Blickfeld Cube 1, Техническое руководство, Страница: 15 / 31

Product overview
Version 2.1 Cube 1, Cube Range 1 15
3 .3 .4 Point cloud output
The primary data output of the Cube is a 3D point cloud, which is refreshed at a certain frame
rate that depends on the configured resolution and field-of-view. The point cloud is the collec-
tion of registered laser pulse reflections caused by objects within the field-of-view. The distance
to these objects is determined via the time-of-flight principle and combined with the deflection
angle information from the laser scanner to give the exact return locations in the three spatial
coordinates (X, Y, Z). For every received echo the following information are available:
Data field Description Data type
ID Unique identifier for every received echo. unit32
Cartesian coordinates Coordinates (x, y, z) relative to the Cube from
which the echo has been received. float
Distance Distance from the Cube to where the target has
been located. float
Intensity Relative intensity of the reflected light pulse. unit32
Tab. 3 LiDAR output data provided for every received echo
Additionally, the following data are available for every measurement angle:
Data field Description Data type
Timestamp offset Specifies the start of each ranging measure-
ment with respect to the absolute start time of
the corresponding frame in ns. unit64
Elevation angle Elevation angle under which the measurement
was performed. float
Azimuthal angle Azimuthal angle under which the measurement
was performed. float
Ambient light level Provides a relative measure of the near infra-
red light intensity in that part of the scene. For
instance, objects illuminated directly by the sun
will show high ambient light values while dark-
ness will show low values. unit32
Tab. 4 LiDAR data output provided for every measurement angle
Apart from the high-quality 3D point cloud data, the Cube outputs data of the integrated
inertial measurement unit (IMU), timing data, and device status data. For a full overview of the
retrievable data, please visit the user documentation of the Blickfeld Scanner Library under
https://docs.blickfeld.com/cube/latest/bsl_index.html .