Velodyne HDL- 64E, User Manual, Page: 13 / 17

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HDL-64E User’s Manual
Firing Order - Upper 32 Lasers Firing Order - Lower 32 Lasers
- Header 0xEEFF - Header 0xDDFF
Laser Laser
Number RCF* VCF** HCF*** Number RCF* VCF**
1 -4.9542347365 -7.1581190889 4.00 1 -7.443011494 -22.73788631
2 -2.8147367929 -6.8178216657 -4.00 2 -4.224232979 -22.22607199
3 2.8147367929 0.3178216657 4.00 3 4.224232979 -11.51392801
4 4.9542347365 0.6581190889 -4.00 4 7.443011494 -11.00211369
5 -0.6935618777 -6.4776502171 4.00 5 -1.033172642 -21.71468598
6 1.4410693300 -6.1375926248 -4.00 6 2.169097681 -21.20368655
7 -1.4698693300 -8.5208123798 4.00 7 -2.197897681 -24.79027242
8 0.6647618777 -8.1798890134 -4.00 8 1.004372642 -24.27632105
9 3.5633243031 -5.7976368074 4.00 9 5.36381546 -20.69303226
10 5.7049959563 -5.4577707152 -4.00 10 8.590013444 -20.18268193
11 2.7859367929 -7.8391405361 4.00 11 4.195432979 -23.76296827
12 4.9254347365 -7.4985546449 -4.00 12 7.414211494 -23.25017094
13 -4.9974347365 -3.0802132582 4.00 13 -7.486211494 -16.61531942
14 -2.8579367929 -2.7406338106 -4.00 14 -4.267432979 -16.10593813
15 -5.7769959563 -5.1179823277 4.00 15 -8.662013444 -19.6725946
16 -3.6353243031 -4.7782596485 -4.00 16 -5.43581546 -19.16272948
17 -0.7367618777 -2.4010364689 4.00 17 -1.076372642 -15.59649644
18 1.3978693300 -2.0614092976 -4.00 18 2.125897681 -15.08695403
19 -1.5130693300 -4.4385907024 4.00 19 -2.241097681 -18.65304597
20 0.6215618777 -4.0989635311 -4.00 20 0.961172642 -18.14350356
21 3.5201243031 -1.7217403515 4.00 21 5.32061546 -14.57727052
22 5.6617959563 -1.3820176723 -4.00 22 8.546813444 -14.067405
23 2.7427367929 -3.7593661894 4.00 23 4.152232979 -17.63406187
24 4.8822347365 -3.4197867418 -4.00 24 7.371011494 -17.12468058
25 -5.0406347365 0.9985546449 4.00 25 -7.529411494 -10.48982906
26 -2.9011367929 1.3391405361 -4.00 26 -4.310632979 -9.977031727
27 -5.8201959563 -1.0422292848 4.00 27 -8.705213444 -13.55731807
28 -3.6785243031 -0.7023631926 -4.00 28 -5.47901546 -13.04696774
29 -0.7799618777 1.6798890134 4.00 29 -1.119572642 -9.463678954
30 1.3546693300 2.0208123798 -4.00 30 2.082697681 -8.949727577
31 -1.5562693300 -0.3624073752 4.00 31 -2.284297681 -12.53631345
32 0.5783618777 -0.0223497829 -4.00 32 0.917972642 -12.02531402
* RCF: Rotational Correction Factor in Degrees **VCF: Vertical Correction Factor in Degrees
***HCF: Horizontal correction factor in cm. This refers to the physical horizontal (i.e. left or right)
offset of each of the laser blocks. The same value applies to both upper and lower blocks.
Horizontal correction factor for odd numbered lasers: (+)4cm.
Horizontal correction factor for even numbered lasers: (-)4cm.
Appendix A - Laser Correction Factors and Data
Pack e t Cons truction/Int erpr e tation