Velodyne HD HDL-64E S2.1 Manuel d'utilisateur télécharger pdf (Page 22)

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HDL-64E S2 User’s Manual

Data Laser

Block Block 0,32 1,33 2,34 3,35 4,36 5,37 6,38 7,39 8,40 9,41 10,42 11,43 12,44 13,45 14,46 15,47 16,48

1 Upper 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.7

2 Lower 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.7

3 Upper 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.4

4 Lower 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.4

5 Upper 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.1

6 Lower 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.1

7 Upper 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.8

8 Lower 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.8

9 Upper 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.5

10 Lower 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.5

11 Upper 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.2

12 Lower 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.2

First Trans Trigger to Ethernet Trans Enable 419.3 us

Ethernet Output Duration 100 us

Total Packet Bytes 1248

Header Bytes 42

Data Bytes 1200

Footer Bytes 6

Byte per microsecond 12.48

Microseconds per Byte 0.080128

How to use this table

The table above represents an HDL-64E S2 data packet. The laser returns will come out in the order listed above.

Simply subtract from the timestamp of the output event of the packet each data value to arrive at the actual time the distance point was captured inside the HDL-64E S2.

Laser Numbers Lower, Upper

HDL-64E S2 Ethernet Transmit Timing Table

18,50 19,51 20,52 21,53 22,54 23,55 24,56 25,57 26,58 27,59 28,60 29,61 30,62 31,63

406.2 405.5 404.7 404.0 403.3 402.6 401.8 401.1 400.4 399.6 398.9 398.2 397.5 396.7

382.9 382.2 381.4 380.7 380.0 379.3 378.5 377.8 377.1 376.3 375.6 374.9 374.2 373.4

359.6 358.9 358.1 357.4 356.7 356.0 355.2 354.5 353.8 353.1 352.3 351.6 350.9 350.1

336.3 335.6 334.9 334.1 333.4 332.7 331.9 331.2 330.5 329.8 329.0 328.3 327.6 326.8

313.0 312.3 311.6 310.8 310.1 309.4 308.6 307.9 307.2 306.5 305.7 305.0 304.3 303.5

289.7 289.0 288.3 287.5 286.8 286.1 285.3 284.6 283.9 283.2 282.4 281.7 281.0 280.3

17,49

406.9

383.6

360.3

337.0

313.7

290.4

Data Laser

Block Block

1 Upper

2 Lower

3 Upper

4 Lower

5 Upper

6 Lower

7 Upper

8 Lower

9 Upper

10 Lower

11 Upper

12 Lower

Laser Numbers Lower, Upper

1 2 ... 17 18 19 20 21 22 23 24 25

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Velodyne HD HDL-64E S2.1 Manuel d'utilisateur Page 22

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