Benewake(Beijing)Co., Ltd
CE30-D Product Manual - V04
Page
7
Figure 6 Information prompt window
Figure 7 Point cloud image window
When the program runs, it will display the following window for shortcut keys.
a) CTRL+1
Switch to Aerial View (default);
b) CTRL+2
Switch to Vertical View;
c) CTRL+T
Switch to Normal/Stretched;
d) CTRL+L
Save the current frame data and press it again to stop.
Note: The shortcut keys are effective only in the point cloud window. Click the point cloud information
window to activate it on the Windows interface.
3. Coordinate transformation
The CE30-D outputs distance and angle by polar coordinates. In order to facilitate the reconstruction and
application of 3D point cloud image, they can be transformed into rectangular coordinate system by the
following formula. X, Y and Z represent the coordinates of rectangular coordinate system, respectively.
X = Dist
×
sin (90 − V)
×
cos H − 30
Y = Dist
×
sin (90 − V)
×
sin (H − 30)
Z = Dist × sin (90 − V)
Declaration:
Dist: the distance output by photoreceptor cell;
V: Vertical, which is the vertical angle of photoreceptor cell, has the angle range from -1.9°to +1.9°
H: Horizontal, which is the horizontal angle of photoreceptor cell, has the angle range from 0° to 60°
4. Indicator Instruction
