User Guide
Table Of Contents
- 1 Safety Notices
- 2 Introduction
- 3 Product Specifications
- 4 Connections
- 5 Communications Protocols
- 6 GPS Synchronization
- 7 Key characteristics
- 8 Point Cloud
- 9 Laser Channels and Vertical Angles
- 10 Calibrated Reflectivity
- 11 Troubleshooting
- Appendix A ▪ Point Time Calculate
- Appendix B ▪ Information Registers
- B.1 Motor(MOT_SPD)
- B.2 Ethernet(ETH)
- B.3 FOV Setting (FOV SET)
- B.4 Motor Phase Offset (MOT_PHASE)
- B.5 Top Board Firmware (TOP_FRM)
- B.6 Bottom Board Firmware (BOT_FRM)
- B.7 Serial Number(SN)
- B.8 Software Version(SOFTWARE_VER)
- B.9 UTC Time(UTC_TIME)
- B.10 STATUS
- B.11 Fault Diagnosis
- B.12 ASCII code in GPRMC Packet
- B.13 Corrected Vertical Angle (COR_VERT_ANG)
- B.14 Corrected Horizontal Offset Angle (COR_HOR_AN
- Appendix C ▪ RSView
- Appendix D ▪ RS-LiDAR-32 ROS Package
- Appendix E ▪ Dimensions
- Appendix G ▪ How to Distinguish the Port Number of
RS-LiDAR-32 User Manual
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8 Point Cloud
8.1 Coordinate Mapping
RS-LiDAR-32 exports data packet that contains azimuth value and distance data. But to present a
3-dimensional point cloud effect, a transformation of the azimuth value and distance data into x, y, z
coordinates in accordance to Cartesian Coordinate System is necessary. The function of how to transfer
the information is as shown below:
Here
is the reported distance,
is the vertical/elevation angle of the laser(which is fixed and is given
by the Laser ID), and
is the horizontal angle/azimuth reported at the beginning of every other firing
sequence. and
is the angle offset of the azimuth. x, y, z values are the projection of the polar
coordinates on the XYZ Cartesian Coordinate System.
and
can be found from the angle.csv file in the U disk within the RS-LiDAR-32 box.
Figure 13: Coordinate Mapping.
Note 1: In the RS-LiDAR-32 ROS package, we use a coordinate transformation by default to compatible with
the ROS right-handed coordinate system: ROS-X axis is the Y axis as Figure 13, while ROS-Y axis is -X axis
as Figure 13, Z axis keep the same.
Note 2: The origin of the LiDAR coordinate is defined at the center of the LiDAR structure, with 45.36 mm
high to the bottom of the LiDAR.