A
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S2
and
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Ma nua
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The following provides more detail on each of the above
steps.
1. Establish communication with the sensor.
The sensor broadcasts UDP packets. By using a network monitoring tool, such as Wireshark, you can capture and observe the
packets as they are generated by the sensor. See Appendix E for the UDP packet format. The default source IP address for the
sensor is 192.168.3.043, and the destination IP address is 192.168.3.255. To change these IP addresses, see page 11.
2. Create an internal calibration table either from the
calibration
data
included
in-stream
from
the
sensor or from the included
db.xml data file.
This table must be built and stored internal to the point-cloud processing software. The easiest and most reliable way to build th
calibration table is by reading the calibration data directly from the UDP data packets. A MatLab example of reading and building
such a table can be found in Appendix D and on the CD included with the sensor named CALTABLEBUILD.m.
lternativel
, the calibration data
can be found in the
included
db.xml
file
found
on
the
CD
included
with the sensor.
description
of
th
calibration data is shown in the following table.
Va
lues Parameter
db
.
x
m
l
C
a
l
i
b
r
a
t
i
o
n
P
a
r
a
m
e
t
e
r
s
Descriptio
n Unit
The control intensity amount. Focal S
lope
M
inimum Intensity
Value from 0 to 255. Usually 0.
Focal Distance
Maximum intensity distance.
horizOffsetCorrection
cm
The horizontal offset of each laser
as viewed from the back of the laser.
Fixed positive or negative value
for all lasers.
Maximum Intensity Value from 0 to 255. Usually 255.
One fixed value for all upper
block lasers.
Another fixed value for all lower
block lasers.
d
istCorrectionY
cm
Close distance correction in Y of each laser due to
minor laser parts variances interpolated with far
distance correction then applied to measurement in Y.
vertOffsetCorrection
cm
The height of each laser as measured from
the bottom of the base.
Close distance correction in X of each laser due to
minor laser parts variances interpolated with far
distance correction then applied to measurement in X.
cm d
istCorrectionX
Add directly to the distance value
read in the packet.
Far distance correction of each laser distance
due to minor laser parts’ variances.
cm d
istCorrection
Positive values have the laser
pointing up.
Negative values have the laser
pointing down.
vertCorrection
degree
The vertical correction angle for each laser,
as viewed from the back of the unit.
degree
The rotational correction angle for each laser,
as viewed from the back of the unit.
Positive factors rotate to the left.
Negative values rotate to
the right.
rotCorrection
The calibration table, once assembled, contains 64 instances
of
the
calibration
values
shown
in
the
table
above to interpret the packet
data
to
c
alculate each point’s position in 3D space. Use the first 32 points for the upper block and the second 32 points for the lower block. The
r tational info found in the packet header is used to determine the packets position with respect to the 360° horizontal field of view. o
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