Velodyne VLP-16 - Table 9-1 Vertical Angles (Ω) by Laser ID and Model; Figure 9-1 VLP-16 Sensor Coordinate System

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Figure 9-1 VLP-16 Sensor Coordinate System

Table 9-1 below

lists the fixed vertical/elevation angles for each laser in the sensor, along with vertical corrections. The set

of angles vary by sensor model (see

Factory Bytes on page 56

for more).

Laser

Vertical

Angle VLP-

Vertical Angle

Puck LITE

Vertical Cor-

rection (mm)

Vertical Angle

Puck Hi-Res

Vertical Cor-

rection (mm)

0 -15° -15° 11.2 -10.00° 7.4

1 1° 1° -0.7 0.67° -0.9

2 -13° -13° 9.7 -8.67° 6.5

3 3° 3° -2.2 2.00° -1.8

4 -11° -11° 8.1 -7.33° 5.5

5 5° 5° -3.7 3.33° -2.7

6 -9° -9° 6.6 -6.00 4.6

Table 9-1 Vertical Angles (ω) by Laser ID and Model

Chapter 9 • Sensor Data 53

Main Page

Default Chapter2
- Limited Warranty2
- Revision History3
- Table of Contents4
Chapter 1 • about this Manual16
- Manual Scope16
- Prerequisite Knowledge16
- Audience16
- Document Conventions16
- Table 1-1 Document Conventions16
- Figure 2-1 Example 3D Sensing System18
- Overview18
Chapter 2 • VLP-16 Overview19
- Product Models19
- Time of Flight19
- Data Interpretation Requirements19
- Table 2-1 3D Sensing System Components19
Chapter 3 • Safety Precautions20
- Warning and Caution Definitions20
  - Caution Hazard Alerts20
- Safety Overview20
Chapter 4 • Unboxing & Verification22
- What's in the Box22
  - Variants22
- Verification Procedure22
Chapter 5 • Installation & Integration29
- Overview29
- Mounting29
- Encapsulation, Solar Hats, and Ventilation30
- Connections30
Chapter 6 • Key Features32
- Calibrated Reflectivity32
- Laser Return Modes32
- Phase Locking Multiple Sensors37
- Figure 6-5 Forestry Application Multiple Returns37
- Figure 6-6 Phase Locking Example38
Chapter 7 • Sensor Inputs39
- Power Requirements39
- Interface Box Signals40
- Table 7-1 Interface Box Signals40
- Figure 7-1 Interface Box (Sensor Power and Data Connections)40
- Ethernet Interface41
- GPS, Pulse Per Second (PPS) and NMEA GPRMC Message41
Chapter 8 • Sensor Operation49
- Firing Sequence49
- Throughput Calculations49
- Rotation Speed (RPM)50
Chapter 9 • Sensor Data52
- Sensor Origin and Frame of Reference52
- Calculating X,Y,Z Coordinates from Collected Spherical Data52
- Table 9-1 Vertical Angles (Ω) by Laser ID and Model53
- Figure 9-1 VLP-16 Sensor Coordinate System53
- Packet Types and Definitions54
- Discreet Point Timing Calculation61
- Figure 9-6 Wireshark Position Packet Trace61
- Figure 9-7 Firing Sequence Timing62
- Figure 9-8 Example Data Point Timing Calculation63
- Figure 9-9 Single Return Mode Timing Offsets (in Μs)64
- Precision Azimuth Calculation65
- Figure 9-10 Dual Return Mode Timing Offsets (in Μs)65
- Converting PCAP Files to Point Cloud Formats66
Chapter 10 • Sensor Communication68
- Web Interface68
- Sensor Control with Curl76
Chapter 11 • Troubleshooting87
- Troubleshooting Process87
  - Table 11-1 Common Problems and Resolutions87
  - Turned DHCP On, Lost Contact with Sensor88
- Service and Maintenance89
  - Fuse Replacement89
- Technical Support90
- Return Merchandise Authorization (RMA)90
Appendix A • Sensor Specifications91
Appendix B • Firmware Update92
- Firmware Update Procedure92
Appendix C • Mechanical Diagrams100
- Interface Box Mechanical Drawing101
- Figure C-1 Interface Box Mechanical Drawing 50-6001 Rev a101
- And Puck LITE Mechanical Drawing102
- Figure C-2 VLP-16 and Puck LITE Mechanical Drawing 86-0101 Rev B1102
- And Puck LITE Optical Drawing103
- Figure C-3 VLP-16 and Puck LITE Optical Drawing 86-0101 Rev B1103
- And Puck LITE Optical Keep out Zone104
- Figure C-4 VLP-16 and Puck LITE Optical Keep out Zone 86-0101 Rev B1104
- Puck Hi-Res Mechanical Drawing105
- Figure C-5 Puck Hi-Res Mechanical Drawing 86-0129 Rev a105
- Puck Hi-Res Optical Drawing106
- Figure C-6 Puck Hi-Res Optical Drawing 86-0129 Rev a106
- Puck Hi-Res Optical Keep out Zone107
- Figure C-7 Puck Hi-Res Optical Keep out Zone 86-0129 Rev a107
Appendix D • Wiring Diagrams108
- Interface Box Wiring Diagram109
- Figure D-1 Interface Box Wiring Diagram 86-0107A109
- Interface Box Schematic110
- Figure D-2 Interface Box Schematic 69-8230A110
Appendix E • Veloview111
- Features111
- Install Veloview112
- Visualize Streaming Sensor Data112
- Figure E-1 Veloview Open Sensor Stream112
- Figure E-2 Veloview Select Sensor Calibration113
- Figure E-3 Veloview Sensor Stream Display113
- Capture Streaming Sensor Data to PCAP File114
- Replay Captured Sensor Data from PCAP File114
- Figure E-4 Veloview Record Button114
- Figure E-5 Veloview Open Capture File115
- Figure E-6 Veloview Play Button115
- Figure E-7 Veloview Spreadsheet Tool116
- Figure E-8 Veloview Data Point Table116
- Figure E-9 Veloview Show Only Selected Elements117
- Figure E-10 Veloview Select All Points117
- Figure E-11 Veloview List Selected Points118
Appendix F • Laser Pulse119
- The Semiconductor Laser Diode119
- Figure F-1 Laser Diode Concept119
- Laser Patterns120
- Table F-1 VLP-16 Beam Divergence122
- Table F-2 Dimensions of VLP-16 Laser Spots at Distance122
Appendix G • Time Synchronization123
- Introduction123
- Background123
- Figure G-1 Web Interface PPS and GPS Qualifier Option Selections123
- PPS Qualifier124
- GPS Qualifier125
- Application125
- Logic Tables125
- Figure G-3 Sub-Second Counter Behavior125
- Figure G-4 Minutes and Seconds Counter Behavior126
Appendix H • Phase Lock127
- Phase Lock127
- Field of View130
- Figure H-5 Sensor Data Shadows130
Appendix I • Sensor Care131
- Cleaning the Sensor131
Appendix J • Network Configuration134
- Ethernet and Network Setup134
  - Defaults134
  - Establishing Communication Via Ethernet134
- Network Considerations135

Velodyne VLP-16 - Table 9-1 Vertical Angles (Ω) by Laser ID and Model; Figure 9-1 VLP-16 Sensor Coordinate System

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