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36
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3.1.3
Point Cloud Data Analysis
Take Channel 5 in Block 2 as an example:
■ Analyze the vertical angle of a data point
The designed vertical angle of Channel 5 is 11°, according to Appendix I (Channel Distribution)
Notes
·
The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
·
0° is the horizontal direction; define upward as positive (see Figure 1.5).
·
Channel # counts from 1, top to bottom.
■ Analyze the horizontal angle of a data point
Y-axis is the 0° position; define clockwise in the top view as positive (see Figure 1.4).
Horizontal angle = ①
+
②
+
③
① Rotor reference angle during the current round of firing
In the Azimuth field of Block 2.
② Horizontal angle offset of the channel
The designed offset for Channel 5 is 0°, according to Appendix I (Channel Distribution Table).
The accurate horizontal angle offset is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
③ Firing time angular offset of the channel = ④ * ⑤
Summary of Contents for PandarXT
Page 1: ...www hesaitech com HESAI Wechat PandarXT 32 Channel Medium Range Mechanical LiDAR User Manual...
Page 19: ...17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Page 20: ...18 Figure 2 2 Bottom View Unit mm...
Page 21: ...19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation...
Page 29: ...27 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS...
Page 30: ...28 Figure 2 10 Connection Box Connection with PTP...
