High Definition LiDAR Sensor
Velodyne LiDAR, Inc.
©
2019
Laser Output Power Level Management and Reporting
Under poor visibility conditions, such as fog and dust, setting the laser output to full power can be
beneficial. You can toggle the output power between AUTO (the default setting), or set a fixed value for
all lasers from 0 and 7 (with 7 being full power).
NOTE: Setting the power level to 7 is recommended when using the “last return” priority for distance
points.
To set the laser output power level and information returned in the data packet:
.
#HDLPWRA0$ Set auto power for all lasers with return of 8-bit raw laser intensity level and
3-bit laser power output.
.
#HDLPWRFn8$ Set fixed power for all lasers, where n =0 - 7, with return of 8-bit laser raw
intensity level and 3-bit laser power. The 8 in the command indicates that the 8-bit raw
intensity is always returned.
.
#HDLPWRA8$ Set auto power for all lasers with return of 8-bit laser normalized intensity
level and no laser power output.
Serial
Command
for Laser Output
Power
Distance Data Low Byte
Intensity Data Byte
#HDLPWRA0$
Reports
Distance
Power
(0-7)
Intensity
(raw
data)
(0-255)
Bit
8
7
6
5
4
3
2
1
8
7
6
5
4
3
2
1
#HDLPWRFn8$
Reports
Distance
Power
(0-7)
Intensity
(raw
data)
(0-255)
Bit
8
7
6
5
4
3
2
1
8
7
6
5
4
3
2
1
#HDLPWRA8$
Reports
Distance
Intensity
(data normalized
by
calibration
parameters)
(0-255)
Bit
8
7
6
5
4
3
2
1
8
7
6
5
4
3
2
1
Noise Level Adjustment
The Avalanche Photo Diode detectors for the HDL-64E are extremely sensitive. Some users have
experienced spurious primary or secondary returns from a random light source. For each return, the DSP
conducts a full waveform analysis. Returns below a certain noise floor are ignored. To adjust this noise
floor, use the command below.
#HDLTHDuuuIII$ where
.
uuu = upper block noise level
.
III
= lower block noise level
The default threshold is 024 for both the upper and lower blocks. A lower noise threshold allows more
returns, thus spurious light sources may cause a return to be reported (especially a secondary return). A
higher noise level reports fewer returns, but may ignore legitimate returns.
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