User Guide

34 | 127 © 2021 LeddarTech Inc.
Table 7: Channel indexes
H Segment 1
H Segment 2
…
H Segment 95
H Segment 96
V Segment 1
0
1
…
94
95
V Segment 2
96
97
…
190
191
V Segment 3
192
193
…
286
287
V Segment 4
288
289
…
382
383
V Segment 5
384
385
…
478
479
V Segment 6
480
481
…
574
575
V Segment 7
576
577
…
670
671
V Segment 8
672
673
…
766
767
Fig. 14 on page 28 presents a top view of the sensor that shows that each segment zone comprises
32 segments, where the horizontal segment number 1 is located on the left and the horizontal segment
number 96.
The channels, also called “segments,” are identified by their coordinates within the FoV [V Segment,
H Segment] from left to right and top to bottom.
4.3.4. Channel Azimuth and Elevation Angles
As seen in Table 7, each FoV segment is mapped to a unique index. To ensure optimal measurement
accuracy, the channel angles, in terms of azimuth and elevation, are precisely measured for each segment
after manufacturing. The reference used for these measurements is the point of maximum amplitude of the
reflected light pulses, which corresponds to the center of the segment. The measurements are saved in each
sensor in the form of two mapping tables: one for azimuth angles and the other for elevation angles. Each
table is a one-dimensional array indexed from 0 to 767.
It is important to note that due to variability in manufacturing, the precise angles stored in the mapping tables
might differ from one sensor unit to the other. Therefore, for maximum precision, it is preferable to fetch the
angular mappings from each sensor independently.
To fetch those tables from the sensor, get the LT_COMM_ID_AUTO_CHANNEL_ANGLES_AZIMUT
(0x2580) and LT_COMM_ID_AUTO_CHANNEL_ANGLES_ELEVATION (0x2581) configuration elements
from the sensor’s configuration using the CFG_REQUEST_GET_CALIB (0x7002) command.
See Table 48 on page 112 for more information.
Total horizontal FoV