseonyourCD..

Figure6.CalibrationvaluesasseeninDSR/File/Properties


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APPEND

[19]


DSR Key Controls

Zoom:Z=ZoominShift,Z=Zoomout

ZAxisRotation:Y=RotateCWShift,Y=RotateCCW

XAxisRotation:P=RotateCWShift,P=RotateCCW

YAxisRotation: R=RotateCWShift,R=RotateCCW

ZShift:F=ForwardB=Back

XShift:L=LeftH=Right

YShift:U=UpD=Down

Aux.Functions:Ctrl,(Z,Y,P,R,F,B,L,H,U,D) Direction=FineMovement

Alt,(Z,Y,P,R,F,B,L,H,U,D)Direction=VeryFineMovement

DSR Mouse Controls

Rotational:LeftButton/Move

Slide:RightButton/Move

Zoom:Scrollforward=ZoomIn

Scrollbackward=ZoomOut


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APPENDIX D: MATLAB SAMPLE CODE HDL-64E S2 and S2.I Users Manual

[20]

MatlabsamplecodetoreadcalibrationdatafromHDL-64Eoutput.

fileFilter = *.pcap;

[File_name,Directory]=uigetfile(fileFilter,Open a .pcap file) ;

Filename=[Directory File_name];

tic;

fid=fopen(Filename);

ttc=fread(fid,40);

ttc=fread(fid,42);

ttc=fread(fid,inf,1206*uint8=>uint8,58);

%ttch=dec2hex(ttc);

% Determine how many data packets.

Packet=size(ttc)/1206;

% Convert data to single precision.

S1=single(ttc(2,:))*256+single(ttc(1,:));




for i=0:10000 % Packets loop

status(i+1)=(ttc(1205+i*1206));

value(i+1)=(ttc(1206+i*1206));

end

a=[85 78 73 84 35]

fclose(fid);

toc;

Ind=strfind(value,a);

% Loop through 64 lasers.

for i=1:64

temp=single(value(Ind(1)+64*(i_1)+16:Ind(1)+64*(i_1)+16+7));

temp1=single(value(Ind(1)+64*(i_1)+32:Ind(1)+64*(i_1)+32+7));



LaserId(i)=temp(1);

% Add high and low bytes of Vertical Correction Factor together and check if

positive or negative correction factor.VerticalCorr(i)=temp(3)*256+temp(2);

if VerticalCorr(i)>32768

VerticalCorr(i)=VerticalCorr(i)_65536;

End

% Scale Vertical Correction Factor by Diving by 100.

VerticalCorr(i)=VerticalCorr(i)/100;


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% Add high and low bytes of Rotational Correction Factor together and check if

positive or negative correction factor.

RotationalCorr(i)=temp(5)*256+temp(4);

if RotationalCorr(i)>32768

RotationalCorr(i)=RotationalCorr(i)65536;

End

% Scale Rotational Correction Factor by Diving by 100.

RotationalCorr(i)=RotationalCorr(i)/100;

% Add high and low bytes of remaining 2 Byte Correction Factors together and

check if positive or negative correction factor, if necessary. Scale dimensions

in mm to cm by Diving by 10. Scale Focal Slope by Dividing by 10.

DistanceCorr(i)=(temp(7)*256+temp(6))/10;

DistanceCorrX(i)=(temp1(2)*256+temp1(1))/10;

DistanceCorrY(i)=(temp1(4)*256+temp1(3))/10;

VerticalOffset(i)=(temp1(6)*256+temp1(5))/10;

HorizonOffset(i)=(temp2(1)*256+temp1(7));

if HorizonOffset(i)>32768

HorizonOffset(i)=HorizonOffset(i)65536;

end

HorizonOffset(i)=HorizonOffset(i)/10;

FocalDist(i)=temp2(3)*256+temp2(2);

if FocalDist(i)>32768

FocalDist(i)=FocalDist(i)65536;

endFocalDist(i)=FocalDist(i)/10;

FocalSlope(i)=temp2(5)*256+temp2(4);

if FocalSlope(i)>32768

FocalSlope(i)=FocalSlope(i)65536;

end

FocalSlope(i)=FocalSlope(i)/10;

% Maximum and Minimum Intensity only 1 Byte each.

MinIntensity(i)=temp2(6);

MaxIntensity(i)=temp2(7);

End

% Done with correction factors.

% Get Unit Parameter Data

s=Ind(1)

char(status(s80:s+6))

value(s80:s+6)

[21]


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[22]

Version=dec2hex(value(s-1))

.emperature=value(s-2)

GPS=value(s-3)

speed=single(value(s-48))+single(value(s-47))*256

Fov_start=single(value(s-46))+single(value(s-45))*256

Fov_end=single(value(s-44))+single(value(s-43))*256

warning=value(s-13)

power=value(s-12)

Humidity=value(s-58)

% Done with Unit Parameters.

ReadingCalibrationandSensorParameterData

LaserID#isa1byteinteger.Mostoftheoutputcalibrationdataare2bytesignedintegers,exceptminimumandmaximumintensity,which

use1byteeach.SeeAppendixEformoreinformation.

StatusType ASCIIValueInterpretationandScalingVerticalcorrection Divideby100formm

Rotationalanglecorrection Divideby100formm

Distancefarcorrection mm

DistancecorrectionX mm

DistancecorrectionY mm

Verticaloffsetcorrection mm

Horizontaloffsetcorrection mm

Focaldistance mm

Focalslope Divideby10toscale

Minimumintensity Noscaling

Maximumintensity Noscaling


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[23]

APPENDIX E: DATA PACKET FORMAT HDL-64E S2 and S2.1 Users Manual

DataPacketFormat

ThesensoroutputsUDPEthernetpackets.Eachpacketcontainsaheader,adatapayloadoffiringdataandstatusdata.Datapacketsare

assembledwiththecollectionofallfiringdataforsixupperblocksequencesandsixlowerblocksequences.Theupperblocklaserdistance

andintensitydataiscollectedfirstfollowedbythelowerblocklaserdata.Thedatapacketisthencombinedwithstatusandheaderdata

inaUDPpackettransmittedoverEthernet.The firing data is assembled into the packets in the firing order, with multi-byte values transmittedleast significant byte first.

ThestatusdataalwayscontainsaGPS4bytetimestamprepresentingmicrosecondsfromthetopofthehour.Inaddition,thestatus

datacontainsonetypeofdata.Theotherstatusdatarotatesthroughasequenceofdifferentpiecesofinformation.Seedatagramon

thenextpage.


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APPEND

[24]

IX E: DATA PACKET FORMAT HDL-64E S2 and S2.1 Users Manual

Firmwareversion4.07(sheetIof3)

47 Version4.07


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[25]


Firmwareversion4.07(sheet2of3)

Reserved*

Reserved*

Reserved*

Reserved*

Reserved*

Reserved*

UpperBlockThreshold FE

LowerBlockThreshold FF

*ForLaser63,thesebyteswillcontainthetimestamprepresentingwhenthecalibrationdatawasuploadedinthefollowingsequence: *Year*Month*Day*Hour

*Min*Sec.


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[26]


Firmwareversion4.07(sheet3of3)

Threshold

Both=2Strongest=0

Last=I

A8


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[27]

APPENDIX E: DATA PACKET FORMAT HDL-64E S2 and S2.1 Users ManualLast SixBytes Examples

Examplesofthelastrow of11consecutivepacketsfollows.Inallcases,theseconds figurerepresentstheoriginofthepacket

expressedinsecondssincethetop ofthehour.

PACKET#7648:

PACKET#7649:

PACKET#7650:

PACKET#7651:


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[28]

APPENDIX E: DATA PACKET FORMAT HDL-64E S2 and S2.1 Users ManualPACKET#7652:

PACKET#7653:

PACKET#7654:

PACKET#7655:

PACKET#7656:

47

40 = Ver 4.07


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APPENDIX E: DATA PACKET FORMAT

[29]

HDL-64E S2 and S2.1 Users Manual

PACKET#7657:

Not used(Spare)

PACKET#7658:

Not used

(Spare)


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APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I Users Manual

DualTwoPointCalibrationMethodologyandCodeSamples

Velodyneusesadualpointcalibrationmethodologytocalculatethevaluesinthedb.xmlfile.Thissectiondescribesthiscalibrationmethodology.

Thestepsforthecalibrationareasfollows:

1:Performfarpointcalibrationat25.04m

2:PerformnearpointXcalibrationat2.4m

3:PerformnearpointYcalibrationat1.93m

4:PerformlinearinterpolationtogetdistancecorrectionforXandY(Nearerthan25.00monly)

Theformulaforthecalibrationvalueisasfollows:

(x - 0)Dy = Dly + (D2 - Dly)

Dx = Dlx + (D2 - Dlx )

(x2 - 0)

(x - xl)(x2 - xl)

Where:

xl=2.4m

x2 =25.04m

Dlx =correctedXdistancefornearpoint

Dly =correctedYdistancefornearpoint

D2x =correctedXdistance for farpoint

D2y =correctedXdistanceforfarpoint

CoordinateCalculationAlgorithmSampleCode

firingData::computeCoords(guintl6 laserNum, boost::shared_ptr db,

GLpos_t &pos)

{

guintl6 idx = laserNum % VLS_LASER_PER_FIRING;

boost::shared_ptr cal = db->getCalibration(laserNum);

if (data->points[idx].distance == O) {

coords[idx].setX(O.O);

coords[idx].setY(O.O);

coords[idx].setZ(O.O);return;

}

II Get measured distance, distancel

float distancel = db->getDistLSB() * (float)data->points[idx].distance;

II Corrected distance by distance calibration at 25.O4m

float distance = distancel+ cal->getDistCorrection();

float cosVertAngle = cal->getCosVertCorrection();

float sinVertAngle = cal->getSinVertCorrection();

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float cosRotCorrection = cal->getCosRotCorrection();

float sinRotCorrection = cal->getSinRotCorrection();

float cosRotAngle = rotCosTable[data->position]*cosRotCorrection +

rotSinTable[data->position]*sinRotCorrection;

float sinRotAngle = rotSinTable[data->position]*cosRotCorrection -

rotCosTable[data->position]*sinRotCorrection;

float hOffsetCorr = cal->getHorizOffsetCorrection()IVLS_DIM_SCALE;

float vOffsetCorr = cal->getVertOffsetCorrection()IVLS_DIM_SCALE;

; IIConvert distance to X-Y plane, formular is: xyDistance = distance * cosVertAngle

float xyDistance = distance * cosVertAngle

II Calculate temporal X, use absolute value.

float xx = xyDistance * sinRotAngle - hOffsetCorr * cosRotAngle + pos.getX();

II Calculate temporal Y, use absolute value

float yy = xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle + pos.getY();

if (xxgetDistCorrectionX())*(xx-

240)I(2504-240)+cal->getDistCorrectionX();

float distanceCorrY = (cal->getDistCorrection()-cal->getDistCorrectionY())*(yy-

l93)I(2504-l93)+cal->getDistCorrectionY(); IIfix in V2.0

II Unit convert: cm converts to meter

distancel I= VLS_DIM_SCALE;

distanceCorrX I= VLS_DIM_SCALE;

distanceCorrY I= VLS_DIM_SCALE;

II Measured distance add distance correction in X.

distance = distancel+distanceCorrX;

xyDistance = distance * cosVertAngle; II Convert to X-Y plane

II Calculate X coordinate

coords[idx].setX(xyDistance * sinRotAngle - hOffsetCorr * cosRotAngle +

pos.getX()IVLS_DIM_SCALE);

II Measured distance add distance correction in Y.

distance = distancel+distanceCorrY;

xyDistance = distance * cosVertAngle; IIConvert to X-Y plane

II Calculate Y coordinate

coords[idx].setY(xyDistance * cosRotAngle + hOffsetCorr * sinRotAngle +

pos.getY()IVLS_DIM_SCALE);

IICalculate Z coordinate, formula is : setZ(distance * sinVertAngle +vOffsetCorr

coords[idx].setZ(distance * sinVertAngle + vOffsetCorr +

pos.getZ()IVLS_DIM_SCALE);

}

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APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I Users ManualIntensityCompensationvsDistance

Intensitycompensationisdoneinthesoftwarefordifferentchannelsbychangingaparameterinthecalibrationwindowuntilthemeasurement

getstoauniformintensityforareferencetarget.

focalOffset = 256 ( 1 -focalDistance )213100

intensityVal = intensityVal + K[focalOffset - 256 (1 - distance )2 ]65535

HereKistheslopefromthecalibrationdata.Intensitygetstoitsmaximumatthefocaldistancefordifferentchannelsandfrom

itscalibrationdata.

CalibrationWindow

Thefollowingnewintensityparametershavebeenaddedinthedb.xmlcalibrationfile

focaldistance: Atthisdistance,theintensitygoestomax.Thefocaldistanceisdifferentfromlasertolaser. Ontheupperblock,

itaverages1500cm.Onthelowerblock,itaverages800cm.

focalslope:Thisparametercontrolsintensitycompensation. MinandMaxIntensityareusedtoscaleandoffsetintensity.

IntensityValueCorrectedbyDistanceCode

for (guint i=0; igetEnabled(laser))

continue;bool intensity =db->getlntensity(laser);

if (!intensity: {

glColor3fv(db->getDisplayColor(laser).rgb);

} else {

guchar minlntensity = 0, maxlntensity = 0;

float intensityScale = 0;

minlntensity = db->getMinlntensity(laser);

maxlntensity = db->getMaxlntensity(laser);

IIGet intensity scale

intensityScale = (float)(maxlntensity - minlntensity);

II Get firing i intensityguchar intensityVal = it->getPoint(i)->intensity;

II Get firing i distance, here unit is 2mm

float distance = it->getPoint(i)->distance;

II Calculate offset according calibration

float focaloffset= 256*(1-db->getFocalDistance(laser)I13100)*(1-db-

>getFocalDistance(laser)I13100);

II get slope from calibration

float focalslope = db->getFocalSlope(laser);

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[33]

II Calculate corrected intensity vs distance

float intensityVall = intensityVal + focalslope*(abs(focaloffset_256*(l_

distanceI65535)*(l_distanceI65535)));

if (intensityVall < minlntensity) intensityVall=minlntensity;

if (intensityVall > maxlntensity) intensityVall=maxlntensity;

II Scale to new intensity scale

float intensityColor = (float)(intensityVall _ minlntensity) I intensityScale;

II Convert to jet color

int rgb=(int)(intensityColor*63);

glColor3f(rcolor[rgb], gcolor[rgb], bcolor[rgb]);

}

GlVertex3fv(it_>getCoord(i).xyz;

}

it_>operator++();


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[34]

APPENDIX G: ETHERNET TRANSIT TIMING TABLE HDL-64E S2 an d S2.I Users Manual

HDL-64EEthernetTimingTableOverview

TheEthernetTimingTableshowshowmuchtimeelapsesbetweentheactualcapturingofapointsdataeventandwhenthatpointisan

eventoutputfromthesensor.ByregisteringtheeventoftheEthernetdatacapture,youcancalculatebackintimetheexacttimeatwhichanyparticular

distancepointwascaptured.Theformulaisasfollows:

ActualEventTimestamp=(DataPacketEventOutputTimestamp) (TimingTableEventTimestamp)

Theupperblockandlowerblockcollectdistancepointssimultaneouslywitheachblockissuingsinglelaserpulsesatatime.Thatis,eachupperblock

laserfiresinsequenceandinunisontoacorrespondinglaserfromthelowerblock.

Forexample,laser32firessimultaneouslywithlaser0,laser33fireswithlaserI,andsoon.

Thesensorhasanequalnumberofupperand lowerblock returns.This iswhywhen interpreting thedelay tableeachsequentialpairofdatablocks

representstheupperandlowerblockrespectively,andeachupperandlowerblockpairofdatablocksintheEthernetpackethasthesamedelayvalue.

EthernetpacketsareassembleduntiltheentireI200byteshavebeencollected,representingsixupperblocksequencesandsixlowerblocksequences.

ThepacketisthentransmittedviaaUDPpacketoverEthernet,startingfromthelastbyteacquired.SeeasampleofthepacketformatinAppendixE.


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[35]


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APPENDIX H: LASER AND DETECTOR ARRANGEMENT HDL-64E S2 and S2.I Users Manual

SENSORASSEENFROMTHEBACKOFTHEUNIT

SENSORBEAMONTHEWALLASSEENONCAMERAINNIGHTVISIONMODE

[36]


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[37]

APPENDIX I: ANGULAR RESOLUTION HDL-64E S2 and S2.I Users Manual

RPM RPS(Hz)

TotalLaserPointsperRevolution

PointsPerLaserperRevolution

AngularResolution(degrees)

300

600

9001200

5

10

1520

266,627

133,333

88,88966,667

4167

2083

13891042

.0864

.1728

.2592

.3456

Notes:

Thesevaluesapplyequallytotheupperandlowerblock.


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TROUBLESHOOT

[38]

ING HDL-64E S2 and S2.I Users ManualUsethischarttotroubleshootcommonproblemswiththesensor. Usethischarttotroubleshootcommonproblemswiththesensor.

Problem Resolution

Unitdoesntspin Verifypowerconnectionandpolarity.

Verifypropervoltage shouldbe16voltsdrawingabout3-4amps.

Removebottomcoverandcheckinline10ampfuse.

Replaceifnecessary.ModelNo.ATM-10.

Unitspinsbutnodata VerifyEthernetwiring.

Verifypacketoutputwithanothertool

(e.g.EthereallWireshark).

Noserialcommunication VerifyRS-232cableconnection.

Unitmustbeactiveandspinningfor

RS-232update.

Itmaytakeseveraltriesfortheupdate

tobeeffective.

SERVICE AND MAINTENANCENoserviceormaintenancerequirementsorproceduresexistforthesensors.However,Velodynedoesofferapreventativemaintenance

serviceforafee.Forservicemaintenance,pleasecontactVelodyneat(408)465-2800,oflogontoourwebsiteatwww.velodynelidar.com.
http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/


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[39]

SPECIFICATIONS HDL-64E S2 and S2.I Users Manual

Sensor: 64lasers/detectors360degreefieldofview(azimuth)

0.09degreeangularresolution(azimuth)

VerticalFieldofView:

S2: +2-8.33@1/3degreespacing

-8.83-24.33@1/2degreespacing

S2.1: +2-29.5@1/2degreespacing


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Velodyne LiDAR, Inc.345DigitalDrive

MorganHill,CA 95037

408.465.2800 voice

408.779.9227 fax

408.779.9208 servicefax

www.velodynelidar.com

ServiceEmail:[email protected]

ProductEmail:[email protected]:[email protected]

SalesEmail:[email protected]

AllVelodyneproductsaremadeintheU.S.A.

Specificationssubjecttochangewithoutnotice

Othertrademarksorregisteredtrademarksarepropertyoftheirrespectiveowner.

63HDL64E S2 Rev F DEC11
http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/http://www.velodynelidar.com/

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