Velodyne HDL-64E S3 - Page 3

HDL-64E S3
High Definition LiDAR Sensor
Page 3
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Appendix D: MATLAB Sample Code ..................................................................................... 29
Calibration and Sensor Parameter Data....................................................................................30
Appendix E: Data Packet Format ......................................................................................... 31
Data Packet Overview...............................................................................................................31
Status Type Rotation.................................................................................................................32
Status Value Example for Status Types of H, M, S, D, N, Y, G, T and V: ...............................32
GPS Status Values ...................................................................................................................33
GPS Timestamp Conversion Example ......................................................................................33
Status Type Calibration and Unit Parameters ...........................................................................33
Warning Status Bits ..................................................................................................................38
CRC Checksum Algorithm ........................................................................................................39
Last Six Bytes Examples...........................................................................................................39
Appendix F: Dual Two Point Calibration Methodology & Code Samples ............................... 43
Coordinate Calculation Algorithm Sample Code........................................................................43
Intensity Compensation vs Distance .........................................................................................45
Calibration Window ...................................................................................................................45
Intensity Value Corrected by Distance ......................................................................................46
Appendix G: Ethernet Timing Tables ................................................................................... 47
Sensor Ethernet Transmit Timing Tables ..................................................................................47
How to Use the Timing Tables ...............................................................................................47
Laser and Detector Arrangement ......................................................................................... 49
Lasers as Seen from the Back of the Unit .................................................................................49
Laser as Seen on the Wall ........................................................................................................49
Appendix I: Angular Resolution ........................................................................................... 50
Appendix J: Troubleshoot ................................................................................................... 51
Appendix K: Service and Maintenance ................................................................................ 52
Appendix L: Specifications .................................................................................................. 53