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Figure 4.3 Real-Time Lidar Point Cloud Display
4.1.4 Point Cloud Data Parsing
If you need to parse Lidar data, please follow the steps below:
Step 1
. Parse the data package to obtain the relative horizontal angle, ranging
information, intensity data and microsecond timestamp information of each laser;
Step 2
. Read the device package to obtain information such as the horizontal correction
angle value, UTC (GPS or NTP time service) and the current configuration of the device;
Step 3
. Obtain the vertical angle of each line according to the laser beam distribution;
Step 4
. According to the distance measurement value, vertical angle and the calculated
horizontal angle of the point cloud data, the XYZ coordinate values are obtained;
Step 5
. If necessary, calculate the precise time of the point cloud data through UTC,
microsecond timestamp, light-emitting time of each laser, as well as single and dual
echo modes;
Step 6
. Reconfigure information such as Ethernet, PPS synchronization horizontal
angle, motor speed and other information as needed, and pack the configuration
package protocol.
4.1.5 Note
Notice about the Lidar setting and usage:
1)
It is not possible to use LSMS03 Windows Client to receive data in two processes
