User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Certification Info
- Appendix V Support and Contact
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Appendix I Channel Distribution
■
Horizontal Angle
Each channel's horizontal angle = current reference angle of the rotor + horizontal angle offset
· The current reference angle of the rotor is the Azimuth field in the Body of Point Cloud UDP Data
· Horizontal angle offset: listed in the table below
· Define clockwise in the top view as positive
■ Vertical Angle
Each channel's vertical angle is a constant, listed in the table below
· 0° represents the horizontal direction
· Define upward as positive
· The Channel # from the uppermost starts from 1
NOTE
The Horizontal Angle (Azimuth) Offset and Vertical Angle (Elevation) in the table next page are design values.
The accurate values are recorded in this LiDAR's unit's calibration file. Users can obtain the calibration file by sending the TCP command
PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Hesai TCP API Protocol (see Chapter 6)