RS-LiDAR-32 User Manual
8.2 Point Cloud Presentation
In a circular arena, as the RS-LiDAR-32 rotates, the scanning path of the 32 laser beams plots 32
conical scanning surfaces with some face upward and other 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 objects. Therefore, in a rectangular environment, the section lines of the conical surfaces and
the rectangular planes are hyperbolas as shown in Figure 15.
Figure 14: Contour lines plotted on X, Z coordinates.
Figure 15: RS-LiDAR-32 Scanning Illustration.
The hyperbolas contour lines phenomenon can also be explained by transforming polar coordinates into
orthogonal coordinates. As shown in Figure 16, we deduced the function of a hyperbolas
. When y and
are definite values, it indicates a hyperbola with focus on z
coordinate. When y is a definite value, as
gains in value, the asymptote slope and eccentricity will
decline thereof, which resulted a more curved hyperbola. On the contrary, as
loses in value, a more
flat hyperbola is resulted. When
is a definite value, as y gains in value, the asymptote of the same
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