RoboSense RS-LiDAR-32 - Default Chapter; Table of Contents

RS-LiDAR-32 User Manual
IV
7.2 Phase Lock............................................................................................................................................... 23
8 Point Cloud...........................................................................................................................................................24
8.1 Coordinate Mapping................................................................................................................................24
8.2 Point Cloud Presentation........................................................................................................................25
9 Laser Channels and Vertical Angles................................................................................................................27
10 Calibrated Reflectivity...................................................................................................................................... 31
11 Troubleshooting.................................................................................................................................................33
Appendix A ▪ Point Time Calculate...................................................................................................................... 35
A.1 RS-LiDAR-32 Calculation of time stamp in single mode..................................................................35
A.2 RS-LiDAR-32 Calculation of time stamp in dual mode.....................................................................37
Appendix B ▪ Information Registers.................................................................................................................... 39
B.1 Motor(MOT_SPD)................................................................................................................................... 39
B.2 Ethernet(ETH)..........................................................................................................................................39
B.3 FOV Setting (FOV SET).........................................................................................................................40
B.4 Motor Phase Offset (MOT_PHASE).................................................................................................... 40
B.5 Top Board Firmware (TOP_FRM).........................................................................................................41
B.6 Bottom Board Firmware (BOT_FRM).................................................................................................. 41
B.7 Serial Number(SN)..................................................................................................................................41
B.8 Software Version(SOFTWARE_VER)................................................................................................. 41
B.9 UTC Time(UTC_TIME)...........................................................................................................................42
B.10 STATUS.................................................................................................................................................. 44
B.11 Fault Diagnosis...................................................................................................................................... 45
B.12 ASCII code in GPRMC Packet............................................................................................................46
B.13 Corrected Vertical Angle (COR_VERT_ANG)..................................................................................47
B.14 Corrected Horizontal Offset Angle (COR_HOR_ANG)...................................................................48
Appendix C ▪ RSView............................................................................................................................................ 50
C.1 Features....................................................................................................................................................50
C.2 Install RSView..........................................................................................................................................50