Velodyne HDL-64E S3 User Manual (English)

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HDL-64E S3

High Definition LiDAR Sensor

Page 9

Velodyne LiDAR, Inc.

2019

63-HDL64ES3 REV K

View Image

The sensor needs no configuration, calibration, or other setup to begin producing viewable data.

However, you need to apply the calibration file to set the accuracy of the data. Once the unit is mounted

and wired, supplying power to the sensor will cause it to start scanning and producing data packets.

Data points may be viewed by either of the following methods:

1. Use the included point-cloud viewer (DSR Viewer)

2. Develop you own application-specific point-cloud viewer

1. Use the Included Point-cloud Viewer

The quickest way to view the data collected as a live image is to use the included Digital Sensor Recorder

(DSR) application. DSR is Velodyne’s point-cloud processing data viewer software. DSR reads in the

packets from the sensor over Ethernet, performs the necessary calculations to determine point locations

and then plots the points in 3D on your PC monitor. Both distance and intensity data can be observed

through DSR. If you have never used the sensor before, this is the rec

ommended starting point. For

more on installing and using DSR, see Appendix C.

2. Develop Your Own Application-specific Point-cloud Viewer

Many users elect to develop their own application-specific point cloud tracking and plotting and/or storage

scheme, which requires these fundamental steps:

1. Establish communication with the sensor.

2. Create a calibration table either from the calibration data included in-stream from the sensor or

from the included .xml data file.

3. Parse the packets for rotation, block, distance and intensity data

4. Apply the calibration factors to the data.

5. Plot or store the data as needed.

The following provides more detail on each of the above steps.

1. Establish communication with the sensor.

The sensor broadcasts its data via UDP packets. By using a network monitoring tool, such as

Wireshark, you can capture and observe the packets as they are generated by the sensor. See

Appendix E for the UDP packet format. The default source IP address for the sensor is

192.168.3.43, and the destination IP address is 192.168.3.255. To change the IP configuration,

see the Define Sensor Memory IP Source and Destination Addresses section.

2. Create an internal calibration table either from the calibration data included in-stream from the

sensor or from the included .xml data file.

This table must be built and stored internal to the point-cloud processing software. The easiest

and most reliable way to build the calibration table is by reading the calibration data directly from

the UDP data packets. A MatLab example of reading and building such a table can be found in

Appendix D, and on the CD included with the sensor.

Alternatively, the calibration data can be found in the included .xml file found on the CD included

with the sensor. A description of the calibration data is shown in the following table.

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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)