Hesai Pandar128E3X, User Manual

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3.1.3 Point Cloud Data Analysis
The analysis of point cloud UDP data consists of three steps.
■ Analyze the vertical angle, horizontal angle, and distance of a data point
Take Channel 5 in Block 2 as an example:
1) Vertical angle of Channel 5 is 12.165°, according to Appendix I (Channel Distribution)
NOTE The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
· 0° represents the horizontal direction
· Define upward as positive
· Channel # from the uppermost counts from 1
2) Horizontal angle = current reference angle of the rotor + horizontal angle firing time angular offset
· Current reference angle of the rotor is the Azimuth field of Block 2
· Horizontal angle offset: 1.093° for Channel 5 , according to Appendix I (Channel Distribution)
NOTE The accurate horizontal angle offset is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
· Firing time angular offset = Firing Time Offset of Channel 5 (See Appendix II) * Spin Rate of the Motor (see Chapter 4 Web Control - Home)
· Define clockwise in the top view as positive
3) Actual distance in real world millimeters = distance measurement * Distance Unit (4 mm)
Distance measurement is the Distance field of Channel 5 in Block 2
(Continued on the next page)