Data Sheet

Page 14
SJ-GU-CE30-C-03 A01
Pin Number
Description
1
ETH_RX_P
2
ETH_RX_N
3
ETH_TX_P
4
ETH_TX_N
Figure 19 Ethernet socket pin definition
10. Output Interface
Ethernet interface is used in this LiDAR with standard TCP protocol. In the mainstream operating systems, no drive is
demanded.
11. Software Description
11.1. SDK Description
The LiDAR initialization and start-up, data acquisition and LiDAR turn-off can be achieved through SDK. For the
LiDAR application and development on the operating systems besides Linux, please refer to SDK source codes for
transplantation and development.
Table 3 SDK description
Software
Description
Operating system
Linux & Windows
Programming language
C/C++
Data format
16-bit unsigned short int
Scope of the assignment
0 – 65535
Use method
Shared Object File (.so), Dynamic Link Library
(.dll) or integrate SDK source codes into programs
11.2. Resolution and FoV of SDK Output
Due to the wide-angle short focal length optical system, the image obtained by CE30-C has barrel distortion. The
algorithm in the SDK will calibrate the distortion. If the part of image is farther from the optical center, it will have the
larger distortion. Thus the calibration along the image’s long side will be more significant than that along the short side,
eventually resulting in the image’s aspect ratio changes when compare the calibrated image with the pre-calibration
image. The extent of calibration reflected in the image is the extent of the pixelsstretching. When the stretching is too
large, the image becomes blurred. As shown in Figure 20, the upper photograph is taken by the wide-angle lens and the
bottom is the same image calibrated by algorithm. The edge area becomes blurred after calibration due to stretching. The
output resolution can be set in the SDK.