RS-LiDAR-16 User Manual
In the example below, N=1.
// First, adjust for a rollover from 359.99° to 0°
If (Azimuth[3] < Azimuth[1])
Then Azimuth[3]:= Azimuth[3]+360;
Endif;
// Perform the interpolation
Azimuth[2]:=Azimuth[1]+((Azimuth[3]-Azimuth[1])/2);
// Correct for any rollover over from 359.99° to 0°
If (Azimuth[2]>360)
Then Azimuth[2]:= Azimuth[2]-360;
Endif
5.1.2.3 Channel Data
Channel data contains 3 bytes, with the upper 2 bytes store distance information, and the lower 1 byte
contains reflectivity data. The structure of channel data is as shown in Table 5.
Table 5: Channel Data.
The 2-byte distance data is set in centimeter. The resolution is different between 1 cm and 0.5 cm due to
the different LiDAR firmware.
Reflectivity data records relative reflectivity (more definition on reflectivity, please refer to description on
calibrated reflectivity in Section 9 of this manual). Reflectivity data reveals the reflectivity performance of
the system in real measurement environments, it can be used in distinguishing different materials.
The following shows how to parse channel data.
In the case of Figure 10/11, the distance information is calculated by:
Get distance values: 0x06 ,0x42
Combine distance bytes to a 2-byte, unsigned integer: 0x0642
Convert to decimal: 1602
According to the distance resolution difference, it can be calculated:
1cm resolution result: 16.02 meters; 0.5cm resolution result: 8.01 meters;
Hence the distance measured is 16.02m.
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