RS-LiDAR-32 User Manual
8 Point Cloud
8.1 Coordinate Mapping
RS-LiDAR-32 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. and
is the angle offset of the azimuth. x, y, z values are the projection of the polar
coordinates on the XYZ Cartesian Coordinate System.
and
can be found from the angle.csv file in the U disk within the RS-LiDAR-32 box.
Figure 13: Coordinate Mapping.
Note 1: In the RS-LiDAR-32 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 13, while ROS-Y axis is -X axis
as Figure 13, Z axis keep the same.
Note 2: The origin of the LiDAR coordinate is defined at the center of the LiDAR structure, with 45.36 mm
high to the bottom of the LiDAR.
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