Velodyne HDL-64E S3 User Manual

HDL-64E S3
High Definition LiDAR Sensor
Page 11
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
4. Apply the calibration factors to the data.
Each of the sensors’s lasers is fixed with respect to vertical angle and offset to the rotational
index data provided in each packet. For each data point issued by the sensor, rotational and
horizontal correction factors must be applied to determine the point’s location in 3D
space
referred
to by the return. Intensity and distance offsets must also be applied. Each sensor comes
from Velodyne’s factory calibrated using a dual-point calibration methodology, explained further in
Appendix F.
NOTE: The minimum return distance for the sensor is approximately 3 feet (0.9 meters). Ignore
returns closer than this.
NOTE: A file on the CD called “HDL Source Example” shows the calculations using the above
correction factors. This DSR uses this code to determine 3D locations of sensor data points.
5. Plot or store the data as needed.
For DSR, the point-cloud data, once determined, is plotted onscreen. The source to do this can
be found on the CD and is entitled “HDL Plotting Example.” DSR uses OpenGL to do its plotting.
You may also want to store the data. If so, it may be useful to timestamp the data so it can be
referenced and coordinated with other sensor data later. The sensor has the capability to
synchronize its data with GPS precision time. For more in this capability, see the
Externa l GPS
Time Synchronization section.

Velodyne HDL-64E S3 Specifications

General

Laser Count	64
Field of View	360° horizontal, 26.8° vertical
Accuracy	±2 cm
Operating Temperature	-10°C to +60°C
Frame Rate	5-20 Hz
Angular Resolution (Vertical)	0.4°
Laser Wavelength	905 nm
Rotation Rate	5-20 Hz
Ingress Protection	IP67
Data Output Rate	Up to 1.3 million points per second
Angular Resolution (Horizontal)	0.08°
Range	120 meters (for 10% reflectivity)

Summary

Safety Notices

Important Safety Instructions

Key safety instructions and warnings for operating the sensor.

Cautionary Guidelines

Important warnings and guidelines to reduce risks and maintain warranty.

Introduction

In the Box

Lists the contents of the sensor shipment.

Principles of Operation

Installation

Mounting Options

Details on mechanical mounting and considerations.

Electrical Connections

Covers power, Ethernet, and serial interface setup.

Lockout Circuit Function

Explanation of the laser firing prevention circuit.

View Image

Included Point-cloud Viewer

Using the DSR application for live data viewing.

Custom Point-cloud Viewer Development

Steps for creating custom data visualization software.

Change Run-Time Parameters

Serial Communication Setup

Specifies communication parameters and sample files for serial commands.

Upload Calibration Data

External GPS Time Synchronization

Synchronizing sensor data with GPS time pulses.

Laser Firing Sequence and Timing

Firmware Updates

Appendix A: Mechanical Drawings

Appendix B: Connector Pin outs

Power, Serial & GPS Connector

Pin assignments for the Deutsch DT06-8S connector.

Ethernet Connector

Pin assignments for the M12 D-CODED Ethernet connector.

Appendix C: Digital Sensor Recorder (DSR)

DSR Installation and Calibration

Instructions for installing DSR and using calibration files.

DSR Live Playback

Steps for viewing live data streams using DSR.

Appendix D: MATLAB Sample Code

Appendix E: Data Packet Format

Data Packet Structure Overview

Details the sensor's UDP Ethernet packet format.

CRC Checksum Algorithm

Appendix F: Dual Two Point Calibration Methodology & Code Samples

Coordinate Calculation Algorithm

Describes the methodology and provides sample code for data calculation.

Intensity Compensation and Calibration

Calibration Window Parameters

Details focal distance and focal slope for intensity scaling.

Appendix G: Ethernet Timing Tables

Sensor Ethernet Transmit Timing

Tables showing time elapsed for data capture and transmission.

Laser and Detector Arrangement

Laser Position Views

Diagrams showing laser positions from rear and wall views.

Appendix I: Angular Resolution

Appendix J: Troubleshoot

Appendix K: Service and Maintenance

Appendix L: Specifications