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
32
To calculate each point intensity, we need use the intensity value from MSOP packet and the values
from the calibrated reflectivity file. The calibrated reflectivity file can be found from the U disk (path:
configuration_data/curves.csv). The calculate code is suggested to refer to the function
calibrateIntensity( ) in rawdata.cc from RS-LiDAR-32 ROS package.
Note: Because of the firmware upgrade, the calculation of the intensity in the calibrateIntensity() function has
been adjusted for several times, and the new code is backward compatible with the earlier firmware. There
are three modes to calculate the reflectivity. The first two need to convert the intensity byte output by the
LiDAR to obtain the final result. The mode 3 method directly uses the intensity output by the LiDAR, and the
conversion and calculation are done inside the LiDAR.