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Figure 4.3 Real-Time Lidar Point Cloud Display
4.1.4 Point Cloud Data Parsing
If you need to parse Lidar data, please follow the steps below:
Step 1. Parse the data package to obtain the relative horizontal angle, ranging
information, intensity data and microsecond timestamp information of each laser;
Step 2. Read the device package to obtain information such as the horizontal
correction angle value, UTC time (GPS, NTP or PTP time service) and the current
configuration of the device;
Step 3. Obtain the vertical angle of each line according to the laser beam
distribution;
Step 4. According to the distance measurement value, vertical angle and the
calculated horizontal angle of the point cloud data, the XYZ coordinate values
are obtained;
Step 5. If necessary, calculate the precise time of the point cloud data through
UTC time, microsecond timestamp, light-emitting time of each laser, as well as
single and dual echo modes;
Step 6. Reconfigure information such as Ethernet, PPS synchronization
horizontal angle, motor speed and other information as needed, and pack the
configuration package protocol.
4.1.5 Note
Notice about the Lidar setting and usage:
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