Velodyne DIGITAL DRIVE - REV G Especificaciones descargar pdf (Pagina 30)

HDL‐64ES3

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High DefinitionLiDARSensor Page30

Velodyne,Inc.

2013

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63‐HDL64ES3REV G

FocalDist(i)=FocalDist(i)—65536; end FocalDist(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(s—80:s+6)) value(s—80:s+6)

Version=dec2hex(value(s—1)) Temperature=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.

Calibration and Sensor Parameter Data

Laser ID # is a 1 byte integer. Most of the output calibration data are 2 byte signed integers, except

minimum and maximum intensity, which use 1 byte each. See Appendix E for more information.

Status Type ASCII Value Interpretation

and Scaling

Vertical correction Divide by 100 for mm

Rotational angle correction Divide by 100 for mm

Distance far correction

Distance correction X

Distance correction Y

Vertical offset correction

Horizontal offset correction

Focal distance

Focal

slope

Divide by 10 to scale

Minimum intensity No

scaling

Maximum intensity No

scaling

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Velodyne DIGITAL DRIVE - REV G Especificaciones Pagina 30