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A P P E N D I X C : D I G I TA L S E N S O R R E C O R DER (DSR)
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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.
ou can develop visualization software using the DSR
as
a
reference
platform.
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 us
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.
Fail
ure 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 b
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 you
computers network configuration.
3. Open DSR from your desktop icon created during the installation.
DS
des
top
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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