System Version Information
5.8.4 Real-time Processing Parameter Settings
LiBackpack generates point cloud data, .ply file, in real-time processing. Before data acquisition, the parameters for real-time processing can
be set in UI Setting. These parameter settings will affect the real-time point cloud data file .ply, but not the raw data .bag. Tap on the Setting
button on UI interface to view/set the following parameters:
Min Points Num：the minimum number of points in a point cloud frame which will participate in SLAM processing. The default value is
10000. The frames with point cloud number less than this will be considered as a frame with low quality and will be excluded from SLAM
processing for 3D point cloud reconstruction. (Note: the excluded frames of point clouds are still preserved in the raw data .bag file, and
will be utilized in post-processing.)
Max Distance：the maximum distance from a point to the center of the laser scan which will participate in the real-time SLAM
processing. The default value is 70 (meters). The points with further distance to the laser scanner will be excluded from real-time SLAM
processing. (Note: the excluded points are preserved in the raw data .bag file.)
Min Distance：the minimum distance from a point to the center of the laser scan which will participate in the real-time SLAM processing.
The default value is 1.5 (meters). The points with a distance to the laser scanner shorter than the default value will be excluded from real-
time SLAM processing. (Note: the excluded points are preserved in the raw data .bag file)
File Name Suffix：the suffix to be added to the names of the.ply, xyz, and .bag files.
Note:
1. Please have parameters set before clicking Start button to start data collection.
2. Please only have English character in file suffix.
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