HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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aPPendIx fHDL-64E S2 User’s Manual// Calculate corrected intensity vs distancefloat intensityVal1 = intensityVal + focalslope*(abs(focaloffset-256*(1-distance/65535)*(1-distance/65535)));if (intensityVal1 < minIntensity) intensityVal1=minIntensity;if (intensityVal1 > maxIntensity) intensityVal1=maxIntensity;// Scale to new intensity scalefloat intensityColor = (float)(intensityVal1 - minIntensity) / intensityScale;// Convert to jet colorint rgb=(int)(intensityColor*63);glColor3f(rcolor[rgb], gcolor[rgb], bcolor[rgb]);}G1Vertex3fv(it->getCoord(i).xyz;}it->operator++();[ 33 ]
aPPendIx GHDL-64E S2 User’s ManualHDL-64E Ethernet Timing Table OverviewThe HDL-64E Ethernet Timing Table shows how much time elapses between the actual capturing of a point’s data event and when that pointis an event output from the HDL-64E. By registering the event of the Ethernet data capture, you can calculate back in time the exact time atwhich any particular distance point was captured. The formula is as follows:Actual Event Timestamp = (Data Packet Event Output Timestamp) – (Timing Table Event Timestamp)In the HDL-64E, the upper block and lower block collect distance points simultaneously with each block issuing single laser pulses at a time.That is, each upper block laser fires in sequence and in unison to a corresponding laser from the lower block. For example, laser 32 firessimultaneously with laser 0, laser 33 fires with laser 1, and so on. The HDL-64E has an equal number of upper and lower block returns.This is why when interpreting the delay table each sequential pair of data blocks will represent the upper and lower block respectively,and each upper and lower block pair of data blocks in the Ethernet packet will have the same delay values.Ethernet packets are assembled until the entire 1200 bytes have been collected, representing six upper block sequences and six lower blocksequences. The packet is then transmitted via a UDP packet over Ethernet, starting from the last byte acquired. See a sample of the packetlayout in Appendix E.[ 34 ]
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HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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