RS-LiDAR-16 User Manual
8 Point Cloud
8.1 Coordinate Mapping
RS-LiDAR-16 exports data packet that contains azimuth value and distance data. But to present a
3-dimensional point cloud effect, a transformation of the azimuth value and distance data into x, y, z
coordinates in accordance to Cartesian Coordinate System is necessary. The function of how to transfer
the information is as shown below:
Here
is the reported distance,
is the vertical/elevation angle of the laser(which is fixed and is given
by the Laser ID), and
is the horizontal angle/azimuth reported at the beginning of every other firing
sequence. x, y, z values are the projection of the polar coordinates on the XYZ Cartesian Coordinate
System.
Figure 14: Coordinate Mapping.
Note 1
：
In the RS-LiDAR-16 ROS package, we use a coordinate transformation by default to compatible with the ROS
right-handed coordinate system: ROS-X axis is the Y axis as Figure 14, while ROS-Y axis is -X axis as Figure 14, Z axis
keep the same.
Note 2: The origin of the LiDAR coordinate is defined at the center of the LiDAR structure, with 39 mm high to the bottom
of the LiDAR.
8.2 Point Cloud Presentation
In a circular arena, as the RS-LiDAR-16 rotates, the scanning path of the 16 laser beams plots 16
conical scanning surfaces with 8 face upward and 8 face downward, and the point cloud produced are
the section line between these conical surfaces and the floor which are circles. While in non-circular
environments, the point cloud produced are the section lines of the conical surfaces and the surface of
To Next Page
Loading...
